Graphics3D Class Reference

#include <Graphics3D.h>

Inheritance diagram for Graphics3D:

Collaboration diagram for Graphics3D:

Public Member Functions
	Graphics3D (QWidget *parent=0)
virtual	~Graphics3D ()
void	setAnimating (bool animating)
size_t	setupCheetah3 (Vec4< float > color, bool useOld)
size_t	setupMiniCheetah (Vec4< float > color, bool useOld)
void	lockGfxMutex ()
void	unlockGfxMutex ()
GamepadCommand &	getDriverCommand ()
void	resetGameController ()
bool	IsPaused ()
bool	wantTurbo ()

Public Attributes
double	_fps = 0
DrawList	_drawList
char	infoString [200] = ""

Protected Member Functions
void	initializeGL () override
void	paintGL () override
void	mousePressEvent (QMouseEvent *event) override
void	mouseMoveEvent (QMouseEvent *event) override
void	mouseReleaseEvent (QMouseEvent *event) override
void	wheelEvent (QWheelEvent *e) override
void	keyReleaseEvent (QKeyEvent *e) override
void	keyPressEvent (QKeyEvent *event) override

Protected Attributes
float	_color1 [3] = {0.364784, 0.513401, 0.952230}
float	_color2 [3] = {0.553970, 0.477397, 0.628871}
float	_color3 [3] = {0.335223, 0.768230, 0.277775}

Private Member Functions
void	updateCameraMatrix ()
void	renderDrawlist ()
void	configOpenGLPass (int pass)
void	_BoxObstacleDrawing ()
void	_MeshObstacleDrawing ()
void	_DrawBox (double depth, double width, double height)
void	_Additional_Drawing (int pass)
void	_DrawContactForce ()
void	_DrawContactPoint ()
void	_drawArrow (ArrowVisualization &arrow)
void	_drawBlock (BlockVisualization &box)
void	_drawSphere (SphereVisualization &sphere)
void	_drawCone (ConeVisualization &cone)
void	_rotateZtoDirection (const Vec3< float > &direction)
void	_setColor (const Vec4< float > &color)
void	_translate (const Vec3< float > &position)
void	_drawArrow (const Vec3< float > &base, const Vec3< float > &direction, float lineWidth, float headWidth, float headLength)
void	getHeightColor (const double &height, float &r, float &g, float &b)
void	_SetRGBHeight (const double &h, const double &step, const int &idx, float &r, float &g, float &b)

Private Attributes
GameController	_gameController
GamepadCommand	_driverCommand
std::mutex	_gfxMutex
bool	_animating
GLuint	_posAttrColorArray
GLuint	_colAttrColorArray
GLuint	_matrixUniformColorArray
GLuint	_normAttrColorArray
GLuint	_posAttrSolidColor
GLuint	_colUniformSolidColor
GLuint	_colAttrSolidColor
GLuint	_matrixUniformSolidColor
GLuint	_normAttrSolidColor
GLuint	_buffID [3]
QOpenGLShaderProgram *	_colorArrayProgram
QOpenGLShaderProgram *	_solidColorProgram
int	_frame
qint64	last_frame_ms = 0
bool	_orbiting = false
int	_orbiting_x_start = 0
int	_orbiting_y_start = 0
float	_rx_base = 0
float	_ry_base = 0
float	_rx = 0
float	_ry = -34
float	_pixel_to_rad = .3f
float	_zoom = 3.0
bool	_rotOrig = true
bool	_turbo = false
QMatrix4x4	_cameraMatrix
Vec3< float >	_v0
Vec3< double >	_cameraTarget
FirstOrderIIRFilter< Vec3< float >, float >	_freeCamFilter
float	_freeCamMove [3] = {0, 0, 0}
float	_freeCamPos [3] = {0.f, 0.f, 0.f}
float	_frameTime = 1.f / 60.f
bool	_arrowsPressed [4] = {false, false, false, false}
float	_targetSpeed = 2
float	_r [8]
float	_g [8]
float	_b [8]
bool	_pause = false

Detailed Description

Definition at line 33 of file Graphics3D.h.

Constructor & Destructor Documentation

Graphics3D::Graphics3D ( QWidget *  parent = 0 )

explicit

Initialize a 3D visualization window

Definition at line 77 of file Graphics3D.cpp.

References _b, _g, and _r.

    : QOpenGLWidget(parent),
      _animating(false),
      _colorArrayProgram(0),
      _frame(0),
      _v0(0, 0, 0),
      _freeCamFilter(1, 60, _v0) {
  std::cout << "[SIM GRAPHICS] New graphics window. \n";

  _r[0] = 0.2422;
  _g[0] = 0.1504;
  _b[0] = 0.6603;
  _r[1] = 0.2810;
  _g[1] = 0.3228;
  _b[1] = 0.9579;
  _r[2] = 0.1786;
  _g[2] = 0.5289;
  _b[2] = 0.9682;
  _r[3] = 0.0689;
  _g[3] = 0.6948;
  _b[3] = 0.8394;
  _r[4] = 0.2161;
  _g[4] = 0.7843;
  _b[4] = 0.5923;
  _r[5] = 0.6720;
  _g[5] = 0.7793;
  _b[5] = 0.2227;
  _r[6] = 0.9970;
  _g[6] = 0.7659;
  _b[6] = 0.2199;
  _r[7] = 0.9769;
  _g[7] = 0.9839;
  _b[7] = 0.0805;
}

Graphics3D::~Graphics3D ( )

virtual

Definition at line 112 of file Graphics3D.cpp.

{}

Member Function Documentation

void Graphics3D::_Additional_Drawing ( int  pass )

private

Definition at line 679 of file Graphics3D.cpp.

References _cameraMatrix, _drawArrow(), _drawBlock(), _drawCone(), _DrawContactForce(), _DrawContactPoint(), _drawList, _drawSphere(), DrawList::_visualizationData, VisualizationData::arrows, VisualizationData::blocks, PathVisualization::color, VisualizationData::cones, configOpenGLPass(), VisualizationData::num_arrows, VisualizationData::num_blocks, VisualizationData::num_cones, VisualizationData::num_paths, PathVisualization::num_points, VisualizationData::num_spheres, VisualizationData::paths, PathVisualization::position, and VisualizationData::spheres.

                                             {
  glLoadMatrixf(_cameraMatrix.data());
  glPushAttrib(GL_LIGHTING_BIT);
  glDisable(GL_LIGHTING);

  _DrawContactForce();
  _DrawContactPoint();

  configOpenGLPass(pass);
  glEnable(GL_BLEND);
  glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);

  for (size_t i = 0; i < _drawList._visualizationData->num_arrows; i++) {
    _drawArrow(_drawList._visualizationData->arrows[i]);
  }

  for (size_t i = 0; i < _drawList._visualizationData->num_cones; i++) {
    _drawCone(_drawList._visualizationData->cones[i]);
  }

  for (size_t i = 0; i < _drawList._visualizationData->num_blocks; i++) {
    _drawBlock(_drawList._visualizationData->blocks[i]);
  }

  for (size_t i = 0; i < _drawList._visualizationData->num_spheres; i++) {
    _drawSphere(_drawList._visualizationData->spheres[i]);
  }
  glDisable(GL_BLEND);

  for (size_t i = 0; i < _drawList._visualizationData->num_paths; i++) {
    PathVisualization path = _drawList._visualizationData->paths[i];
    glColor4f(path.color[0], path.color[1], path.color[2], path.color[3]);
    glBegin(GL_LINE_STRIP);
    for (size_t j = 0; j < path.num_points; j++) {
      glVertex3d(path.position[j][0], path.position[j][1], path.position[j][2]);
    }
    glEnd();
  }

  glPopAttrib();
  glEnable(GL_LIGHTING);
}

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void Graphics3D::_BoxObstacleDrawing ( )

private

Definition at line 611 of file Graphics3D.cpp.

References _cameraMatrix, _DrawBox(), _drawList, and DrawList::getBoxInfoList().

                                     {
  glLoadMatrixf(_cameraMatrix.data());
  glPushAttrib(GL_LIGHTING_BIT);
  glDisable(GL_LIGHTING);

  size_t nBox = _drawList.getBoxInfoList().size();
  for (size_t i(0); i < nBox; ++i) {
    glPushMatrix();
    glMultMatrixf(_drawList.getBoxInfoList()[i].frame);  // column major
    _DrawBox(_drawList.getBoxInfoList()[i].depth,
             _drawList.getBoxInfoList()[i].width,
             _drawList.getBoxInfoList()[i].height);
    glPopMatrix();
  }
  glEnable(GL_LIGHTING);
  glPopAttrib();
}

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void Graphics3D::_drawArrow ( ArrowVisualization &  arrow )

private

Definition at line 835 of file Graphics3D.cpp.

References _setColor(), ArrowVisualization::base_position, ArrowVisualization::color, ArrowVisualization::direction, ArrowVisualization::head_length, ArrowVisualization::head_width, and ArrowVisualization::shaft_width.

                                                     {
  _setColor(arrow.color);
  _drawArrow(arrow.base_position, arrow.direction, arrow.shaft_width,
             arrow.head_width, arrow.head_length);
}

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void Graphics3D::_drawArrow ( const Vec3< float > &  base, const Vec3< float > &  direction, float  lineWidth, float  headWidth, float  headLength  )

private

Definition at line 841 of file Graphics3D.cpp.

References _rotateZtoDirection(), _translate(), and f().

                                                               {
  double len = direction.norm();

  glPushMatrix();
  _translate(position);
  _rotateZtoDirection(direction);

  double cylinderLength = len;
  if (cylinderLength > headLength) {
    cylinderLength -= headLength;
  } else {
    headLength = cylinderLength;
    cylinderLength = 0;
  }

  const int detail = 32;
  static GLUquadric *quad = gluNewQuadric();

  // glPolygonMode(GL_FRONT, GL_FILL);
  // Draw Cylinder
  gluCylinder(quad, lineWidth, lineWidth, cylinderLength, detail, 1);

  // Draw Cylinder Base
  glRotated(180, 1, 0, 0);
  gluDisk(quad, 0, lineWidth, detail, detail);
  glRotated(180, 1, 0, 0);

  glTranslatef(0, 0, cylinderLength);
  // Draw Arrowhead
  gluCylinder(quad, headWidth, 0.0f, headLength, detail, detail);

  glRotated(180, 1, 0, 0);
  // Draw Arrowhead Base
  gluDisk(quad, lineWidth, headWidth, detail, detail);
  glPopMatrix();
}

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void Graphics3D::_drawBlock ( BlockVisualization &  box )

private

Definition at line 821 of file Graphics3D.cpp.

References _DrawBox(), _setColor(), _translate(), BlockVisualization::color, BlockVisualization::corner_position, BlockVisualization::dimension, and BlockVisualization::rpy.

                                                   {
  glPushMatrix();
  _translate(box.corner_position);
  _setColor(box.color);
  glRotatef(box.rpy(2), 0, 0, 1);
  glRotatef(box.rpy(1), 0, 1, 0);
  glRotatef(box.rpy(0), 1, 0, 0);

  glScalef(box.dimension(0), box.dimension(1), box.dimension(2));
  glTranslatef(.5, .5, .5);
  _DrawBox(1, 1, 1);
  glPopMatrix();
}

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void Graphics3D::_DrawBox ( double  depth, double  width, double  height  )

private

Definition at line 629 of file Graphics3D.cpp.

References _color1, and f().

