pose-widget: use floats

2 files changed, 38 insertions, 30 deletions

diff --git a/pose-widget/glwidget.cpp b/pose-widget/glwidget.cpp
index 8fbe046e..6da1948e 100644..100755
--- a/pose-widget/glwidget.cpp
+++ b/pose-widget/glwidget.cpp
@@ -12,6 +12,10 @@
 #include <QPainter>
 #include <QPaintEvent>
 
+#ifdef __GNUC__
+#pragma GCC diagnostic ignored "-Wnarrowing"
+#endif
+
 GLWidget::GLWidget(QWidget *parent) : QWidget(parent)
 {
     Q_INIT_RESOURCE(posewidget);
@@ -31,17 +35,17 @@ void GLWidget::paintEvent ( QPaintEvent * event ) {
     p.drawImage(event->rect(), texture);
 }
 
-void GLWidget::rotateBy(double xAngle, double yAngle, double zAngle, double x, double y, double z)
+void GLWidget::rotateBy(float xAngle, float yAngle, float zAngle, float x, float y, float z)
 {
 
-    double c1 = cos(yAngle / 57.295781);
-    double s1 = sin(yAngle / 57.295781);
-    double c2 = cos(xAngle / 57.295781);
-    double s2 = sin(xAngle / 57.295781);
-    double c3 = cos(zAngle / 57.295781);
-    double s3 = sin(zAngle / 57.295781);
+    float c1 = cos(yAngle / 57.295781);
+    float s1 = sin(yAngle / 57.295781);
+    float c2 = cos(xAngle / 57.295781);
+    float s2 = sin(xAngle / 57.295781);
+    float c3 = cos(zAngle / 57.295781);
+    float s3 = sin(zAngle / 57.295781);
 
-    double foo[] = {
+    float foo[] = {
         c2*c3,  -c2*s3,  s2,
         c1*s3+c3*s1*s2,  c1*c3-s1*s2*s3,  -c2*s1,
         s1*s3-c1*c3*s2,  c3*s1+c1*s2*s3,  c1*c2,
@@ -55,6 +59,7 @@ void GLWidget::rotateBy(double xAngle, double yAngle, double zAngle, double x, d
 
 
 class Triangle {
+    using num = GLWidget::num;
 public:
     Triangle(const vec2& p1,
              const vec2& p2,
@@ -71,27 +76,29 @@ public:
     bool barycentric_coords(const vec2& px, vec2& uv) const
     {
         vec2 v2 = px - origin;
-        double dot12 = v1.dot(v2);
-        double dot02 = v0.dot(v2);
-        double u = (dot11 * dot02 - dot01 * dot12) * invDenom;
-        double v = (dot00 * dot12 - dot01 * dot02) * invDenom;
+        num dot12 = v1.dot(v2);
+        num dot02 = v0.dot(v2);
+        num u = (dot11 * dot02 - dot01 * dot12) * invDenom;
+        num v = (dot00 * dot12 - dot01 * dot02) * invDenom;
         uv = vec2({u, v});
         return (u >= 0) && (v >= 0) && (u + v <= 1);
     }
     
 private:
-    double dot00, dot01, dot11, invDenom;
+    num dot00, dot01, dot11, invDenom;
     vec2 v0, v1, origin;
 };
 
 static __inline vec3 normal(const vec3& p1, const vec3& p2, const vec3& p3)
 {
+    using num = GLWidget::num;
+
     vec3 u = p2 - p1;
     vec3 v = p3 - p1;
      
     vec3 tmp = u.cross(v);
     
