void Quiddiards::keyPressEvent(QKeyEvent *event){
switch (event->key()) {
case Qt::Key_F2:
actStart();
break;
case Qt::Key_P:
actPause();
break;
case Qt::Key_Escape:
case Qt::Key_Q:
close();
break;
case Qt::Key_Space:
case Qt::Key_Enter:
case Qt::Key_Return:
break;
case Qt::Key_W:{
/* forward cueball */
QVector3D n = -eye;
n.setZ(0);
n.normalize();
n += cueball.getVelocity();
if (n.length() > cueball.getSpeed()){
n = cueball.getSpeed()*n.normalized();
}
cueball.setVelocity(n);
break;
}
case Qt::Key_A:
phi += 10;
break;
case Qt::Key_S:{
QVector3D n = eye;
n.setZ(0);
n.normalize();
n += cueball.getVelocity();
if (n.length() > cueball.getSpeed()){
n = cueball.getSpeed()*n.normalized();
}
cueball.setVelocity(n);
break;
}
case Qt::Key_D:
phi -= 10;
break;
case Qt::Key_Tab:
//camera = CAMERA((camera + 1) % 2);
break;
default:
return;
}
update();
}
void Particles::calculatePorosity()
{
int N = particles.size()/100;
if (N==0)
return;
int cnt = 1;
calculateBoundingBox();
float l = (boundsMax - boundsMin).length()/135.0;
qDebug() << "l = " << l;
for (int i=0;i<N;i++) {
QVector3D p;
p.setX(Util::floatRandom(boundsMin.x(), boundsMax.x()));
p.setY(Util::floatRandom(boundsMin.y(), boundsMax.y()));
p.setZ(Util::floatRandom(boundsMin.z(), boundsMax.z()));
for (int j=0;j<particles.size();j++) {
if ((particles[j]->getPos() - p).lengthSquared()<l*l) {
cnt++;
j=particles.size();
break;
}
}
if (rand()%100>=99)
qDebug() << cnt / (float)i;
}
m_calculatedPorosity = (float)cnt/(float)N;
// qDebug() << m_calculatedPorosity << " " << N << " / " << cnt;
}
void FsSurfaceTreeItem::onSurfaceTranslationZChanged(float fTransZ)
{
QVector3D position = m_pRenderable3DEntity->position();
position.setZ(fTransZ);
m_pRenderable3DEntity->setPosition(position);
m_pRenderable3DEntityNormals->setPosition(position);
}
void Qt3DGeometryTab::computeBoundingVolume(const Qt3DGeometryAttributeData &vertexAttr,
const QByteArray &bufferData)
{
m_boundingVolume = BoundingVolume();
QVector3D v;
for (unsigned int i = 0; i < vertexAttr.count; ++i) {
const char *c = bufferData.constData() + vertexAttr.byteOffset + i * vertexAttr.byteStride;
switch (vertexAttr.vertexBaseType) {
case Qt3DRender::QAttribute::Float:
{
// cppcheck-suppress invalidPointerCast
auto f = reinterpret_cast<const float *>(c);
v.setX(*f);
++f;
v.setY(*f);
++f;
v.setZ(*f);
break;
}
default:
qWarning() << "Vertex type" << vertexAttr.vertexBaseType << "not implemented yet";
return;
}
m_boundingVolume.addPoint(v);
}
}
void BulletComponent::update(float delta)
{
EnemyComponent *enemy = target->getComponent<EnemyComponent>();
if(enemy != nullptr) {
destination = target->getPosition();
}
QVector3D dir = -(this->getEntity()->getPosition() - destination);
if(dir.length() < 10) {
if(enemy != nullptr) {
enemy->takeDamage(damage);
QVector3D v = getEntity()->getPosition();
v.setX(v.x() / 768);
v.setY(v.y() / 624);
v.setZ(0);
FMODManager::getInstance()->setCurrentEvent("event:/hit");
FMODManager::getInstance()->setEventInstancePosition(v);
FMODManager::getInstance()->setEventInstanceVolume(0.4);
FMODManager::getInstance()->setParameterValue("pitch", 0.3 + (qrand() % 200) * 0.001);
