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/* Copyright (c) 2013, 2015 Stanislaw Halik <sthalik@misaki.pl>
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*/
#include "pose-widget.hpp"
#include "compat/check-visible.hpp"
#include "compat/math.hpp"
#include <QPainter>
#include <QtEvents>
#include <QDebug>
#include <QImage>
namespace pose_widget_impl {
pose_widget::pose_widget(QWidget* parent) : QWidget(parent)
{
}
void pose_widget::present(double yaw, double pitch, double roll, double x, double y, double z)
{
T = { x, y, z };
R = { yaw, pitch, roll };
repaint();
}
void pose_widget::paintEvent(QPaintEvent*)
{
auto [ yaw, pitch, roll ] = R;
auto [ x, y, z ] = T;
const QImage& img = std::fabs(pitch) > 90 || std::fabs(yaw) > 90
? back
: front;
int w = img.width(), h = img.height();
QTransform t;
t.translate(w*.5, h*.5);
constexpr double z_scale = 1./100;
constexpr double xy_scale = .0075;
double xy = std::sqrt(w*w + h*h) * xy_scale;
double s = clamp(.5 + -z * z_scale, .5, 2);
t.scale(s, s);
t.rotate(pitch, Qt::XAxis);
t.rotate(yaw, Qt::YAxis);
t.rotate(roll, Qt::ZAxis);
t.translate(x * xy / s, y * xy / s);
t.translate(w*-.5, h*-.5);
QPainter p(this);
p.setTransform(t);
p.drawImage(rect(), img);
}
} // ns pose_widget_impl
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