-    double i = 1./sqrt(tmp.dot(tmp));
+    num i = 1./sqrt(tmp.dot(tmp));
     
     return tmp * i;
 }
@@ -100,14 +107,14 @@ void GLWidget::project_quad_texture() {
     const int sx = width(), sy = height();
     vec2 pt[4];
     const vec3 corners[] = {
-        vec3({0., 0., 0.}),
-        vec3({sx-1., 0., 0.}),
-        vec3({0., sy-1., 0.}),
-        vec3({sx-1., sy-1., 0.})
+        vec3({0., 0, 0}),
+        vec3({sx-1, 0, 0}),
+        vec3({0, sy-1, 0}),
+        vec3({sx-1, sy-1, 0.})
     };
     
     for (int i = 0; i < 4; i++) {
-        pt[i] = project(vec3({corners[i].x() - sx/2., corners[i].y() - sy/2., 0}));
+        pt[i] = project(vec3({corners[i].x() - sx/2, corners[i].y() - sy/2, 0}));
         pt[i].x() += sx/2.;
         pt[i].y() += sy/2.;
     }
@@ -121,7 +128,7 @@ void GLWidget::project_quad_texture() {
         normal2 = normal(foo[0], foo[1], foo[2]);
     }
     
-    double dir = normal1.dot(normal2);
+    num dir = normal1.dot(normal2);
     
     QImage& tex = dir < 0 ? back : front;
     
@@ -137,8 +144,8 @@ void GLWidget::project_quad_texture() {
     
     const vec2 projected[2][3] = { { p2[0], p2[1], p2[2] }, { p2[3], p2[1], p2[2] } };
     const vec2 origs[2][3] = {
-        { vec2({0., 0.}), vec2({ow-1., 0.}), vec2({0., oh-1.}) },
-        { vec2({ow-1., oh-1.}), vec2({ow-1., 0.}), vec2({0., oh-1.}) }
+        { vec2({0, 0}), vec2({ow-1, 0}), vec2({0, oh-1}) },
+        { vec2({ow-1, oh-1}), vec2({ow-1, 0}), vec2({0, oh-1}) }
     };
     const Triangle triangles[2] = {
         Triangle(projected[0][0], projected[0][1], projected[0][2]),
@@ -160,7 +167,7 @@ void GLWidget::project_quad_texture() {
 
     for (int y = 0; y < sy; y++)
         for (int x = 0; x < sx; x++) {
-            vec2 pos({(double)x, (double)y});
+            vec2 pos({(num)x, (num)y});
             for (int i = 0; i < 2; i++) {
                 vec2 uv;
                 if (triangles[i].barycentric_coords(pos, uv))
@@ -190,12 +197,12 @@ void GLWidget::project_quad_texture() {
 vec2 GLWidget::project(const vec3 &point)
 {
     vec3 ret = rotation * point;
-    double z = std::max(.75, 1. + translation.z()/-60.);
+    num z = std::max<num>(.75, 1. + translation.z()/-60);
     int w = width(), h = height();
-    double x = w * translation.x() / 2. / -40.;
+    num x = w * translation.x() / 2 / -40;
     if (std::abs(x) > w/2)
         x = x > 0 ? w/2 : w/-2;
-    double y = h * translation.y() / 2. / -40.;
+    num y = h * translation.y() / 2 / -40;
     if (std::abs(y) > h/2)
         y = y > 0 ? h/2 : h/-2;
     return vec2 { z * (ret.x() + x), z * (ret.y() + y) };
diff --git a/pose-widget/glwidget.h b/pose-widget/glwidget.h
index 88961fbd..aaea3e06 100644..100755
--- a/pose-widget/glwidget.h
+++ b/pose-widget/glwidget.h
@@ -12,16 +12,17 @@
 #include "opentrack/plugin-api.hpp"
 #include "opentrack/simple-mat.hpp"
 
-typedef dmat<2, 1> vec2;
-typedef dmat<3, 1> vec3;
-typedef dmat<3, 3> rmat;
+typedef Mat<float, 2, 1> vec2;
+typedef Mat<float, 3, 1> vec3;
+typedef Mat<float, 3, 3> rmat;
 
 class GLWidget : public QWidget
 {
 public:
+    using num = float;
     GLWidget(QWidget *parent);
     ~GLWidget();
-    void rotateBy(double xAngle, double yAngle, double zAngle, double x, double y, double z);
+    void rotateBy(float xAngle, float yAngle, float zAngle, float x, float y, float z);
 protected:
     void paintEvent ( QPaintEvent * event ) override;
 private: