forked from torriem/QtAgOpenGPS
-
Notifications
You must be signed in to change notification settings - Fork 1
/
formgps_opengl.cpp
1311 lines (1079 loc) · 49.4 KB
/
formgps_opengl.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
//#include <QtOpenGL>
#include <assert.h>
#include "formgps.h"
#include "csection.h"
#include "cvehicle.h"
#include "cworldgrid.h"
#include "ccontour.h"
#include "cabline.h"
#include "cboundary.h"
#include "aogrenderer.h"
#include "cnmea.h"
#include "glm.h"
#include "glutils.h"
#include "qmlutil.h"
//#include <QGLWidget>
#include <QQuickView>
#include <QOpenGLFunctions>
#include <QOpenGLShaderProgram>
#include <QOpenGLBuffer>
#include "aogproperty.h"
#include "cpgn.h"
#include <assert.h>
QVector3D FormGPS::mouseClickToPan(int mouseX, int mouseY)
{
/* returns easting and northing relative to the tractor's hitch position,
* useful for drag to pan
*/
QMatrix4x4 modelview;
QMatrix4x4 projection;
int width = qmlItem(qml_root, "openglcontrol")->property("width").toReal();
int height = qmlItem(qml_root, "openglcontrol")->property("height").toReal();
double shiftX = qmlItem(qml_root,"openglcontrol")->property("shiftX").toDouble();
double shiftY = qmlItem(qml_root,"openglcontrol")->property("shiftY").toDouble();
projection.setToIdentity();
//to shift, translate projection here. -1,0,0 is far left, 1,0,0 is far right.
projection.translate(shiftX,shiftY,0);
// Create a perspective transformation.
projection.perspective(glm::toDegrees(fovy), width / (double)height, 1.0f, camDistanceFactor * camera.camSetDistance);
modelview.setToIdentity();
//camera does translations and rotations
camera.SetWorldCam(modelview, vehicle.pivotAxlePos.easting, vehicle.pivotAxlePos.northing, camera.camHeading);
modelview.translate(vehicle.hitchPos.easting, vehicle.hitchPos.northing, 0);
//modelview.translate(sin(vehicle.fixHeading) * tool.hitchLength,
// cos(vehicle.fixHeading) * tool.hitchLength, 0);
if (camera.camFollowing)
modelview.rotate(glm::toDegrees(-vehicle.fixHeading), 0.0, 0.0, 1.0);
float x,y;
x = mouseX;
y = height - mouseY;
//get point on the near plane
QVector3D worldpoint_near = QVector3D( { x, y, 0} ).unproject(modelview,projection,QRect(0,0,width, height));
//get point on the far plane
QVector3D worldpoint_far = QVector3D( { x, y, 1} ).unproject(modelview, projection,QRect(0,0,width, height));
//get direction vector from near to far
QVector3D direction = worldpoint_far - worldpoint_near;
//determine intercept with z=0 plane, and calculate easting and northing
double lambda = -(worldpoint_near.z()) / direction.z();
mouseEasting = worldpoint_near.x() + lambda * direction.x();
mouseNorthing = worldpoint_near.y() + lambda * direction.y();
QMatrix4x4 m;
m.rotate(-vehicle.fixHeading, 0,0,1);
QVector3D relative = QVector3D( { (float)mouseEasting, (float)mouseNorthing, 0 } );
return relative;
}
QVector3D FormGPS::mouseClickToField(int mouseX, int mouseY)
{
/* returns the field easting and northing position of a
* mouse click
*/
QMatrix4x4 modelview;
QMatrix4x4 projection;
int width = qmlItem(qml_root, "openglcontrol")->property("width").toReal();
int height = qmlItem(qml_root, "openglcontrol")->property("height").toReal();
double shiftX = qmlItem(qml_root,"openglcontrol")->property("shiftX").toDouble();
double shiftY = qmlItem(qml_root,"openglcontrol")->property("shiftY").toDouble();
projection.setToIdentity();
//to shift, translate projection here. -1,0,0 is far left, 1,0,0 is far right.
projection.translate(shiftX,shiftY,0);
// Create a perspective transformation.
