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337
backplotwidget.cpp
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337
backplotwidget.cpp
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#include "backplotwidget.h"
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#include <QWidget>
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#include <QCamera>
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#include <QCameraLens>
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#include <QMaterial>
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#include <QGeometry>
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#include <Qt3DExtras/QCylinderMesh>
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#include <Qt3DExtras/QPlaneMesh>
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#include <Qt3DRender/qpointlight.h>
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#include <QRenderSettings>
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BackPlotWidget::BackPlotWidget(QWidget *parent, double xLimit, double yLimit, double zLimit)
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: limits(xLimit, yLimit, zLimit),
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QWidget(parent)
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{
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containerWdiget = QWidget::createWindowContainer(&view);
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hLayout.addWidget(containerWdiget);
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containerWdiget->setParent(this);
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setLayout(&hLayout);
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view.defaultFrameGraph()->setClearColor("Black");
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reset();
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}
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void BackPlotWidget::reset()
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{
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view.setRootEntity(nullptr);
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if(rootEntity)
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delete rootEntity;
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rootEntity = new Qt3DCore::QEntity();
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view.setRootEntity(rootEntity);
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view.renderSettings()->setRenderPolicy(Qt3DRender::QRenderSettings::OnDemand);
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camController = new OrbitCameraController(QVector2D(100, 100), rootEntity);
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camController->setLinearSpeed(200.0f);
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camController->setLookSpeed(360.0f);
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camController->setCamera(view.camera());
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axisMaterial = new Qt3DExtras::QPhongMaterial(rootEntity);
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rapidMaterial= new Qt3DExtras::QPhongMaterial(rootEntity);
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pathMaterial = new Qt3DExtras::QPhongMaterial(rootEntity);
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axisMaterial->setAmbient(QColorConstants::Red);
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rapidMaterial->setAmbient(QColorConstants::Gray);
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pathMaterial->setAmbient(QColorConstants::White);
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view.camera()->setPosition(QVector3D(limits.x()/2, limits.y()/2, limits.z()*4));
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view.camera()->setUpVector(QVector3D(0, 1, 0));
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view.camera()->setViewCenter(QVector3D(limits.x()/2, limits.y()/2, 0));
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Qt3DCore::QEntity *lightEntity = new Qt3DCore::QEntity(rootEntity);
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Qt3DRender::QPointLight *light = new Qt3DRender::QPointLight(lightEntity);
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light->setColor(QColorConstants::White);
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light->setIntensity(0.2);
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lightEntity->addComponent(light);
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Qt3DCore::QTransform *lightTransform = new Qt3DCore::QTransform(lightEntity);
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lightTransform->setTranslation(QVector3D(0-limits.x()/2, 0-limits.y()/2, 1000.0f));
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lightEntity->addComponent(lightTransform);
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Qt3DCore::QEntity* xAxisEntity = new Qt3DCore::QEntity(rootEntity);
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Qt3DCore::QEntity* yAxisEntity = new Qt3DCore::QEntity(rootEntity);
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Qt3DCore::QEntity* zAxisEntity = new Qt3DCore::QEntity(rootEntity);
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Qt3DExtras::QPhongMaterial* xAxisMaterial = new Qt3DExtras::QPhongMaterial(xAxisEntity);
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Qt3DExtras::QPhongMaterial* yAxisMaterial = new Qt3DExtras::QPhongMaterial(yAxisEntity);
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Qt3DExtras::QPhongMaterial* zAxisMaterial = new Qt3DExtras::QPhongMaterial(zAxisEntity);
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xAxisMaterial->setAmbient(QColorConstants::Green);
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yAxisMaterial->setAmbient(QColorConstants::Red);
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zAxisMaterial->setAmbient(QColor(18,128,255));
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touchoffTransform = new Qt3DCore::QTransform(rootEntity);
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touchoffTransform->setTranslation(limits);
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xAxisEntity->addComponent(touchoffTransform);
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yAxisEntity->addComponent(touchoffTransform);
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zAxisEntity->addComponent(touchoffTransform);
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drawLine(QVector3D(0,0,0), QVector3D(-15,0,0), xAxisMaterial, xAxisEntity);
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drawLine(QVector3D(0,0,0), QVector3D(0,-15,0), yAxisMaterial, yAxisEntity);
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drawLine(QVector3D(0,0,0), QVector3D(0,0,15), zAxisMaterial, zAxisEntity);
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drawBox(QVector3D(0, 0, 0), limits, axisMaterial, new Qt3DCore::QEntity(rootEntity));
