pose-widget: add qt-based impl

It's probably half-broken though.

2 files changed, 35 insertions, 431 deletions

diff --git a/pose-widget/pose-widget.cpp b/pose-widget/pose-widget.cpp
index e9bf1d01..47053ed4 100644
--- a/pose-widget/pose-widget.cpp
+++ b/pose-widget/pose-widget.cpp
@@ -6,389 +6,62 @@
  */
 
 #include "pose-widget.hpp"
-#include "compat/timer.hpp"
-#include "compat/sleep.hpp"
 #include "compat/check-visible.hpp"
 #include "compat/math.hpp"
 
-#include <cmath>
-#include <algorithm>
-
 #include <QPainter>
 #include <QtEvents>
 
 #include <QDebug>
-
-// XXX this needs rewriting in terms of scanline rendering -sh 20180105
-// see: <https://mikro.naprvyraz.sk/docs/Coding/2/TEXTURE4.TXT>
+#include <QImage>
 
 namespace pose_widget_impl {
 
-pose_transform::pose_transform(QWidget* dst, double dpr) : dst(dst)
+pose_widget::pose_widget(QWidget* parent) : QWidget(parent)
 {
-    for (QImage* img : { &image, &image2, &front, &back })
-        img->setDevicePixelRatio(dpr);
-
-    image.fill(Qt::transparent);
-    image2.fill(Qt::transparent);
 }
 
-pose_transform::~pose_transform()
+void pose_widget::present(double yaw, double pitch, double roll, double x, double y, double z)
 {
-    requestInterruption();
-    wait();
-}
-
-void pose_widget::paintEvent(QPaintEvent* event)
-{
-    QPainter p(this);
+    T = { x, y, z };
+    R = { yaw, pitch, roll };
 
-    xform.with_image_lock([&](const QImage& image)
-    {
-        p.drawImage(event->rect(), image, QRect(0, 0, pose_transform::w, pose_transform::h));
-    });
-
-    if (!xform.isRunning())
-        xform.start(QThread::LowPriority);
+    repaint();
 }
 
-void pose_transform::run()
+void pose_widget::paintEvent(QPaintEvent*)
 {
-    for (;;)
-    {
-        if (isInterruptionRequested())
-            break;
-
-        {
-            lock_guard l(mtx);
-
-            if (fresh.load(std::memory_order_relaxed))
-                goto end;
+    auto [ yaw, pitch, roll ] = R;
+    auto [ x, y, z ] = T;
 
-            rotation = rotation_;
-            translation = translation_;
-        }
+    const QImage& img = std::fabs(pitch) > 90 || std::fabs(yaw) > 90
+                        ? back
+                        : front;
 
-        project_quad_texture();
+    int w = img.width(), h = img.height();
 
-end:
-        portable::sleep(23);
-    }
-}
+    QTransform t;
 
-pose_widget::pose_widget(QWidget* parent) : QWidget(parent), xform{this, devicePixelRatioF()}
-{
-    rotate_sync(0,0,0, 0,0,0);
-}
+    t.translate(w*.5, h*.5);
 
-pose_widget::~pose_widget() = default;
+    constexpr double z_scale = 1./100;
+    constexpr double xy_scale = 3./400;
+    double xy = std::sqrt(w*w + h*h) * xy_scale;
 