projection.perspective(glm::toDegrees(fovy), width / (double)height, 1.0f, camDistanceFactor * camera.camSetDistance);
modelview.setToIdentity();
//camera does translations and rotations
camera.SetWorldCam(modelview, vehicle.pivotAxlePos.easting, vehicle.pivotAxlePos.northing, camera.camHeading);
//modelview.translate(vehicle.pivotAxlePos.easting, vehicle.pivotAxlePos.northing, 0);
//modelview.translate(sin(vehicle.fixHeading) * tool.hitchLength,
// cos(vehicle.fixHeading) * tool.hitchLength, 0);
//if (camera.camFollowing)
// modelview.rotate(glm::toDegrees(-vehicle.fixHeading), 0.0, 0.0, 1.0);
float x,y;
x = mouseX;
y = height - mouseY;
//get point on the near plane
QVector3D worldpoint_near = QVector3D( { x, y, 0} ).unproject(modelview,projection,QRect(0,0,width, height));
//get point on the far plane
QVector3D worldpoint_far = QVector3D( { x, y, 1} ).unproject(modelview, projection,QRect(0,0,width, height));
//get direction vector from near to far
QVector3D direction = worldpoint_far - worldpoint_near;
//determine intercept with z=0 plane, and calculate easting and northing
double lambda = -(worldpoint_near.z()) / direction.z();
mouseEasting = worldpoint_near.x() + lambda * direction.x();
mouseNorthing = worldpoint_near.y() + lambda * direction.y();
QMatrix4x4 m;
m.rotate(-vehicle.fixHeading, 0,0,1);
QVector3D fieldCoord = QVector3D( { (float)mouseEasting, (float)mouseNorthing, 0 } );
return fieldCoord;
}
void FormGPS::oglMain_Paint()
{
QOpenGLContext *glContext = QOpenGLContext::currentContext();
QOpenGLFunctions *gl = glContext->functions();
//int width = glContext->surface()->size().width();
//int height = glContext->surface()->size().height();
QMatrix4x4 projection;
QMatrix4x4 modelview;
QColor color;
GLHelperTexture gldrawtex;
GLHelperColors gldrawcolors;
GLHelperOneColor gldraw1;
//synchronize with the position code in the main thread
//if (newframe)
// qDebug() << "start of new frame, waiting for lock at " << swFrame.elapsed();
if (!lock.tryLockForRead())
//if there's no new position to draw, just return so we don't
//waste time redrawing. Frame rate is at most gpsHz. And if we
//need to redraw part of the window on a resize, it will just have
//to wait until the next position comes in. Although if there is
//no simulator running and no positions coming in, the GL background
//will not update, which isn't what we want either. Some kind of timeout?
return;
//if (newframe)
// qDebug() << "start of new frame render at " << swFrame.elapsed();
int width = qmlItem(qml_root, "openglcontrol")->property("width").toReal();
int height = qmlItem(qml_root, "openglcontrol")->property("height").toReal();
double shiftX = qmlItem(qml_root,"openglcontrol")->property("shiftX").toDouble();
double shiftY = qmlItem(qml_root,"openglcontrol")->property("shiftY").toDouble();
//gl->glViewport(0,0,width,height);
//qDebug() << width << height;
/*
#ifdef GL_POINT_SPRITE
//not compatible with OpenGL ES
gl->glEnable(GL_POINT_SPRITE);
#endif
*/
#ifdef GL_PROGRAM_POINT_SIZE
//not required on OpenGL ES
gl->glEnable(GL_PROGRAM_POINT_SIZE);
#endif
//Do stuff that was in the initialized method, since Qt uses OpenGL and may
//have messed with the matrix stuff and other defaults
// Set The Blending Function For Translucency
gl->glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
gl->glCullFace(GL_BACK);
//gl->glDisable(GL_CULL_FACE);
//set the camera to right distance
SetZoom();
//now move the "camera" to the calculated zoom settings
//I had to move these functions here because if setZoom is called
//from elsewhere in the GUI (say a button press), there's no GL
//context to work with.
projection.setToIdentity();
//to shift, translate projection here. -1,0,0 is far left, 1,0,0 is far right.
//warning. Moving in the Y direction alters the way the field tilts in 3D view.
//would need to adjust the camera.setWorldCam stuff.
//But can move in X direction without issue
projection.translate(shiftX,shiftY,0);
// Create a perspective transformation.
projection.perspective(glm::toDegrees(fovy), width / (double)height, 1.0f, camDistanceFactor * camera.camSetDistance);
//oglMain rendering, Draw
int deadCam = 0;
gl->glEnable(GL_BLEND);
gl->glClearColor(0.25122f, 0.258f, 0.275f, 1.0f);
gl->glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
gl->glDisable(GL_DEPTH_TEST);
gl->glDisable(GL_TEXTURE_2D);
if((uint)sentenceCounter > 299)
{
modelview.setToIdentity();
modelview.translate(0,0.3,-10);
//rotate the camera down to look at fix
//modelview.rotate(-60, 1.0, 0.0, 0.0);
modelview.rotate(deadCam, 0.0, 1.0, 0.0);
deadCam += 5;
//TODO: replace with QML widget
//draw with NoGPS texture 21
/* color.setRgbF(1.25f, 1.25f, 1.275f, 0.75);
gldrawtex.append( { QVector3D(2.5, 2.5, 0), QVector2D(1,0) } ); //Top Right
gldrawtex.append( { QVector3D(-2.5, 2.5, 0), QVector2D(0,0) } ); //Top Left
gldrawtex.append( { QVector3D(2.5, -2.5, 0), QVector2D(1,1) } ); //Bottom Right
gldrawtex.append( { QVector3D(-2.5, -2.5, 0), QVector2D(0,1) } ); //Bottom Left
gldrawtex.draw(gl, projection * modelview, Textures::NOGPS, GL_TRIANGLE_STRIP, true,color);
*/
// 2D Ortho ---------------------------------------////////-------------------------------------------------
//we don't need to save the matrix since it's regenerated every time through this method
projection.setToIdentity();
//negative and positive on width, 0 at top to bottom ortho view
projection.ortho(-(double)width / 2, (double)width / 2, (double)height, 0, -1, 1);
// Create the appropriate modelview matrix.
