Removed dependency from GLUT

qgroundcontrol.pri

@@ -113,8 +113,7 @@ linux-g++ {
         -lflite_cmulex \
         -lflite \
         -lSDL \
-        -lSDLmain \
-        -lglut
+        -lSDLmain
 
         #-lflite_cmu_us_rms \
         #-lflite_cmu_us_slt \
@@ -156,8 +155,7 @@ linux-g++-64 {
         -lflite_cmulex \
         -lflite \
         -lSDL \
-        -lSDLmain \
-        -lglut
+        -lSDLmain
 }
 
 

qgroundcontrol.pro

@@ -164,8 +164,7 @@ HEADERS += src/MG.h \
     src/ui/map3D/Q3DWidget.h \
     src/ui/map3D/CheetahModel.h \
     src/ui/map3D/CheetahGL.h \
-    src/ui/map3D/QMap3DWidget.h \
-    src/ui/map3D/QGCGlut.h
+    src/ui/map3D/QMap3DWidget.h
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \

src/ui/map3D/Q3DWidget.cc

@@ -864,3 +864,157 @@ Q3DWidget::closeEvent(QCloseEvent *)
 {
     // exit application
 }
+
+void Q3DWidget::wireSphere(double radius, int slices, int stacks)
+{
+    // Make sure quad object exists
+    if(!quadObj) quadObj = gluNewQuadric();
+  gluQuadricDrawStyle(quadObj, GLU_LINE);
+  gluQuadricNormals(quadObj, GLU_SMOOTH);
+  /* If we ever changed/used the texture or orientation state
+     of quadObj, we'd need to change it to the defaults here
+     with gluQuadricTexture and/or gluQuadricOrientation. */
+  gluSphere(quadObj, radius, slices, stacks);
+}
+
+void Q3DWidget::solidSphere(double radius, int slices, int stacks)
+{
+    // Make sure quad object exists
+    if(!quadObj) quadObj = gluNewQuadric();
+  gluQuadricDrawStyle(quadObj, GLU_FILL);
+  gluQuadricNormals(quadObj, GLU_SMOOTH);
+  /* If we ever changed/used the texture or orientation state
+     of quadObj, we'd need to change it to the defaults here
+     with gluQuadricTexture and/or gluQuadricOrientation. */
+  gluSphere(quadObj, radius, slices, stacks);
+}
+
+void Q3DWidget::wireCone(double base, double height, int slices, int stacks)
+{
+    // Make sure quad object exists
+    if(!quadObj) quadObj = gluNewQuadric();
+  gluQuadricDrawStyle(quadObj, GLU_LINE);
+  gluQuadricNormals(quadObj, GLU_SMOOTH);
+  /* If we ever changed/used the texture or orientation state
+     of quadObj, we'd need to change it to the defaults here
+     with gluQuadricTexture and/or gluQuadricOrientation. */
+  gluCylinder(quadObj, base, 0.0, height, slices, stacks);
+}
+
+void Q3DWidget::solidCone(double base, double height, int slices, int stacks)
+{
+    // Make sure quad object exists
+    if(!quadObj) quadObj = gluNewQuadric();
+  gluQuadricDrawStyle(quadObj, GLU_FILL);
+  gluQuadricNormals(quadObj, GLU_SMOOTH);
+  /* If we ever changed/used the texture or orientation state
+     of quadObj, we'd need to change it to the defaults here
+     with gluQuadricTexture and/or gluQuadricOrientation. */
+  gluCylinder(quadObj, base, 0.0, height, slices, stacks);
+}
+
+void Q3DWidget::drawBox(float size, GLenum type)
+{
+  static GLfloat n[6][3] =
+  {
+    {-1.0, 0.0, 0.0},
+    {0.0, 1.0, 0.0},
+    {1.0, 0.0, 0.0},
+    {0.0, -1.0, 0.0},
+    {0.0, 0.0, 1.0},
+    {0.0, 0.0, -1.0}
+  };
+  static GLint faces[6][4] =
+  {
+    {0, 1, 2, 3},
+    {3, 2, 6, 7},
+    {7, 6, 5, 4},
+    {4, 5, 1, 0},
+    {5, 6, 2, 1},
+    {7, 4, 0, 3}
+  };
+  GLfloat v[8][3];
+  GLint i;
+
+  v[0][0] = v[1][0] = v[2][0] = v[3][0] = -size / 2;
+  v[4][0] = v[5][0] = v[6][0] = v[7][0] = size / 2;
+  v[0][1] = v[1][1] = v[4][1] = v[5][1] = -size / 2;
+  v[2][1] = v[3][1] = v[6][1] = v[7][1] = size / 2;
+  v[0][2] = v[3][2] = v[4][2] = v[7][2] = -size / 2;
+  v[1][2] = v[2][2] = v[5][2] = v[6][2] = size / 2;
+
+  for (i = 5; i >= 0; i--) {
+    glBegin(type);
+    glNormal3fv(&n[i][0]);
+    glVertex3fv(&v[faces[i][0]][0]);
+    glVertex3fv(&v[faces[i][1]][0]);
+    glVertex3fv(&v[faces[i][2]][0]);
+    glVertex3fv(&v[faces[i][3]][0]);
+    glEnd();
+  }
+}
+
+void Q3DWidget::wireCube(double size)
+{
+  drawBox(size, GL_LINE_LOOP);
+}
+
+void Q3DWidget::solidCube(double size)
+{
+  drawBox(size, GL_QUADS);
+}
+
+void Q3DWidget::doughnut(float r, float R, int nsides, int rings)
+{
+  int i, j;
+  GLfloat theta, phi, theta1;
+  GLfloat cosTheta, sinTheta;
+  GLfloat cosTheta1, sinTheta1;
+  GLfloat ringDelta, sideDelta;
+
+  ringDelta = 2.0 * M_PI / rings;
+  sideDelta = 2.0 * M_PI / nsides;
+
+  theta = 0.0;
+  cosTheta = 1.0;
+  sinTheta = 0.0;
+  for (i = rings - 1; i >= 0; i--) {
+    theta1 = theta + ringDelta;
+    cosTheta1 = cos(theta1);
+    sinTheta1 = sin(theta1);
+    glBegin(GL_QUAD_STRIP);
+    phi = 0.0;
+    for (j = nsides; j >= 0; j--) {
+      GLfloat cosPhi, sinPhi, dist;
+
+      phi += sideDelta;
+      cosPhi = cos(phi);
+      sinPhi = sin(phi);
+      dist = R + r * cosPhi;
+
+      glNormal3f(cosTheta1 * cosPhi, -sinTheta1 * cosPhi, sinPhi);
+      glVertex3f(cosTheta1 * dist, -sinTheta1 * dist, r * sinPhi);
+      glNormal3f(cosTheta * cosPhi, -sinTheta * cosPhi, sinPhi);
+      glVertex3f(cosTheta * dist, -sinTheta * dist,  r * sinPhi);
+    }
+    glEnd();
+    theta = theta1;
+    cosTheta = cosTheta1;
+    sinTheta = sinTheta1;
+  }
+}
+
+void Q3DWidget::wireTorus(double innerRadius, double outerRadius,
+  int nsides, int rings)
+{
+  glPushAttrib(GL_POLYGON_BIT);
+  glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
+  doughnut(innerRadius, outerRadius, nsides, rings);
+  glPopAttrib();
+}
+
+void Q3DWidget::solidTorus(double innerRadius, double outerRadius,
+  int nsides, int rings)
+{
+  doughnut(innerRadius, outerRadius, nsides, rings);
+}

