FHWS/IndoorMap
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Merge branch 'master' of https://git.frank-ebner.de/FHWS/IndoorMap

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This commit is contained in:
FrankE
2018-05-12 11:00:18 +02:00
parent 5da0277b5a 45592899ee
commit 5db13eb493
40 changed files with 640 additions and 153 deletions
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7
mapview/3D/MV3DElementFloorOutline.h
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@@ -2,12 +2,11 @@
#define MV3DELEMENTFLOOROUTLINE_H
#include <Indoor/floorplan/v2/Floorplan.h>
#include <Indoor/geo/GPCPolygon2.h>
#include "misc/Cube.h"
#include "MV3DElement.h"
#include "../../lib/gpc/gpc.h"
#include "misc/Polygon.h"
#include "misc/Outline.h"
class MV3DElementFloorOutline : public MV3DElement {
@@ -17,7 +16,7 @@ class MV3DElementFloorOutline : public MV3DElement {
struct Temp {
Point2 cacheSum;
Polygon* pol = nullptr;
GPCPolygon2* pol = nullptr;
std::vector<std::vector<Point3>> trias;
};
@@ -80,7 +79,7 @@ protected:
std::vector<gpc_polygon> add;
std::vector<gpc_polygon> rem;
if (tmp.pol) {delete tmp.pol;}
tmp.pol = new Polygon();
tmp.pol = new GPCPolygon2();
// all to-be-added polygons (filter!)
for (Floorplan::FloorOutlinePolygon* poly : polys) {

2
mapview/3D/MV3DElementStair.h
View File

@@ -58,7 +58,7 @@ protected:
rs.shader->setColor(1.0, 0.55, 0.55);
rs.shader->setVertices(data.getVertices().data());
rs.shader->setNormals(data.getNormals().data());
glDrawArrays(GL_TRIANGLES, 0, data.getVertices().size()/3);
rs.funcs->glDrawArrays(GL_TRIANGLES, 0, data.getVertices().size()/3);
rs.shader->unsetVertices();
rs.shader->unsetNormals();
rs.shader->release();

47
mapview/3D/MapView3D.cpp
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@@ -112,12 +112,16 @@ MapView3D::MapView3D(QWidget *parent) : QOpenGLWidget(parent) {
grabGesture(Qt::PinchGesture);
auto format = QSurfaceFormat();
//format.setVersion(4,3);
format.setRenderableType(QSurfaceFormat::OpenGL);
format.setVersion(3, 4);
format.setSamples(2);
//format.setProfile(QSurfaceFormat::CoreProfile);
format.setProfile(QSurfaceFormat::CompatibilityProfile);
format.setOption(QSurfaceFormat::DebugContext);
setFormat(format);
setFormat(format);
auto ver = format.version();
std::cout << "OpenGL Context Version: " << ver.first << "." << ver.second << std::endl;
}
@@ -126,6 +130,32 @@ void MapView3D::initializeGL() {
//setFormat(QGLFormat(QGL::SampleBuffers));
QOpenGLWidget::initializeGL();
initializeOpenGLFunctions();
logger = new QOpenGLDebugLogger(this);
if (logger->initialize()) {
connect(logger, &QOpenGLDebugLogger::messageLogged, [] (const QOpenGLDebugMessage& debugMessage) {
std::cout << debugMessage.message().toStdString() << std::endl;
});
logger->startLogging(QOpenGLDebugLogger::SynchronousLogging);
}
// Print device info
const GLubyte* vendor = glGetString(GL_VENDOR);
const GLubyte* renderer = glGetString(GL_RENDERER);
const GLubyte* version = glGetString(GL_VERSION);
std::cout << "Device info: ";
if (vendor) {
std::cout << (const char*) vendor << " ";
}
if (renderer) {
std::cout << (const char*) renderer << " ";
}
if (version) {
std::cout << (const char*) version << " ";
}
std::cout << std::endl;
// this should be the default!!
glCullFace(GL_BACK);
@@ -134,8 +164,7 @@ void MapView3D::initializeGL() {
// additional settings
glEnable(GL_DEPTH_TEST);
glClearColor(0.9, 0.9, 1.0, 1.0);
glClearColor(0.5, 0.5, 0.5, 1.0);
}
void MapView3D::paintGL() {
@@ -293,7 +322,7 @@ void MapView3D::layerChange() {
void MapView3D::draw() {
static RenderSettings rs = RenderSettings(new Shader());
static RenderSettings rs = RenderSettings(new Shader(), this);
// view
QMatrix4x4 V;
@@ -305,7 +334,7 @@ void MapView3D::draw() {
V.rotate(rot.z, 0.0, 0.0, 1.0);
V.translate(center.x, center.y, center.z);
float far = 200; // TODO
float farPlane = 200; // TODO
// projection
QMatrix4x4 P;
@@ -316,14 +345,14 @@ void MapView3D::draw() {
float h = height() / 30;
viewport.size.x = w;
viewport.size.y = h;
P.perspective(45.0f, aspect, 0.01, far);
P.perspective(45.0f, aspect, 0.01, farPlane);
} else {
// default size: 50 * 50/aspect meters
float w = 50.0f;
float h = 50.0f * height() / width();
viewport.size.x = w;
viewport.size.y = h;
P.ortho(-w, +w, -h, +h, 0.1f, +far);
P.ortho(-w, +w, -h, +h, 0.1f, +farPlane);
}
rs.shader->bind();