modelview.setToIdentity();
color.setRgbF(0.98f, 0.98f, 0.70f);
int edge = -(double)width / 2 + 10;
drawText(gl,projection * modelview,edge,height - 240, "<-- AgIO ?",1.0,true,color);
gl->glFlush();
//GUI widgets have to be updated elsewhere
}
else
{
if (isGPSPositionInitialized)
{
// Clear the color and depth buffer.
gl->glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if (isDay) gl->glClearColor(0.27f, 0.4f, 0.7f, 1.0f);
else gl->glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
modelview.setToIdentity();
//camera does translations and rotations
camera.SetWorldCam(modelview, vehicle.pivotAxlePos.easting, vehicle.pivotAxlePos.northing, camera.camHeading);
//calculate the frustum planes for culling
CalcFrustum(projection*modelview);
QColor fieldcolor;
if(isDay) {
fieldcolor = fieldColorDay;
} else {
fieldcolor = fieldColorNight;
}
//draw the field ground images
worldGrid.DrawFieldSurface(gl, projection *modelview, isTextureOn, fieldcolor, camera);
////if grid is on draw it
if (isGridOn)
worldGrid.DrawWorldGrid(gl,projection*modelview,gridZoom, QColor::fromRgbF(0,0,0));
//OpenGL ES does not support wireframe in this way. If we want wireframe,
//we'll have to do it with LINES
//if (isDrawPolygons) gl->glPolygonMode(GL_FRONT, GL_LINE);
//turn on blend for paths
gl->glEnable(GL_BLEND);
//draw patches of sections
for (int j = 0; j < triStrip.count(); j++)
{
//every time the section turns off and on is a new patch
bool isDraw;
int patches = triStrip[j].patchList.size();
if (patches > 0)
{
//initialize the steps for mipmap of triangles (skipping detail while zooming out)
/* Unused since we use the triangle lists directly with the buffers
int mipmap = 0;
if (camera.camSetDistance < -800) mipmap = 2;
if (camera.camSetDistance < -1500) mipmap = 4;
if (camera.camSetDistance < -2400) mipmap = 8;
if (camera.camSetDistance < -4800) mipmap = 16;
*/
//for every new chunk of patch
for (QSharedPointer<PatchTriangleList> triList: triStrip[j].patchList)
{
isDraw = false;
int count2 = triList->size();
for (int i = 1; i < count2; i += 3) //first vertice is color
{
//determine if point is in frustum or not, if < 0, its outside so abort, z always is 0
//x is easting, y is northing
if (frustum[0] * (*triList)[i].x() + frustum[1] * (*triList)[i].y() + frustum[3] <= 0)
continue;//right
if (frustum[4] * (*triList)[i].x() + frustum[5] * (*triList)[i].y() + frustum[7] <= 0)
continue;//left
if (frustum[16] * (*triList)[i].x() + frustum[17] * (*triList)[i].y() + frustum[19] <= 0)
continue;//bottom
if (frustum[20] * (*triList)[i].x() + frustum[21] * (*triList)[i].y() + frustum[23] <= 0)
continue;//top
if (frustum[8] * (*triList)[i].x() + frustum[9] * (*triList)[i].y() + frustum[11] <= 0)
continue;//far
if (frustum[12] * (*triList)[i].x() + frustum[13] * (*triList)[i].y() + frustum[15] <= 0)
continue;//near
//point is in frustum so draw the entire patch. The downside of triangle strips.
isDraw = true;
break;
}
if (isDraw)
{
color.setRgbF((*triList)[0].x(), (*triList)[0].y(), (*triList)[0].z(), 0.596 );
//QVector<QVector3D> vertices;
QOpenGLBuffer triBuffer;
triBuffer.create();
triBuffer.bind();
//triangle lists are now using QVector3D, so we can allocate buffers
//directly from list data.
triBuffer.allocate(triList->data() + 1, (count2-1) * sizeof(QVector3D));
triBuffer.release();
glDrawArraysColor(gl,projection*modelview,
GL_TRIANGLE_STRIP, color,
triBuffer,GL_FLOAT,count2-1);
triBuffer.destroy();
}
}
}
}
// the follow up to sections patches
int patchCount = 0;
if (patchCounter > 0)
{
color = sectionColorDay;
if (isDay) color.setAlpha(152);
else color.setAlpha(76);
for (int j = 0; j < triStrip.count(); j++)
{
if (triStrip[j].isDrawing)
{
if (tool.isMultiColoredSections)
{
color = tool.secColors[j];
color.setAlpha(152);
}
patchCount = triStrip[j].patchList.count();
//draw the triangle in each triangle strip
gldraw1.clear();
//left side of triangle
QVector3D pt((vehicle.cosSectionHeading * tool.section[triStrip[j].currentStartSectionNum].positionLeft) + vehicle.toolPos.easting,
(vehicle.sinSectionHeading * tool.section[triStrip[j].currentStartSectionNum].positionLeft) + vehicle.toolPos.northing, 0);
gldraw1.append(pt);
//Right side of triangle
pt = QVector3D((vehicle.cosSectionHeading * tool.section[triStrip[j].currentEndSectionNum].positionRight) + vehicle.toolPos.easting,
(vehicle.sinSectionHeading * tool.section[triStrip[j].currentEndSectionNum].positionRight) + vehicle.toolPos.northing, 0);
gldraw1.append(pt);
int last = triStrip[j].patchList[patchCount -1]->count();
//antenna
gldraw1.append(QVector3D((*triStrip[j].patchList[patchCount-1])[last-2].x(), (*triStrip[j].patchList[patchCount-1])[last-2].y(),0));
gldraw1.append(QVector3D((*triStrip[j].patchList[patchCount-1])[last-1].x(), (*triStrip[j].patchList[patchCount-1])[last-1].y(),0));
gldraw1.draw(gl, projection*modelview, color, GL_TRIANGLE_STRIP, 1.0f);
}
}
}
if (tram.displayMode != 0) tram.DrawTram(gl,projection*modelview,camera);
//draw contour line if button on
if (ct.isContourBtnOn)
{
ct.DrawContourLine(gl, projection*modelview);
}
else// draw the current and reference AB Lines or CurveAB Ref and line
{
if (ABLine.isABLineSet | ABLine.isABLineBeingSet) ABLine.DrawABLines(gl, projection*modelview, isFontOn, bnd, yt, camera, gyd);
if (curve.isBtnCurveOn) curve.DrawCurve(gl, projection*modelview, isFontOn, vehicle, yt, camera);
}
//if (recPath.isRecordOn)
recPath.DrawRecordedLine(gl, projection*modelview);
recPath.DrawDubins(gl, projection*modelview);
if (bnd.bndList.count() > 0 || bnd.isBndBeingMade == true)
{
//draw Boundaries
bnd.DrawFenceLines(vehicle, mc, gl, projection*modelview);
//draw the turnLines
if (yt.isYouTurnBtnOn && ! ct.isContourBtnOn)
{
bnd.DrawFenceLines(vehicle,mc,gl,projection*modelview);
color.setRgbF(0.0f, 0.95f, 0.95f); //TODO: not sure what color turnLines should actually be
for (int i = 0; i < bnd.bndList.count(); i++)
{
DrawPolygon(gl,projection*modelview,bnd.bndList[i].turnLine,(float)property_setDisplay_lineWidth,color);
}
}
//Draw headland
if (bnd.isHeadlandOn)
{
color.setRgbF(0.960f, 0.96232f, 0.30f);
DrawPolygon(gl,projection*modelview,bnd.bndList[0].hdLine,(float)property_setDisplay_lineWidth,color);
}
}
//Direct line to flag if flag selected
if (flagNumberPicked > 0)
{
gldraw1.clear();
//TODO: implement with shader: GL.LineStipple(1, 0x0707);
gldraw1.append(QVector3D(vehicle.pivotAxlePos.easting, vehicle.pivotAxlePos.northing, 0));
gldraw1.append(QVector3D(flagPts[flagNumberPicked-1].easting, flagPts[flagNumberPicked-1].northing, 0));
gldraw1.draw(gl, projection*modelview,
QColor::fromRgbF(0.930f, 0.72f, 0.32f),
GL_LINES, property_setDisplay_lineWidth);
}
//draw the vehicle/implement
QMatrix4x4 mv = modelview; //push matrix
tool.DrawTool(gl,modelview, projection,isJobStarted,vehicle, camera,tram);
double steerangle;
if(timerSim.isActive()) steerangle = sim.steerangleAve;
else steerangle = mc.actualSteerAngleDegrees;
vehicle.DrawVehicle(gl, modelview, projection,steerangle,isFirstHeadingSet,QRect(0,0,width,height),camera,tool,bnd,ct,curve,ABLine);
modelview = mv; //pop matrix
if (camera.camSetDistance > -150)
{
gldraw1.clear();
color.setRgbF(0.98, 0.98, 0.098);
if (ABLine.isBtnABLineOn)
{
gldraw1.clear();
gldraw1.append(QVector3D(ABLine.goalPointAB.easting, ABLine.goalPointAB.northing, 0));
gldraw1.draw(gl,projection*modelview,QColor::fromRgbF(0,0,0),GL_POINTS,16);
gldraw1.draw(gl,projection*modelview,color,GL_POINTS,10);
}
else if (curve.isBtnCurveOn)
{
gldraw1.clear();
gldraw1.append(QVector3D(curve.goalPointCu.easting, curve.goalPointCu.northing, 0));
gldraw1.draw(gl,projection*modelview,QColor::fromRgbF(0,0,0),GL_POINTS,16);
gldraw1.draw(gl,projection*modelview,color,GL_POINTS,10);
}
}
// 2D Ortho --------------------------
//no need to "push" matrix since it will be regenerated next time
projection.setToIdentity();
//negative and positive on width, 0 at top to bottom ortho view
projection.ortho(-(double)width / 2, (double)width / 2, (double)height, 0, -1, 1);
// Create the appropriate modelview matrix.
