Skip to content

Q
qgroundcontrol
Commit c4726cdd authored by Lorenz Meier's avatar Lorenz Meier
Browse files
Options

Merge branch 'master' of github.com:mavlink/qgroundcontrol

parents f5f3c8e4 f3a7fb0e
Hide whitespace changes
Inline Side-by-side
Showing with 209 additions and 24 deletions
src/ui/map3D/Pixhawk3DWidget.cc
View file @ c4726cdd
......@@ -79,6 +79,7 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
// generate map model
mImageryNode = createImagery();
mImageryNode->setName("imagery");
m3DWidget->worldMap()->addChild(mImageryNode, false);
setupHUD();
......@@ -447,7 +448,7 @@ Pixhawk3DWidget::showTerrainParamWindow(void)
const QVector3D& attitudeOffset = mGlobalViewParams->terrainAttitudeOffset();
mTerrainPAT->setPosition(osg::Vec3d(positionOffset.y(), positionOffset.x(), -positionOffset.z()));
mTerrainPAT->setAttitude(osg::Quat(M_PI_2 - attitudeOffset.z(), osg::Vec3d(0.0f, 0.0f, 1.0f),
mTerrainPAT->setAttitude(osg::Quat(- attitudeOffset.z(), osg::Vec3d(0.0f, 0.0f, 1.0f),
attitudeOffset.y(), osg::Vec3d(1.0f, 0.0f, 0.0f),
attitudeOffset.x(), osg::Vec3d(0.0f, 1.0f, 0.0f)));
}
......@@ -576,7 +577,7 @@ Pixhawk3DWidget::loadTerrainModel(void)
mGlobalViewParams->terrainAttitudeOffset() = QVector3D();
mTerrainPAT->setPosition(osg::Vec3d(0.0, 0.0, 0.0));
mTerrainPAT->setAttitude(osg::Quat(M_PI_2, osg::Vec3d(0.0f, 0.0f, 1.0f),
mTerrainPAT->setAttitude(osg::Quat(0.0, osg::Vec3d(0.0f, 0.0f, 1.0f),
0.0, osg::Vec3d(1.0f, 0.0f, 0.0f),
0.0, osg::Vec3d(0.0f, 1.0f, 0.0f)));
}
......@@ -928,6 +929,105 @@ Pixhawk3DWidget::clearAllWaypoints(void)
}
}
void
Pixhawk3DWidget::moveImagery(void)
{
if (mMode != MOVE_IMAGERY_MODE)
{
mMode = MOVE_IMAGERY_MODE;
return;
}
if (!mActiveUAS)
{
return;
}
if (mGlobalViewParams->frame() == MAV_FRAME_GLOBAL)
{
return;
}
double z = mActiveUAS->getLocalZ();
QPointF cursorWorldCoords =
m3DWidget->worldCursorPosition(m3DWidget->mouseCursorCoords(), -z);
QVector3D& offset = mGlobalViewParams->imageryOffset();
offset.setX(cursorWorldCoords.x());
offset.setY(cursorWorldCoords.y());
mImageryNode->setOffset(offset.x(), offset.y(), offset.z());
}
void
Pixhawk3DWidget::moveTerrain(void)
{
if (mMode != MOVE_TERRAIN_MODE)
{
mMode = MOVE_TERRAIN_MODE;
return;
}
if (!mActiveUAS)
{
return;
}
if (mGlobalViewParams->frame() == MAV_FRAME_GLOBAL)
{
return;
}
double z = mActiveUAS->getLocalZ();
QPointF cursorWorldCoords =
m3DWidget->worldCursorPosition(m3DWidget->mouseCursorCoords(), -z);
QVector3D& positionOffset = mGlobalViewParams->terrainPositionOffset();
positionOffset.setX(cursorWorldCoords.x());
positionOffset.setY(cursorWorldCoords.y());
mTerrainPAT->setPosition(osg::Vec3d(positionOffset.y(), positionOffset.x(), -positionOffset.z()));
}
void
Pixhawk3DWidget::rotateTerrain(void)
{
if (mMode != ROTATE_TERRAIN_MODE)
{
mMode = ROTATE_TERRAIN_MODE;
return;
}
if (!mActiveUAS)
{
return;
}
if (mGlobalViewParams->frame() == MAV_FRAME_GLOBAL)
{
return;
}
double z = mActiveUAS->getLocalZ();
QPointF cursorWorldCoords =
m3DWidget->worldCursorPosition(m3DWidget->mouseCursorCoords(), -z);
const QVector3D& positionOffset = mGlobalViewParams->terrainPositionOffset();
QVector3D& attitudeOffset = mGlobalViewParams->terrainAttitudeOffset();
double yaw = atan2(cursorWorldCoords.y() - positionOffset.y(),
cursorWorldCoords.x() - positionOffset.x());
attitudeOffset.setZ(yaw);
mTerrainPAT->setAttitude(osg::Quat(- attitudeOffset.z(), osg::Vec3d(0.0f, 0.0f, 1.0f),
attitudeOffset.y(), osg::Vec3d(1.0f, 0.0f, 0.0f),
attitudeOffset.x(), osg::Vec3d(0.0f, 1.0f, 0.0f)));
}
void
Pixhawk3DWidget::sizeChanged(int width, int height)
{
......@@ -1291,30 +1391,94 @@ Pixhawk3DWidget::mousePressEvent(QMouseEvent* event)
mMode = DEFAULT_MODE;
event->accept();
}
if (event->modifiers() == Qt::ShiftModifier)
}
else if (event->button() == Qt::RightButton)
{
if (m3DWidget->getSceneData() && mActiveUAS)
{
mSelectedWpIndex = findWaypoint(event->pos());