7
mapview/3D/MapView3D.h
View File

@@ -4,7 +4,8 @@
#include "../../fixC11.h"
#include <QtWidgets>
#include <QtOpenGL>
#include <QOpenGLWidget>
#include <QOpenGLFunctions>
#include <Indoor/geo/Point3.h>
@@ -16,13 +17,15 @@ class NavMeshModel;
class FloorplanRenderer;
class FloorplanRendererModel;
class MapView3D : public QOpenGLWidget {
class MapView3D : public QOpenGLWidget, protected QOpenGLFunctions {
Q_OBJECT
bool usePerspectiveProjection = false;
bool useWireframe = false;
QOpenGLDebugLogger* logger = nullptr;
public:
MapView3D(QWidget* parent = 0);

15
mapview/3D/floorplan/FloorplanRenderer.h
View File

@@ -8,6 +8,7 @@
#include <QPainter>
#include <QOpenGLWidget>
#include <QOpenGLFunctions>
#include "../misc/Renderable3D.h"
#include "../misc/Shader.h"
@@ -35,7 +36,7 @@ public:
rs.shader->setVertices(rt.getVertices());
rs.shader->setNormals(rt.getNormals());
rs.shader->setVertexColor(rt.getRGBA());
glDrawArrays(GL_TRIANGLES, 0, rt.count());
rs.funcs->glDrawArrays(GL_TRIANGLES, 0, rt.count());
rs.shader->unsetVertices();
rs.shader->unsetNormals();
rs.shader->unsetVertexColor();
@@ -45,7 +46,7 @@ public:
rs.shader->setColor(0,0,0,128);
rs.shader->setVertices(rt2.getVertices());
//rs.shader->setVertexColor(rt2.getRGBA());
glDrawArrays(GL_LINES, 0, rt2.count());
rs.funcs->glDrawArrays(GL_LINES, 0, rt2.count());
rs.shader->unsetVertices();
//rs.shader->unsetVertexColor();
}
@@ -56,8 +57,8 @@ public:
/** render the given grid using GL commands */
void renderTransp(const RenderSettings& rs, const RenderTriangle& rt, bool wireframe) {
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
rs.funcs->glEnable(GL_BLEND);
rs.funcs->glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
rs.shader->bind();
rs.shader->setModelMatrix(QMatrix4x4());
@@ -65,7 +66,7 @@ public:
rs.shader->setVertices(rt.getVertices());
rs.shader->setNormals(rt.getNormals());
rs.shader->setVertexColor(rt.getRGBA());
glDrawArrays(GL_TRIANGLES, 0, rt.count());
rs.funcs->glDrawArrays(GL_TRIANGLES, 0, rt.count());
rs.shader->unsetVertices();
rs.shader->unsetNormals();
rs.shader->unsetVertexColor();
@@ -75,14 +76,14 @@ public:
rs.shader->setColor(0,0,0,128);
rs.shader->setVertices(rt2.getVertices());
//rs.shader->setVertexColor(rt2.getRGBA());
glDrawArrays(GL_LINES, 0, rt2.count());
rs.funcs->glDrawArrays(GL_LINES, 0, rt2.count());
rs.shader->unsetVertices();
//rs.shader->unsetVertexColor();
}
rs.shader->release();
glDisable(GL_BLEND);
rs.funcs->glDisable(GL_BLEND);
}