                                                                   {
  double x = depth / 2.0;
  double y = width / 2.0;
  double z = height / 2.0;

  glPushAttrib(GL_COLOR_BUFFER_BIT);

  glEnable(GL_BLEND);
  glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);

  glColor4f(_color1[0], _color1[1], _color1[2], 0.7f);

  glBegin(GL_QUADS);
  {
    glVertex3d(x, y, -z);
    glVertex3d(-x, y, -z);
    glVertex3d(-x, y, z);
    glVertex3d(x, y, z);

    glVertex3d(x, -y, -z);
    glVertex3d(x, y, -z);
    glVertex3d(x, y, z);
    glVertex3d(x, -y, z);

    glVertex3d(x, -y, z);
    glVertex3d(-x, -y, z);
    glVertex3d(-x, -y, -z);
    glVertex3d(x, -y, -z);

    glVertex3d(-x, -y, z);
    glVertex3d(-x, y, z);
    glVertex3d(-x, y, -z);
    glVertex3d(-x, -y, -z);

    glVertex3d(-x, -y, -z);
    glVertex3d(-x, y, -z);
    glVertex3d(x, y, -z);
    glVertex3d(x, -y, -z);

    glVertex3d(-x, -y, z);
    glVertex3d(x, -y, z);
    glVertex3d(x, y, z);
    glVertex3d(-x, y, z);
  }  // GL_QUADS
  glEnd();

  glPopAttrib();
  glDisable(GL_BLEND);
}

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void Graphics3D::_drawCone ( ConeVisualization &  cone )

private

Definition at line 808 of file Graphics3D.cpp.

References _rotateZtoDirection(), _setColor(), _translate(), ConeVisualization::color, ConeVisualization::direction, ConeVisualization::point_position, and ConeVisualization::radius.

                                                  {
  static GLUquadric *quad = gluNewQuadric();
  float len = cone.direction.norm();

  glPushMatrix();
  _setColor(cone.color);
  _translate(cone.point_position);
  _rotateZtoDirection(cone.direction);
  const int detail = 32;
  gluCylinder(quad, 0, cone.radius, len, detail, 1);
  glPopMatrix();
}

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void Graphics3D::_DrawContactForce ( )

private

Definition at line 722 of file Graphics3D.cpp.

References _drawArrow(), _drawList, f(), DrawList::getGCForce(), DrawList::getGCPos(), and DrawList::getTotalNumGC().

                                   {
  glLineWidth(2.0);
  // double scale(0.02);
  double scale(0.0025);

  glPushAttrib(GL_COLOR_BUFFER_BIT);
  glEnable(GL_BLEND);
  glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);

  for (size_t i(0); i < _drawList.getTotalNumGC(); ++i) {
    glColor4f(0.8f, 0.0f, 0.f, 0.5f);
    Vec3<float> floatForce, floatPos;
    for (size_t j = 0; j < 3; j++) {
      floatPos(j) = _drawList.getGCPos(i)[j];
      floatForce(j) = scale * _drawList.getGCForce(i)[j];
    }
    _drawArrow(floatPos, floatForce, .005, .015, .04);
  }
  glPopAttrib();
  glDisable(GL_BLEND);
}

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void Graphics3D::_DrawContactPoint ( )

private

Definition at line 744 of file Graphics3D.cpp.

References _drawList, f(), DrawList::getGCPos(), and DrawList::getTotalNumGC().

                                   {
  glPointSize(5);

  glPushAttrib(GL_COLOR_BUFFER_BIT);
  glEnable(GL_BLEND);
  glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);

  for (size_t i(0); i < _drawList.getTotalNumGC(); ++i) {
    glBegin(GL_POINTS);
    glColor4f(0.8f, 0.0f, 0.1f, 0.3f);

    glVertex3f(_drawList.getGCPos(i)[0], _drawList.getGCPos(i)[1],
               _drawList.getGCPos(i)[2]);

    glEnd();
  }
  glPopAttrib();
  glDisable(GL_BLEND);
}

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void Graphics3D::_drawSphere ( SphereVisualization &  sphere )

private

Definition at line 799 of file Graphics3D.cpp.

References _setColor(), _translate(), SphereVisualization::color, SphereVisualization::position, and SphereVisualization::radius.

                                                        {
  static GLUquadric *quad = gluNewQuadric();
  glPushMatrix();
  _translate(sphere.position);
  _setColor(sphere.color);
  gluSphere(quad, sphere.radius, 16, 16);
  glPopMatrix();
}

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void Graphics3D::_MeshObstacleDrawing ( )

private

Definition at line 519 of file Graphics3D.cpp.

References _cameraMatrix, _drawList, f(), DrawList::getGridSize(), getHeightColor(), DrawList::getHeightMap(), DrawList::getHeightMapLeftCorner(), DrawList::getHeightMapMax(), and DrawList::getHeightMapMin().

                                      {
  glLoadMatrixf(_cameraMatrix.data());
  glPushAttrib(GL_LIGHTING_BIT);
  glDisable(GL_LIGHTING);

  glPushMatrix();
  glTranslatef(_drawList.getHeightMapLeftCorner()[0],
               _drawList.getHeightMapLeftCorner()[1],
               _drawList.getHeightMapLeftCorner()[2]);

  double height_min = _drawList.getHeightMapMax();
  double height_max = _drawList.getHeightMapMin();
  double height_gap = height_max - height_min;
  double scaled_height(0.);

  float color_r(0.f);
  float color_g(0.f);
  float color_b(0.f);

  double grid_size(_drawList.getGridSize());
  double height;
  for (int i(0); i < _drawList.getHeightMap().rows(); ++i) {
    glBegin(GL_LINE_STRIP);
    glPushAttrib(GL_COLOR_BUFFER_BIT);
    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);

    for (int j(0); j < _drawList.getHeightMap().cols(); ++j) {
      height = _drawList.getHeightMap()(i, j);
      scaled_height = (height - height_min) / height_gap;
      getHeightColor(scaled_height, color_r, color_g, color_b);
      glColor4f(color_r, color_g, color_b, 1.0f);
      glVertex3d(i * grid_size, j * grid_size, height);
    }
    glPopAttrib();
    glDisable(GL_BLEND);
    glEnd();
  }
  for (int j(0); j < _drawList.getHeightMap().cols(); ++j) {
    glBegin(GL_LINE_STRIP);
    glPushAttrib(GL_COLOR_BUFFER_BIT);
    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);

    for (int i(0); i < _drawList.getHeightMap().rows(); ++i) {
      height = _drawList.getHeightMap()(i, j);
      scaled_height = (height - height_min) / height_gap;
      getHeightColor(scaled_height, color_r, color_g, color_b);
      glColor4f(color_r, color_g, color_b, 1.0f);
      glVertex3d(i * grid_size, j * grid_size, height);
    }
    glPopAttrib();
    glDisable(GL_BLEND);
    glEnd();
  }
  glPopMatrix();
  glEnable(GL_LIGHTING);
  glPopAttrib();
}

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void Graphics3D::_rotateZtoDirection ( const Vec3< float > &  direction )

private

Definition at line 764 of file Graphics3D.cpp.