-void pose_widget::rotate_async(double xAngle, double yAngle, double zAngle, double x, double y, double z)
-{
-    if (!check_is_visible())
-        return;
-
-    if (bool X = true; xform.fresh.compare_exchange_weak(X, false, std::memory_order_relaxed))
-    {
-        repaint();
-        xform.rotate_async(xAngle, yAngle, zAngle, x, y, z);
-    }
-}
-
-template<typename F>
-void pose_transform::with_rotate(F&& fun, double xAngle, double yAngle, double zAngle, double x, double y, double z)
-{
-    using std::sin;
-    using std::cos;
-
-    constexpr double d2r = M_PI / 180;
-
-    euler::euler_t euler(-zAngle * d2r, xAngle * d2r, -yAngle * d2r);
-    euler::rmat r = euler::euler_to_rmat(euler);
-
-    lock_guard l(mtx);
-
-    for (int i = 0; i < 3; i++)
-        for (int j = 0; j < 3; j++)
-            rotation_(i, j) = num(r(i, j));
-
-    translation_ = vec3(x, y, z);
-
-    fun();
-}
-
-void pose_widget::rotate_sync(double xAngle, double yAngle, double zAngle, double x, double y, double z)
-{
-    xform.rotate_sync(xAngle, yAngle, zAngle, x, y, z);
-}
-
-void pose_transform::rotate_async(double xAngle, double yAngle, double zAngle, double x, double y, double z)
-{
-    with_rotate([] {}, xAngle, yAngle, zAngle, x, y, z);
-}
-
-void pose_transform::rotate_sync(double xAngle, double yAngle, double zAngle, double x, double y, double z)
-{
-    with_rotate([this] {
-        rotation = rotation_;
-        translation = translation_;
-        project_quad_texture();
-        dst->repaint();
-    }, xAngle, yAngle, zAngle, x, y, z);
-}
-
-Triangle::Triangle(const vec2& p1, const vec2& p2, const vec2& p3)
-{
-    origin = p1;
-
-    v0 = vec2(p3 - p1);
-    v1 = vec2(p2 - p1);
-
-    dot00 = v0.dot(v0);
-    dot01 = v0.dot(v1);
-    dot11 = v1.dot(v1);
-
-    const num denom = dot00 * dot11 - dot01 * dot01;
-
-    invDenom = 1 / denom;
-}
-
-bool Triangle::barycentric_coords(const vec2& px, vec2& uv, int& i) const
-{
-    i = 0;
-    const vec2 v2 = px - origin;
-    const num dot12 = v1.dot(v2);
-    const num dot02 = v0.dot(v2);
-    num u = (dot11 * dot02 - dot01 * dot12) * invDenom;
-    num v = (dot00 * dot12 - dot01 * dot02) * invDenom;
-
-    if (!(u >= 0 && v >= 0))
-        return false;
-
-    if (u + v > 1)
-    {
-        i = 1;
-
-        u = 1 - u;
-        v = 1 - v;
-    }
-    uv = vec2(u, v);
-    return u >= 0 && v >= 0 && u + v <= 1;
-}
-
-std::pair<vec2i, vec2i> pose_transform::get_bounds(const vec2& size)
-{
-    const num x = size.x(), y = size.y();
+    double s = clamp(.5 + -z * z_scale, .5, 2);
+    t.scale(s, s);
 
-    const vec3 corners[] = {
-        { -x, -y, 0 },
-        { x, -y, 0 },
-        { -x, y, 0 },
-        { x, y, 0 },
-    };
+    t.rotate(pitch, Qt::XAxis);
+    t.rotate(yaw, Qt::YAxis);
+    t.rotate(roll, Qt::ZAxis);
 
-    vec2 min(w-1, h-1), max(0, 0);
+    t.translate(x * xy / s, y * xy / s);
 
-    for (unsigned k = 0; k < 4; k++) // NOLINT(modernize-loop-convert)
-    {
-        const vec2 pt = project(corners[k]) + vec2(w/2, h/2);
+    t.translate(w*-.5, h*-.5);
 