30
mapview/3D/floorplan/FloorplanRendererModel.h
View File

@@ -89,27 +89,37 @@ public:
void rebuild(Floorplan::IndoorMap* im) {
<<<<<<< HEAD
// rebuild the mesh
Ray3D::ModelFactory fac(im);
fac.exportDoors = showDoors;
mesh = fac.getMesh();
=======
>>>>>>> 45592899ee7de1a99f3086205788ff43398fad41
triaTransp.clear();
triaSolid.clear();
for (const Ray3D::Obstacle3D& obs : mesh.elements) {
const int matID = getMaterial(obs);
const Material& mat = mats[matID];
for (const Triangle3& tria : obs.triangles) {
const Point3 n = cross(tria.p2-tria.p1, tria.p3-tria.p1).normalized();
if (mat.a != 255) {
triaTransp.addTriangle(tria.p1, tria.p2, tria.p3, n, mat.r/255.0f, mat.g/255.0f, mat.b/255.0f, mat.a/255.0f);
} else {
triaSolid.addTriangle(tria.p1, tria.p2, tria.p3, n, mat.r/255.0f, mat.g/255.0f, mat.b/255.0f, mat.a/255.0f);
// rebuild the mesh
try {
Ray3D::ModelFactory fac(im);
mesh = fac.getMesh();
for (const Ray3D::Obstacle3D& obs : mesh.elements) {
const int matID = getMaterial(obs);
const Material& mat = mats[matID];
for (const Triangle3& tria : obs.triangles) {
const Point3 n = cross(tria.p2-tria.p1, tria.p3-tria.p1).normalized();
if (mat.a != 255) {
triaTransp.addTriangle(tria.p1, tria.p2, tria.p3, n, mat.r/255.0f, mat.g/255.0f, mat.b/255.0f, mat.a/255.0f);
} else {
triaSolid.addTriangle(tria.p1, tria.p2, tria.p3, n, mat.r/255.0f, mat.g/255.0f, mat.b/255.0f, mat.a/255.0f);
}
}
}
}
catch(const std::exception& e) {
std::cout << "Can't create 3D view. Failed to get mesh from model factory with error: '" << e.what() << "'" << std::endl;
}
}
};

6
mapview/3D/floorplan/RenderTriangle.h
View File

@@ -10,17 +10,17 @@ class RenderTriangle {
struct Vertex{
float x,y,z;
Vertex(const float x, const float y, const float z) : x(x), y(y), z(z) {;}
} __attribute__((packed));
};
struct Normal {
float x,y,z;
Normal(const float x, const float y, const float z) : x(x), y(y), z(z) {;}
} __attribute__((packed));
};
struct RGBA {
float r,g,b,a;
RGBA(const float r, const float g, const float b, const float a) : r(r), g(g), b(b), a(a) {;}
} __attribute__((packed));
};
std::vector<Vertex> vertices;
std::vector<Normal> normals;