References ori::rad2deg().

                                                                 {
  float len = direction.norm();
  float dxn = direction(0) / len;
  float dyn = direction(1) / len;
  float dzn = direction(2) / len;

  // Note: We need to create a rotation such that the z-axis points in the
  // direction of the 'direction' argument
  //       Thus, we can realize the rotation with a pure x-y axial rotation
  //       The rotation matrix of the rotated frame 'r' to the current frame 'c'
  //       (c_R_r) has special form. It's 3-rd column in particular has form: [
  //       wy*sin(theta) -wx*sin(theta) (1- cos(theta))]' where theta , [wx wy
  //       0] is the angle, axis of rotation

  // Find the rotation angle by comparing the z-axis of the current and rotated
  // frame
  const double cosTheta = dzn;
  const double theta = acos(cosTheta);
  const double sinTheta = sin(theta);

  // Exploit the special form of the rotation matrix (explained above) for find
  // the axis of rotation
  float rX, rY, rZ;
  if (theta > 0) {
    rX = -dyn / sinTheta;
    rY = dxn / sinTheta;
    rZ = 0;
  } else {
    rX = 0;
    rY = 0;
    rZ = 1;
  }
  glRotatef(ori::rad2deg(theta), rX, rY, rZ);
}

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void Graphics3D::_setColor ( const Vec4< float > &  color )

inlineprivate

Definition at line 98 of file Graphics3D.h.

                                           {
    glColor4f(color(0), color(1), color(2), color(3));
  }

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void Graphics3D::_SetRGBHeight ( const double &  h, const double &  step, const int &  idx, float &  r, float &  g, float &  b  )

private

Definition at line 603 of file Graphics3D.cpp.

References _b, _g, and _r.

                                                                             {
  double grade = (h - idx * step) / step;
  r = (_r[idx + 1] - _r[idx]) * grade + _r[idx];
  g = (_g[idx + 1] - _g[idx]) * grade + _g[idx];
  b = (_b[idx + 1] - _b[idx]) * grade + _b[idx];
}

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void Graphics3D::_translate ( const Vec3< float > &  position )

inlineprivate

Definition at line 101 of file Graphics3D.h.

References _drawArrow().

                                               {
    glTranslatef(position(0), position(1), position(2));
  }

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void Graphics3D::configOpenGLPass ( int  pass )

private

Definition at line 437 of file Graphics3D.cpp.

                                          {
  switch (pass) {
    case 0:
      // clear screen
      glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

      // update camera math

      glDisable(GL_CULL_FACE);

      glEnable(GL_BLEND);
      glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
      glEnable(GL_DEPTH_TEST);
      glDepthFunc(GL_LESS);
      break;
    case 1:
      glEnable(GL_CULL_FACE);
      glCullFace(GL_FRONT);
      glDepthFunc(GL_ALWAYS);
      break;
    case 2:
      glEnable(GL_CULL_FACE);
      glCullFace(GL_FRONT);
      glDepthFunc(GL_LEQUAL);
      break;
    case 3:
      glEnable(GL_CULL_FACE);
      glCullFace(GL_BACK);
      glDepthFunc(GL_ALWAYS);
      break;
    case 4:
      glDisable(GL_CULL_FACE);
      glDepthFunc(GL_LEQUAL);
      break;

    default:
      assert(false);
  }
}

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GamepadCommand& Graphics3D::getDriverCommand ( )

inline

Definition at line 52 of file Graphics3D.h.

References _driverCommand.

{ return _driverCommand; }

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void Graphics3D::getHeightColor ( const double &  height, float &  r, float &  g, float &  b  )

private

Definition at line 577 of file Graphics3D.cpp.

References _SetRGBHeight().

                                                                             {
  // 0 :  0.2422    0.1504    0.6603
  // 1/7:  0.2810    0.3228    0.9579
  // 2/7: 0.1786    0.5289    0.9682
  // 3/7: 0.0689    0.6948    0.8394
  // 4/7: 0.2161    0.7843    0.5923
  // 5/7: 0.6720    0.7793    0.2227
  // 6/7: 0.9970    0.7659    0.2199
  //   1: 0.9769    0.9839    0.0805
  double step(1. / 7.);
  if (h > 6 * step) {
    _SetRGBHeight(h, step, 6, r, g, b);
  } else if (h > 5 * step) {
    _SetRGBHeight(h, step, 5, r, g, b);
  } else if (h > 4 * step) {
    _SetRGBHeight(h, step, 4, r, g, b);
  } else if (h > 3 * step) {
    _SetRGBHeight(h, step, 3, r, g, b);
  } else if (h > 2 * step) {
    _SetRGBHeight(h, step, 2, r, g, b);
  } else if (h > 1 * step) {
    _SetRGBHeight(h, step, 1, r, g, b);
  } else {
    _SetRGBHeight(h, step, 0, r, g, b);
  }
}

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void Graphics3D::initializeGL ( )

overrideprotected

Definition at line 167 of file Graphics3D.cpp.

References _cameraTarget, _colAttrColorArray, _colAttrSolidColor, _colorArrayProgram, _colUniformSolidColor, _matrixUniformColorArray, _matrixUniformSolidColor, _normAttrColorArray, _normAttrSolidColor, _posAttrColorArray, _posAttrSolidColor, _solidColorProgram, clearColor, f(), fragmentShaderSource, vertexShaderSourceColorArray, and vertexShaderSourceSolidColor.

                              {
  std::cout << "[Graphics3D] Initialize OpenGL...\n";
  _cameraTarget.setZero();
  initializeOpenGLFunctions();
  // create GPU shaders
  _colorArrayProgram = new QOpenGLShaderProgram(this);
  _colorArrayProgram->addShaderFromSourceCode(QOpenGLShader::Vertex,
                                              vertexShaderSourceColorArray);
  _colorArrayProgram->addShaderFromSourceCode(QOpenGLShader::Fragment,
                                              fragmentShaderSource);
  _colorArrayProgram->link();

  _solidColorProgram = new QOpenGLShaderProgram(this);
  _solidColorProgram->addShaderFromSourceCode(QOpenGLShader::Vertex,
                                              vertexShaderSourceSolidColor);
  _solidColorProgram->addShaderFromSourceCode(QOpenGLShader::Fragment,
                                              fragmentShaderSource);
  _solidColorProgram->link();

  // setup attributes/uniforms (inputs to shaders)
  _posAttrColorArray = (GLuint)_colorArrayProgram->attributeLocation("posAttr");
  _colAttrColorArray = (GLuint)_colorArrayProgram->attributeLocation("colAttr");
  _normAttrColorArray =
      (GLuint)_colorArrayProgram->attributeLocation("normAttr");
  _matrixUniformColorArray =
      (GLuint)_colorArrayProgram->uniformLocation("matrix");

  _posAttrSolidColor = (GLuint)_solidColorProgram->attributeLocation("posAttr");
  _colUniformSolidColor =
      (GLuint)_solidColorProgram->uniformLocation("colUniform");
  _colAttrSolidColor = (GLuint)_solidColorProgram->attributeLocation("colAttr");
  _matrixUniformSolidColor =
      (GLuint)_solidColorProgram->attributeLocation("normAttr");
  _normAttrSolidColor = (GLuint)_solidColorProgram->uniformLocation("matrix");

  // set clear color:
  glClearColor(clearColor[0], clearColor[1], clearColor[2], 0.f);
}

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bool Graphics3D::IsPaused ( )

inline

Definition at line 56 of file Graphics3D.h.

References _pause.

{ return _pause; }

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void Graphics3D::keyPressEvent ( QKeyEvent *  event )

overrideprotected

Definition at line 238 of file Graphics3D.cpp.

References _arrowsPressed, _freeCamMove, _freeCamPos, _pause, _rx, _ry, _targetSpeed, and _turbo.

                                           {
  if (e->key() == Qt::Key_Control) {
    _targetSpeed *= .5f;
  } else if (e->key() == Qt::Key_Shift) {
    _targetSpeed *= 2.f;
  }
  if (e->key() == Qt::Key_W)
    _freeCamMove[2] = _targetSpeed;
  else if (e->key() == Qt::Key_S)
    _freeCamMove[2] = -_targetSpeed;

  if (e->key() == Qt::Key_A)
    _freeCamMove[0] = _targetSpeed;
  else if (e->key() == Qt::Key_D)
    _freeCamMove[0] = -_targetSpeed;

  if (e->key() == Qt::Key_R)
    _freeCamMove[1] = -_targetSpeed;
  else if (e->key() == Qt::Key_F)
    _freeCamMove[1] = _targetSpeed;

  if (e->key() == Qt::Key_Up)
    _arrowsPressed[0] = true;
  else if (e->key() == Qt::Key_Down)
    _arrowsPressed[1] = true;

  if (e->key() == Qt::Key_Right)
    _arrowsPressed[2] = true;
  else if (e->key() == Qt::Key_Left)
    _arrowsPressed[3] = true;

  if (e->key() == Qt::Key_V) {
    if (_pause)
      _pause = false;
    else
      _pause = true;
  }

  if(e->key() == Qt::Key_T) {
    _turbo = true;
  }

  if (e->key() == Qt::Key_Tab) {
    _freeCamPos[0] = 0.f;
    _freeCamPos[1] = 0.f;
    _freeCamPos[2] = 0.f;
    _rx = 0.f;
    _ry = 0.f;
  }
}

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void Graphics3D::keyReleaseEvent ( QKeyEvent *  e )

overrideprotected

Definition at line 289 of file Graphics3D.cpp.

References _arrowsPressed, _freeCamMove, _rotOrig, _targetSpeed, and _turbo.

                                             {
  if (e->key() == Qt::Key_Control) {
    _targetSpeed /= .5f;
  } else if (e->key() == Qt::Key_Shift) {
    _targetSpeed /= 2.f;
  } else if (e->key() == Qt::Key_Space) {
    _rotOrig = !_rotOrig;
  }

  if (e->key() == Qt::Key_W)
    _freeCamMove[2] = 0;
  else if (e->key() == Qt::Key_S)
    _freeCamMove[2] = 0;

  if (e->key() == Qt::Key_A)
    _freeCamMove[0] = 0;
  else if (e->key() == Qt::Key_D)
    _freeCamMove[0] = 0;

  if (e->key() == Qt::Key_R)
    _freeCamMove[1] = 0;
  else if (e->key() == Qt::Key_F)
    _freeCamMove[1] = 0;

  if (e->key() == Qt::Key_Up)
    _arrowsPressed[0] = false;
  else if (e->key() == Qt::Key_Down)
    _arrowsPressed[1] = false;

  if (e->key() == Qt::Key_Right)
    _arrowsPressed[2] = false;
  else if (e->key() == Qt::Key_Left)
    _arrowsPressed[3] = false;

  if(e->key() == Qt::Key_T) {
    _turbo = false;
  }
}

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void Graphics3D::lockGfxMutex ( )

inline

Definition at line 43 of file Graphics3D.h.

References _gfxMutex.

{ _gfxMutex.lock(); }

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void Graphics3D::mouseMoveEvent ( QMouseEvent *  event )

overrideprotected

Definition at line 218 of file Graphics3D.cpp.

References _orbiting, _orbiting_x_start, _orbiting_y_start, _pixel_to_rad, _rx, _rx_base, _ry, and _ry_base.

                                                  {
  if (!_orbiting) return;
  _rx = _rx_base + _pixel_to_rad * (event->pos().x() - _orbiting_x_start);
  _ry = _ry_base + _pixel_to_rad * (event->pos().y() - _orbiting_y_start);
}

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void Graphics3D::mousePressEvent ( QMouseEvent *  event )

overrideprotected

Definition at line 210 of file Graphics3D.cpp.

References _orbiting, _orbiting_x_start, _orbiting_y_start, _rx, _rx_base, _ry, and _ry_base.