modelview.setToIdentity();
if(isSkyOn) DrawSky(gl, projection*modelview, width, height);
if (vehicle.isHydLiftOn) DrawLiftIndicator(gl, modelview, projection, width, height);
//if (pn.age > pn.ageAlarm) DrawAge(gl, projection * modelview, width);
gl->glFlush();
//draw the zoom window
if (isJobStarted)
{
/*TODO implement floating zoom windo
if (threeSeconds != zoomUpdateCounter)
{
zoomUpdateCounter = threeSeconds;
oglZoom.Refresh();
}
*/
}
if (leftMouseDownOnOpenGL) MakeFlagMark(gl); //TODO: not working, fix!
}
else
{
gl->glClear(GL_COLOR_BUFFER_BIT);
}
//qmlview->resetOpenGLState();
//directly call section lookahead GL stuff from here
if (! newframe) {
//No new position, so no need to repaint the back buffer
//and do section look-ahead
lock.unlock();
//qWarning() << "rendered but skipping section lookahead processing.";
return;
}
oglBack_Paint();
gl->glFlush();
}
lock.unlock();
if(newframe && (bool)isJobStarted) {
//if we just had a new position and updated the back buffer then
//proecss the section lookaheads:
QTimer::singleShot(0,this, &FormGPS::processSectionLookahead);
//qDebug() << "GL thread is different: " << !(QThread::currentThread() == QCoreApplication::instance()->thread());
//qDebug() << "end of new frame render at " << swFrame.elapsed();
}
newframe = false;
}
/// Handles the OpenGLInitialized event of the openGLControl control.
void FormGPS::openGLControl_Initialized()
{
//QOpenGLContext *glContext = QOpenGLContext::currentContext();
//qmlview->resetOpenGLState();
//Load all the textures
//qDebug() << "initializing Open GL.";
loadGLTextures();
//qDebug() << "textures loaded.";
initializeShaders();
//qDebug() << "shaders loaded.";
/*
//load shaders, memory managed by parent thread, which is in this case,
//the QML rendering thread, not the Qt main loop.
if (!simpleColorShader) {
simpleColorShader = new QOpenGLShaderProgram(QThread::currentThread()); //memory managed by Qt
assert(simpleColorShader->addShaderFromSourceFile(QOpenGLShader::Vertex, ":/shaders/color_vshader.vsh"));
assert(simpleColorShader->addShaderFromSourceFile(QOpenGLShader::Fragment, ":/shaders/color_fshader.fsh"));
assert(simpleColorShader->link());
}
if (!texShader) {
texShader = new QOpenGLShaderProgram(QThread::currentThread()); //memory managed by Qt
assert(texShader->addShaderFromSourceFile(QOpenGLShader::Vertex, ":/shaders/colortex_vshader.vsh"));
assert(texShader->addShaderFromSourceFile(QOpenGLShader::Fragment, ":/shaders/colortex_fshader.fsh"));
assert(texShader->link());
}
if (!interpColorShader) {
interpColorShader = new QOpenGLShaderProgram(QThread::currentThread()); //memory managed by Qt
assert(interpColorShader->addShaderFromSourceFile(QOpenGLShader::Vertex, ":/shaders/colors_vshader.vsh"));
assert(interpColorShader->addShaderFromSourceFile(QOpenGLShader::Fragment, ":/shaders/colors_fshader.fsh"));
assert(interpColorShader->link());
}
*/
//now start the timer assuming no errors, otherwise the program will not stop on errors.
//TODO:
//tmrWatchdog.Enabled = true;
//qmlview->resetOpenGLState();
}
void FormGPS::openGLControl_Shutdown()
{
//qDebug() << "OpenGL shutting down... destroying buffers and shaders";
//qDebug() << QOpenGLContext::currentContext();
//We should have a valid OpenGL context here so we can clean up shaders and buffers
destroyShaders();
destroyTextures();
//destroy any openGL buffers.
worldGrid.destroyGLBuffers();
}
//main openGL draw function
void FormGPS::oglBack_Paint()
{
//Because this is potentially running in another thread, we cannot
//safely make any GUI calls to set buttons, etc. So instead, we
//do the GL drawing here and get the lookahead pixmap from GL here.