3
mapview/3D/misc/Cube.cpp
View File

@@ -1,6 +1,5 @@
#include "Cube.h"
#include "Shader.h"
#include <QtOpenGL>
static float cube_vertices[] = {
@@ -76,7 +75,7 @@ void Cube::render(const RenderSettings& rs) {
rs.shader->setVertices(cube_vertices);
rs.shader->setNormals(cube_normals);
glDrawArrays(GL_TRIANGLES, 0, 12*3);
rs.funcs->glDrawArrays(GL_TRIANGLES, 0, 12*3);
//glDrawElements(GL_TRIANGLES, +12, GL_INT, cube_vertex_indices);
rs.shader->unsetVertices();
rs.shader->unsetNormals();

2
mapview/3D/misc/Handrail.cpp
View File

@@ -54,7 +54,7 @@ void Handrail::render(const RenderSettings& rs) {
}
rs.shader->setVertices(vertices.data());
glDrawArrays(GL_LINES, 0, vertices.size() / 3);
rs.funcs->glDrawArrays(GL_LINES, 0, vertices.size() / 3);
rs.shader->unsetVertices();
rs.shader->release();

2
mapview/3D/misc/Outline.cpp
View File

@@ -26,7 +26,7 @@ void Outline::render(const RenderSettings& rs) {
rs.shader->setColor(color.x, color.y, color.z);
rs.shader->setVertices(triangles.getVertices().data());
rs.shader->setNormals(triangles.getNormals().data());
glDrawArrays(GL_TRIANGLES, 0, triangles.getVertices().size() / 3);
rs.funcs->glDrawArrays(GL_TRIANGLES, 0, triangles.getVertices().size() / 3);
rs.shader->unsetVertices();
rs.shader->unsetNormals();

