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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.
*/
#pragma once
#include <QtGlobal>
#include <QWidget>
#include <QThread>
#include <QPixmap>
#include "api/plugin-api.hpp"
#include "compat/euler.hpp"
#include <mutex>
#include <atomic>
#ifdef BUILD_POSE_WIDGET
# define POSE_WIDGET_EXPORT Q_DECL_EXPORT
#else
# define POSE_WIDGET_EXPORT Q_DECL_IMPORT
#endif
namespace pose_widget_impl {
using num = float;
using vec3 = Mat<num, 3, 1>;
using vec2 = Mat<num, 2, 1>;
using rmat = Mat<num, 3, 3>;
using namespace euler;
using lock_guard = std::unique_lock<std::mutex>;
class pose_widget;
class pose_transform final : private QThread
{
pose_transform(QWidget* dst);
~pose_transform();
friend class pose_widget;
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();
template<typename F>
inline void with_image_lock(F&& fun);
rmat rotation, rotation_;
vec3 translation, translation_;
std::mutex mtx, mtx2;
QWidget* dst;
QImage front, back;
QImage image, image2;
int width, height;
std::atomic<bool> fresh;
static constexpr int w = 320, h = 240;
};
class POSE_WIDGET_EXPORT pose_widget final : public QWidget
{
public:
pose_widget(QWidget *parent = nullptr);
~pose_widget();
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);
private:
pose_transform xform;
void paintEvent(QPaintEvent *event) override;
};
}
using pose_widget_impl::pose_widget;
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