//After this, this widget will emit a finished signal, where the main
//thread can then run the second part of this function, which I've
//split out into its own function.
QOpenGLContext *glContext = QOpenGLContext::currentContext();
QMatrix4x4 projection;
QMatrix4x4 modelview;
GLHelperOneColor gldraw;
/* use the QML context with an offscreen surface to draw
* the lookahead triangles
*/
if (!backFBO ) {
QOpenGLFramebufferObjectFormat format;
format.setAttachment(QOpenGLFramebufferObject::CombinedDepthStencil);
//TODO: backFBO is leaking... delete it in the destructor?
//I think context has to be active to delete it...
backFBO = new QOpenGLFramebufferObject(QSize(500,300),format);
}
QSurface *origSurface = glContext->surface();
glContext->makeCurrent(&backSurface);
backFBO->bind();
glContext->functions()->glViewport(0,0,500,300);
QOpenGLFunctions *gl = glContext->functions();
//int width = glContext->surface()->size().width();
//int height = glContext->surface()->size().height();
gl->glPixelStorei(GL_PACK_ALIGNMENT, 1);
// Load the identity.
projection.setToIdentity();
//projection.perspective(6.0f,1,1,6000);
projection.perspective(glm::toDegrees((double)0.06f), 1.666666666666f, 50.0f, 520.0f);
gl->glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
gl->glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear The Screen And The Depth Buffer
//gl->glLoadIdentity(); // Reset The View
modelview.setToIdentity();
//back the camera up
modelview.translate(0, 0, -500);
//rotate camera so heading matched fix heading in the world
//gl->glRotated(toDegrees(vehicle.fixHeadingSection), 0, 0, 1);
modelview.rotate(glm::toDegrees(vehicle.toolPos.heading), 0, 0, 1);
modelview.translate(-vehicle.toolPos.easting - sin(vehicle.toolPos.heading) * 15,
-vehicle.toolPos.northing - cos(vehicle.toolPos.heading) * 15,
0);
//patch color
QColor patchColor = QColor::fromRgbF(0.0f, 0.5f, 0.0f);
//to draw or not the triangle patch
bool isDraw;
double pivEplus = vehicle.pivotAxlePos.easting + 50;
double pivEminus = vehicle.pivotAxlePos.easting - 50;
double pivNplus = vehicle.pivotAxlePos.northing + 50;
double pivNminus = vehicle.pivotAxlePos.northing - 50;
//draw patches j= # of sections
for (int j = 0; j < triStrip.count(); j++)
{
//every time the section turns off and on is a new patch
int patchCount = triStrip[j].patchList.size();
if (patchCount > 0)
{
//for every new chunk of patch
for (QSharedPointer<QVector<QVector3D>> triList: triStrip[j].patchList)
{
isDraw = false;
int count2 = triList->size();
for (int i = 1; i < count2; i+=3)
{
//determine if point is in frustum or not
if ((*triList)[i].x() > pivEplus)
continue;
if ((*triList)[i].x() < pivEminus)
continue;
if ((*triList)[i].y() > pivNplus)
continue;
if ((*triList)[i].y() < pivNminus)
continue;
//point is in frustum so draw the entire patch
isDraw = true;
break;
}
if (isDraw)
{
QOpenGLBuffer triBuffer;
triBuffer.create();
triBuffer.bind();
//triangle lists are now using QVector3D, so we can allocate buffers
//directly from list data.