170
mapview/3D/misc/Polygon.h
View File

@@ -1,110 +1,112 @@
#ifndef POLYGON_H
#define POLYGON_H
// Duplicated file with Indoor/wifi/estimate/ray3/ModelFactoryHelper.h
//#ifndef POLYGON_H
//#define POLYGON_H
#include <Indoor/floorplan/v2/Floorplan.h>
#include "../../../lib/gpc/gpc.h"
//#include <Indoor/floorplan/v2/Floorplan.h>
//#include "../../../lib/gpc/gpc.h"
class Polygon {
//class Polygon_ {
struct GPCPolygon : gpc_polygon {
GPCPolygon() {
// contour = (gpc_vertex_list*) calloc(0, 1024);
// contour->num_vertices = 0;
// contour->vertex = (gpc_vertex*) calloc(0, 1024);
// hole = (int*) calloc(0, 1024);
num_contours = 0;
contour = nullptr;
hole = nullptr;
}
~GPCPolygon() {
if (contour) {
gpc_free_polygon(this);
//free(contour->vertex); contour->vertex = nullptr;
}
free(contour); contour = nullptr;
free(hole); hole = nullptr;
// struct GPCPolygon : gpc_polygon {
// GPCPolygon() {
//// contour = (gpc_vertex_list*) calloc(0, 1024);
//// contour->num_vertices = 0;
//// contour->vertex = (gpc_vertex*) calloc(0, 1024);
//// hole = (int*) calloc(0, 1024);
// num_contours = 0;
// contour = nullptr;
// hole = nullptr;
// }
// ~GPCPolygon() {
// if (contour) {
// gpc_free_polygon(this);
// //free(contour->vertex); contour->vertex = nullptr;
// }
// free(contour); contour = nullptr;
// free(hole); hole = nullptr;
}
GPCPolygon& operator = (const GPCPolygon& o) = delete;
GPCPolygon& operator = (GPCPolygon& o) {
this->contour = o.contour;
this->hole = o.hole;
this->num_contours = o.num_contours;
o.contour = nullptr;
o.hole = nullptr;
return *this;
}
};
// }
// GPCPolygon& operator = (const GPCPolygon& o) = delete;
// GPCPolygon& operator = (GPCPolygon& o) {
// this->contour = o.contour;
// this->hole = o.hole;
// this->num_contours = o.num_contours;
// o.contour = nullptr;
// o.hole = nullptr;
// return *this;
// }
// };
private:
//private:
GPCPolygon state;
// GPCPolygon state;
public:
//public:
void add(const Floorplan::Polygon2& poly) {
GPCPolygon cur = toGPC(poly);
//GPCPolygon out;
gpc_polygon_clip(GPC_UNION, &state, &cur, &state);
//state = out;
}
// void add(const Floorplan::Polygon2& poly) {
// GPCPolygon cur = toGPC(poly);
// //GPCPolygon out;
// gpc_polygon_clip(GPC_UNION, &state, &cur, &state);
// //state = out;
// }
void remove(const Floorplan::Polygon2& poly) {
GPCPolygon cur = toGPC(poly);
//GPCPolygon out;
gpc_polygon_clip(GPC_DIFF, &state, &cur, &state);
//state = out;
}
// void remove(const Floorplan::Polygon2& poly) {
// GPCPolygon cur = toGPC(poly);
// //GPCPolygon out;
// gpc_polygon_clip(GPC_DIFF, &state, &cur, &state);
// //state = out;
// }
std::vector<std::vector<Point3>> get(float z) {
// std::vector<std::vector<Point3>> get(float z) {
gpc_tristrip res;
res.num_strips = 0;
res.strip = nullptr;
// gpc_tristrip res;
// res.num_strips = 0;
// res.strip = nullptr;
//res.strip = (gpc_vertex_list*) malloc(1024);
gpc_polygon_to_tristrip(&state, &res);
// //res.strip = (gpc_vertex_list*) malloc(1024);
// gpc_polygon_to_tristrip(&state, &res);
std::vector<std::vector<Point3>> trias;
// std::vector<std::vector<Point3>> trias;
for (int i = 0; i < res.num_strips; ++i) {
gpc_vertex_list lst = res.strip[i];
std::vector<Point3> tria;
for (int j = 0; j < lst.num_vertices; ++j) {
gpc_vertex& vert = lst.vertex[j];
Point3 p3(vert.x, vert.y, z);
tria.push_back(p3);
}
trias.push_back(tria);
}
// for (int i = 0; i < res.num_strips; ++i) {
// gpc_vertex_list lst = res.strip[i];
// std::vector<Point3> tria;
// for (int j = 0; j < lst.num_vertices; ++j) {
// gpc_vertex& vert = lst.vertex[j];
// Point3 p3(vert.x, vert.y, z);
// tria.push_back(p3);
// }
// trias.push_back(tria);
// }
gpc_free_tristrip(&res);
// gpc_free_tristrip(&res);
return std::move(trias);
// return std::move(trias);
}
// }
private:
//private:
GPCPolygon toGPC(Floorplan::Polygon2 poly) {
// GPCPolygon toGPC(Floorplan::Polygon2 poly) {
std::vector<gpc_vertex> verts;
for (Point2 p2 : poly.points) {
gpc_vertex vert; vert.x = p2.x; vert.y = p2.y;
verts.push_back(vert);
}
// std::vector<gpc_vertex> verts;
// for (Point2 p2 : poly.points) {
// gpc_vertex vert; vert.x = p2.x; vert.y = p2.y;
// verts.push_back(vert);
// }
GPCPolygon gpol;
gpc_vertex_list list;
list.num_vertices = verts.size();
list.vertex = verts.data();
gpc_add_contour(&gpol, &list, 0);
// GPCPolygon gpol;
// gpc_vertex_list list;
// list.num_vertices = verts.size();
// list.vertex = verts.data();
// gpc_add_contour(&gpol, &list, 0);
return gpol;
// return gpol;
}
// }
};
//};
#endif // POLYGON_H
//#endif // POLYGON_H