                                                   {
  _orbiting = true;
  _orbiting_x_start = event->pos().x();
  _orbiting_y_start = event->pos().y();
  _rx_base = _rx;
  _ry_base = _ry;
}

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void Graphics3D::mouseReleaseEvent ( QMouseEvent *  event )

overrideprotected

Definition at line 224 of file Graphics3D.cpp.

References _orbiting, _orbiting_x_start, _orbiting_y_start, _pixel_to_rad, _rx_base, and _ry_base.

                                                     {
  _orbiting = false;
  _rx_base = _rx_base + _pixel_to_rad * (event->pos().x() - _orbiting_x_start);
  _ry_base = _ry_base + _pixel_to_rad * (event->pos().y() - _orbiting_y_start);
}

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void Graphics3D::paintGL ( )

overrideprotected

Definition at line 477 of file Graphics3D.cpp.

References _Additional_Drawing(), _animating, _BoxObstacleDrawing(), _driverCommand, _fps, _frame, _gameController, _MeshObstacleDrawing(), configOpenGLPass(), infoString, last_frame_ms, renderDrawlist(), updateCameraMatrix(), and GameController::updateGamepadCommand().

                         {
  // update joystick:
  _gameController.updateGamepadCommand(_driverCommand);
  if (!_animating) return;
  if (_frame % 60 == 0) {
    qint64 now = QDateTime::currentMSecsSinceEpoch();
    _fps = (60.f * 1000.f / (now - last_frame_ms));
    // std::cout << "FPS: " << _fps << "\n";
    last_frame_ms = now;
  }
  QPainter painter2(this);
  updateCameraMatrix();

  int passes[] = {0, 1, 2, 3, 4};
  for (int pass : passes) {
    // setup pass:
    glShadeModel(GL_SMOOTH);
    configOpenGLPass(pass);

    // do rendering on all passes:
    glEnable(GL_BLEND);
    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
    renderDrawlist();
    _Additional_Drawing(pass);
    _BoxObstacleDrawing();
  }

  _MeshObstacleDrawing();

  glDisable(GL_DEPTH_TEST);
  painter2.setPen(QColor(100, 100, 100, 255));
  painter2.fillRect(QRect(30, 30, 400, 200), QColor(100, 100, 100, 220));
  QFont font("Monospace", 20);
  painter2.setPen(QColor(210, 100, 100));
  painter2.setFont(font);
  painter2.drawText(QRect(30, 30, 1000, 1000), Qt::AlignLeft,
                    QString(infoString));
  painter2.end();

  ++_frame;
}

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void Graphics3D::renderDrawlist ( )

private

Definition at line 333 of file Graphics3D.cpp.

References _buffID, _cameraMatrix, _colAttrColorArray, _colAttrSolidColor, _colorArrayProgram, _colUniformSolidColor, _drawList, DrawList::_instanceColor, _matrixUniformColorArray, _matrixUniformSolidColor, _normAttrColorArray, _normAttrSolidColor, _posAttrColorArray, _posAttrSolidColor, _solidColorProgram, DrawList::getColorArray(), DrawList::getGLDataSizeMB(), DrawList::getGLDrawArrayOffset(), DrawList::getGLDrawArraySize(), DrawList::getModelBaseTransform(), DrawList::getModelKinematicTransform(), DrawList::getNormalArray(), DrawList::getNumObjectsToDraw(), DrawList::getSizeOfAllData(), DrawList::getVertexArray(), and DrawList::needsReload().

                                {
  // reload if needed
  if (_drawList.needsReload()) {
    // upload data

    glDisableVertexAttribArray(2);
    glDisableVertexAttribArray(1);
    glDisableVertexAttribArray(0);

    glGenBuffers(3, _buffID);

    glBindBuffer(GL_ARRAY_BUFFER, _buffID[0]);
    glBufferData(GL_ARRAY_BUFFER, sizeof(float) * _drawList.getSizeOfAllData(),
                 _drawList.getVertexArray(), GL_STATIC_DRAW);
    glVertexAttribPointer(_posAttrColorArray, 3, GL_FLOAT, GL_FALSE, 0, 0);

    glBindBuffer(GL_ARRAY_BUFFER, _buffID[1]);
    glBufferData(GL_ARRAY_BUFFER, sizeof(float) * _drawList.getSizeOfAllData(),
                 _drawList.getColorArray(), GL_STATIC_DRAW);
    glVertexAttribPointer(_colAttrColorArray, 3, GL_FLOAT, GL_FALSE, 0, 0);

    glBindBuffer(GL_ARRAY_BUFFER, _buffID[2]);
    glBufferData(GL_ARRAY_BUFFER, sizeof(float) * _drawList.getSizeOfAllData(),
                 _drawList.getNormalArray(), GL_STATIC_DRAW);
    glVertexAttribPointer(_normAttrColorArray, 3, GL_FLOAT, GL_FALSE, 0, 0);

    glEnableVertexAttribArray(0);
    glEnableVertexAttribArray(1);
    glEnableVertexAttribArray(2);
    printf("[Graphics 3D] Uploaded data (%f MB)\n",
           _drawList.getGLDataSizeMB());
    glBindBuffer(GL_ARRAY_BUFFER, 0);
  }

  // draw objects with color arrays
  _colorArrayProgram->bind();

  glBindBuffer(GL_ARRAY_BUFFER, _buffID[0]);
  glVertexAttribPointer(_posAttrColorArray, 3, GL_FLOAT, GL_FALSE, 0, 0);
  glBindBuffer(GL_ARRAY_BUFFER, _buffID[1]);
  glVertexAttribPointer(_colAttrColorArray, 3, GL_FLOAT, GL_FALSE, 0, 0);
  glBindBuffer(GL_ARRAY_BUFFER, _buffID[2]);
  glVertexAttribPointer(_normAttrColorArray, 3, GL_FLOAT, GL_FALSE, 0, 0);
  glEnableVertexAttribArray(0);
  glEnableVertexAttribArray(1);
  glEnableVertexAttribArray(2);

  for (size_t id = 0; id < _drawList.getNumObjectsToDraw(); id++) {
    if (_drawList._instanceColor[id].useSolidColor) {
    } else {
      _colorArrayProgram->setUniformValue(
          _matrixUniformColorArray,
          _cameraMatrix * _drawList.getModelKinematicTransform(id) *
              _drawList.getModelBaseTransform(id));

      glDrawArrays(GL_TRIANGLES, _drawList.getGLDrawArrayOffset(id) / 3,
                   _drawList.getGLDrawArraySize(id) / 3);
    }
  }
  glDisableVertexAttribArray(2);
  glDisableVertexAttribArray(1);
  glDisableVertexAttribArray(0);

  glBindBuffer(GL_ARRAY_BUFFER, 0);

  _colorArrayProgram->release();

  // draw objects without color arrays
  _solidColorProgram->bind();

  glBindBuffer(GL_ARRAY_BUFFER, _buffID[0]);
  glVertexAttribPointer(_posAttrSolidColor, 3, GL_FLOAT, GL_FALSE, 0, 0);
  glBindBuffer(GL_ARRAY_BUFFER, _buffID[1]);
  glVertexAttribPointer(_colAttrSolidColor, 3, GL_FLOAT, GL_FALSE, 0, 0);
  glBindBuffer(GL_ARRAY_BUFFER, _buffID[2]);
  glVertexAttribPointer(_normAttrSolidColor, 3, GL_FLOAT, GL_FALSE, 0, 0);
  glEnableVertexAttribArray(0);
  glEnableVertexAttribArray(1);
  glEnableVertexAttribArray(2);
  for (size_t id = 0; id < _drawList.getNumObjectsToDraw(); id++) {
    if (_drawList._instanceColor[id].useSolidColor) {
      _solidColorProgram->setUniformValue(
          _matrixUniformSolidColor,
          _cameraMatrix * _drawList.getModelKinematicTransform(id) *
              _drawList.getModelBaseTransform(id));
      auto &col = _drawList._instanceColor[id];
      _solidColorProgram->setUniformValue(
          _colUniformSolidColor,
          QVector4D(col.rgba[0], col.rgba[1], col.rgba[2], col.rgba[3]));

      glDrawArrays(GL_TRIANGLES, _drawList.getGLDrawArrayOffset(id) / 3,
                   _drawList.getGLDrawArraySize(id) / 3);
    } else {
    }
  }
  glDisableVertexAttribArray(2);
  glDisableVertexAttribArray(1);
  glDisableVertexAttribArray(0);

  glBindBuffer(GL_ARRAY_BUFFER, 0);

  _solidColorProgram->release();
}

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void Graphics3D::resetGameController ( )

inline

Definition at line 54 of file Graphics3D.h.

References _gameController, and GameController::findNewController().

{ _gameController.findNewController(); }

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void Graphics3D::setAnimating

(

bool

animating

)

Enable and disable animation

Definition at line 331 of file Graphics3D.cpp.

References _animating.

{ _animating = animating; }

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size_t Graphics3D::setupCheetah3	(	Vec4< float >	color,
		bool	useOld
	)

Configure the window for displaying cheetah 3

Definition at line 117 of file Graphics3D.cpp.

References _drawList, and DrawList::addCheetah3().

{ return _drawList.addCheetah3(color, useOld); }

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size_t Graphics3D::setupMiniCheetah	(	Vec4< float >	color,
		bool	useOld
	)

Configure the window for displaying mini cheetah

Definition at line 122 of file Graphics3D.cpp.

References _drawList, and DrawList::addMiniCheetah().

{ return _drawList.addMiniCheetah(color, useOld); }

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void Graphics3D::unlockGfxMutex ( )

inline

Definition at line 45 of file Graphics3D.h.

References _gfxMutex.

{ _gfxMutex.unlock(); }

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void Graphics3D::updateCameraMatrix ( )

private

Update the camera matrix for the current zoom/orbit

Definition at line 128 of file Graphics3D.cpp.

References _arrowsPressed, _cameraMatrix, _cameraTarget, _drawList, _frameTime, _freeCamFilter, _freeCamMove, _freeCamPos, _rotOrig, _rx, _ry, _targetSpeed, _zoom, ori::deg2rad(), f(), FirstOrderIIRFilter< T, T2 >::get(), DrawList::getCameraOrigin(), and FirstOrderIIRFilter< T, T2 >::update().

                                    {
  _cameraMatrix.setToIdentity();
  _cameraMatrix.perspective(
      60.f, float(size().width()) / float(size().height()), .001f, 50.f);

  if (_arrowsPressed[0]) _ry -= _targetSpeed / 2.f;
  if (_arrowsPressed[1]) _ry += _targetSpeed / 2.f;
  if (_arrowsPressed[2]) _rx += _targetSpeed / 2.f;
  if (_arrowsPressed[3]) _rx -= _targetSpeed / 2.f;
  if (!_rotOrig) {
    _ry = coerce<float>(_ry, -180, 0);
    // velocity in camera coordinates
    // we want the inverse transformation (coordinateRotation goes the opposite
    // way as QMatrix.rotate())
    RotMat<float> R =
        coordinateRotation<float>(CoordinateAxis::Z, deg2rad(_rx)) *
        coordinateRotation<float>(CoordinateAxis::X, deg2rad(_ry));
    Vec3<float> v(_freeCamMove[0], _freeCamMove[1], _freeCamMove[2]);
    v = R * v;

    // integrate and filter
    _freeCamFilter.update(v);
    for (size_t i = 0; i < 3; i++)
      _freeCamPos[i] += _frameTime * _freeCamFilter.get()[i];

    // apply
    _cameraMatrix.rotate(_ry, 1, 0, 0);
    _cameraMatrix.rotate(_rx, 0, 0, 1);
    _cameraMatrix.translate(_freeCamPos[0], _freeCamPos[1], _freeCamPos[2]);
  } else {
    _cameraMatrix.translate(0.f, 0.f, -.45f * _zoom);
    _cameraMatrix.rotate(_ry, 1, 0, 0);
    _cameraMatrix.rotate(_rx, 0, 0, 1);
    _cameraTarget = _cameraTarget * 0.9 + _drawList.getCameraOrigin() * 0.1;
    _cameraMatrix.translate(-_cameraTarget[0],
                            -_cameraTarget[1], 0);
  }
}

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bool Graphics3D::wantTurbo ( )

inline

Definition at line 57 of file Graphics3D.h.

