diff options
| -rw-r--r-- | pose-widget/ReadMe.txt | 26 | ||||
| -rw-r--r-- | pose-widget/pose-widget.cpp | 131 | ||||
| -rw-r--r-- | pose-widget/pose-widget.hpp | 10 |
3 files changed, 137 insertions, 30 deletions
diff --git a/pose-widget/ReadMe.txt b/pose-widget/ReadMe.txt new file mode 100644 index 00000000..c504ff41 --- /dev/null +++ b/pose-widget/ReadMe.txt @@ -0,0 +1,26 @@ +Hi everyone! + +In the extreme version of OpenTrack-2.3.12, the Octopus pose is still displayed incorrectly. +The pose-widget is responsible for displaying the Octopus pose in OpenTrack. I have fixed this widget. + +Fixed bugs: +- The turns and movements of the Octopussy are now performed truly independently of each other, as it should be in 6DOF. +- When cornering, there is no "gimbal lock" at Pitch = +/- 90 degrees. +- Fixed directions of axes of rotations and positions. Now the Octopus pose displays the actual direction of view on the plane. +- Fixed display of the back (green) surface of the Octopus. Previously, it was displayed mirrored. + +Additional features: +- Applied "perspective projection", the picture becomes more voluminous. +- Added lighting effect from above, with the same purpose. +- Added background fill for the widget. This makes it possible to see the borders of the widget. +- Added X and Y axes. This helps to estimate how far the Octopus is deviated from the center. +- Added [Mirror] checkbox, mirroring positions and rotations. It is often more convenient to observe the Octopussy's mirror pose. +- If before compilation in the file "pose-widget.hpp" include line 19: "#define TEST", then a rectangular frame will be drawn around the Octopus. This is useful when testing a pose-widget to assess distortion and size. + +The corrected pose-widget now displays the Octopus pose correctly and can be used to check OpenTrack settings, sometimes even without launching the flight simulator. + +A video of the corrected pose-widget is available here: + +https://youtu.be/my4_VOwGmq4 + +fixed by GO63-samara <go1@list.ru> <github.com/GO63-samara> 2020 diff --git a/pose-widget/pose-widget.cpp b/pose-widget/pose-widget.cpp index 3ad475cf..c5a6b78e 100644 --- a/pose-widget/pose-widget.cpp +++ b/pose-widget/pose-widget.cpp @@ -13,12 +13,40 @@ #include <QtEvents> #include <QDebug> -#include <QImage> +#include <QQuaternion> +#include <QMatrix4x4> namespace pose_widget_impl { pose_widget::pose_widget(QWidget* parent) : QWidget(parent) { + QPainter p; +#ifdef TEST + //draw rectangle frame around of Octopus, only if TEST defined + p.begin(&front); + p.setPen(QPen(Qt::red, 3, Qt::SolidLine)); + p.drawRect(0, 0, front.width()-1, front.height()-1); + p.end(); + + p.begin(&back); + p.setPen(QPen(Qt::darkGreen, 3, Qt::SolidLine)); + p.drawRect(0, 0, back.width()-1, back.height()-1); + p.end(); +#endif + + //draw Octopus shine + shine.fill(QColor(255,255,255)); + p.begin(&shine); + p.setCompositionMode(QPainter::CompositionMode_DestinationIn); + p.drawImage(QPointF(0,0), front); + p.end(); + + //draw Octopus shadow + shadow.fill(QColor(0,0,0)); + p.begin(&shadow); + p.setCompositionMode(QPainter::CompositionMode_DestinationIn); + p.drawImage(QPointF(0,0), front); + p.end(); } void pose_widget::present(double yaw, double pitch, double roll, double x, double y, double z) @@ -29,40 +57,87 @@ void pose_widget::present(double yaw, double pitch, double roll, double x, doubl repaint(); } +void pose_widget::resizeEvent(QResizeEvent *event) +{ + // adapt to widget size + float w = event->size().width(); + float h = event->size().height(); + + // fill background by color + constexpr int clr = 220; + QImage background(QImage(w, h, QImage::Format_ARGB32)); + background.fill(QColor(clr,clr,clr)); + + // draw axes + QPainter p(&background); + p.setPen(QPen(Qt::gray, 1, Qt::SolidLine)); + p.drawLine(0.5*w, 0 , 0.5*w, h ); + p.drawLine( 0 , 0.5*h, w , 0.5*h); + + // set AutoFillBackground + QPalette