void GLQuad::paintGL()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
setupView();
drawAxes();
drawIntercept();
glColor3f(0.8,0.5,0.5);
Quad *quad = Globals::self().simulatedQuad();
drawQuad(quad->state(), quad->propInput());
glColor3f(0.5,0.5,0.8);
drawQuad(Globals::self().imu()->lastState(), Globals::self().propellers()->input());
glColor3f(0.5,0.5,0.5);
quad = Globals::self().remoteQuad();
drawQuad(quad->state(), quad->propInput());
}
void Interface::updateLabels()
{
bool isSimulation = Globals::self().isSimulation();
Quad *quad;
if (isSimulation) {
quad = Globals::self().simulatedQuad();
} else {
quad = Globals::self().remoteQuad();
}
QuadState state = quad->state();
positionLabel->setText( toCoords( state.pos ) );
velocityLabel->setText( toCoords( state.vel ) );
Vector3d accel = Globals::self().imu()->lastAcceleration();
Vector3d gyro = Globals::self().imu()->lastAngularAcceleration();
accelerometersLabel->setText(toCoords(accel));
gyroLabel->setText(toCoords(gyro, 3));
// Update plot
double duration = quad->path_ != nullptr ? quad->path_->duration() : 0;
interceptPlot->setIntercept(quad->intercept, duration);
runPauseSimulationButton->setText(Globals::self().isSimulatedQuadRunning() ? "Pause" : "Run");
Vector4d propInput = Globals::self().propellers()->input();
// Update slider values
for ( int i = 0; i < 4; ++i ) {
double p = propInput[i];
int v = int(p * m_propInputs[i]->maximum());
m_propInputs[i]->setValue( v );
}
}