FMODManager::getInstance()->startEventInstance();
}
this->getEntity()->release();
} else {
dir.normalize();
this->getEntity()->setPosition(this->getEntity()->getPosition() + dir * speed * delta);
}
}
static bool qCalculateNormal(int i, int j, int k, QGeometryData &p, QVector3D *vec = 0)
{
QVector3D norm;
QVector3D *n = &norm;
if (vec)
n = vec;
bool nullTriangle = false;
*n = QVector3D::crossProduct(p.vertexAt(j) - p.vertexAt(i),
p.vertexAt(k) - p.vertexAt(j));
if (qFskIsNull(n->x()))
n->setX(0.0f);
if (qFskIsNull(n->y()))
n->setY(0.0f);
if (qFskIsNull(n->z()))
n->setZ(0.0f);
if (n->isNull())
{
nullTriangle = true;
}
else
{
setNormals(i, j, k, p, *n);
}
return nullTriangle;
}
void Transform::SetMember(QVector3D& member,const QVariant& data)
{
QList<QVariant> dataList(data.toList());
member.setX( dataList[0].toFloat() );
member.setY( dataList[1].toFloat() );
member.setZ( dataList[2].toFloat() );
}
DisplayWindow *FourierDCT::invert(ComplexArray *ca, QString title, QImage::Format format, QWidget *p)
{
int w = ca->shape()[1];
int h = ca->shape()[2];
perform(ca, true);
ColorParser cp(format);
QImage result(w, h, format);
result.fill(Qt::black);
if (format == QImage::Format_Indexed8) {
QVector<QRgb> colors;
colors.reserve(256);
for (int i = 0; i < 256; i++) {
colors << qRgb(i, i, i);
}
result.setColorTable(colors);
}
for (unsigned int i = 1; i < ca->shape()[0]; i += 2) {
qreal min = 0;
qreal max = 0;
for (unsigned int j = 0; j < ca->shape()[1]; j++) {
for (unsigned int k = 0; k < ca->shape()[2]; k++) {
Complex c = (*ca)[i][j][k];
qreal real = c.real();
if (real > max) {
max = real;
} else if (real < min) {
min = real;
}
}
}
for (unsigned int j = 0; j < ca->shape()[1]; j++) {
for (unsigned int k = 0; k < ca->shape()[2]; k++) {
Complex c = (*ca)[i][j][k];
qreal p = (c.real() - min) / (max - min) * 255.0;
{
QVector3D oldPixel = cp.pixel(k, j, result);
QVector3D newPixel;
switch (i / 2) {
case 0:
newPixel.setX(p);
break;
case 1:
newPixel.setY(p);
break;
case 2:
newPixel.setZ(p);
break;
default:
break;
}
cp.setPixel(k, j, result, cp.merge(oldPixel, newPixel));
}
}
}
}
result = result.rgbSwapped();
PhotoWindow *pw = new PhotoWindow(result, title + ", IFDCT", p);
return pw;
}
void SSTask::drawMeshes3D( const QSizeF& mapSize ) const
{
QRectF boundingRect(QPointF( -mapSize.width()/2.0, -mapSize.height()/2.0), mapSize);
glBegin(GL_TRIANGLES);
mutex.lockForRead();
for(int i = 0; i < m_meshes_cache.size(); i++){
Triangle3D t = m_meshes_cache.at(i);
if(!boundingRect.contains(t.v1.toPointF())
|| !boundingRect.contains(t.v2.toPointF())
|| !boundingRect.contains(t.v3.toPointF()))
continue;
QVector3D normal = QVector3D::crossProduct(t.v2 - t.v1, t.v3 - t.v1);
if(normal.z() < 0){
t = Triangle3D(t.v3, t.v2, t.v1);
normal.setZ( - normal.z());
}
glNormal3d(normal.x(), normal.y(), normal.z());
glVertex3d(t.v1.x(), t.v1.y(), t.v1.z());
glVertex3d(t.v2.x(), t.v2.y(), t.v2.z());
glVertex3d(t.v3.x(), t.v3.y(), t.v3.z());
}
mutex.unlock();
glEnd();
}
DisplayWindow *ContrastFilter::apply(QString windowBaseName)
{
QImage result(mImg.size(), mFormat);