References _turbo, initializeGL(), keyPressEvent(), keyReleaseEvent(), mouseMoveEvent(), mousePressEvent(), mouseReleaseEvent(), paintGL(), and wheelEvent().

{ return _turbo; }

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void Graphics3D::wheelEvent ( QWheelEvent *  e )

overrideprotected

Definition at line 230 of file Graphics3D.cpp.

References _zoom.

                                          {
  if (e->angleDelta().y() > 0) {
    if (_zoom > .1) _zoom = 0.8f * _zoom;
  } else {
    if (_zoom < 100) _zoom = 1.2f * _zoom;
  }
}

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Member Data Documentation

bool Graphics3D::_animating

private

Definition at line 106 of file Graphics3D.h.

bool Graphics3D::_arrowsPressed[4] = {false, false, false, false}

private

Definition at line 154 of file Graphics3D.h.

float Graphics3D::_b[8]

private

Definition at line 160 of file Graphics3D.h.

GLuint Graphics3D::_buffID[3]

private

Definition at line 120 of file Graphics3D.h.

QMatrix4x4 Graphics3D::_cameraMatrix

private

Definition at line 145 of file Graphics3D.h.

Vec3<double> Graphics3D::_cameraTarget

private

Definition at line 147 of file Graphics3D.h.

GLuint Graphics3D::_colAttrColorArray

private

Definition at line 110 of file Graphics3D.h.

GLuint Graphics3D::_colAttrSolidColor

private

Definition at line 116 of file Graphics3D.h.

float Graphics3D::_color1[3] = {0.364784, 0.513401, 0.952230}

protected

Definition at line 75 of file Graphics3D.h.

float Graphics3D::_color2[3] = {0.553970, 0.477397, 0.628871}

protected

Definition at line 76 of file Graphics3D.h.

float Graphics3D::_color3[3] = {0.335223, 0.768230, 0.277775}

protected

Definition at line 77 of file Graphics3D.h.

QOpenGLShaderProgram* Graphics3D::_colorArrayProgram

private

Definition at line 123 of file Graphics3D.h.

GLuint Graphics3D::_colUniformSolidColor

private

Definition at line 115 of file Graphics3D.h.

DrawList Graphics3D::_drawList

Definition at line 49 of file Graphics3D.h.

GamepadCommand Graphics3D::_driverCommand

private

Definition at line 81 of file Graphics3D.h.

double Graphics3D::_fps = 0

Definition at line 48 of file Graphics3D.h.

int Graphics3D::_frame

private

Definition at line 127 of file Graphics3D.h.

float Graphics3D::_frameTime = 1.f / 60.f

private

Definition at line 152 of file Graphics3D.h.

FirstOrderIIRFilter<Vec3<float>, float> Graphics3D::_freeCamFilter

private

Definition at line 148 of file Graphics3D.h.

float Graphics3D::_freeCamMove[3] = {0, 0, 0}

private

Definition at line 150 of file Graphics3D.h.

float Graphics3D::_freeCamPos[3] = {0.f, 0.f, 0.f}

private

Definition at line 151 of file Graphics3D.h.

float Graphics3D::_g[8]

private

Definition at line 159 of file Graphics3D.h.

GameController Graphics3D::_gameController

private

Definition at line 80 of file Graphics3D.h.

std::mutex Graphics3D::_gfxMutex

private

Definition at line 83 of file Graphics3D.h.

GLuint Graphics3D::_matrixUniformColorArray

private

Definition at line 111 of file Graphics3D.h.

GLuint Graphics3D::_matrixUniformSolidColor

private

Definition at line 117 of file Graphics3D.h.

GLuint Graphics3D::_normAttrColorArray

private

Definition at line 112 of file Graphics3D.h.

GLuint Graphics3D::_normAttrSolidColor

private

Definition at line 118 of file Graphics3D.h.

bool Graphics3D::_orbiting = false

private

Definition at line 132 of file Graphics3D.h.

int Graphics3D::_orbiting_x_start = 0

private

Definition at line 133 of file Graphics3D.h.

int Graphics3D::_orbiting_y_start = 0

private

Definition at line 134 of file Graphics3D.h.

bool Graphics3D::_pause = false

private

Definition at line 166 of file Graphics3D.h.

float Graphics3D::_pixel_to_rad = .3f

private

Definition at line 139 of file Graphics3D.h.

GLuint Graphics3D::_posAttrColorArray

private

Definition at line 109 of file Graphics3D.h.

GLuint Graphics3D::_posAttrSolidColor

private

Definition at line 114 of file Graphics3D.h.

float Graphics3D::_r[8]

private

Definition at line 158 of file Graphics3D.h.

bool Graphics3D::_rotOrig = true

private

Definition at line 142 of file Graphics3D.h.

float Graphics3D::_rx = 0

private

Definition at line 137 of file Graphics3D.h.

float Graphics3D::_rx_base = 0

private

Definition at line 135 of file Graphics3D.h.

float Graphics3D::_ry = -34

private

Definition at line 138 of file Graphics3D.h.

float Graphics3D::_ry_base = 0

private

Definition at line 136 of file Graphics3D.h.

QOpenGLShaderProgram* Graphics3D::_solidColorProgram

private

Definition at line 124 of file Graphics3D.h.

float Graphics3D::_targetSpeed = 2

private

Definition at line 156 of file Graphics3D.h.

bool Graphics3D::_turbo = false

private

Definition at line 143 of file Graphics3D.h.

Vec3<float> Graphics3D::_v0

private

Definition at line 146 of file Graphics3D.h.

float Graphics3D::_zoom = 3.0

private

Definition at line 140 of file Graphics3D.h.

char Graphics3D::infoString[200] = ""

Definition at line 50 of file Graphics3D.h.

qint64 Graphics3D::last_frame_ms = 0

private

Definition at line 129 of file Graphics3D.h.

---

The documentation for this class was generated from the following files:

• Graphics3D.h
• Graphics3D.cpp