//first vertice is color, so we should skip it
triBuffer.allocate(triList->data() + 1, (count2-1) * sizeof(QVector3D));
//triBuffer.allocate(triList->data(), count2 * sizeof(QVector3D));
triBuffer.release();
//draw the triangles in each triangle strip
glDrawArraysColor(gl,projection*modelview,
GL_TRIANGLE_STRIP, patchColor,
triBuffer,GL_FLOAT,count2-1);
triBuffer.destroy();
}
}
}
}
//draw tool bar for debugging
//gldraw.clear();
//gldraw.append(QVector3D(tool.section[0].leftPoint.easting, tool.section[0].leftPoint.northing,0.5));
//gldraw.append(QVector3D(tool.section[tool.numOfSections-1].rightPoint.easting, tool.section[tool.numOfSections-1].rightPoint.northing,0.5));
//gldraw.draw(gl,projection*modelview,QColor::fromRgb(255,0,0),GL_LINE_STRIP,1);
//draw 245 green for the tram tracks
if (tram.displayMode !=0 && (curve.isBtnCurveOn || ABLine.isBtnABLineOn))
{
if ((tram.displayMode == 1 || tram.displayMode == 2))
{
for (int i = 0; i < tram.tramList.count(); i++)
{
gldraw.clear();
for (int h = 0; h < tram.tramList[i]->count(); h++)
gldraw.append(QVector3D((*tram.tramList[i])[h].easting, (*tram.tramList[i])[h].northing, 0));
gldraw.draw(gl,projection*modelview,QColor::fromRgb(0,245,0),GL_LINE_STRIP,8);
}
}
if (tram.displayMode == 1 || tram.displayMode == 3)
{
gldraw.clear();
for (int h = 0; h < tram.tramBndOuterArr.count(); h++)
gldraw.append(QVector3D(tram.tramBndOuterArr[h].easting, tram.tramBndOuterArr[h].northing, 0));
for (int h = 0; h < tram.tramBndInnerArr.count(); h++)
gldraw.append(QVector3D(tram.tramBndInnerArr[h].easting, tram.tramBndInnerArr[h].northing, 0));
gldraw.draw(gl,projection*modelview,QColor::fromRgb(0,245,0),GL_LINE_STRIP,8);
}
}
//draw 240 green for boundary
if (bnd.bndList.count() > 0)
{
////draw the bnd line
if (bnd.bndList[0].fenceLine.count() > 3)
{
DrawPolygon(gl,projection*modelview,bnd.bndList[0].fenceLine,3,QColor::fromRgb(0,240,0));
}
//draw 250 green for the headland
if (bnd.isHeadlandOn && bnd.isSectionControlledByHeadland)
{
DrawPolygon(gl,projection*modelview,bnd.bndList[0].hdLine,3,QColor::fromRgb(0,250,0));
}
}
//finish it up - we need to read the ram of video card
gl->glFlush();
//read the whole block of pixels up to max lookahead, one read only
//we'll use Qt's QImage function to grab it.
grnPix = backFBO->toImage().mirrored().convertToFormat(QImage::Format_RGBX8888);
//qDebug() << grnPix.size();
//QImage temp = grnPix.copy(tool.rpXPosition, 250, tool.rpWidth, 290 /*(int)rpHeight*/);
//TODO: is thisn right?
QImage temp = grnPix.copy(tool.rpXPosition, 0, tool.rpWidth, 290 /*(int)rpHeight*/);
temp.setPixelColor(0,0,QColor::fromRgb(255,128,0));
grnPix = temp; //only show clipped image
memcpy(grnPixels, temp.constBits(), temp.size().width() * temp.size().height() * 4);
//grnPix = temp;
//The remaining code from the original method in the C# code is
//broken out into a callback in formgps.cpp called
//processSectionLookahead().
glContext->functions()->glFlush();
//restore QML's context
backFBO->bindDefault();
glContext->doneCurrent();
glContext->makeCurrent(origSurface);
//resetOpenGLState();
}
//Draw section OpenGL window, not visible
void FormGPS::openGLControlBack_Initialized()
{
}
void FormGPS::DrawUTurnBtn(QOpenGLFunctions *gl, QMatrix4x4 mvp)
{
QColor color;
Textures whichtex;
GLHelperTexture gldraw;
VertexTexcoord vt;
QLocale locale;
if (!yt.isYouTurnTriggered)
{
whichtex = Textures::TURN;
if (distancePivotToTurnLine > 0 && !yt.isOutOfBounds) color = QColor::fromRgbF(0.3f, 0.95f, 0.3f);
else color = QColor::fromRgbF(0.97f, 0.635f, 0.4f);
}
else
{
whichtex = Textures::TURNCANCEL;
color = QColor::fromRgbF(0.90f, 0.90f, 0.293f);
}
int two3 = qmlItem(qml_root, "openglcontrol")->property("width").toReal() / 5;
if (!yt.isYouTurnRight)
{
vt.texcoord = QVector2D(0, 0); vt.vertex = QVector3D(-62 + two3, 50,0); //
gldraw.append(vt);
vt.texcoord = QVector2D(1, 0); vt.vertex = QVector3D(62 + two3, 50,0); //
gldraw.append(vt);
vt.texcoord = QVector2D(0, 1); vt.vertex = QVector3D(-62 + two3, 120,0); //
gldraw.append(vt);
