From 921870e46a78b305a88e54e9ac99e59306b743b7 Mon Sep 17 00:00:00 2001
From: hengli <hengli@student.ethz.ch>
Date: Thu, 16 Feb 2012 10:38:33 +0100
Subject: [PATCH] Fixed bug in bird's eye view in 3D view.

---
 src/ui/map3D/GCManipulator.cc   |  2 +-
 src/ui/map3D/Pixhawk3DWidget.cc | 18 ++++++++----------
 src/ui/map3D/Pixhawk3DWidget.h  |  2 +-
 src/ui/map3D/Q3DWidget.cc       |  6 ++++++
 src/ui/map3D/Q3DWidget.h        |  5 +++++
 5 files changed, 21 insertions(+), 12 deletions(-)

diff --git a/src/ui/map3D/GCManipulator.cc b/src/ui/map3D/GCManipulator.cc
index 8804e5e0b..b5248c473 100644
--- a/src/ui/map3D/GCManipulator.cc
+++ b/src/ui/map3D/GCManipulator.cc
@@ -25,7 +25,7 @@ This file is part of the QGROUNDCONTROL project
  * @file
  *   @brief Definition of the class GCManipulator.
  *
- *   @author Lionel Heng <hengli@student.ethz.ch>
+ *   @author Lionel Heng <hengli@inf.ethz.ch>
  *
  */
 
diff --git a/src/ui/map3D/Pixhawk3DWidget.cc b/src/ui/map3D/Pixhawk3DWidget.cc
index 0e600a4b1..ca2c3c3d8 100644
--- a/src/ui/map3D/Pixhawk3DWidget.cc
+++ b/src/ui/map3D/Pixhawk3DWidget.cc
@@ -292,14 +292,12 @@ Pixhawk3DWidget::modelChanged(int systemId, int index)
 }
 
 void
-Pixhawk3DWidget::setBirdView(void)
+Pixhawk3DWidget::setBirdEyeView(void)
 {
     mViewParamWidget->setFollowCameraId(-1);
 
-    mCameraPos = QVector3D(0.0, 0.0, -100.0);
-
     m3DWidget->rotateCamera(0.0, 0.0, 0.0);
-    m3DWidget->recenterCamera(mCameraPos.y(), mCameraPos.x(), -mCameraPos.z());
+    m3DWidget->setCameraDistance(100.0);
 }
 
 void
@@ -692,7 +690,7 @@ Pixhawk3DWidget::update(void)
 
             mCameraPos = QVector3D(x, y, z);
 
-            setBirdView();
+            setBirdEyeView();
             mInitCameraPos = true;
         }
     }
@@ -828,12 +826,12 @@ Pixhawk3DWidget::buildLayout(void)
     QPushButton* recenterButton = new QPushButton(this);
     recenterButton->setText("Recenter Camera");
 
-    QPushButton* birdViewButton = new QPushButton(this);
-    birdViewButton->setText("Bird's Eye View");
+    QPushButton* birdEyeViewButton = new QPushButton(this);
+    birdEyeViewButton->setText("Bird's Eye View");
 
     QHBoxLayout* layoutBottom = new QHBoxLayout;
     layoutBottom->addWidget(recenterButton);
-    layoutBottom->addWidget(birdViewButton);
+    layoutBottom->addWidget(birdEyeViewButton);
     layoutBottom->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding));
 
     QGridLayout* layout = new QGridLayout(this);
@@ -850,8 +848,8 @@ Pixhawk3DWidget::buildLayout(void)
             this, SLOT(showViewParamWindow()));
     connect(recenterButton, SIGNAL(clicked()),
             this, SLOT(recenterActiveCamera()));
-    connect(birdViewButton, SIGNAL(clicked()),
-            this, SLOT(setBirdView()));
+    connect(birdEyeViewButton, SIGNAL(clicked()),
+            this, SLOT(setBirdEyeView()));
 }
 
 void
diff --git a/src/ui/map3D/Pixhawk3DWidget.h b/src/ui/map3D/Pixhawk3DWidget.h
index 534e6d615..bc25bec34 100644
--- a/src/ui/map3D/Pixhawk3DWidget.h
+++ b/src/ui/map3D/Pixhawk3DWidget.h
@@ -67,7 +67,7 @@ private slots:
     void followCameraChanged(int systemId);
     void recenterActiveCamera(void);
     void modelChanged(int systemId, int index);
-    void setBirdView(void);
+    void setBirdEyeView(void);
 
     void selectTargetHeading(void);
     void selectTarget(void);
diff --git a/src/ui/map3D/Q3DWidget.cc b/src/ui/map3D/Q3DWidget.cc
index ef4576803..d05fdcc60 100644
--- a/src/ui/map3D/Q3DWidget.cc
+++ b/src/ui/map3D/Q3DWidget.cc
@@ -133,6 +133,12 @@ Q3DWidget::rotateCamera(double roll, double pitch, double yaw)
     mCameraManipulator->setRotation(q);
 }
 
+void
+Q3DWidget::setCameraDistance(double distance)
+{
+    mCameraManipulator->setDistance(distance);
+}
+
 void
 Q3DWidget::setDisplayMode3D(void)
 {
diff --git a/src/ui/map3D/Q3DWidget.h b/src/ui/map3D/Q3DWidget.h
index 8367f030e..32b9dc464 100644
--- a/src/ui/map3D/Q3DWidget.h
+++ b/src/ui/map3D/Q3DWidget.h
@@ -103,6 +103,11 @@ public:
       */
     void rotateCamera(double roll, double pitch, double yaw);
 
+    /**
+      * @brief Sets the camera distance.
+      */
+    void setCameraDistance(double distance);
+
     /**
      * @brief Sets up 3D display mode.
      */
-- 
2.22.0