if (mFormat == QImage::Format_Indexed8 || mFormat == QImage::Format_Mono) {
result.setColorTable(mImg.colorTable());
}
ColorParser cp(mFormat);
float c = std::tan((float)mValue / 100.0f);
qDebug() << "contrast:" << c;
QVector<int> lut;
lut.reserve(256);
for (int i = 0; i < 256; i++) {
lut << qBound(0, (int)(c * (i - 127) + 127), 255);
}
for (int x = 0; x < mImg.width(); x++) {
for (int y = 0; y < mImg.height(); y++) {
QVector3D colorVec = cp.pixel(x, y, mImg);
colorVec.setX(lut.at((int)colorVec.x()));
colorVec.setY(lut.at((int)colorVec.y()));
colorVec.setZ(lut.at((int)colorVec.z()));
cp.setPixel(x, y, result, colorVec);
}
}
// parent's parent should be MainWindow
return new PhotoWindow(result, windowBaseName + ", " + name(), q_check_ptr(qobject_cast<QWidget *>(parent()->parent())));
}
HeightmapWidget::HeightmapWidget(QWidget *parent) :
QGLWidget(parent)
{
// Load heightmap
QImage img = QImage(":/heightmap.png");
vertices_by_x = img.width();
vertices_by_z = img.height();
quads_by_x = vertices_by_x - 1;
quads_by_z = vertices_by_z - 1;
QVector3D vertice;
for(int z = 0; z < vertices_by_z; ++z)
{
for(int x = 0; x < vertices_by_x; ++x)
{
QRgb color = img.pixel(x, z);
vertice.setX((MAP_SIZE * x / vertices_by_x) - MAP_SIZE / 2);
vertice.setY(2.0 * qGray(color) / 255);
vertice.setZ((MAP_SIZE * z / vertices_by_z) - MAP_SIZE / 2);
m_vertices.push_back(vertice);
}
}
// Timer settings
connect(&timer, SIGNAL(timeout()), this, SLOT(updateGL()));
timer.start(20);
frame_count = 0;
last_count = 0;
last_time = QTime::currentTime();
}
/**
* @brief GameWindow::initTrees, Lorsque le fichier binaire est vide, initialise les arbres des différentes saisons pour la fenêtre.
*/
void GameWindow::initTrees()
{
tree = new GameObject**[FileManager::NB_TERRAIN];
tree[Saison::PRINTEMPS] = new GameObject*[NB_ARBRES];
tree[Saison::ETE] = new GameObject*[NB_ARBRES];
tree[Saison::AUTOMNE] = new GameObject*[NB_ARBRES];
tree[Saison::HIVER] = new GameObject*[NB_ARBRES];
for(unsigned int j = 0 ; j < FileManager::NB_TERRAIN ; j++){
for(unsigned int i = 0 ; i < NB_ARBRES ; i++){
QVector3D pos;
int rand_x, rand_y, id;
rand_x = rand() % nb_vertex_width;
rand_y = rand() % nb_vertex_height;
id = rand_y * nb_vertex_width + rand_x;
pos.setX(p[id].x); pos.setY(p[id].y); pos.setZ(p[id].z);
if(j == Saison::PRINTEMPS){
tree[j][i] = new GameObject(pos, QVector3D(0.f,0.f,0.f), QVector3D(0.1f,0.1f,0.1f), ":/island_tree.ply");
}else if(j == Saison::ETE){
tree[j][i] = new GameObject(pos, QVector3D(0.f,0.f,0.f), QVector3D(0.1f,0.1f,0.1f), ":/summertree.ply");
}else if(j == Saison::AUTOMNE){
tree[j][i] = new GameObject(pos, QVector3D(0.f,0.f,0.f), QVector3D(0.1f,0.1f,0.1f), ":/autumntree.ply");
}else if(j == Saison::HIVER){
tree[j][i] = new GameObject(pos, QVector3D(0.f,0.f,0.f), QVector3D(0.1f,0.1f,0.1f), ":/wintertree.ply");
}
}
}
}
QVector3D& cube::createVectorByPoint(PointDDD& a,PointDDD& b)
{
QVector3D *tmp = new QVector3D();
tmp->setX(b.getX() - a.getX());
tmp->setY(b.getY() - a.getY());
tmp->setZ(b.getZ() - a.getZ());
return *tmp;
}
/*!
Zooms in (moves) closer to an object.
\param sceneNode Object sceneNode
\param time Time (milliseconds) that takes to move to the new position
*/
void Camera::zoomInToObject(Ogre::SceneNode* sceneNode, float time)
{
if (_zoomOffTimerId != 0)
{
killTimer(_zoomOffTimerId);
}
QVector3D nodePos = UtilFunctions::ogreVector3ToQVector3d(sceneNode->getPosition());
QVector3D direction = _position - nodePos;
direction.normalize();
QVector3D position = nodePos/* + direction * 1000*/;
position.setY(nodePos.y() + 450);
position.setZ(nodePos.z() + 800);
QVector3D targetPos = nodePos;
targetPos.setZ(position.z() - 1000);
this->moveTo(position, targetPos, time);
}
void Vizkit3DWidget::getCameraView(QVector3D& lookAtPos, QVector3D& eyePos, QVector3D& upVector)
{
osg::Vec3d eye, lookAt, up;
osgViewer::View *view = getView(0);
assert(view);
view->getCamera()->getViewMatrixAsLookAt(eye, lookAt, up);
eyePos.setX(eye.x());
eyePos.setY(eye.y());
eyePos.setZ(eye.z());
lookAtPos.setX(lookAt.x());
lookAtPos.setY(lookAt.y());
lookAtPos.setZ(lookAt.z());
upVector.setX(up.x());
upVector.setY(up.y());
upVector.setZ(up.z());
}
void EditCameraDialog::setCamPos(EditCameraDialog::Dim d, float amt){
QVector3D pos = parent->getCameraPos();
switch(d) {
case X: pos.setX(amt); break;
case Y: pos.setY(amt); break;
case Z: pos.setZ(amt); break;
}
parent->setCameraPos(pos);
}
QVector3D vector(QVector3D vPoint1, QVector3D vPoint2) {
QVector3D vVector;
vVector.setX(vPoint1.x() - vPoint2.x());
vVector.setY(vPoint1.y() - vPoint2.y());
vVector.setZ(vPoint1.z() - vPoint2.z());
return vVector;
}
void ViewportViewPerspective::initializeViewport(const QVector3D& surfmin, const QVector3D& surfmax, int width, int height)
{
// add margin to max/min
QVector3D diff = 0.01 * _margin * (surfmax - surfmin);
QVector3D min = surfmin - diff;
QVector3D max = surfmax + diff;
// calculate the midpoint of the bounding box, which is used as the center of the
// model for rotating the model
_midpoint = 0.5 * (min + max);
QVector3D panpoint = _midpoint;
panpoint.setX(panpoint.x() + _panX);
panpoint.setY(panpoint.y() + _panY);
panpoint.setZ(panpoint.z() + _panZ);
// calculate the distance of the camera to the center of the model, following from
// the field of view from the camera
float dist = sqrt((max.y() - min.y()) * (max.y() - min.y())
+ (max.z() - min.z()) * (max.z() - min.z()));
if (dist == 0)
dist = 1E-2f;
if (atan(_field_of_view) != 0) {
_distance = 1.5 * dist / atan(_field_of_view);
if (_distance > 1E5)
_distance = 1E5;
}
else
_distance = 1E5;
// build the vertex transformation matrix from the perspective
// and the angle, elevation
float aspect_ratio = 1.0;
if (height != 0)
aspect_ratio = width / static_cast<float>(height);
_proj = QMatrix4x4();
// create projection
_proj.perspective(RadToDeg(_field_of_view) / _zoom, aspect_ratio, 0.1f, 40.0f);
// find the camera location
QMatrix4x4 model;
model.translate(_panX, _panY, _panZ);
model.rotate(-_elevation, 1, 0, 0);
model.rotate(_angle, 0, 0, 1);
_camera_location = model.map(QVector3D(max.x() + _distance, 0, 0));
// view matrix
QMatrix4x4 view;
view.lookAt(_camera_location, panpoint, QVector3D(0,0,1));
_view = view;
finishSetup();
}
QVector3D Transformation::crossProduct(QVector3D a, QVector3D b)
{
QVector3D result = QVector3D();
result.setX(a.y()*b.z() - b.y()*a.z());
result.setY(a.x()*b.z() - b.x()*a.z());
result.setZ(a.x()*b.y() - b.x()*a.y());
return result;
}
void CCamera::updateCameraWhenInGlobeLinkage()
{
QVector3D earthPoint;
// camera location in global coordinate system
camLon = camGlobeOrbitAzim;
camLat = camGlobeOrbitElev;
camAlt = camGlobeOrbitRad;
camX = camGlobeX;
camY = camGlobeY;
camZ = camGlobeZ;
// get camera position vector (QVector3D)
camPosition.setX(camX);
camPosition.setY(camY);
camPosition.setZ(camZ);
camPerspectiveX = camGlobeX;
camPerspectiveY = camGlobeY;
camPerspectiveZ = camGlobeZ;
if (camMode==CAM_MODE_ORBIT) {
camPerspectiveLookAtX = 0.0;
camPerspectiveLookAtY = 0.0;
camPerspectiveLookAtZ = 0.0;
} else {
