void Pulley::placeElement() {
MyNode *node = getNode();
BoundingBox box = node->getWorldBox();
float x, y;
switch(_currentElement) {
case 0: //base
y = (box.max.y - box.min.y) / 2.0f;
node->setTranslation(Vector3(0.0f, y, 0.0f));
break;
case 1: { //wheel
Vector3 base(getNode(0)->getTranslationWorld()), wheel(base + Vector3(0.0f, 6.0f, 0.0f));
node->rotate(Vector3(0, 1, 0), M_PI/2);
node->setTranslation(wheel);
box = node->getModel()->getMesh()->getBoundingBox();
_radius = (box.max.x - box.min.x) / 2.0f + _linkWidth/2;
// L/2 / R = sin(180/N / 2) => L = 2*R*sin(180 / 2N)
_linkLength = 2 * _radius * sin(M_PI / (2*_wheelLinks));
_dropLinks = (int)((wheel.y - _linkLength/2 - base.y) / (2.0f * _linkLength));
_numLinks = _dropLinks + _wheelLinks+1 + _dropLinks;
break;
} case 2: case 3: { //left/right bucket
//vertically halfway between base and wheel, rounded to the nearest chain link endpoint
//horizontally at left/right edge of wheel
Vector3 base(getNode(0)->getTranslationWorld()), wheel(getNode(1)->getTranslationWorld());
y = _dropLinks * _linkLength + (box.max.y - box.min.y) / 2.0f;
Vector3 pos(base.x + (2*_currentElement - 5) * _radius, wheel.y - y, wheel.z);
node->setTranslation(pos);
break;
}
}
}
void DynamixelServo::angle(float newAngle) {
int rev=0;
float diffAngle=newAngle-presentAngle;
presentAngle=newAngle;
while (diffAngle>180.0) {
rev--;
diffAngle-=360.0;
}
while(diffAngle<-180.0){
rev++;
diffAngle+=360.0;
}
int pos=DXL2USB.readWord(id,DXL_PRESENT_POSITION_WORD);
while (rev>0){
wheel(1023);
int newpos=DXL2USB.readWord(id,DXL_PRESENT_POSITION_WORD);
if (pos-newpos>DynamixelInterface::JITTER) rev--;
pos=newpos;
}
while (rev<0){
wheel(1024+1023);
int newpos=DXL2USB.readWord(id,DXL_PRESENT_POSITION_WORD);
if (newpos-pos>DynamixelInterface::JITTER) rev++;
pos=newpos;
}
diffAngle=presentAngle;
while (diffAngle>180)diffAngle-=360.0;
while (diffAngle<-180) diffAngle+=360.0;
int angle=((180-diffAngle)*2047)/180;
joint(angle);
}
/*
* Simple Two-pass algorithm to test a range of memory -
* every bit flips and all locations are unique to detect
* address line problems.
*/
U32 memory_test(void *start, U32 len, U64 seed, U32 verbose)
{
U64 *p = (U64*)start;
U64 *e = (U64*)((U32)start + len);
register U64 d = seed;
U32 i, bank, cont = 1;
U32 result = SUCCESS;
if (verbose)
printf(verbMemTstHerald, d, p, (U32)e-8);
for (i=0; i < 2 && cont; i++) { /* Two-pass algorithm */
if (verbose) {
if (i && !result) printf(aoknl);
printf(verbWriting);
wheel(1);
}
d = i ? ~seed : seed;
for (p = start; p < e; p++) {
if (i)
*p = d--;
else
*p = d++;
wheel(0);
}
if (verbose) {
printf(verbReadCompare);
wheel(1);
}
d = i ? ~seed : seed;
for (p = start; p < e && cont; p++) {
if (*p != d) {
bank = ((U32)p >> 28) - 0xA;
printf("\n%s Bank %d\n", dmc, (((U32)p >> 27) & 1) + bank);
printf(errAddrWR_long, (U32)p, d, *p);
result = FAILURE;
cont = AskYN(keepGoing);
}
wheel(0);
if (i)
d--;
else
d++;
}
}
void draw_frame(ScreenBuffer *s, int frame) {
static int pos = 0;
s->rect(0, 0, WIDTH, HEIGHT, wheel(pos));
pos = (pos + 1) % (256 * 3);
}
void rainbow2(Strip* self, uint8_t j, uint8_t length)
{
uint16_t i;
for (i =0; i< self->length; i++) {
Strip_setPixel(self, i, wheel(((i*length)+j) %255));
}
}
bool MapView::eventFilter(QObject *pObject, QEvent *pEvent)
{
QWheelEvent *pWheelEvent;
QMouseEvent *pMouseEvent;
bool used = false;
switch(pEvent->type())
{
case QEvent::Wheel:
pWheelEvent = static_cast<QWheelEvent*>(pEvent);
wheel(pWheelEvent);
used = true;
break;
case QEvent::MouseMove:
pMouseEvent = static_cast<QMouseEvent*>(pEvent);
mouseMove(pMouseEvent);
used = true;
break;
case QEvent::MouseButtonPress:
pMouseEvent = static_cast<QMouseEvent*>(pEvent);
m_prevMousePos = pMouseEvent->pos();
used = true;
break;
default:
break;
}
return used;
}
task main()
{
while(true){
checkMode();
drive();
tread();
wheel();
}
}
// display static rainbow
void showrainbow(void) {
int k;
for ( k=0; k < NUMLEDS; k++ ) {
setPixelS(k, wheel( ((k * 256 / NUMLEDS )) % 255) );
}
display();
delayMillis(100);
}
int main(){
//portInit();
serial_initialize(57600);
dxl_initialize( 0, 1 ); // init with baud = 1 Mbps
ADCInit();
sei(); //Enables global interrupts
unsigned int distanceLeft, distanceRight, front, movingLeft, movingRight;
signed int speedLeft, speedRight;
while(1) {
//printf("%d %d\n\n",getSensorValue(3),getSensorValue(4));
//_delay_ms(1000);
// Get sensor reading (in cm)
front = DMSDistance(getSensorValue(1));
distanceLeft = IRValue(getSensorValue(3));
distanceRight = IRValue(getSensorValue(4));
// Calculating the required speed
speedRight = (int)((front-40*distanceLeft));
speedLeft = (int)((front-40*distanceRight));
movingLeft = dxl_read_byte( 1, 38 );
movingRight = dxl_read_byte(2,38);
if(movingLeft < 15 && movingRight < 15){
wheel(1,0);
wheel(2,-20);
_delay_ms(1000);
}else{
wheel(1,-speedRight);
wheel(2,speedLeft);
}
printf("%d %d - %d\n\n",speedLeft,speedRight,getSensorValue(1));
//_delay_ms(1000);
// Making the wheels spin
}
return 0;
}
void ofTurtle::draw(int _x, int _y)
{
int ppi=pixPerInch;
ofPoint wheel(.25*ppi,(2+3/8)*ppi);
ofPoint rWheel(1.125*ppi,1.875*ppi);
ofRectangle body(-3.25*ppi/2,-wheel.y/2,ppi*3.25,ppi*4.5);
//int body=w-whlWid*2;
//int leng=h;
ofEnableSmoothing();
for (unsigned int i=0; i<lines.size()-1&&lines.size()>1; i++) {
ofSetLineWidth(2);
ofLine(lines[i].x, lines[i].y, lines[i+1].x, lines[i+1].y);
}
ofDisableSmoothing();
ofPushMatrix();
ofTranslate(pos.x, pos.y, 0);
ofRotate(360-bearing.absoluteAngle());
ofEnableSmoothing();
ofSetColor(black.opacity(128));
ofRect(body.x,body.y,body.width,body.height);
ofSetColor(white);
ofNoFill();
ofRect(body.x,body.y,body.width,body.height);
ofFill();
ofSetColor(black);
ofRect(body.x-ppi*3/8, body.y, wheel.x, wheel.y);
ofRect(body.x+body.width+ppi*3/32, body.y, wheel.x, wheel.y);
/*ofSetColor(white*.8);
ofRect(body.x+(body.width-ppi*1.375)/2, body.y+body.height, 1.375*ppi, .25*ppi);
ofRect(body.x+(body.width-ppi*1.375)/2+1.125*ppi, body.y+body.height, .25*ppi,1.375*ppi);
ofSetColor(white*.5);
ofRect(body.x+(body.width-ppi*1.375)/2+.125*ppi, body.y+body.height+.5*ppi, .875*ppi, 1.5*ppi);
ofSetColor(orange);
ofRect(body.x+(body.width-ppi*1.375)/2+.125*ppi, body.y+body.height+.50625*ppi, .375*ppi, .4375*ppi);
ofRect(body.x+(body.width-ppi*1.375)/2+.125*ppi, body.y+body.height+(2.-.4375)*ppi, .375*ppi, .4375*ppi);
ofRect(body.x+(body.width-ppi*1.375)/2+(1-.375)*ppi, body.y+body.height+(.5+(1.5-.4375)/2)*ppi, .375*ppi, .4375*ppi);*/
ofPopMatrix();
ofDisableSmoothing();