vt.texcoord = QVector2D(1, 1); vt.vertex = QVector3D(62 + two3, 120,0); //
gldraw.append(vt);
}
else
{
vt.texcoord = QVector2D(0, 0); vt.vertex = QVector3D(62 + two3, 50,0); //
gldraw.append(vt);
vt.texcoord = QVector2D(1, 0); vt.vertex = QVector3D(-62 + two3, 50,0); //
gldraw.append(vt);
vt.texcoord = QVector2D(0, 1); vt.vertex = QVector3D(62 + two3, 120,0); //
gldraw.append(vt);
vt.texcoord = QVector2D(1, 1); vt.vertex = QVector3D(-62 + two3, 120,0); //
gldraw.append(vt);
}
gldraw.draw(gl, mvp, whichtex, GL_TRIANGLE_STRIP, true, color);
// Done Building Triangle Strip
if (isMetric)
{
if (!yt.isYouTurnTriggered)
{
//drawText(gl, mvp, -30 + two3, 80, DistPivotM, 1.0, true, color);
}
else
{
drawText(gl, mvp, -30 + two3, 80, locale.toString(yt.onA), 1.0, true, color);
}
}
else
{
if (!yt.isYouTurnTriggered)
{
//drawText(gl, mvp, -40 + two3, 85, DistPivotFt, 1.0, true, color);
}
else
{
drawText(gl, mvp, -40 + two3, 85, locale.toString(yt.onA), 1.0, true, color);
}
}
}
void FormGPS::MakeFlagMark(QOpenGLFunctions *gl)
{
leftMouseDownOnOpenGL = false;
uchar data1[768];
memset(data1,0,768);
qDebug() << "mouse down at " << mouseX << ", " << mouseY;
//scan the center of click and a set of square points around
gl->glReadPixels(mouseX - 8, mouseY - 8, 16, 16, GL_RGB, GL_UNSIGNED_BYTE, data1);
//made it here so no flag found
flagNumberPicked = 0;
for (int ctr = 0; ctr < 768; ctr += 3)
{
if ((data1[ctr] == 255) || (data1[ctr + 1] == 255))
{
flagNumberPicked = data1[ctr + 2];
qDebug() << flagNumberPicked;
break;
}
}
/*TODO: popup flag menu*/
//have to set a flag for the main loop
}
void FormGPS::DrawFlags(QOpenGLFunctions *gl, QMatrix4x4 mvp)
{
GLHelperOneColor gldraw;
int flagCnt = flagPts.count();
for (int f = 0; f < flagCnt; f++)
{
QColor color;
QString flagColor = "&";
if (flagPts[f].color == 0) {
color = QColor::fromRgb(255, 0, flagPts[f].ID);
}
if (flagPts[f].color == 1) {
color = QColor::fromRgb(0, 255, flagPts[f].ID);
flagColor = "|";
}
if (flagPts[f].color == 2) {
color = QColor::fromRgb(255, 255, flagPts[f].ID);
flagColor = "~";
}
gldraw.append(QVector3D(flagPts[f].easting, flagPts[f].northing, 0));
gldraw.draw(gl, mvp, color, GL_POINTS, 8.0f);
flagColor += flagPts[f].notes;
drawText3D(camera, gl, mvp, flagPts[f].easting, flagPts[f].northing, flagColor,1,true,color);
}
if (flagNumberPicked != 0)
{
////draw the box around flag
gldraw.clear();
double offSet = (camera.zoomValue * camera.zoomValue * 0.01);
gl->glLineWidth(4.0f);
gldraw.append(QVector3D(flagPts[flagNumberPicked - 1].easting, flagPts[flagNumberPicked - 1].northing + offSet, 0));
gldraw.append(QVector3D(flagPts[flagNumberPicked - 1].easting - offSet, flagPts[flagNumberPicked - 1].northing, 0));
gldraw.append(QVector3D(flagPts[flagNumberPicked - 1].easting, flagPts[flagNumberPicked - 1].northing - offSet, 0));
gldraw.append(QVector3D(flagPts[flagNumberPicked - 1].easting + offSet, flagPts[flagNumberPicked - 1].northing, 0));
gldraw.append(QVector3D(flagPts[flagNumberPicked - 1].easting, flagPts[flagNumberPicked - 1].northing + offSet, 0));
gldraw.draw(gl, mvp, QColor::fromRgbF(0.980f, 0.0f, 0.980f),
GL_LINE_STRIP, 4.0);
}
}
void FormGPS::DrawSky(QOpenGLFunctions *gl, QMatrix4x4 mvp, int width, int height)
{
//VertexTexcoord vertices[4];
GLHelperTexture gldrawtex;
QColor color;
Textures tex;
////draw the background when in 3D
if (camera.camPitch < -52)
{
//-10 to -32 (top) is camera pitch range. Set skybox to line up with horizon
double hite = (camera.camPitch + 66) * -0.025;
//the background
double winLeftPos = -(double)width / 2;
double winRightPos = -winLeftPos;
if (isDay)
{
color.setRgbF(0.75, 0.75, 0.75);
tex = Textures::SKY;
}
else
{
color.setRgbF(0.5, 0.5, 0.5);
tex = Textures::SKYNIGHT;
}
double u = (vehicle.fixHeading)/glm::twoPI;
gldrawtex.append( { QVector3D( winRightPos,0,0 ), QVector2D(u+0.25, 0) } );
gldrawtex.append( { QVector3D( winLeftPos,0,0 ), QVector2D(u, 0) } );
gldrawtex.append( { QVector3D( winRightPos,hite * height,0 ), QVector2D(u+0.25, 1) } );
gldrawtex.append( { QVector3D( winLeftPos,hite * height,0 ), QVector2D(u, 1) } );