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formgps_opengl.cpp
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// Copyright (C) 2024 Michael Torrie and the QtAgOpenGPS Dev Team
// SPDX-License-Identifier: GNU General Public License v3.0 or later
//
// Main loop OpenGL stuff
//#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 "newsettings.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(mainWindow, "openglcontrol")->property("width").toReal();
int height = qmlItem(mainWindow, "openglcontrol")->property("height").toReal();
double shiftX = qmlItem(mainWindow,"openglcontrol")->property("shiftX").toDouble();
double shiftY = qmlItem(mainWindow,"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(mainWindow, "openglcontrol")->property("width").toReal();
int height = qmlItem(mainWindow, "openglcontrol")->property("height").toReal();
double shiftX = qmlItem(mainWindow,"openglcontrol")->property("shiftX").toDouble();
double shiftY = qmlItem(mainWindow,"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;
//if (newframe)
// qDebug() << "start of new frame, waiting for lock at " << swFrame.elapsed();
//synchronize with the position code in the main thread
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;
float lineWidth = settings->value(SETTINGS_display_lineWidth).value<float>();
int width = qmlItem(mainWindow, "openglcontrol")->property("width").toReal();
int height = qmlItem(mainWindow, "openglcontrol")->property("height").toReal();
double shiftX = qmlItem(mainWindow,"openglcontrol")->property("shiftX").toDouble();
double shiftY = qmlItem(mainWindow,"openglcontrol")->property("shiftY").toDouble();
/*
#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
camera.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)
{
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, modelview, projection, camera.gridZoom, QColor::fromRgbF(0,0,0,1));
//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);
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
{
//when switching lines, draw the ghost
trk.DrawTrack(gl, projection*modelview, isFontOn, worldGrid.isRateMap, yt, camera, gyd);
}
//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(0.3555f, 0.6232f, 0.20f); //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,lineWidth,color);
}
}
//Draw headland
if (bnd.isHeadlandOn)
{
color.setRgbF(0.960f, 0.96232f, 0.30f);
DrawPolygon(gl,projection*modelview,bnd.bndList[0].hdLine,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, 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);
modelview = mv; //pop matrix
if (camera.camSetDistance > -150)
{
trk.DrawTrackGoalPoint(gl, projection * modelview);
}
// 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();
//lightbar, button status, compasstext, steer circle, Hyd Lift, RTK
// alarm, etc are all done in QML based on properties in Interface.qml
//uturn buttons drawn in QML
if (tool.isDisplayTramControl && tram.displayMode != 0) { DrawTramMarkers(); }
//if this is on, vehicleInterface.isHydLiftOn is true
if (p_239.pgn[p_239.hydLift] == 2)
{
vehicle.setHydLiftDown(false); //vehicleInterface.hydLiftDown in QML
}
else
{
vehicle.setHydLiftDown(true);
}
//Reverse indicator in QML
//RTK alarm implemented in QML
//RTK age implemented in QML
//guidance line text implemented in QML
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);
}
//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;
}
gl->glFlush();
}
else
{
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
}
lock.unlock();
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();
}
//back buffer openGL draw function
void FormGPS::oglBack_Paint()
{
QOpenGLContext *glContext = QOpenGLContext::currentContext();
QMatrix4x4 projection;
QMatrix4x4 modelview;
GLHelperOneColorBack gldraw;
initializeBackShader(); //compiler the shader we need if necessary
/* 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);
}
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();
// 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
glDrawArraysColorBack(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 && tram.displayMode !=0 && (trk.idx > -1))
{
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)
{
DrawPolygonBack(gl,projection*modelview,bnd.bndList[0].fenceLine,3,QColor::fromRgb(0,240,0));
}
//draw 250 green for the headland
if (bnd.isHeadlandOn && bnd.isSectionControlledByHeadland)
{
DrawPolygonBack(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;
//first channel
if (worldGrid.numRateChannels > 0)
{
/*
GL.Enable(EnableCap.Texture2D);
GL.BindTexture(TextureTarget.Texture2D, texture[(int)textures.RateMap1]);
GL.Begin(PrimitiveType.TriangleStrip);
GL.Color3(1.0f, 1.0f, 1.0f);
GL.TexCoord2(0, 0);
GL.Vertex3(worldGrid.eastingMinRate, worldGrid.northingMaxRate, 0.10);
GL.TexCoord2(1, 0.0);
GL.Vertex3(worldGrid.eastingMaxRate, worldGrid.northingMaxRate, 0.10);
GL.TexCoord2(0.0, 1);
GL.Vertex3(worldGrid.eastingMinRate, worldGrid.northingMinRate, 0.10);
GL.TexCoord2(1, 1);
GL.Vertex3(worldGrid.eastingMaxRate, worldGrid.northingMinRate, 0.0);
GL.End();
GL.Flush();
//read the whole block of pixels up to max lookahead, one read only
GL.ReadPixels(250, 1, 1, 1, OpenTK.Graphics.OpenGL.PixelFormat.Red, PixelType.UnsignedByte, rateRed);
*/
}
//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();
//resetOpenGLState();
}
//Draw section OpenGL window, not visible
void FormGPS::openGLControlBack_Initialized()
{
}
//back buffer openGL draw function
void FormGPS::oglZoom_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;
GLHelperOneColorBack gldraw;
initializeBackShader(); //make sure shader is loaded
/* use the QML context with an offscreen surface to draw
* the lookahead triangles
*/
if (!zoomFBO ) {
QOpenGLFramebufferObjectFormat format;
format.setAttachment(QOpenGLFramebufferObject::CombinedDepthStencil);
//TODO: zoomFBO is leaking... delete it in the destructor?