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Qt3DCore::QEntity* planeEntity = new Qt3DCore::QEntity(rootEntity);
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Qt3DExtras::QPlaneMesh* plane = new Qt3DExtras::QPlaneMesh(planeEntity);
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Qt3DCore::QTransform *planeTransform = new Qt3DCore::QTransform(planeEntity);
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Qt3DExtras::QPhongMaterial* planeMaterial = new Qt3DExtras::QPhongMaterial(planeEntity);
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planeMaterial->setDiffuse(QColorConstants::DarkGray);
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planeTransform->setTranslation(QVector3D(limits.x()/2, limits.y()/2, -1));
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planeTransform->setRotationX(90);
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plane->setHeight(limits.y()*2);
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plane->setWidth(limits.x()*2);
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planeEntity->addComponent(plane);
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planeEntity->addComponent(planeMaterial);
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planeEntity->addComponent(planeTransform);
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Qt3DCore::QEntity* planeRevEntity = new Qt3DCore::QEntity(rootEntity);
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Qt3DExtras::QPlaneMesh* planeRev = new Qt3DExtras::QPlaneMesh(planeRevEntity);
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Qt3DCore::QTransform *planeRevTransform = new Qt3DCore::QTransform(planeRevEntity);
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planeRevTransform->setTranslation(QVector3D(limits.x()/2, limits.y()/2, -1));
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planeRevTransform->setRotationX(-90);
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planeRev->setHeight(limits.y()*2);
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planeRev->setWidth(limits.x()*2);
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planeRevEntity->addComponent(planeRev);
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planeRevEntity->addComponent(planeMaterial);
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planeRevEntity->addComponent(planeRevTransform);
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toolEntity = new Qt3DCore::QEntity(rootEntity);
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Qt3DExtras::QCylinderMesh* toolMesh = new Qt3DExtras::QCylinderMesh(toolEntity);
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Qt3DExtras::QPhongMaterial* toolMaterial = new Qt3DExtras::QPhongMaterial(toolEntity);
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toolTransform = new Qt3DCore::QTransform(toolEntity);
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toolTransform->setTranslation(limits + QVector3D(0,0,5));
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toolTransform->setRotationX(90);
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toolMaterial->setDiffuse(QColorConstants::White);
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toolMaterial->setAmbient(QColor(64,64,64));
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toolMesh->setRadius(1);
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toolMesh->setLength(10);
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toolEntity->addComponent(toolMesh);
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toolEntity->addComponent(toolMaterial);
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toolEntity->addComponent(toolTransform);
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}
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void BackPlotWidget::showView(ViewPos viewPos)
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{
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if(viewPos == VIEW_TOP)
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{
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view.camera()->setPosition(QVector3D(limits.x()/2, limits.y()/2, limits.z()*4));
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view.camera()->setUpVector(QVector3D(0, 1, 0));
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}
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else if(viewPos == VIEW_FRONT)
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{
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view.camera()->setPosition(QVector3D(limits.x()/2, 0-limits.y()*4, limits.z()/2));
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view.camera()->setUpVector(QVector3D(0, 0, 1));
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}
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else if(viewPos == VIEW_LEFT)
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{
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view.camera()->setPosition(QVector3D(0-limits.x()*4, limits.y()/2, limits.z()/2));
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view.camera()->setUpVector(QVector3D(0, 0, 1));
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}
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else if(viewPos == VIEW_RIGHT)
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{
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view.camera()->setPosition(QVector3D(limits.x()*4, limits.y()/2, limits.z()/2));
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view.camera()->setUpVector(QVector3D(0, 0, 1));
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}
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if(viewPos == VIEW_TOP)
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view.camera()->setViewCenter(QVector3D(limits.x()/2, limits.y()/2, 0));
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else
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view.camera()->setViewCenter(QVector3D(limits.x()/2, limits.y()/2, limits.z()/2));
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camController->setZoomFactor(1);
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}
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void BackPlotWidget::positionUpdate(std::vector<int> position)
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{
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assert(position.size() >= 3);
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toolTransform->setTranslation(limits - QVector3D(position[0]/1000.0, position[1]/1000.0, (position[2]/1000.0)-5));
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}
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void BackPlotWidget::resizeEvent(QResizeEvent *event)
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{
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QWidget::resizeEvent(event);
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double aspectRatio = static_cast<double>(geometry().width())/geometry().height();
