direcs  2012-09-30
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compassWidget.h
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20 
21 #ifndef COMPASSWIDGET_H
22 #define COMPASSWIDGET_H
23 
24 #include <QtGui>
25 #include <QtOpenGL>
26 #include <QGLWidget>
27 
28 #include <math.h>
29 
30 
35 class CompassWidget : public QGLWidget
36 {
37  Q_OBJECT
38 
39  public:
40  CompassWidget(QWidget *parent = 0);
41  ~CompassWidget();
42 
43  QSize minimumSizeHint() const;
44  QSize sizeHint() const;
45 
46  public slots:
47  void setXRotation(float angle);
48  void setYRotation(float angle);
49  void setZRotation(float angle);
50 
58  void setAllRotations(float xAngle, float yAngle, float zAngle);
59 
60  void setBackgroundColor(QColor col);
61 
62 
63  signals:
64  void xRotationChanged(float angle);
65  void yRotationChanged(float angle);
66  void zRotationChanged(float angle);
67 
68 
69  protected:
70  void initializeGL();
71  void paintGL();
72  void resizeGL(int width, int height);
73  void mousePressEvent(QMouseEvent *event);
74  void mouseMoveEvent(QMouseEvent *event);
75 
76 
77  private:
78  void normalizeAngle(float *angle);
79 
80  GLUquadricObj* xAxisCylinder;
81  GLUquadricObj* yAxisCylinder;
82  GLUquadricObj* zAxisCylinder;
83  GLUquadricObj* xAxisCone;
84  GLUquadricObj* yAxisCone;
85  GLUquadricObj* zAxisCone;
86 
87  float xRot;
88  float yRot;
89  float zRot;
90 
91  int m_mouseLastX;
92  int m_mouseLastY;
93  double m_mouseAngleH;
94  double m_mouseAngleV;
95 
96  GLdouble cyl_radius;
97  GLdouble cyl_height;
98  GLdouble cubeWidth;
99  GLdouble cubeHeight;
100  GLdouble cubeDepth;
101  QPoint lastPos;
102  QColor xAxisColor;
103  QColor yAxisColor;
104  QColor zAxisColor;
105  QColor backgroundColor;
106  GLuint robotTextureFront;
107  QImage robotImageFront;
108  GLuint robotTextureBack;
109  QImage robotImageBack;
110  GLuint robotTextureLeft;
111  QImage robotImageLeft;
112  GLuint robotTextureRight;
113  QImage robotImageRight;
114 };
115 
116 #endif