-        min.x() = std::fmin(min.x(), pt.x());
-        min.y() = std::fmin(min.y(), pt.y());
-
-        max.x() = std::fmax(max.x(), pt.x());
-        max.y() = std::fmax(max.y(), pt.y());
-    }
-
-    min.x() = clamp(min.x(), 0, w-1);
-    min.y() = clamp(min.y(), 0, h-1);
-    max.x() = clamp(max.x(), 0, w-1);
-    max.y() = clamp(max.y(), 0, h-1);
-
-#if 0
-    {
-        QPainter p(&image);
-        p.drawRect(min.x(), min.y(), max.x()-min.x(), max.y()-min.y());
-    }
-#endif
-
-    return std::make_pair(vec2i(iround(min.x()), iround(min.y())),
-                          vec2i(iround(max.x()), iround(max.y())));
-}
-
-void pose_transform::project_quad_texture()
-{
-    vec3 bgcolor;
-    {
-        QColor bg = dst->palette().background().color();
-        image.fill(bg);
-        bgcolor = vec3(bg.red(), bg.green(), bg.blue());
-    }
-
-    num dir;
-    vec2 pt[4];
-
-    vec2i min, max;
-
-    {
-        constexpr double c = 85/100.;
-
-        const int sx_ = (w - std::max(0, (w - h)/2)) * 5/9;
-        const int sy_ = (h - std::max(0, (h - w)/2)) * 5/9;
-
-        std::tie(min, max) = get_bounds(vec2(sx_/2.*c, sy_/2));
-
-        const vec3 dst_corners[] =
-        {
-            { -sx_/2. * c, -sy_/2., 0 },
-            { sx_/2. * c, -sy_/2., 0 },
-            { -sx_/2. * c, sy_/2., 0 },
-            { sx_/2. * c, sy_/2., 0 },
-        };
-
-        for (int i = 0; i < 4; i++)
-            pt[i] = project(dst_corners[i]) + vec2(w/2, h/2);
-
-        {
-            vec3 foo[3];
-            for (int i = 0; i < 3; i++)
-                foo[i] = project2(dst_corners[i]);
-
-            vec3 p1 = foo[1] - foo[0];
-            vec3 p2 = foo[2] - foo[0];
-            dir = p1.x() * p2.y() - p1.y() * p2.x(); // Z part of the cross product
-        }
-    }
-
-    // rotation of (0, 90, 0) makes it numerically unstable
-    if (std::fabs(dir) < 1e-3f)
-    {
-        lock_guard l(mtx2);
-        image.swap(image2);
-        fresh.store(true, std::memory_order_relaxed);
-        return;
-    }
-
-    const QImage& tex = dir < 0 ? back : front;
-
-    const unsigned orig_pitch = (unsigned)tex.bytesPerLine();
-    const unsigned dest_pitch = (unsigned)image.bytesPerLine();
-
-    unsigned char const* __restrict orig = tex.constBits();
-    unsigned char* __restrict dest = image.bits();
-
-    const int orig_depth = tex.depth() / 8;
-    const int dest_depth = image.depth() / 8;
-    constexpr unsigned const_depth = 4;
-
-    if (unlikely(orig_depth != const_depth || dest_depth != const_depth))
-    {
-        qDebug() << "pose-widget: octopus must be saved as .png with 32 bits depth";
-        qDebug() << "pose-widget: target texture must be ARGB32";
-        return;
-    }
-
-    Triangle t(pt[0], pt[1], pt[2]);
-
-    const vec2u dist(max.x() - min.x(), max.y() - min.y());
-    unsigned len = (unsigned)(dist.x() * dist.y());
-
-    if (uv_vec.size() < len)
-        uv_vec.resize(len);
-
-    for (int y = 0; y < dist.y(); y++)
-        for (int x = 0; x < dist.x(); x++)
-        {
-            uv_* __restrict uv = &uv_vec[y * dist.x() + x];
-            if (!t.barycentric_coords(vec2(x + min.x(), y + min.y()), uv->coords, uv->i))
-                uv->i = -1;
-        }
-
-    const int ow = tex.width(), oh = tex.height();
-
-    vec2 const origs[2][3] =
-    {
-        {
-            { 0, 0 },
-            { ow-1, 0 },
-            { 0, oh-1 },
-        },
-        {
-            { ow-1, oh-1 },
-            vec2(0, oh-1) - vec2(ow-1, oh-1),
-            vec2(ow-1, 0) - vec2(ow-1, oh-1),
-        }
-    };
-
-    for (int y_ = 0, dy = dist.y(); y_ < dy; y_++)
-    {
-        for (int x_ = 0, dx = dist.x(); x_ < dx; x_++)
-        {
-            const int y = y_ + min.y(), x = x_ + min.x();
-            const uv_* __restrict uv__ = &uv_vec[y_ * dx + x_];
-
-            if (uv__->i != -1)
-            {
-                using uc = unsigned char;
-
-                vec2 const& uv = uv__->coords;
-                int const i = uv__->i;
-
-                unsigned px = (unsigned)(origs[i][0].x() +
-                                         uv.x() * origs[i][2].x() +
-                                         uv.y() * origs[i][1].x());
-                unsigned py = (unsigned)(origs[i][0].y() +
-                                         uv.x() * origs[i][2].y() +
-                                         uv.y() * origs[i][1].y());
-
-                const unsigned orig_pos = py * orig_pitch + px * const_depth;
-                const unsigned pos = y * dest_pitch + x * const_depth;
-
-                if (orig[orig_pos + 3] == uc(255)) // alpha
-                    for (int k = 0; k < 3; k++)
-                        dest[pos + k] = orig[orig_pos + k];
-                else
-                    for (int k = 0; k < 3; k++)
-                        dest[pos + k] = (unsigned char)bgcolor(k);
-            }
-        }
-    }
-
-    {
-        lock_guard l2(mtx2);
-        image.swap(image2);
-        fresh.store(true, std::memory_order_relaxed);
-    }
-}
-
-vec2 pose_transform::project(const vec3 &point)
-{
-    using std::fabs;
-
-    vec3 ret = rotation * point;
-    num z = std::fmax(num(.5), 1 + translation.z()/-80);
-    num w_ = w, h_ = h;
-    num x = w_ * translation.x() / 2 / -80;
-    if (fabs(x) > w_/2)
-        x = x > 0 ? w_/2 : w_/-2;
-    num y = h_ * translation.y() / 2 / -80;
-    if (fabs(y) > h_/2)
-        y = y > 0 ? h_/2 : h_/-2;
-    return { z * (ret.x() + x), z * (ret.y() + y) };
-}
-
-vec3 pose_transform::project2(const vec3 &point)
-{
-    return rotation * point;
-}
-
-
-template<typename F>
-inline void pose_transform::with_image_lock(F&& fun)
-{
-    lock_guard l(mtx2);
-
-    fun(image2);
+    QPainter p(this);
+    p.setTransform(t);
+    p.drawImage(rect(), img);
 }
 