camPerspectiveLookAtX = camPerspectiveX + camGlobeFreeDirX*1000000.0;
camPerspectiveLookAtY = camPerspectiveY + camGlobeFreeDirY*1000000.0;
camPerspectiveLookAtZ = camPerspectiveZ + camGlobeFreeDirZ*1000000.0;
}
// get looking direction vector
camLookingDirectionNormal.setX(camPerspectiveLookAtX - camGlobeX);
camLookingDirectionNormal.setY(camPerspectiveLookAtY - camGlobeY);
camLookingDirectionNormal.setZ(camPerspectiveLookAtZ - camGlobeZ);
camLookingDirectionNormal.normalize();
// distance to earth point
earthPoint.setX(earthPointX);
earthPoint.setY(earthPointY);
earthPoint.setZ(earthPointZ);
camDistanceToEarthPoint = (camPosition-earthPoint).length();
// camera altidute relative to earth surface
camAltGround = camAlt - CONST_EARTH_RADIUS;
// camera velocity in free look (depends on altitude)
if (camVelFromAlt) {
camVel = camAltGround/10.0;
if (camVel<0.0) camVel *= -1.0;
}
emit SIGNALupdateFovAndCamVel(camFOV, camVel);
emit SIGNALupdateCameraInfo(camLon, camLat, camAltGround, camDistanceToEarthPoint);
updateCameraZBuffer();
}
void Camera::moveXY(QPoint p)
{
QVector3D v = step_;
v.setZ(0.0);
v.normalize();
pos_ += v*(p.ry()*0.003f);
v[0] = step_[1];
v[1] = -step_[0];
v.normalize();
pos_ -= v*(p.rx()*0.003f);
}
void MathUtil::NormSphereToCartesian(const float thetadeg, const float phideg, QVector3D & p)
{
const float thetarad = MathUtil::DegToRad(thetadeg);
const float phirad= MathUtil::DegToRad(phideg);
p.setX( sinf(phirad) * cosf(thetarad) );
p.setY( cosf(phirad) );
p.setZ( sinf(phirad) * sinf(thetarad) );
}
void ModelInterface::initialize(const aiScene* scene)
{
QVector<QVector3D> vertices;
QVector<QVector3D> _bones;
/// Vertices
for(int i = 0; i < scene->mNumMeshes; ++i)
{
for(int j = 0; j < scene->mMeshes[i]->mNumVertices; ++j)
vertices.append(QVector3D(scene->mMeshes[i]->mVertices[j].x, scene->mMeshes[i]->mVertices[j].y, scene->mMeshes[i]->mVertices[j].z));
}
// find min and max
QVector3D minVertex;
QVector3D maxVertex;
for(int i = 0; i < vertices.count(); ++i)
{
if(vertices[i].x() < minVertex.x()) // min X
minVertex.setX(vertices[i].x());
if(vertices[i].y() < minVertex.y()) // min Y
minVertex.setY(vertices[i].y());
if(vertices[i].z() < minVertex.z()) // min Z
minVertex.setZ(vertices[i].z());
if(vertices[i].x() > maxVertex.x()) // max X
maxVertex.setX(vertices[i].x());
if(vertices[i].y() > maxVertex.y()) // max Y
maxVertex.setY(vertices[i].y());
if(vertices[i].z() > maxVertex.z()) // max Z
maxVertex.setZ(vertices[i].z());
}
header.boundingBoxMin = minVertex;
header.boundingBoxMax = maxVertex;
header.center = (maxVertex + minVertex) / 2;
}
void MyGLWidget::keyPressEvent(QKeyEvent *event)
{
GLfloat cameraSpeed = 1.0f ;
QVector3D cross ;
bool changedFront = false ;
switch ( event->key()) {
case Qt::Key_W : cameraPos += cameraSpeed * cameraFront ;
break ;
case Qt:: Key_S : cameraPos -= cameraSpeed * cameraFront ;
break ;
case Qt::Key_A : cross = cross.crossProduct(cameraFront , cameraUp) ;
cross.normalize();
cameraPos -= cross * cameraSpeed ;
break ;
case Qt::Key_D : cross = cross.crossProduct(cameraFront , cameraUp) ;
cross.normalize();
cameraPos += cross * cameraSpeed ;
break ;
case Qt::Key_Up : pitch += 1 ;
changedFront = true ;
break ;
case Qt::Key_Down : pitch -= 1 ;
changedFront = true ;
break ;
case Qt::Key_Left : yaw -= 1 ;
changedFront = true ;
break ;
case Qt::Key_Right : yaw += 1 ;
changedFront = true ;
break ;
case Qt::Key_P : paused = !paused ;
break ;
case Qt::Key_R : cameraPos = QVector3D(0.0f, 0.0f, 3.0f);
cameraFront = QVector3D(0.0f, 0.0f, -1.0f);
cameraUp = QVector3D(0.0f, 1.0f, 0.0f);
break ;
default : QGLWidget::keyPressEvent(event) ;
}
if (changedFront)
{
QVector3D front;
front.setX ( cos(pitch*(M_PI/180)) * cos(yaw*(M_PI/180)) );
front.setY ( sin(pitch*(M_PI/180) ) );
front.setZ ( cos(pitch*(M_PI/180)) * sin(yaw*(M_PI/180)) );
front.normalize();
cameraFront = front ;
}
}
void Camera::calcCameraAxis()
{
QVector3D dir = (m_targetCamera - m_cameraPos).normalized();
QVector3D up;
if(dir.x() != 0. || dir.y() != 0.)