if(!frontIsClear(frontCheckDist)) ofSetColor(255, 0, 0);
else ofSetColor(0, 255, 0);
ofPoint ps = pointAlongBearing(frontCheckDist+wheel.y/2);
ofCircle(ps.x, ps.y, 5);
if(!leftIsClear(leftCheckDist)) ofSetColor(255, 0, 0);
else ofSetColor(0, 255, 0);
ps = pos+bearing.ortho().unit()*w/2-bearing.unit()*w/2+bearing.unit().rotate(270)*leftCheckDist;
ofCircle(ps.x, ps.y, 5);
for (unsigned int i=0; i<bdy.size(); i++) {
ofSetColor(yellow);
ofVector t=bdy[i];
ofLine(pos, pos+t.rotate(360-bearing.absoluteAngle()));
}
}
uint16_t * rainbow_cycle(uint16_t *strip) {
static int t;
for(int i = 0; i < NUM_LEDS; ++i) {
strip[i] = wheel(((i * 96 / NUM_LEDS) + t) % 96);
}
++t;
return strip;
}
bool QGLGraphicsNavigationItemPrivate::handleWheel(QGraphicsSceneWheelEvent *e)
{
if ((viewportItem->options() &
QGLGraphicsViewportItem::CameraNavigation) != 0) {
wheel(e->delta());
return true;
} else {
return false;
}
}
void main()
{
int gd,gm,i;
detectgraph(&gd,&gm);
initgraph(&gd,&gm,"c:\\tc\\bgi");
wheel(); //for loading
home_draw(); // for home page design
profile_draw();
closegraph();
}
void rainbow(Strip* self, uint8_t wait)
{
uint16_t i,j;
for (j=0; j<256; j++) { // TOFIX: 256
for (i =0; i< self->length; i++) {
Strip_setPixel(self, i, wheel(((i*10)+j) %255));
}
Strip_show(self);
delay32Ms(0,wait);
}
}
// animate fading rainbow cycle
void rainbowcycle(void) {
int k, j;
for ( j=0; j<256; j++ ) {
for ( k=0; k < NUMLEDS; k++ ) {
setPixelS(k, wheel( ( k+j) % 255 ) );
}
display();
delayMillis(100);
}
}
// r a i n b o w C y c l e ( )
//=================================================================================
//From Adafruit
// Slightly different, this makes the rainbow equally distributed throughout
//
void GoldieClock::rainbowCycle(uint8_t wait, uint8_t repeatNumber)
{
for(uint16_t j = 0; j < 256U * repeatNumber; j++)
{ // repeatNumber of cycles of all colors on wheel
for(uint16_t i=0; i< numPixels(); i++)
{
setPixelColor(i, wheel(((i * 256 / numPixels()) + j) & 255));
}
show();
delay(wait);
}
}
uint16_t * chase(uint16_t *strip) {
static unsigned int t;
for(int i = 0; i < NUM_LEDS; ++i) {
strip[i] = (i + t) & 3 ? LED_OFF : wheel(((i * 96 / NUM_LEDS) - t) % 96);
}
vTaskDelay(50 / portTICK_RATE_MS);
++t;
return strip;
}
/*!
Processes the mouse move event \a e.
*/
void QGLView::mouseMoveEvent(QMouseEvent *e)
{
if (d->panning) {
QPoint delta = e->pos() - d->startPan;
if (e->modifiers() == d->panModifiers) {
d->camera->setEye(d->startEye);
d->camera->setCenter(d->startCenter);
d->camera->setUpVector(d->startUpVector);
} else {
d->startPan = d->lastPan;
delta = e->pos() - d->startPan;
d->startEye = d->camera->eye();
d->startCenter = d->camera->center();
d->startUpVector = d->camera->upVector();
d->panModifiers = e->modifiers();
}
d->lastPan = e->pos();
if ((e->modifiers() & Qt::ControlModifier) != 0)
wheel(delta.y() * -60);
else if ((e->modifiers() & Qt::ShiftModifier) != 0)
pan(delta.x(), delta.y());
else
rotate(delta.x(), delta.y());
} else if ((d->options & QGLView::ObjectPicking) != 0) {
QObject *object = objectForPoint(e->pos());
if (d->pressedObject) {
// Send the move event to the pressed object. Use a position
// of (0, 0) if the mouse is still within the pressed object,
// or (-1, -1) if the mouse is no longer within the pressed object.
QMouseEvent event
(QEvent::MouseMove,
(d->pressedObject == object) ? QPoint(0, 0) : QPoint(-1, -1),
e->globalPos(), e->button(), e->buttons(), e->modifiers());
QCoreApplication::sendEvent(d->pressedObject, &event);
} else if (object) {
if (object != d->enteredObject) {
if (d->enteredObject)
sendLeaveEvent(d->enteredObject);
d->enteredObject = object;
sendEnterEvent(d->enteredObject);
}
QMouseEvent event
(QEvent::MouseMove, QPoint(0, 0),
e->globalPos(), e->button(), e->buttons(), e->modifiers());
QCoreApplication::sendEvent(object, &event);
} else if (d->enteredObject) {
sendLeaveEvent(d->enteredObject);
d->enteredObject = 0;
}
}
QGLWidget::mouseMoveEvent(e);
}
QPopupMenu *
ViewFogGL3::createToolsMenu(QWidget * parent)
{
QPixmap wheel(ViewerIcon3::icon_wheel);
QPopupMenu * menu = new QPopupMenu(parent,"Fog Menu");
int id = menu->insertItem(wheel,tr("Control"),__control, SLOT(show()));
ViewPopupButton3 * bt = new ViewPopupButton3(menu,id,"Control Fog");
QObject::connect(__control,SIGNAL(visibilityChanged(bool)),bt,SLOT(check(bool)));
menu->insertSeparator();
id = menu->insertItem(tr("Enable"),this, SLOT(setEnable()));
bt = new ViewPopupButton3(menu,id,"Enable Fog");
QObject::connect(this,SIGNAL(enabled(bool)),bt,SLOT(check(bool)));
return menu;
}
void QQuickMouseArea::wheelEvent(QWheelEvent *event)
{
Q_D(QQuickMouseArea);
if (!d->enabled) {
QQuickItem::wheelEvent(event);
return;
}
QQuickWheelEvent we(event->posF().x(), event->posF().y(), event->angleDelta(),
event->pixelDelta(), event->buttons(), event->modifiers());
we.setAccepted(d->isWheelConnected());
emit wheel(&we);
if (!we.isAccepted())
QQuickItem::wheelEvent(event);
}
void QQuickMouseArea::wheelEvent(QWheelEvent *event)
{
Q_D(QQuickMouseArea);
if (!d->enabled || (!isScrollGestureEnabled() && event->source() != Qt::MouseEventNotSynthesized)) {
QQuickItem::wheelEvent(event);
return;
}
QQuickWheelEvent we(event->posF().x(), event->posF().y(), event->angleDelta(),
event->pixelDelta(), event->buttons(), event->modifiers());
we.setAccepted(d->isWheelConnected());
emit wheel(&we);
if (!we.isAccepted())
QQuickItem::wheelEvent(event);
}
void paratraverse(int r) {
cleardevice();
std::vector<Point2D> list;
parabola(getmaxx()/2, getmaxy(), 16, list, true);
std::sort(list.begin(), list.end(), compPoint2D);
setcolor(WHITE);
float theta = 0;
for (auto i = list.begin(); i != list.end(); i+=10, theta+=10) {
Point2D t(*i);
if (t.y > getmaxy() - r)
t.y = t.y - r;
else if(i - list.begin() > list.size()/2)
t = Point2D(t.x - r, t.y);
else
t = Point2D(t.x + r, t.y);
wheel(t, r, theta);
parabola(getmaxx()/2, getmaxy(), 16, list);
setcolor(BLACK);
delay(100);
wheel(t, r, theta);
setcolor(WHITE);
}
getch();
}
void ofTurtle::setup(string filename)
{
map.loadImage(filename);
int ppi=pixPerInch=map.width/48;
ofPoint wheel(.25*ppi,(2+3/8)*ppi);
ofPoint rWheel(1.125*ppi,1.875*ppi);
setup(2*(map.width/12.),map.height-3*(map.height/12.), pixPerInch*5,7.25*pixPerInch);
ofRectangle body(-3.25*ppi/2,-wheel.y/2,ppi*3.25,ppi*4.5);
bdy.push_back(ofVector(body.x,body.y));
bdy.push_back(ofVector(body.x+body.width,body.y));
bdy.push_back(ofVector(body.x,body.y+body.height));
bdy.push_back(ofVector(body.x+body.width,body.y+body.height));
//bdy.push_back(ofVector(body.x+(body.width-rWheel.x)/2,body.y+body.height+rWheel.y));
//bdy.push_back(ofVector(body.x+(body.width+rWheel.x)/2,body.y+body.height+rWheel.y));
//ofRect(body.x+(body.width-ppi*1.375)/2+.125*ppi, body.y+body.height+.5*ppi, .875*ppi, 1.5*ppi);
}
void ossimGui::ImageScrollWidget::wheelEvent ( QWheelEvent * e )
{
//QScrollArea::wheelEvent(e);
if(!m_inputBounds.hasNans())
{
ossimIpt origin = m_inputBounds.ul();
ossimIpt localPoint(m_scrollOrigin.x +e->x(), m_scrollOrigin.y+e->y());
ossimIpt viewPoint(localPoint.x+origin.x,
localPoint.y+origin.y);
ossimDrect rect = viewportBoundsInViewSpace();
emit wheel(e, rect, viewPoint);//viewportPoint, localPoint, viewPoint);
}
}
void WheeledBaseSim::drawGL()
{
//constructor: create a physical representation of the robot only for drawing
double height=wheel_radius*3;
double clearance=wheel_radius;
vector<Vector2D> list;
PrismaticPart bod;
list.push_back(Vector2D(large/2,width/2));
list.push_back(Vector2D(large/2,-width/2));
list.push_back(Vector2D(-large/2,-width/2));
list.push_back(Vector2D(-large/2,width/2));
bod.setPolygonalBase(list);
bod.setHeight(height-clearance);
bod.setRelativePosition(Vector3D(0,0,clearance));
bod.setColor(1,0,0);
//las ruedas no se pueden añadir hasta no tener un mecanismo de exclusión de detección
CylindricalPart wheel(wheel_width,wheel_radius);
wheel.setColor(0.1,0.1,0.1);
glPushMatrix();
getAbsoluteT3D().transformGL();
//body
bod.drawGL();
//each wheel
wheel.setRelativeOrientation(X_AXIS,-PI/2);
wheel.setRelativePosition(Vector3D(large/2,width/2,wheel_radius+0.002));
wheel.drawGL();
wheel.setRelativeOrientation(X_AXIS,-PI/2);
wheel.setRelativePosition(Vector3D(-large/2,width/2,wheel_radius+0.002));
wheel.drawGL();
wheel.setRelativeOrientation(X_AXIS,PI/2);
wheel.setRelativePosition(Vector3D(large/2,-width/2,wheel_radius+0.002));
wheel.drawGL();
wheel.setRelativeOrientation(X_AXIS,PI/2);
wheel.setRelativePosition(Vector3D(-large/2,-width/2,wheel_radius+0.002));
wheel.drawGL();
glPopMatrix();
return;
}
bool QGLGraphicsNavigationItemPrivate::handleMouseMove(QGraphicsSceneMouseEvent *e)
{
if (panning) {
QPointF delta = e->pos() - startPan;
startPan = e->pos();
if ((e->modifiers() & Qt::ControlModifier) != 0)
wheel(delta.y() * -60);
else if ((e->modifiers() & Qt::ShiftModifier) != 0)
pan(delta.x(), delta.y());
else
rotate(delta.x(), delta.y());
} else if ((viewportItem->options() &
QGLGraphicsViewportItem::ObjectPicking) != 0) {
QObject *object = viewportItem->objectForPosition(e->pos());
if (pressedObject) {
// Send the move event to the pressed object. Use a position
// of (0, 0) if the mouse is still within the pressed object,
// or (-1, -1) if the mouse is no longer within the pressed object.
QMouseEvent event
(QEvent::MouseMove,
(pressedObject == object) ? QPoint(0, 0) : QPoint(-1, -1),
e->screenPos(), e->button(), e->buttons(), e->modifiers());
QCoreApplication::sendEvent(pressedObject, &event);
} else if (object) {
if (object != enteredObject) {
if (enteredObject)
sendLeaveEvent(enteredObject);
enteredObject = object;
sendEnterEvent(enteredObject);
}
QMouseEvent event
(QEvent::MouseMove, QPoint(0, 0),
e->screenPos(), e->button(), e->buttons(), e->modifiers());
QCoreApplication::sendEvent(object, &event);
} else if (enteredObject) {
sendLeaveEvent(enteredObject);
enteredObject = 0;
}
} else {
return false;
}
return true;
}
//-----------------------------------------------------------------------------------------
void TestTransformation::onMouseMoved()
{
if (m_bTouch)
return;
if (CCamera* pCamera = m_pView->getCurrentCamera())
{
if (m_bPressed)
{
CMouseStates mouseStates = m_pView->getMouseStates();
QPoint delta = mouseStates.getPosition() - m_StartPan;
if (mouseStates.isRightButtonPressed())
{
pCamera->setEyePosition(m_vStartEye);
pCamera->setCenter(m_vStartCenter);
pCamera->setUp(m_vStartUpVector);
}
else
{
m_StartPan = m_LastPan;
delta = mouseStates.getPosition() - m_StartPan;
m_vStartEye = pCamera->getEyePosition();
m_vStartCenter = pCamera->getCenter();
m_vStartUpVector = pCamera->getUp();
}
m_LastPan = mouseStates.getPosition();
if (mouseStates.isRightButtonPressed())
{
wheel(-delta.y());
}
else
{
rotate(delta.x(), delta.y());
}
}
}
}
U32 ImpatientWheel(U32 prt)
{
int c = 0;
if (kbhit()) {
c = GET_KEY();
if (c == ESC) {
/*
* Eat all keystrokes, user may have
* been hammering escape key trying
* to get out.
*/
flushKbd();
sheSaidQuit = YES;
return (1);
}
else Gripe();
}
wheel(prt);
return (0);
}
//Plays a song according to what top hat (D-Pad) button is pressed
task musicalButtons()
{
while(true)
{
if(joystick.joy1_TopHat==1)
{
champions();
}
else if(joystick.joy1_TopHat==2)
{
impossible();
}
else if(joystick.joy1_TopHat==3)
{
mario();
}
else if(joystick.joy1_TopHat==4)
{
gangnam();
}
else if(joystick.joy1_TopHat==5)
{
jones();
}
else if(joystick.joy1_TopHat==6)
{
wheel();
}
else if(joystick.joy1_TopHat==7)
{
hall();
}
else if(joystick.joy1_TopHat==8)
{
circus();
}
}
}
/*!
Processes the key press event \a e.
*/
void QGLView::keyPressEvent(QKeyEvent *e)
{
QGLCamera *camera;
qreal sep;
if ((d->options & QGLView::CameraNavigation) == 0) {
QGLWidget::keyPressEvent(e);
return;
}
switch (e->key()) {
case Qt::Key_Escape:
case Qt::Key_Q:
{
if (parentWidget() == 0)
close();
}
case Qt::Key_Left:
{
if ((e->modifiers() & Qt::ShiftModifier) != 0) {
pan(-10, 0);
} else if ((e->modifiers() & Qt::ControlModifier) != 0) {
camera = this->camera();
sep = camera->eyeSeparation();
sep -= (sep / 10.0f);
if (sep < 0.0f)
sep = 0.0f;
camera->setEyeSeparation(sep);
e->accept();
return;
} else {
rotate(-10, 0);
}
}
break;
case Qt::Key_Right:
{
if ((e->modifiers() & Qt::ShiftModifier) != 0) {
pan(10, 0);
} else if ((e->modifiers() & Qt::ControlModifier) != 0) {
camera = this->camera();
sep = camera->eyeSeparation();
sep += (sep / 10.0f);
camera->setEyeSeparation(sep);
e->accept();
return;
} else {
rotate(10, 0);
}
}
break;
case Qt::Key_Up:
{
if ((e->modifiers() & Qt::ControlModifier) != 0)
wheel(120);
else if ((e->modifiers() & Qt::ShiftModifier) != 0)
pan(0, -10);
else
rotate(0, -10);
}
break;
case Qt::Key_Down:
{
if ((e->modifiers() & Qt::ControlModifier) != 0)
wheel(-120);
else if ((e->modifiers() & Qt::ShiftModifier) != 0)
pan(0, 10);
else
rotate(0, 10);
}
break;
}
QGLWidget::keyPressEvent(e);
}