 } // ns pose_widget_impl
diff --git a/pose-widget/pose-widget.hpp b/pose-widget/pose-widget.hpp
index 1e50b392..15dd7866 100644
--- a/pose-widget/pose-widget.hpp
+++ b/pose-widget/pose-widget.hpp
@@ -12,94 +12,25 @@
 
 #include "export.hpp"
 
-#include <tuple>
-#include <mutex>
-#include <atomic>
-#include <vector>
-
 #include <QWidget>
-#include <QThread>
 #include <QImage>
 
 namespace pose_widget_impl {
 
-using num = float;
-using vec3 = Mat<num, 3, 1>;
-using vec2 = Mat<num, 2, 1>;
-using vec2i = Mat<int, 2, 1>;
-using vec2u = Mat<int, 2, 1>;
-
-using rmat = Mat<num, 3, 3>;
-
 using namespace euler;
 
-using lock_guard = std::unique_lock<std::mutex>;
-
-class pose_widget;
-
-class Triangle {
-    num dot00, dot01, dot11, invDenom;
-    vec2 v0, v1, origin;
-public:
-    Triangle(const vec2& p1, const vec2& p2, const vec2& p3);
-    bool barycentric_coords(const vec2& px, vec2& uv, int& i) const;
-};
-
-struct pose_transform final : QThread
-{
-    pose_transform(QWidget* dst, double device_pixel_ratio);
-    ~pose_transform() override;
-
-    void rotate_async(double xAngle, double yAngle, double zAngle, double x, double y, double z);
-    void rotate_sync(double xAngle, double yAngle, double zAngle, double x, double y, double z);
-
-    template<typename F>
-    void with_rotate(F&& fun, double xAngle, double yAngle, double zAngle, double x, double y, double z);
-
-    void run() override;
-
-    vec2 project(const vec3& point);
-    vec3 project2(const vec3& point);
-    void project_quad_texture();
-    std::pair<vec2i, vec2i> get_bounds(const vec2& size);
-
-    template<typename F> inline void with_image_lock(F&& fun);
-
-    rmat rotation, rotation_;
-    vec3 translation, translation_;
-
-    std::mutex mtx, mtx2;
-
-    QWidget* dst;
-
-    QImage front{QImage{":/images/side1.png"}.convertToFormat(QImage::Format_ARGB32)};
-    QImage back{QImage{":/images/side6.png"}.convertToFormat(QImage::Format_ARGB32)};
-    QImage image{w, h, QImage::Format_ARGB32};
-    QImage image2{w, h, QImage::Format_ARGB32};
-
-    struct uv_ // NOLINT(cppcoreguidelines-pro-type-member-init)
-    {
-        vec2 coords;
-        int i;
-    };
-
-    std::vector<uv_> uv_vec;
-    std::atomic<bool> fresh = false;
-
-    static constexpr int w = 320, h = 240;
-};
-
-class OTR_POSE_WIDGET_EXPORT pose_widget final : public QWidget
+struct OTR_POSE_WIDGET_EXPORT pose_widget final : QWidget
 {
 public:
     pose_widget(QWidget *parent = nullptr);
-    ~pose_widget() override;
-    void rotate_async(double xAngle, double yAngle, double zAngle, double x, double y, double z);
-    void rotate_sync(double xAngle, double yAngle, double zAngle, double x, double y, double z);
+    void present(double xAngle, double yAngle, double zAngle, double x, double y, double z);
 
 private:
-    pose_transform xform;
-    void paintEvent(QPaintEvent *event) override;
+    void paintEvent(QPaintEvent*) override;
+
+    euler_t R, T;
+    QImage front{QImage{":/images/side1.png"}.convertToFormat(QImage::Format_ARGB32)};
+    QImage back{QImage{":/images/side6.png"}.convertToFormat(QImage::Format_ARGB32)};
 };
 
 }