main.cpp

/****************************************************************************
**
** Copyright (C) 2012 Denis Shienkov <denis.shienkov@gmail.com>
** Copyright (C) 2012 Laszlo Papp <lpapp@kde.org>
** Contact: https://www.qt.io/licensing/
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** This file is part of the QtSerialPort module of the Qt Toolkit.
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#include "main.h"
#include "mainwindow.h"
#include "include/AntTweakBar.h"
#include <math.h>

#include <QApplication>
#include <QQuaternion>

float quat1[4] = {0,0,0,1};
float quat2[4] = {0,0,0,1};
float quatd[4] = {0,0,0,1};

int main(int argc, char *argv[])
{
    QApplication a(argc, argv);
    //show main window (serial connection)
    MainWindow w;
    w.show();
    w.move(w.x(), w.y()-100);

    //set up and show opengl window (quaternion animations)
    QSurfaceFormat format;
    format.setDepthBufferSize( 4 );
    format.setSamples(4);
    format.setVersion(3, 2);
    format.setRenderableType(QSurfaceFormat::OpenGL);

    QuatDisplay window;
    window.setFormat(format);
    int _width = 655;int _height = 225;
    window.resize(_width, _height);
    TwWindowSize(_width, _height);
    window.setTitle("Quaternion Animations");
    window.setMaximumSize(window.size());
    window.setMinimumSize(window.size());
    window.show();
    window.setPosition(window.x(),window.y()+170);
    //set focus back to the main window
    w.activateWindow();
    w.raise();

    //end new
    return a.exec();
}

void QuatDisplay::initialize()
{
    //bg colour of window
    glClearColor(0.0f, 0.0f, 0.0f, 1.0f);

    //initialise AntTweakBar settings
    TwInit(TW_OPENGL_CORE, NULL);
    TwBar * Quat1 = TwNewBar("Quat 1 data");
    TwSetParam(Quat1, NULL, "position", TW_PARAM_CSTRING, 1, "0 10");
    TwSetParam(Quat1, NULL, "size", TW_PARAM_CSTRING, 1, "200 200");
    TwSetParam(Quat1, NULL, "color", TW_PARAM_CSTRING, 1, "96 216 224");
    //quat1
    TwAddVarRO(Quat1, "Quaternion 1", TW_TYPE_QUAT4F, &quat1, "opened=true");
    TwAddVarRO(Quat1, "q1 X: ", TW_TYPE_FLOAT, &quat1[0], "");
    TwAddVarRO(Quat1, "q1 Y: ", TW_TYPE_FLOAT, &quat1[1], "");
    TwAddVarRO(Quat1, "q1 Z: ", TW_TYPE_FLOAT, &quat1[2], "");
    TwAddVarRO(Quat1, "q1 W: ", TW_TYPE_FLOAT, &quat1[3], "");
    //quat2
    TwBar * Quat2 = TwNewBar("Quat 2 data");
    TwSetParam(Quat2, NULL, "position", TW_PARAM_CSTRING, 1, "220 10");
    TwSetParam(Quat2, NULL, "size", TW_PARAM_CSTRING, 1, "200 200");
    TwSetParam(Quat2, NULL, "color", TW_PARAM_CSTRING, 1, "96 216 224");
    TwAddVarRO(Quat2, "Quaternion 2", TW_TYPE_QUAT4F, &quat2, "opened=true");
    TwAddVarRO(Quat2, "q2 X: ", TW_TYPE_FLOAT, &quat2[0], "");
    TwAddVarRO(Quat2, "q2 Y: ", TW_TYPE_FLOAT, &quat2[1], "");
    TwAddVarRO(Quat2, "q2 Z: ", TW_TYPE_FLOAT, &quat2[2], "");
    TwAddVarRO(Quat2, "q2 W: ", TW_TYPE_FLOAT, &quat2[3], "");
    //quat difference
    TwBar * Quatd = TwNewBar("Quat diff data");
    TwSetParam(Quatd, NULL, "position", TW_PARAM_CSTRING, 1, "440 10");
    TwSetParam(Quatd, NULL, "size", TW_PARAM_CSTRING, 1, "200 200");
    TwSetParam(Quatd, NULL, "color", TW_PARAM_CSTRING, 1, "96 216 224");
    TwAddVarRO(Quatd, "Quaternion difference", TW_TYPE_QUAT4F, &quatd, "opened=true");
    TwAddVarRO(Quatd, "qd X: ", TW_TYPE_FLOAT, &quatd[0], "");
    TwAddVarRO(Quatd, "qd Y: ", TW_TYPE_FLOAT, &quatd[1], "");
    TwAddVarRO(Quatd, "qd Z: ", TW_TYPE_FLOAT, &quatd[2], "");
    TwAddVarRO(Quatd, "qd W: ", TW_TYPE_FLOAT, &quatd[3], "");
    //global bar styling
    TwDefine( "GLOBAL fontstyle=fixed  contained=true "); //fixed-width font, bars contained to window
}

void setQuat(QQuaternion &quat1_,QQuaternion &quat2_,QQuaternion &quatD_)
{
    //update quat1
    quat1[0] = quat1_.x();
    quat1[1] = quat1_.y();
    quat1[2] = quat1_.z();
    quat1[3] = quat1_.scalar();
    //quat2
    quat2[0] = quat2_.x();
    quat2[1] = quat2_.y();
    quat2[2] = quat2_.z();
    quat2[3] = quat2_.scalar();
    //quatdifference
    quatd[0] = quatD_.x();
    quatd[1] = quatD_.y();
    quatd[2] = quatD_.z();
    quatd[3] = quatD_.scalar();
}


void QuatDisplay::render()
{
    const qreal retinaScale = devicePixelRatio();
    glViewport(0, 0, width() * retinaScale, height() * retinaScale);

    //clear
    glClear(GL_COLOR_BUFFER_BIT);
    //set quat data
    setQuat(q1,q2,qd);
    //draw AntTweakBars
    TwDraw();
}