src/ui/map3D/Q3DWidget.h

@@ -37,6 +37,8 @@ This file is part of the QGROUNDCONTROL project
 #include <QtOpenGL>
 #include <QtGui>
 
+//class GLUquadricObj;
+
 enum CameraState
 {
     IDLE = 0,
@@ -163,6 +165,19 @@ protected:
     float r2d(float angle);
     float d2r(float angle);
 
+    void Q3DWidget::wireSphere(double radius, int slices, int stacks);
+    void solidSphere(double radius, int slices, int stacks);
+    void wireCone(double base, double height, int slices, int stacks);
+    void solidCone(double base, double height, int slices, int stacks);
+    void drawBox(float size, GLenum type);
+    void wireCube(double size);
+    void solidCube(double size);
+    void doughnut(float r, float R, int nsides, int rings);
+    void wireTorus(double innerRadius, double outerRadius, int nsides, int rings);
+    void solidTorus(double innerRadius, double outerRadius, int nsides, int rings);
+
+    GLUquadricObj* quadObj;
+
 private:
     // QGLWidget events
     void initializeGL(void);

src/ui/map3D/QGCGlut.h

@@ -48,7 +48,10 @@ OpenGL(TM) is a trademark of Silicon Graphics, Inc.
 */
 
 #include <cmath>
-#include "glu.h"
+#include "OpenGL/glu.h"
+
+namespace sgi
+{
 
 /* Some <math.h> files do not define M_PI... */
 #ifndef M_PI
@@ -597,6 +600,6 @@ glutSolidTetrahedron(void)
 }
 
 /* ENDCENTRY */
-
+}
 
 #endif // QGCGLUT_H

src/ui/map3D/QMap3DWidget.cc

@@ -31,15 +31,10 @@ This file is part of the QGROUNDCONTROL project
 
 #include "QMap3DWidget.h"
 
-//#if (defined __APPLE__) & (defined __MACH__)
-//#include <GLUT/glut.h>
-//#else
-//#include <GL/glut.h>
-//#endif
 #include <QCheckBox>
 #include <sys/time.h>
 
-#include "QGCGlut.h"
+//#include "QGCGlut.h"
 #include "CheetahModel.h"
 #include "UASManager.h"
 #include "UASInterface.h"
@@ -531,7 +526,15 @@ QMap3DWidget::drawTarget(float x, float y, float z)
     glTranslatef(targetPosition.x - x, targetPosition.y - y, 0.0f);
     glColor3f(0.0f, 0.7f, 1.0f);
     glLineWidth(1.0f);
-    glutWireSphere(radius, 10, 10);
+
+    // Make sure quad object exists
+    if(!quadObj) quadObj = gluNewQuadric();
+    gluQuadricDrawStyle(quadObj, GLU_LINE);
+    gluQuadricNormals(quadObj, GLU_SMOOTH);
+    /* If we ever changed/used the texture or orientation state
+       of quadObj, we'd need to change it to the defaults here
+       with gluQuadricTexture and/or gluQuadricOrientation. */
+    gluSphere(quadObj, radius, 10, 10);
 
     if (expand)
     {