//I think context has to be active to delete it...
zoomFBO = new QOpenGLFramebufferObject(QSize(400,400),format);
}
zoomFBO->bind();
glContext->functions()->glViewport(0,0,400,400);
QOpenGLFunctions *gl = glContext->functions();
//int width = glContext->surface()->size().width();
//int height = glContext->surface()->size().height();
gl->glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
gl->glCullFace(GL_BACK);
gl->glClearColor(0, 0, 0, 1.0f);
if (isJobStarted)
{
gl->glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
projection.setToIdentity(); //Reset the view
projection.perspective(glm::toDegrees((double)1.0f), 1.0f, 100.0f, 5000.0f);
modelview.setToIdentity();
calculateMinMax();
//back the camera up
modelview.translate(0, 0, -maxFieldDistance);
//translate to that spot in the world
modelview.translate(-fieldCenterX, -fieldCenterY, 0);
//draw patches
int count2;
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.count();
if (patchCount > 0)
{
//for every new chunk of patch
for (auto &triList: triStrip[j].patchList)
{
//draw the triangle in each triangle strip
gldraw.clear();
count2 = triList->count();
int mipmap = 2;
//if large enough patch and camera zoomed out, fake mipmap the patches, skip triangles
if (count2 >= (mipmap))
{
int step = mipmap;
for (int i = 1; i < count2; i += step)
{
gldraw.append(QVector3D((*triList)[i].x(), (*triList)[i].y(), 0)); i++;
gldraw.append(QVector3D((*triList)[i].x(), (*triList)[i].y(), 0)); i++;
//too small to mipmap it
if (count2 - i <= (mipmap))
break;
}
}
else
{
for (int i = 1; i < count2; i++) gldraw.append(QVector3D((*triList)[i].x(), (*triList)[i].y(), 0));
}
gldraw.draw(gl,projection*modelview,QColor::fromRgbF(0.5, 0.5, 0.5, 0.5),GL_TRIANGLE_STRIP,1.0f);
}
}
} //end of section patches
gl->glFlush();
//oglZoom.SwapBuffers();
//QImage overPix;
overPix = zoomFBO->toImage().mirrored().convertToFormat(QImage::Format_RGBX8888);
memcpy(overPixels, overPix.constBits(), overPix.size().width() * overPix.size().height() * 4);
}
glContext->functions()->glFlush();
//restore QML's context
zoomFBO->bindDefault();
}
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
}
//DrawTramMarkers moved to QML
void FormGPS::DrawTramMarkers()
{
/*3 states. On, off, manual on
* 0 and 1 are automatic
* 0 off
* 1 on
* 2 manual
* "flash" happens in qml.
* I just changed dot_color to have the 3 states
*/
int dot_color;
if (((tram.controlByte) & 2) == 2) dot_color = 1;// set to green #49FD49
else dot_color = 0;//
if ((bool)tram.isLeftManualOn)
{
dot_color = 2;
}
vehicle.setLeftTramIndicator(dot_color);
//done with left
if (((tram.controlByte) & 1) == 1) dot_color = 1;
else dot_color = 0;
if ((bool)tram.isRightManualOn)
{
dot_color = 2;
}
vehicle.setRightTramIndicator(dot_color);