worked on 3D viz
scaling, moving by finger some fixes / improvement
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k-a-z-u
72
mapview/3D/floorplan/FloorplanRenderer.h
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72
mapview/3D/floorplan/FloorplanRenderer.h
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#ifndef FLOORPLANRENDERER_H
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#define FLOORPLANRENDERER_H
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#include <unordered_set>
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#include <Indoor/navMesh/NavMesh.h>
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#include <Indoor/navMesh/NavMeshTriangle.h>
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#include <Indoor/navMesh/NavMeshType.h>
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#include <QPainter>
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#include <QOpenGLWidget>
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#include "../misc/Renderable3D.h"
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#include "../misc/Shader.h"
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#include "../misc/TriangleData.h"
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#include <Indoor/wifi/estimate/ray3/ModelFactory.h>
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#include "RenderTriangle.h"
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class FloorplanRenderer {
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public:
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/** ctor */
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FloorplanRenderer() {
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;
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}
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/** render the given grid using GL commands */
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void renderSolid(const RenderSettings& rs, const RenderTriangle& rt) {
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rs.shader->bind();
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rs.shader->setModelMatrix(QMatrix4x4());
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rs.shader->setVertices(rt.getVertices().data());
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rs.shader->setNormals(rt.getNormals().data());
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rs.shader->setVertexColor(rt.getRGBA().data());
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glDrawArrays(GL_TRIANGLES, 0, rt.getVertices().size()/3);
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rs.shader->unsetVertices();
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rs.shader->unsetNormals();
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rs.shader->unsetVertexColor();
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rs.shader->release();
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}
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/** render the given grid using GL commands */
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void renderTransp(const RenderSettings& rs, const RenderTriangle& rt) {
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glEnable(GL_BLEND);
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glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
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rs.shader->bind();
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rs.shader->setModelMatrix(QMatrix4x4());
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rs.shader->setVertices(rt.getVertices().data());
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rs.shader->setNormals(rt.getNormals().data());
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rs.shader->setVertexColor(rt.getRGBA().data());
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glDrawArrays(GL_TRIANGLES, 0, rt.getVertices().size()/3);
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rs.shader->unsetVertices();
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rs.shader->unsetNormals();
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rs.shader->unsetVertexColor();
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rs.shader->release();
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glDisable(GL_BLEND);
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}
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};
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#endif // FLOORPLANRENDERER_H
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110
mapview/3D/floorplan/FloorplanRendererModel.h
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110
mapview/3D/floorplan/FloorplanRendererModel.h
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#ifndef FLOORPLANRENDERERMODEL_H
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#define FLOORPLANRENDERERMODEL_H
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#include <Indoor/floorplan/v2/Floorplan.h>
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#include <Indoor/navMesh/NavMesh.h>
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#include <Indoor/navMesh/NavMeshFactory.h>
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#include <Indoor/navMesh/NavMeshFactoryListener.h>
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#include <Indoor/wifi/estimate/ray3/ModelFactory.h>
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#include "RenderTriangle.h"
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/**
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* model for rendering the floorplan
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*/
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class FloorplanRendererModel {
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private:
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Floorplan::IndoorMap* im;
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Ray3D::FloorplanMesh mesh;
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RenderTriangle triaSolid;
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RenderTriangle triaTransp;
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struct Material {
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int r, g, b, a;
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Material(int r, int g, int b, int a) : r(r), g(g), b(b), a(a) {;}
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};
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const std::vector<Material> mats = {
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Material(0,128,0,255), // ground outdoor
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Material(64,64,64,255), // ground outdoor
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Material(255,96,96,255), // stair
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Material(220,220,220,255), // handrail
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Material(200,200,255,96), // door (glass)
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Material(200,160,150,255), // door (wood)
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Material(128,128,128,255), // concrete
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Material(200,200,255,96), // glass
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Material(200,200,200,255), // default
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};
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int getMaterial(const Ray3D::Obstacle3D& o) const {
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if (o.type == Ray3D::Obstacle3D::Type::GROUND_OUTDOOR) {return 0;}
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if (o.type == Ray3D::Obstacle3D::Type::GROUND_INDOOR) {return 1;}
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if (o.type == Ray3D::Obstacle3D::Type::STAIR) {return 2;}
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if (o.type == Ray3D::Obstacle3D::Type::HANDRAIL) {return 3;}
