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#ifndef DRONE_CONTROLLER_HH
#define DRONE_CONTROLLER_HH
#include "drone.hh"
#include "opengl_widget.hh"
#include <QJsonObject>
#include <QTimer>
#include <QOpenGLExtraFunctions>
class DroneController : public QObject, public Painter {
Q_OBJECT
int framerate;
int frame = 0;
int duration = 0;
QVector<Drone> drones;
QTimer timer;
bool paused = true;
bool draw_spheres = false;
double sphere_radius = 0;
QTimer sphere_timer;
QMap<int, QVector<QPair<int, int>>> collisions;
bool draw_trajectories = false;
static OpenGLMesh *sphere;
static const unsigned char sphere_neutral[];
static bool collides(const Drone &a, const Drone &b, double radius);
void drawTrajectory(QOpenGLExtraFunctions *f, const Drone &d) const;
public:
DroneController(const QJsonObject &json);
int getDuration() const;
void draw(QOpenGLExtraFunctions *f) const;
signals:
void frameChanged(int frame);
void playing();
void pausing();
void collision(int idA, int idB, int frame);
private slots:
void step();
public slots:
void play();
void pause();
void suspend();
void resume();
void seek(int frame);
void computeCollisions(double sphere_radius);
void displaySpheres(double sphere_radius);
void setDrawTrajectories(bool enable);
};
#endif
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