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refactoring to add nav mesh

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This commit is contained in:
k-a-z-u
2018-07-11 19:04:42 +02:00
parent bb974d3871
commit b4a1a3d969
27 changed files with 1581 additions and 712 deletions
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46
nav/NavController.cpp Normal file
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#include "NavController.h"
#include "Controller.h"
#include "../ui/map/3D/MapView3D.h"
#include "../ui/map/2D/MapView2D.h"
Q_DECLARE_METATYPE(const void*)
NavController::NavController(Controller* mainController, Floorplan::IndoorMap* im) : mainController(mainController), im(im) {
// hacky.. but we need to call this one from the main thread!
//mainController->getMapView()->showParticles(pf->getParticles());
qRegisterMetaType<const void*>();
}
void NavController::updateMapView() {
const float kappa1 = display_ms / 1000.0f;
const float kappa2 = kappa1 * 0.7;
const float myHeight_m = 1.80;
curPosFast = curPosFast * (1-kappa1) + curEst.pos_m * (kappa1);
curPosSlow = curPosSlow * (1-kappa2) + curEst.pos_m * (kappa2);
const Point3 dir = (curPosFast - curPosSlow).normalized();
const Point3 dir2 = Point3(dir.x, dir.y, -0.2).normalized();
// how to update the camera
if (cameraMode == 0) {
mainController->getMapView3D()->setLookAt(curPosFast + Point3(0,0,myHeight_m), dir);
} else if (cameraMode == 1) {
mainController->getMapView3D()->setLookAt(curPosFast + Point3(0,0,myHeight_m) - dir2*4, dir2);
} else if (cameraMode == 2) {
const Point3 spectator = curPosFast + Point3(0,0,25) - dir*15;
const Point3 spectatorDir = (curPosFast - spectator).normalized();
mainController->getMapView3D()->setLookEye(spectator);
mainController->getMapView3D()->setLookDir(spectatorDir);
}
mainController->getMapView3D()->setClipAbove(curEst.pos_m.z + 2);
mainController->getMapView3D()->setCurrentEstimation(curEst.pos_m, dir);
mainController->getMapView2D()->setCurrentEstimation(curEst.pos_m, dir);
}