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if (o.type == Ray3D::Obstacle3D::Type::DOOR && o.mat == Floorplan::Material::GLASS) {return 4;}
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if (o.type == Ray3D::Obstacle3D::Type::DOOR) {return 5;}
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if (o.mat == Floorplan::Material::CONCRETE) {return 6;}
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if (o.mat == Floorplan::Material::GLASS) {return 7;}
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return 8;
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}
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public:
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/** ctor */
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FloorplanRendererModel() {
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;
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}
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Ray3D::FloorplanMesh& getMesh() {
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return mesh;
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}
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const RenderTriangle& getTriaSolid() {
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return triaSolid;
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}
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const RenderTriangle& getTriaTransp() {
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return triaTransp;
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}
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void rebuild(Floorplan::IndoorMap* im) {
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// rebuild the mesh
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Ray3D::ModelFactory fac(im);
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mesh = fac.getMesh();
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triaTransp.clear();
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triaSolid.clear();
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for (const Ray3D::Obstacle3D& obs : mesh.elements) {
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const int matID = getMaterial(obs);
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const Material& mat = mats[matID];
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for (const Triangle3& tria : obs.triangles) {
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const Point3 n = cross(tria.p2-tria.p1, tria.p3-tria.p1).normalized();
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if (mat.a != 255) {
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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);
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} else {
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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);
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}
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}
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}
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}
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};
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#endif // FLOORPLANRENDERERMODEL_H
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78
mapview/3D/floorplan/RenderTriangle.h
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78
mapview/3D/floorplan/RenderTriangle.h
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#ifndef RENDERTRIANGLE_H
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#define RENDERTRIANGLE_H
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#include <vector>
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#include <Indoor/geo/Point3.h>
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class RenderTriangle {
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std::vector<float> vertices;
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std::vector<float> normals;
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std::vector<float> rgba;
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public:
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void addTriangle(Point3 p1, Point3 p2, Point3 p3) {
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vertices.insert(vertices.end(), {p1.x, p1.y, p1.z});
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vertices.insert(vertices.end(), {p2.x, p2.y, p2.z});
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vertices.insert(vertices.end(), {p3.x, p3.y, p3.z});
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}
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void addTriangle(Point3 p1, Point3 p2, Point3 p3, const Point3 n) {
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vertices.insert(vertices.end(), {p1.x, p1.y, p1.z});
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vertices.insert(vertices.end(), {p2.x, p2.y, p2.z});
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vertices.insert(vertices.end(), {p3.x, p3.y, p3.z});
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normals.insert(normals.end(), {n.x, n.y, n.z});
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normals.insert(normals.end(), {n.x, n.y, n.z});
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normals.insert(normals.end(), {n.x, n.y, n.z});
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}
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void addTriangle(Point3 p1, Point3 p2, Point3 p3, const Point3 n, const float r, const float g, const float b, const float a) {
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vertices.insert(vertices.end(), {p1.x, p1.y, p1.z});
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vertices.insert(vertices.end(), {p2.x, p2.y, p2.z});
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vertices.insert(vertices.end(), {p3.x, p3.y, p3.z});
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normals.insert(normals.end(), {n.x, n.y, n.z});
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normals.insert(normals.end(), {n.x, n.y, n.z});
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normals.insert(normals.end(), {n.x, n.y, n.z});
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rgba.insert(rgba.end(), {r,g,b,a});
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rgba.insert(rgba.end(), {r,g,b,a});
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rgba.insert(rgba.end(), {r,g,b,a});
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}
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void addLine(Point3 p1, Point3 p2, const float r, const float g, const float b, const float a) {
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vertices.insert(vertices.end(), {p1.x, p1.y, p1.z});
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vertices.insert(vertices.end(), {p2.x, p2.y, p2.z});
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rgba.insert(rgba.end(), {r,g,b,a});
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rgba.insert(rgba.end(), {r,g,b,a});
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}
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void clear() {
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vertices.clear();
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normals.clear();
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rgba.clear();
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}
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const std::vector<float>& getVertices() const {return vertices;}
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const std::vector<float>& getNormals() const {return normals;}
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const std::vector<float>& getRGBA() const {return rgba;}
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};
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#endif // RENDERTRIANGLE_H
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