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#include "drone_controller.hh"
#include "opengl_widget.hh"
#define TINYOBJLOADER_IMPLEMENTATION
#include "tiny_obj_loader.h"
#include <QJsonArray>
#include <QDebug>
#include <QFile>
Waypoint::Waypoint(unsigned frame, QVector3D pos)
:frame(frame),
pos(pos) {}
Waypoint::Waypoint(const QJsonObject &json)
:Waypoint(json["frame"].toInt(),
QVector3D(json["position"]["lng_X"].toInt() / 100.0,
json["position"]["alt_Y"].toInt() / 100.0,
json["position"]["lat_Z"].toInt() / 100.0)) {}
bool Drone::mesh_initialized = false;
OpenGLMesh *Drone::mesh = nullptr;
Drone::Drone() {
if (!mesh_initialized) {
QFile obj_file(":/mdl/dji600.obj");
QFile mtl_file(":/mdl/dji600.mtl");
obj_file.open(QIODevice::ReadOnly | QIODevice::Text);
mtl_file.open(QIODevice::ReadOnly | QIODevice::Text);
std::string obj = obj_file.readAll().toStdString();
std::string mtl = mtl_file.readAll().toStdString();
tinyobj::ObjReaderConfig cfg;
cfg.triangulate = true;
cfg.vertex_color = false;
tinyobj::ObjReader reader;
if (!reader.ParseFromString(obj, mtl, cfg)) {
if (!reader.Error().empty()) {
qWarning() << "Erreur lors de la lecture de du modèle";
}
exit(1);
}
// if (!reader.Warning().empty()) {
// qWarning() << "TinyObjReader: " << reader.Warning();
// }
auto& attrib = reader.GetAttrib();
auto& shapes = reader.GetShapes();
QVector<float> verts;
for (size_t s = 0; s < shapes.size(); s++) {
// Loop over faces(polygon)
size_t index_offset = 0;
for (size_t f = 0; f < shapes[s].mesh.num_face_vertices.size(); f++) {
size_t fv = shapes[s].mesh.num_face_vertices[f];
// Loop over vertices in the face.
for (size_t v = 0; v < fv; v++) {
tinyobj::index_t idx = shapes[s].mesh.indices[index_offset + v];
tinyobj::real_t vx = attrib.vertices[3*idx.vertex_index+0];
tinyobj::real_t vy = attrib.vertices[3*idx.vertex_index+1];
tinyobj::real_t vz = attrib.vertices[3*idx.vertex_index+2];
verts.append(vx);
verts.append(vy);
verts.append(vz);
}
index_offset += fv;
}
}
mesh = new OpenGLMesh(verts);
// mesh = new OpenGLMesh(QVector<float>(attrib.vertices.begin(), attrib.vertices.end()));
mesh_initialized = true;
}
OpenGLWidget::instance->meshes.append(*mesh);
mesh_id = OpenGLWidget::instance->meshes.size() - 1;
}
Drone::Drone(const QJsonObject &json)
:Drone() {
QJsonArray ja = json["waypoints"].toArray();
waypoints.reserve(ja.size());
for (const QJsonValue &o : ja) {
waypoints.append(Waypoint(o.toObject()));
}
}
const QVector<Waypoint> Drone::getWaypoints() const {
return waypoints;
}
void Drone::setTo(int frame) {
int prev = -1, next = -1;
const Waypoint *prev_wp, *next_wp;
for (const Waypoint &wp : waypoints) { // TODO: this can be optimized
if (wp.frame < frame) {
prev = wp.frame;
prev_wp = ℘
} else {
next = wp.frame;
next_wp = ℘
break;
}
}
OpenGLMesh &mesh = OpenGLWidget::instance->meshes[mesh_id];
mesh.mat = QMatrix4x4();
if (next > -1 && prev == -1) {
mesh.mat.translate(next_wp->pos);
} else if (prev > -1 && next == -1) {
mesh.mat.translate(prev_wp->pos);
} else {
mesh.mat.translate(lerp(prev_wp->pos, next_wp->pos, (double) (frame-prev) / (next-prev)));
}
}
DroneController::DroneController(const QJsonObject &json)
:framerate(json["framerate"].toInt()) {
QJsonArray ja = json["drones"].toArray();
drones.reserve(ja.size());
for (const QJsonValue &o : ja) {
drones.append(Drone(o.toObject()));
}
for (const Drone &d : drones) {
for (const Waypoint &wp : d.getWaypoints()) {
if (wp.frame > duration) duration = wp.frame;
}
}
connect(&timer, &QTimer::timeout, this, &DroneController::step);
}
int DroneController::getDuration() const {
return duration;
}
void DroneController::step() {
for (Drone d : drones) {
d.setTo(frame);
}
OpenGLWidget::instance->update();
emit frameChanged(frame);
if (frame == duration) {
pause();
} else {
frame++;
}
}
void DroneController::play() {
if (!paused) return;
paused = false;
timer.start(1000. / framerate);
emit playing();
}
void DroneController::pause() {
if (paused) return;
paused = true;
timer.stop();
emit pausing();
}
void DroneController::suspend() {
if (!paused) {
pause();
paused = false;
}
}
void DroneController::resume() {
if (!paused) {
paused = true;
play();
}
}
void DroneController::seek(int frame) {
if (this->frame == frame) return;
this->frame = frame;
step();
}
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