glWidget.cpp

Go to the documentation of this file.

 
#include "glWidget.hh"
 
GLWidget::GLWidget(QWidget* parent) : QGLViewer(parent) {}
 
void GLWidget::obstacleDataReady(const std::map<float, int>& obstacleData)
{
    _obstacleCoordinates.clear();
    _obstacleRadius.clear();
 
    std::vector<float> tmp_vector;
 
    for(const auto& [angle, distance] : obstacleData)
    {
        float radianAngle = ((angle + 1) * PI) / 180.0;
 
        float x = distance * __scale * cos(radianAngle);
        float y = distance * __scale * sin(radianAngle);
        float z = __lidarHeight;
        _obstacleCoordinates.push_back({x, y, z});
        tmp_vector.push_back(distance);
    }
 
    float min = *std::min_element(std::begin(tmp_vector), std::end(tmp_vector));
    float max = *std::max_element(std::begin(tmp_vector), std::end(tmp_vector));
 
    for(unsigned long i = 0; i < tmp_vector.size(); i++)
    {
        float value = tmp_vector[i];
        float colour = (value - min) / (max - min) * 255.0;
        _obstacleRadius.push_back(colour);
    }
 
    updateGL();
}
 
void GLWidget::draw()
{
    // Background
    glClearColor(0.5, 0.5, 0.5, 1);
 
    drawRobot();
 
    // for(const auto& coordinates : _obstacleCoordinates)
    for(unsigned long i = 0; i < _obstacleCoordinates.size(); i++)
    {
        drawOneObstacle(_obstacleCoordinates[i][0], _obstacleCoordinates[i][1], _obstacleCoordinates[i][2],
                        _obstacleRadius[i]);
    }
 
    glFlush();
}
 
void GLWidget::init()
{
    restoreStateFromFile();
    // help();
}
 
QString GLWidget::helpString() const
{
    QString text("<h2>S i m p l e V i e w e r</h2>");
    text += "Use the mouse to move the camera around the object. ";
    text += "You can respectively revolve around, zoom and translate with the three mouse buttons. ";
    text += "Left and middle buttons pressed together rotate around the camera view direction axis<br><br>";
    text += "Pressing <b>Alt</b> and one of the function keys (<b>F1</b>..<b>F12</b>) defines a camera keyFrame. ";
    text += "Simply press the function key again to restore it. Several keyFrames define a ";
    text += "camera path. Paths are saved when you quit the application and restored at next start.<br><br>";
    text += "Press <b>F</b> to display the frame rate, <b>A</b> for the world axis, ";
    text += "<b>Alt+Return</b> for full screen mode and <b>Control+S</b> to save a snapshot. ";
    text += "See the <b>Keyboard</b> tab in this window for a complete shortcut list.<br><br>";
    text += "Double clicks automates single click actions: A left button double click aligns the closer axis with the "
            "camera (if close enough). ";
    text +=
        "A middle button double click fits the zoom of the camera and the right button re-centers the scene.<br><br>";
    text += "A left button double click while holding right button pressed defines the camera <i>Revolve Around "
            "Point</i>. ";
    text += "See the <b>Mouse</b> tab and the documentation web pages for details.<br><br>";
    text += "Press <b>Escape</b> to exit the viewer.";
    return text;
}
 
void GLWidget::drawRobot()
{
    _drawCylinder(__robotRadius, __robotHeight, 0, 0, 139);
 
    glPushMatrix();
    glPushMatrix();
 
    glTranslatef(__robotRadius, 0, __robotWheelRadius);
    glRotatef(90, 0, 1, 0);
    _drawCylinder(__robotWheelRadius, __robotWheelThickness, 50, 50, 50);
 
    glPopMatrix();
 
    glTranslatef(-__robotRadius, 0, __robotWheelRadius);
    glRotatef(-90, 0, 1, 0);
    _drawCylinder(__robotWheelRadius, __robotWheelThickness, 50, 50, 50);
 
    glPopMatrix();
}
 
void GLWidget::drawOneObstacle(GLfloat x, GLfloat y, GLfloat z, GLfloat color)
{
    glPushMatrix();
    glTranslatef(x, y, z);
 
    _drawCube(__obstacleSize, 0, color, 0);
    glPopMatrix();
}
 
void GLWidget::_drawCube(GLfloat size, GLubyte R, GLubyte G, GLubyte B)
{
    glPushMatrix();
 
    glColor3ub(R, G, B);
    glBegin(GL_POLYGON);
    glVertex3f(size, -size, size);
    glVertex3f(size, size, size);
    glVertex3f(-size, size, size);
    glVertex3f(-size, -size, size);
    glEnd();
 
    glColor3ub(R, G, B);
    glBegin(GL_POLYGON);
    glVertex3f(size, -size, -size);
    glVertex3f(size, size, -size);
    glVertex3f(size, size, size);
    glVertex3f(size, -size, size);
    glEnd();
 
    glColor3ub(R, G, B);
    glBegin(GL_POLYGON);
    glVertex3f(-size, -size, size);
    glVertex3f(-size, size, size);
    glVertex3f(-size, size, -size);
    glVertex3f(-size, -size, -size);
    glEnd();
 
    glColor3ub(R, G, B);
    glBegin(GL_POLYGON);
    glVertex3f(size, size, size);
    glVertex3f(size, size, -size);
    glVertex3f(-size, size, -size);
    glVertex3f(-size, size, size);
    glEnd();
 
    glColor3ub(R, G, B);
    glBegin(GL_POLYGON);
    glVertex3f(size, -size, -size);
    glVertex3f(size, -size, size);
    glVertex3f(-size, -size, size);
    glVertex3f(-size, -size, -size);
    glEnd();
 
    glPopMatrix();
}
 
void GLWidget::_drawCylinder(GLfloat radius, GLfloat height, GLubyte R, GLubyte G, GLubyte B)
{
    GLfloat x = 0.0;
    GLfloat y = 0.0;
    GLfloat angle = 0.0;
    GLfloat angle_stepsize = 0.1;
 
    // Tube
    glColor3ub(R, G, B);
    glBegin(GL_QUAD_STRIP);
    angle = 0.0;
    while(angle < 2 * PI)
    {
        x = radius * cos(angle);
        y = radius * sin(angle);
        glVertex3f(x, y, height);
        glVertex3f(x, y, 0.0);
        angle = angle + angle_stepsize;
    }
    glVertex3f(radius, 0.0, height);
    glVertex3f(radius, 0.0, 0.0);
    glEnd();
 
    // Top circle
    glColor3ub(R, G, B);
    glBegin(GL_POLYGON);
    angle = 0.0;
    while(angle < 2 * PI)
    {
        x = radius * cos(angle);
        y = radius * sin(angle);
        glVertex3f(x, y, height);
        angle = angle + angle_stepsize;
    }
    glVertex3f(radius, 0.0, height);
    glEnd();
 
    // Bottom circle
    glColor3ub(R, G, B);
    glBegin(GL_POLYGON);
    angle = 0.0;
    while(angle < 2 * PI)
    {
        x = radius * cos(angle);
        y = radius * sin(angle);
        glVertex3f(x, y, 0);
        angle = angle + angle_stepsize;
    }
    glVertex3f(radius, 0.0, 0);
    glEnd();
}