palette; + palette.setBrush(this->backgroundRole(), QBrush(background)); + setPalette(palette); + setAutoFillBackground(true); + + // move the mirror checkbox in the lower right corner of the widget + mirror.setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Minimum); + mirror.move(w - mirror.width(), h - mirror.height()); +} + void pose_widget::paintEvent(QPaintEvent*) { + // widget settings: + constexpr float scale = 0.5; // scale of Octopus height, when x = y = z = 0.0 + constexpr float XYZmax = 50.0; // -XYZmax < x,y,z < +XYZmax (offset the Octopus by one body) + constexpr float Kz = 0.25; // Z scale change limit (simulate camera focus length) + + // get a local copy of input data auto [ yaw, pitch, roll ] = R; auto [ x, y, z ] = T; - const QImage& img = (std::fabs(pitch) > 90) ^ (std::fabs(yaw) > 90) - ? back - : front; - - constexpr double scale = .75; - int w = img.width(), h = iround(img.height()*scale); - - QTransform t; - - t.translate(w*.5, h*.5); - - constexpr double z_scale = 1./250; - constexpr double xy_scale = .0075; - double xy = std::sqrt(w*w + h*h) * xy_scale; - double sx = clamp(.4 + -z * z_scale, .1, 2), sy = sx * 1/scale; - - t.scale(sx, sy); - - t.rotate(pitch, Qt::XAxis); - t.rotate(yaw, Qt::YAxis); - t.rotate(roll, Qt::ZAxis); - - t.translate(x * xy / sx, y * xy / sy); - - t.translate(w*-.5, h*-.5); - QPainter p(this); + #ifdef TEST + // use antialiasing for correct frame around the Octopus, only if TEST defined + p.setRenderHint(QPainter::Antialiasing, true); + #endif + + // check mirror state + if (mirror.checkState() == Qt::Checked) x = -x; + else { yaw = -yaw; roll = -roll; } + y = -y; + + // rotations + QQuaternion q = QQuaternion::fromEulerAngles(pitch, yaw, roll); + QMatrix4x4 m = QMatrix4x4(q.toRotationMatrix()); + + // x and y positions + const float Kxy = (float)front.height() / XYZmax; + QVector3D v(Kxy*x, Kxy*y, 0.0); + v = m.transposed().map(v); + m.translate(v); + + // perspective projection to x-y plane + QTransform t = m.toTransform(1024).translate(-.5 * front.width(), -.5 * front.height()); + + // z position by setViewport + const float mz = scale * height()/front.height()/exp(1.0) * exp(1.0 - z * (Kz/XYZmax)); + p.setViewport(QRect(.5 * width(), .5 * height(), width()*mz, height()*mz)); + + // define forward or backward side by cross product of mapped x and y axes + QPointF point0 = t.map(QPointF(0, 0)); + QPointF x_dir = (t.map(QPointF(1, 0)) -= point0); + QPointF y_dir = (t.map(QPointF(0, 1)) -= point0); + const bool forward = x_dir.ry()*y_dir.rx() - x_dir.rx()*y_dir.ry() < 0 ? true : false; + + // draw red or green Octopus p.setTransform(t); - p.drawImage(rect(), img); + p.drawImage(QPointF(0,0), forward ? front : back); + + // top lighting simulation + const float alpha = sin(pitch * M_PI / 180.0); + p.setOpacity(0.333 * fabs(alpha)); + p.drawImage(QPointF(0,0), forward == (alpha >= 0.0) ? shine : shadow); } QSize pose_widget::sizeHint() const diff --git a/pose-widget/pose-widget.hpp b/pose-widget/pose-widget.hpp index b3267ff9..49044d93 100644 --- a/pose-widget/pose-widget.hpp +++ b/pose-widget/pose-widget.hpp @@ -14,7 +14,9 @@ #include <QWidget> #include <QImage> +#include <QCheckBox> +//#define TEST namespace pose_widget_impl { using namespace euler; @@ -25,13 +27,17 @@ public: pose_widget(QWidget *parent = nullptr); void present(double xAngle, double yAngle, double zAngle, double x, double y, double z); QSize sizeHint() const override; - + QCheckBox mirror{QCheckBox{"Mirror", this}}; private: + void resizeEvent(QResizeEvent *event) override; void paintEvent(QPaintEvent*) override; Pose_ R, T; QImage front{QImage{":/images/side1.png"}.convertToFormat(QImage::Format_ARGB32)}; - QImage back{QImage{":/images/side6.png"}.convertToFormat(QImage::Format_ARGB32)}; + QImage back {QImage{":/images/side6.png"}.convertToFormat(QImage::Format_ARGB32) + .mirrored(true,false)}; + QImage shine {QImage{front.width(), front.height(), QImage::Format_ARGB32}}; + QImage shadow{QImage{front.width(), front.height(), QImage::Format_ARGB32}}; }; } |