void RNDFEditGLView::mouseMoveEvent(QMouseEvent *event) {
double x2, y2;
pickPoint(event->x(), event->y(), &x2, &y2);
double utm_x = x2 + gui->rndf_center.x;
double utm_y = y2 + gui->rndf_center.y;
std::string utm_zone = gui->rndf_center.zone;
gui->last_utm_x = utm_x;
gui->last_utm_y = utm_y;
switch (event->modifiers()) {
case Qt::ControlModifier: // selected object is affected
// update undo buffer
if(gui->last_rn_) {delete gui->last_rn_;}
if(gui->last_rn_search_) {delete gui->last_rn_search_;}
gui->last_rn_ = new rndf::RoadNetwork(*gui->rn_);
gui->last_rn_search_ = new rndf::RoadNetworkSearch(*gui->rn_search_, gui->last_rn_);
if (event->buttons().testFlag(Qt::LeftButton)) {
gui->moveElement(utm_x, utm_y, utm_zone);
}
else if (event->buttons() & Qt::RightButton) {
gui->rotateElement(utm_x, utm_y, utm_zone);
}
gui->updateSmoothedLaneStack();
requestRedraw();
break;
case Qt::NoModifier:
gui->last_mouse_x = event->x();
gui->last_mouse_y = event->y();
if (gui->current_element == RNDF_ELEMENT_EXIT) {
requestRedraw();
}
else {
GLWidget::mouseMoveEvent(event);
}
default: // let base class handle other cases
GLWidget::mouseMoveEvent(event);
break;
}
gui->last_move_utm_x = utm_x;
gui->last_move_utm_y = utm_y;
}
void VAO::sampleMesh(int samplesPerTriangle) {
if (mode == GL_TRIANGLES) {
this->numOfVertices = 0;
CloudType::Ptr cloud (new CloudType);
cloud->width = this->numOfTriangles * samplesPerTriangle;
cloud->height = 1;
cloud->points.resize(cloud->width * cloud->height);
int line;
for (int i = 0; i < this->numOfTriangles; i++) {
for (int j = 0; j < samplesPerTriangle; j++) {
line = i*3;
glm::vec3 point = pickPoint(this->vertices[line], this->vertices[line+1], this->vertices[line+2]);
cloud->points[this->numOfVertices].x = point.x;
cloud->points[this->numOfVertices].y = point.y;
cloud->points[this->numOfVertices].z = point.z;
cloud->points[this->numOfVertices].normal_x = this->normals[i].x;
cloud->points[this->numOfVertices].normal_y = this->normals[i].y;
cloud->points[this->numOfVertices].normal_z = this->normals[i].z;
cloud->points[this->numOfVertices].r = this->colors[line].r * 255;
cloud->points[this->numOfVertices].g = this->colors[line].g * 255;
cloud->points[this->numOfVertices].b = this->colors[line].b * 255;
this->numOfVertices++;
}
}
this->cloud = cloud;
this->mode = GL_POINTS;
}
}
// Parses keyboard commands
void RNDFEditGLView::keyPressEvent(QKeyEvent* event) {
uint32_t key=(uint32_t)event->key();//(*(event->text().toAscii().constData()));
double utm_x, utm_y;
std::string utm_zone;
const double move_step = 2;
if(event->modifiers() & Qt::ControlModifier) { // all element specific keys require control modifier
switch (event->key()) {
case Qt::Key_Up:
if(!gui->currentElementPosition(gui->last_move_utm_x, gui->last_move_utm_y, utm_zone)) {return;}
printf("up: %f, %f -> %f, %f\n", gui->last_move_utm_x, gui->last_move_utm_y, gui->last_move_utm_x, gui->last_move_utm_y - move_step);
gui->moveElement(gui->last_move_utm_x, gui->last_move_utm_y - move_step, utm_zone);
requestRedraw();
return;
case Qt::Key_Down:
if(!gui->currentElementPosition(gui->last_move_utm_x, gui->last_move_utm_y, utm_zone)) {return;}
printf("down: %f, %f -> %f, %f\n", gui->last_move_utm_x, gui->last_move_utm_y, gui->last_move_utm_x, gui->last_move_utm_y + move_step);
gui->moveElement(gui->last_move_utm_x, gui->last_move_utm_y + move_step, utm_zone);
requestRedraw();
return;
case Qt::Key_Left:
if(!gui->currentElementPosition(gui->last_move_utm_x, gui->last_move_utm_y, utm_zone)) {return;}
printf("left: %f, %f -> %f, %f\n", gui->last_move_utm_x, gui->last_move_utm_y, gui->last_move_utm_x - move_step, gui->last_move_utm_y);
gui->moveElement(gui->last_move_utm_x - move_step, gui->last_move_utm_y, utm_zone);
requestRedraw();
return;
case Qt::Key_Right:
if(!gui->currentElementPosition(gui->last_move_utm_x, gui->last_move_utm_y, utm_zone)) {return;}
printf("right: %f, %f -> %f, %f\n", gui->last_move_utm_x, gui->last_move_utm_y, gui->last_move_utm_x + move_step, gui->last_move_utm_y);
gui->moveElement(gui->last_move_utm_x + move_step, gui->last_move_utm_y, utm_zone);
requestRedraw();
return;
}
switch(gui->current_element) {
case RNDF_ELEMENT_WAYPOINT:
if(wayPointKeys(key, event->modifiers())) {requestRedraw(); return;}
break;
case RNDF_ELEMENT_LANE:
if(laneKeys(key, event->modifiers())) {requestRedraw(); return;}
break;
case RNDF_ELEMENT_SEGMENT:
if(segmentKeys(key, event->modifiers())) {requestRedraw(); return;}
break;
case RNDF_ELEMENT_EXIT:
if(exitKeys(key, event->modifiers())) {requestRedraw(); return;}
break;
case RNDF_ELEMENT_PERIMETERPOINT:
if(perimeterPointKeys(key, event->modifiers())) {requestRedraw(); return;}
break;
case RNDF_ELEMENT_PERIMETER:
if(perimeterKeys(key, event->modifiers())) {requestRedraw(); return;}
break;
case RNDF_ELEMENT_SPOTPOINT:
if(spotPointKeys(key, event->modifiers())) {requestRedraw(); return;}
break;
case RNDF_ELEMENT_SPOT:
if(spotKeys(key, event->modifiers())) {requestRedraw(); return;}
break;
case RNDF_ELEMENT_ZONE:
if(zoneKeys(key, event->modifiers())) {requestRedraw(); return;}
break;
case RNDF_ELEMENT_TRAFFIC_LIGHT:
if(trafficLightKeys(key, event->modifiers())) {requestRedraw(); return;}
break;
case RNDF_ELEMENT_CROSSWALK:
if(crosswalkKeys(key, event->modifiers())) {requestRedraw(); return;}
break;
}
}
std::cout << "keyboard: "<< key << " (#"<< (int) key <<") ";
bool key_handled = true;
if (event->modifiers() & Qt::ControlModifier) { // all element specific keys require control modifier
switch (key) {
case 'A': {
double x2, y2;
std::cout << "(add element ";
pickPoint(gui->last_mouse_x, gui->last_mouse_y, &x2, &y2);
utm_x = x2 + gui->rndf_center.x;
utm_y = y2 + gui->rndf_center.y;
std::string utm_zone = gui->rndf_center.zone;
gui->addElement(utm_x, utm_y, utm_zone);
}
break;
case 'D':
case 8:
case 127:
gui->removeElement();
break;
case 'K':
gui->copyElement();
break;
// case 'F': {
// printf("-1- %s\n", __PRETTY_FUNCTION__);
// gui->ui.actionFindWay_Point->activate(QAction::Trigger);
// }
// break;
default:
key_handled = false;
}
}
if (!key_handled) {
switch (key) {
case 'I':
if (!(event->modifiers() & Qt::ShiftModifier)) {
gui->showImagery(!gui->showImagery());
std::cout << (gui->showImagery() ? "imagery: ON" : "imagery: OFF") << std::endl;
}
else {
imagery_->cycleType();
if (imagery_->currentType() == Imagery::NONE) {
imagery_->cycleType();
}
switch (imagery_->currentType()) {
case Imagery::COLOR:
std::cout << "imagery type: COLOR" << std::endl;
break;
case Imagery::TOPO:
std::cout << "imagery type: TOPO" << std::endl;
break;
case Imagery::LASER:
std::cout << "imagery type: LASER" << std::endl;
break;
case Imagery::GSAT:
std::cout << "imagery type: GOOGLE" << std::endl;
break;
case Imagery::DARPA:
std::cout << "imagery type: DARPA" << std::endl;
break;
case Imagery::BW:
std::cout << "imagery type: BW" << std::endl;
break;
default:
std::cout << "imagery type: UNKNOWN" << std::endl;
break;
}
}
break;
default:
std::cout << "(no command)" << std::endl;
break;
}
}
requestRedraw();
}