8
mapview/3D/misc/Renderable3D.h
View File

@@ -1,11 +1,15 @@
#ifndef RENDERABLE3D_H
#define RENDERABLE3D_H
#include <QOpenGLFunctions>
class Shader;
struct RenderSettings {
Shader* shader = nullptr;
RenderSettings(Shader* shader) : shader(shader) {;}
Shader* shader = nullptr;
QOpenGLFunctions* funcs = nullptr;
RenderSettings(Shader* shader, QOpenGLFunctions* f) : shader(shader), funcs(f) {;}
};

12
mapview/3D/misc/Shader.cpp
View File

@@ -22,23 +22,24 @@ Shader::Shader() {
)");
addCacheableShaderFromSourceCode(QOpenGLShader::Fragment, R"(
uniform vec4 color;
uniform lowp vec4 color;
uniform bool useNormal;
uniform bool useVertexColor;
varying highp vec3 v_normal;
varying lowp vec4 v_color;
varying lowp vec4 v_vertex;
void main() {
vec3 lightPos = vec3(0,0,0); // camera
mediump vec3 lightPos = vec3(0,0,0); // camera
//vec3 lightVec = normalize(vec3(0,0,1));
vec3 lightVec = normalize(lightPos - v_vertex.xyz);
float intensity = useNormal ? 0.3 + 0.7 * dot( normalize(v_normal), lightVec ) : 1.0; // light at camera pos
vec4 col = useVertexColor ? v_color : color;
mediump vec3 lightVec = normalize(lightPos - v_vertex.xyz);
lowp float intensity = useNormal ? 0.3 + 0.7 * dot( normalize(v_normal), lightVec ) : 1.0; // light at camera pos
lowp vec4 col = useVertexColor ? v_color : color;
gl_FragColor.rgb = col.rgb * intensity;
gl_FragColor.a = col.a;
}
)");
//bindAttributeLocation("vertices", 0);
if (!link()) {
@@ -50,6 +51,7 @@ Shader::Shader() {
void Shader::setModelMatrix(const QMatrix4x4& m) {
//vao.bind();;
setUniformValue(getUniform("M"), m);
}

8
mapview/3D/misc/Window.cpp
View File

@@ -69,20 +69,20 @@ void Window::render(const RenderSettings& rs) {
rs.shader->setColor(0.75, 0.85, 1.0, 0.35);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
rs.funcs->glEnable(GL_BLEND);
rs.funcs->glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
//glDisable(GL_CULL_FACE);
rs.shader->setModelMatrix(mat);
rs.shader->setVertices(window_vertices);
rs.shader->setNormals(window_normals);
glDrawArrays(GL_TRIANGLES, 0, 12);
rs.funcs->glDrawArrays(GL_TRIANGLES, 0, 12);
rs.shader->unsetVertices();
rs.shader->unsetNormals();
//glEnable(GL_CULL_FACE);
glDisable(GL_BLEND);
rs.funcs->glDisable(GL_BLEND);
rs.shader->release();

5
mapview/3D/navMesh/NavMeshRenderer.h
View File

@@ -10,6 +10,7 @@
#include <QPainter>
#include <QOpenGLWidget>
#include <QOpenGLFunctions>
#include "../misc/Renderable3D.h"
#include "../misc/Shader.h"
@@ -88,7 +89,7 @@ public:
rs.shader->setVertices(data.getVertices().data());
rs.shader->setVertexColor(data.getRGBA().data());
glDrawArrays(GL_TRIANGLES, 0, data.getVertices().size()/3);
rs.funcs->glDrawArrays(GL_TRIANGLES, 0, data.getVertices().size()/3);
rs.shader->unsetVertices();
rs.shader->unsetVertexColor();
@@ -132,7 +133,7 @@ public:
rs.shader->setVertices(data.getVertices().data());
rs.shader->setVertexColor(data.getRGBA().data());
glDrawArrays(GL_LINES, 0, data.getVertices().size()/3);
rs.funcs->glDrawArrays(GL_LINES, 0, data.getVertices().size()/3);
rs.shader->unsetVertices();
rs.shader->unsetVertexColor();