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double screenWidth;
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double screenHeight;
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if(aspectRatio > 1.0)
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{
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screenWidth = 500.0;
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screenHeight = screenWidth/aspectRatio;
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}
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else
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{
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screenHeight = 500;
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screenWidth = aspectRatio*screenHeight;
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}
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camController->setOrthoSize(QVector2D(screenWidth, screenHeight));
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}
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void BackPlotWidget::drawBox(const QVector3D& a, const QVector3D& b, Qt3DRender::QMaterial* material, Qt3DCore::QEntity* parent)
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{
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drawLine(QVector3D(a.x(), a.y(), a.z()), QVector3D(b.x(), a.y(), a.z()), material, parent);
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drawLine(QVector3D(a.x(), a.y(), a.z()), QVector3D(a.x(), b.y(), a.z()), material, parent);
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drawLine(QVector3D(a.x(), a.y(), a.z()), QVector3D(a.x(), a.y(), b.z()), material, parent);
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drawLine(QVector3D(b.x(), a.y(), a.z()), QVector3D(b.x(), b.y(), a.z()), material, parent);
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drawLine(QVector3D(b.x(), a.y(), a.z()), QVector3D(b.x(), a.y(), b.z()), material, parent);
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drawLine(QVector3D(a.x(), b.y(), a.z()), QVector3D(b.x(), b.y(), a.z()), material, parent);
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drawLine(QVector3D(a.x(), b.y(), a.z()), QVector3D(a.x(), b.y(), b.z()), material, parent);
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drawLine(QVector3D(a.x(), a.y(), b.z()), QVector3D(b.x(), a.y(), b.z()), material, parent);
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drawLine(QVector3D(a.x(), a.y(), b.z()), QVector3D(a.x(), b.y(), b.z()), material, parent);
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drawLine(QVector3D(b.x(), b.y(), a.z()), QVector3D(b.x(), b.y(), b.z()), material, parent);
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drawLine(QVector3D(a.x(), b.y(), b.z()), QVector3D(b.x(), b.y(), b.z()), material, parent);
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drawLine(QVector3D(b.x(), a.y(), b.z()), QVector3D(b.x(), b.y(), b.z()), material, parent);
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}
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QByteArray BackPlotWidget::removeComments(const QByteArray& program)
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{
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int commentCounter = 0;
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QByteArray out;
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for(char ch : program)
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{
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if(ch == '/')
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++commentCounter;
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else if(ch == '\\' && commentCounter > 0)
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--commentCounter;
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else if(commentCounter == 0)
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out.push_back(ch);
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}
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return out;
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}
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QList<int> BackPlotWidget::getFields(QByteArray command)
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{
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command.remove(0, 2);
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QList<QByteArray> fieldsText = command.split(',');
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QList<int> fields;
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for(const QByteArray& field : fieldsText)
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{
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if(field.size() == 0)
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fields.push_back(NO_FIELD);
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else
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fields.push_back(field.toInt());
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}
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return fields;
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}
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void BackPlotWidget::programChanged(QByteArray program)
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{
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for(Qt3DCore::QEntity* entitiy : pathEntitys)
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delete entitiy;
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pathEntitys.clear();
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program = removeComments(program);
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QList<QByteArray> commands = program.split(';');
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QVector3D lastPos = touchoffPosition;
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qDebug()<<__func__;
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for(QByteArray& command : commands)
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{
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command = command.trimmed().toUpper();
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if(command.size() < 2)
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continue;
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if(command[0] == 'P' || command[0] == 'G')
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{
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QList<int> fields = getFields(command);
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QVector3D pos;
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if(fields.size() <= 2 || fields[2] == NO_FIELD)
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pos.setZ(command[1] != 'R' ? lastPos.z()-touchoffPosition.z() : 0);
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else if(fields.size() > 2)
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pos.setZ(fields[2]/1000.0);