up.setZ( 1.0 );
else
up.setX( -1.0 );// Special case: looking straight up or down z axis
m_right = QVector3D::crossProduct(dir, up).normalized();
m_up = QVector3D::crossProduct(m_right, dir).normalized();
}
void Box::mold(QVector3D v, float moldPlateau)
{
float x = fabs(v.x());
float z = fabs(v.z());
float rad = INVERT(moldPlateau * (m_overallObjectDimensions.y() / 2 +((sqrt(x) * sqrt(z)) + atan2(180, 180) / PI) )/m_overallObjectDimensions.y());
v.setX(v.x() * rad);
v.setZ(v.z() * rad);
glVertex3fv(&v[0]);
}
void HalfEdgeStructure::calculatePerFaceNormals()
{
HalfEdgeStructure::t_faces::iterator i = m_faces.begin();
const HalfEdgeStructure::t_faces::const_iterator iEnd = m_faces.end();
for(; i != iEnd; ++i)
{
// calc face normal
// TODO
QVector3D *v0 = i->he->vertex;
QVector3D *v1 = i->he->next->vertex;
QVector3D *v2 = i->he->prev->vertex;
QVector3D a;
a.setX(v1->x() - v0->x());
a.setY(v1->y() - v0->y());
a.setZ(v1->z() - v0->z());
QVector3D b;
b.setX(v2->x() - v0->x());
b.setY(v2->y() - v0->y());
b.setZ(v2->z() - v0->z());
i->normal = QVector3D::normal(a, b);
}
}
// maps the specified mouse position to the sphere defined
// with center and radius. the resulting vector lies on the
// surface of the sphere.
QVector3D ArcBall::map_sphere( int x, int y )
{
float tmpx = ( x * m_adjust_width ) - 1.0;
float tmpy = 1.0 - ( y * m_adjust_height );
float length = ( tmpx * tmpx ) + ( tmpy * tmpy );
QVector3D bm;
if ( length > 1.0 )
{
float norm = 1.0 / sqrt( length );
bm.setX( tmpx * norm );
bm.setY( tmpy * norm );
bm.setZ( 0.0 );
}
else
{
bm.setX( tmpx );
bm.setY( tmpy );
bm.setZ( sqrt( 1.0 - length ) );
}
return bm;
}
void ImuData::pollImu()
{
while(imu_->IMURead()) {
RTIMU_DATA imuData = imu_->getIMUData();
if(pressure_)
pressure_->pressureRead(imuData);
QVector3D p;
p.setX(imuData.fusionPose.x()*180.0/M_PI);
p.setY(imuData.fusionPose.y()*180.0/M_PI);
p.setZ(imuData.fusionPose.z()*180.0/M_PI);
setPose(p);
}
}
void Box::twist(QVector3D v, float maxAngle)
{
float rad = - (m_overallObjectDimensions.y() / 2 + v.y())/m_overallObjectDimensions.y() * DEGREE_TO_RAD(maxAngle);
float x = (cos(rad) * v.x()) - (sin(rad) * v.z());
float y = (sin(rad) * v.x()) + (cos(rad) * v.z());
v.setX(x);
v.setZ(y);
v.setY(v.y());
glVertex3fv(&v[0]);
}