625f5fe04d
removed KLib stuff added new activity filter is uncommand! at the moment, the app is not able to load new maps and breaks using old maps
174 lines
3.8 KiB
C++
174 lines
3.8 KiB
C++
#ifndef MAPVIEW_H
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#define MAPVIEW_H
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#include <../misc/fixc11.h>
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#include <QOpenGLWidget>
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#include <QOpenGLFunctions>
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#include <QOpenGLShaderProgram>
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#include <QBasicTimer>
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#include <Indoor/geo/Point3.h>
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#include <Indoor/nav/dijkstra/DijkstraPath.h>
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#include "elements/Path.h"
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#include "elements/ColorPoints.h"
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#include "elements/Object.h"
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#include "../nav/Observation.h"
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#include "../nav/grid/State.h"
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namespace Floorplan {
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class IndoorMap;
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}
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class Renderable;
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class Path;
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class MapView3D : public QOpenGLWidget, protected QOpenGLFunctions {
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Q_OBJECT
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private:
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QMatrix4x4 matProject;
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QMatrix4x4 matView;
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QVector3D lightPos;
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QVector3D eyePos;
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RenderParams renderParams;
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QBasicTimer timer;
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std::vector<Renderable*> elements;
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Path* pathToDest = nullptr;
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Path* pathWalked = nullptr;
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ColorPoints* colorPoints = nullptr;
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Object* leDude = nullptr;
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struct LookAt {
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QVector3D eye_m = QVector3D(0,0,1);
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QVector3D dir = QVector3D(1,0,-0.1);
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float ax = 0;
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float ay = 0;
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QMatrix4x4 dirRot;
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QVector3D getDir() const {return this->dirRot * this->dir;}
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LookAt() {
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dirRot.setToIdentity();
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}
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} lookAt;
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struct MouseState {
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float x = 0;
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float y = 0;
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bool down = false;
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} mouseState;
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void rebuildLookat();
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void clear();
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public:
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MapView3D(QWidget* parent = 0);
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/** set the map to display */
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void setMap(Floorplan::IndoorMap* map);
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/** the position to look at + looking direction */
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void setLookAt(const Point3 pos, const Point3 dir = Point3(1, 0, -0.1));
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/** set the eye's looking direction (looking from eye into this direction) */
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void setLookDir(const Point3 dir);
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/** set the eye's position (looking from here) */
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void setLookEye(const Point3 eye_m);
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/** do not render elements higher than the given height */
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void setClipAbove(const float height_m) {renderParams.clipAboveHeight_m = height_m;}
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/** set the currently estimated position */
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void setCurrentEstimation(const Point3 pos, const Point3 dir);
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/** set the path to the destination MUST BE CALLED FROM THE MAIN THREAD */
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void setPathToDestination(const std::vector<Point3>& path);
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/** set the path to disply. MUST BE CALLED FROM THE MAIN THREAD */
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template <typename Node> void setPathToDestination(const DijkstraPath<Node>* path) {this->pathToDest->set(*path);}
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/** set the path to disply. MUST BE CALLED FROM THE MAIN THREAD*/
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Q_INVOKABLE void setPathToDestination(const void* path) { setPathToDestination( (const DijkstraPath<MyGridNode>*) path); }
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/** set the walked path. MUST BE CALLED FROM THE MAIN THREAD */
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void setPathWalked(const std::vector<Point3>& path);
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/** set the walked path. MUST BE CALLED FROM THE MAIN THREAD */
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Q_INVOKABLE void setPathWalked(const void* path) { this->pathWalked->set( *((const std::vector<Point3>*) path)); }
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/** NOTE: must be called from Qt's main thread! */
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void showGridImportance(Grid<MyGridNode>* grid) {
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this->colorPoints->setFromGridImportance(grid);
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}
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/** NOTE: must be called from Qt's main thread! */
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Q_INVOKABLE void showParticles(const void* particles) {
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showParticles((const std::vector<SMC::Particle<GridBased::MyState>>*) particles);
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}
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/** NOTE: must be called from Qt's main thread! */
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void showParticles(const std::vector<SMC::Particle<GridBased::MyState>>* particles) {
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this->colorPoints->setFromParticles(*particles);
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}
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enum RenderMode {
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NORMAL,
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TRANSPARENT,
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OUTLINE,
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};
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RenderMode renderMode = RenderMode::NORMAL;
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void toggleRenderMode();
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void setVisible(bool visible) override;
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public slots:
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void mousePressEvent(QMouseEvent*);
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void mouseMoveEvent(QMouseEvent*);
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void mouseReleaseEvent(QMouseEvent*);
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void keyPressEvent(QKeyEvent*);
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protected:
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void timerEvent(QTimerEvent *e) Q_DECL_OVERRIDE;
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void initializeGL();
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void paintGL();
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void resizeGL(int width, int height);
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private:
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bool isGLInitialized = false;
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void draw();
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};
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#endif // MAPVIEW_H
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