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if(fields.size() <= 1 || fields[1] == NO_FIELD)
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pos.setY(command[1] != 'R' ? lastPos.y()-touchoffPosition.y() : 0);
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else if(fields.size() > 1)
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pos.setY(fields[1]/1000.0);
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if(fields.size() <= 0 || fields[0] == NO_FIELD)
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pos.setX(command[1] != 'R' ? lastPos.x()-touchoffPosition.x() : 0);
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else if(fields.size() > 0)
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pos.setX(fields[0]/1000.0);
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if(command[1] == 'A')
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pos = pos+touchoffPosition;
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else if(command[1] == 'R')
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pos = pos+lastPos;
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pathEntitys.push_back(new Qt3DCore::QEntity(rootEntity));
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drawLine(limits-lastPos, limits-pos, command[0] == 'G' ? rapidMaterial : pathMaterial, pathEntitys.back());
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lastPos = pos;
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}
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}
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}
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void BackPlotWidget::touchoffUpdate(std::vector<int> position)
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{
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assert(position.size() >= 3);
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touchoffPosition.setX(position[0]/1000.0);
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touchoffPosition.setY(position[1]/1000.0);
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touchoffPosition.setZ(position[2]/1000.0);
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touchoffTransform->setTranslation(limits-touchoffPosition);
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}
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void BackPlotWidget::drawLine(const QVector3D& start, const QVector3D& end, Qt3DRender::QMaterial* material, Qt3DCore::QEntity* parent)
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{
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Qt3DCore::QGeometry* geometry = new Qt3DCore::QGeometry(parent);
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// position vertices (start and end)
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QByteArray bufferBytes;
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bufferBytes.resize(3 * 2 * sizeof(float)); // start.x, start.y, start.end, end.x, end.y, end.z
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float* positions = reinterpret_cast<float*>(bufferBytes.data());
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*positions++ = start.x();
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*positions++ = start.y();
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*positions++ = start.z();
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*positions++ = end.x();
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*positions++ = end.y();
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*positions++ = end.z();
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Qt3DCore::QBuffer* buf = new Qt3DCore::QBuffer(geometry);
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buf->setData(bufferBytes);
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auto *positionAttribute = new Qt3DCore::QAttribute(geometry);
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positionAttribute->setName(Qt3DCore::QAttribute::defaultPositionAttributeName());
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positionAttribute->setVertexBaseType(Qt3DCore::QAttribute::Float);
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positionAttribute->setVertexSize(3);
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positionAttribute->setAttributeType(Qt3DCore::QAttribute::VertexAttribute);
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positionAttribute->setBuffer(buf);
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positionAttribute->setByteStride(3 * sizeof(float));
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positionAttribute->setCount(2);
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geometry->addAttribute(positionAttribute); // We add the vertices in the geometry
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// connectivity between vertices
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QByteArray indexBytes;
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indexBytes.resize(2 * sizeof(unsigned int)); // start to end
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unsigned int *indices = reinterpret_cast<unsigned int*>(indexBytes.data());
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*indices++ = 0;
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*indices++ = 1;
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Qt3DCore::QBuffer* indexBuffer = new Qt3DCore::QBuffer(geometry);
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indexBuffer->setData(indexBytes);
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Qt3DCore::QAttribute *indexAttribute = new Qt3DCore::QAttribute(geometry);
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indexAttribute->setVertexBaseType(Qt3DCore::QAttribute::UnsignedInt);
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indexAttribute->setAttributeType(Qt3DCore::QAttribute::IndexAttribute);
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indexAttribute->setBuffer(indexBuffer);
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indexAttribute->setCount(2);
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geometry->addAttribute(indexAttribute); // We add the indices linking the points in the geometry
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// mesh
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auto *line = new Qt3DRender::QGeometryRenderer(parent);
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line->setGeometry(geometry);
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line->setPrimitiveType(Qt3DRender::QGeometryRenderer::Lines);
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// entity
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auto *lineEntity = new Qt3DCore::QEntity(parent);
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lineEntity->addComponent(line);
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lineEntity->addComponent(material);
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}
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