mSelectedWpIndex = -1;
bool mouseOverImagery = false;
bool mouseOverTerrain = false;
SystemContainer& systemData = mSystemContainerMap[mActiveUAS->getUASID()];
osg::ref_ptr<WaypointGroupNode>& waypointGroupNode = systemData.waypointGroupNode();
osgUtil::LineSegmentIntersector::Intersections intersections;
QPoint widgetMousePos = m3DWidget->mapFromParent(event->pos());
if (m3DWidget->computeIntersections(widgetMousePos.x(),
m3DWidget->height() - widgetMousePos.y(),
intersections))
{
for (osgUtil::LineSegmentIntersector::Intersections::iterator
it = intersections.begin(); it != intersections.end(); it++)
{
for (uint i = 0 ; i < it->nodePath.size(); ++i)
{
osg::Node* node = it->nodePath[i];
std::string nodeName = node->getName();
if (nodeName.substr(0, 2).compare("wp") == 0)
{
if (node->getParent(0)->getParent(0) == waypointGroupNode.get())
{
mSelectedWpIndex = atoi(nodeName.substr(2).c_str());
}
}
else if (nodeName.compare("imagery") == 0)
{
mouseOverImagery = true;
}
else if (nodeName.compare("terrain") == 0)
{
mouseOverTerrain = true;
}
}
}
}
QMenu menu;
if (mSelectedWpIndex == -1)
{
mCachedMousePos = event->pos();
showInsertWaypointMenu(event->globalPos());
menu.addAction("Insert new waypoint", this, SLOT(insertWaypoint()));
}
else
{
showEditWaypointMenu(event->globalPos());
QString text;
text = QString("Move waypoint %1").arg(QString::number(mSelectedWpIndex));
menu.addAction(text, this, SLOT(moveWaypointPosition()));
text = QString("Change heading of waypoint %1").arg(QString::number(mSelectedWpIndex));
menu.addAction(text, this, SLOT(moveWaypointHeading()));
text = QString("Change altitude of waypoint %1").arg(QString::number(mSelectedWpIndex));
menu.addAction(text, this, SLOT(setWaypointAltitude()));
text = QString("Delete waypoint %1").arg(QString::number(mSelectedWpIndex));
menu.addAction(text, this, SLOT(deleteWaypoint()));
}
event->accept();
return;
}
}
else if (event->button() == Qt::RightButton)
{
if (findTerrain(event->pos()))
{
showTerrainMenu(event->globalPos());
menu.addAction("Clear all waypoints", this, SLOT(clearAllWaypoints()));
menu.addSeparator();
menu.addAction("Select target", this, SLOT(selectTarget()));
if (mouseOverImagery)
{
menu.addSeparator();
menu.addAction("Move imagery", this, SLOT(moveImagery()));
}
if (mouseOverTerrain)
{
menu.addSeparator();
menu.addAction("Move terrain", this, SLOT(moveTerrain()));
menu.addAction("Rotate terrain", this, SLOT(rotateTerrain()));
menu.addAction("Edit terrain parameters", this, SLOT(showTerrainParamWindow()));
}
menu.exec(event->globalPos());
event->accept();
}
......@@ -1345,20 +1509,34 @@ Pixhawk3DWidget::mouseMoveEvent(QMouseEvent* event)
return;
}
if (mMode == SELECT_TARGET_HEADING_MODE)
switch (mMode)
{
case SELECT_TARGET_HEADING_MODE:
selectTargetHeading();
event->accept();
}
if (mMode == MOVE_WAYPOINT_POSITION_MODE)
{
break;
case MOVE_WAYPOINT_POSITION_MODE:
moveWaypointPosition();
event->accept();
}
if (mMode == MOVE_WAYPOINT_HEADING_MODE)
{
break;
case MOVE_WAYPOINT_HEADING_MODE:
moveWaypointHeading();
event->accept();
break;
case MOVE_IMAGERY_MODE:
moveImagery();
event->accept();
break;
case MOVE_TERRAIN_MODE:
moveTerrain();
event->accept();
break;
case ROTATE_TERRAIN_MODE:
rotateTerrain();
event->accept();
break;
default:
{}
}
m3DWidget->handleMouseMoveEvent(event);
......
src/ui/map3D/Pixhawk3DWidget.h
View file @ c4726cdd
......@@ -92,6 +92,10 @@ private slots:
void setWaypointAltitude(void);
void clearAllWaypoints(void);
void moveImagery(void);
void moveTerrain(void);
void rotateTerrain(void);
void sizeChanged(int width, int height);
void update(void);
......@@ -187,7 +191,10 @@ private:
DEFAULT_MODE,
MOVE_WAYPOINT_POSITION_MODE,
MOVE_WAYPOINT_HEADING_MODE,
SELECT_TARGET_HEADING_MODE
SELECT_TARGET_HEADING_MODE,
MOVE_TERRAIN_MODE,
ROTATE_TERRAIN_MODE,
MOVE_IMAGERY_MODE
};
Mode mMode;
int mSelectedWpIndex;
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment