c++《用于船舶控制方法研究的3D船舶运动仿真软件》+源代码

/***************************************************************** ** Project: ShipControl(WOPC) ** ** Author: Dong Shengwei ** ** Library: BestSea ** ** Date: 2014-01-04 ** ******************************************************************/ //ShipGraph.cpp #include "ShipGraph.h" #include <Windows.h> #include <QMouseEvent> #include <QWheelEvent> #include <math.h> ShipGraph::ShipGraph(QWidget *parent) : QGLWidget(parent) { ship = 0; sea = 0; goal = 0; line = 0; xRot = 0; yRot = 0; zRot = 0; xPoint = 0.0; yPoint = 0.0; zPoint = 0.0; xPos = 0.0; yPos = 0.0; zPos = 0.0; phi = 0.0; theta = 0.0; psi = 0.0; xMax = 1000.0; yMax = 1000.0; zMax = 1000.0; zoomScale = 0.1; } ShipGraph::~ShipGraph() { makeCurrent(); glDeleteLists(ship, 1); glDeleteLists(sea, 1); glDeleteLists(goal, 1); glDeleteLists(line, 1); } void ShipGraph::setXRotation(int angle) { normalizeXYAngle(&angle); if (angle != xRot) { xRot = angle; emit xRotationChanged(angle); updateGL(); } } void ShipGraph::setYRotation(int angle) { normalizeXYAngle(&angle); if (angle != yRot) { yRot = angle; emit yRotationChanged(angle); updateGL(); } } void ShipGraph::setZRotation(int angle) { normalizeAngle(&angle); if (angle != zRot) { zRot = angle; emit zRotationChanged(angle); updateGL(); } } void ShipGraph::setZoom(int scale) { if (fabs(static_cast<double>(scale)/160.0 - zoomScale) > 0.00001) { zoomScale = static_cast<double>(scale)/160.0; emit zoomChanged(scale); updateGL(); } } void ShipGraph::pointMove(double xMove, double yMove) { xPoint = xMove; yPoint = yMove; updateGL(); } void ShipGraph::shipEta(Eta eta) { yPos = eta.n/5.0; xPos = eta.e/5.0; zPos = eta.d/5.0; phi = eta.phi; theta = eta.theta; psi = eta.psi; updateGL(); } //输入目标位置艏向 void ShipGraph::targetEta(Eta eta) { yTarget = eta.n/5.0; xTarget = eta.e/5.0; psiTarget = eta.psi; updateGL(); } void ShipGraph::initializeGL() { static const GLfloat lightPos0[4] = { 5.0f, 5.0f, 10.0f, 1.0f }; static const GLfloat reflectanceShip[4] = { 0.195f, 0.195f, 0.195f, 1.0f }; static const GLfloat reflectanceSea[4] = { 0.0f, 0.9f, 0.9f, 0.50f }; static const GLfloat reflectanceGoal[4] = { 0.8f, 0.1f, 0.0f, 1.0f }; static const GLfloat reflectanceLine[4] = { -1.0f, -1.0f, -1.0f, 1.0f }; glLightfv(GL_LIGHT0, GL_POSITION, lightPos0); glEnable(GL_LIGHTING); glEnable(GL_LIGHT0); glEnable(GL_DEPTH_TEST); glEnable(GL_BLEND); glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); ship = makeShip(reflectanceShip, 2.0, 5.0, 1.0); sea = makeSea(reflectanceSea); goal = makeGoal(reflectanceGoal, 0, 0, 0.5, 1.0); line = makeLine(reflectanceLine); glEnable(GL_NORMALIZE); glClearColor(1.0f, 1.0f, 1.0f, 1.0f); } void ShipGraph::paintGL() { glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glPushMatrix(); glTranslated(xPoint, yPoint, zPoint); glRotated(xRot / 16.0, 1.0, 0.0, 0.0); glRotated(yRot / 16.0, 0.0, 1.0, 0.0); glRotated(zRot / 16.0, 0.0, 0.0, 1.0); glScaled(zoomScale, zoomScale, zoomScale); drawShip(ship, xPos, yPos, zPos, -phi * radToAng, -theta * radToAng, -psi * radToAng); glCallList(sea); glCallList(line); glTranslated(xTarget, yTarget, 0); glCallList(goal); glPopMatrix(); } void ShipGraph::resizeGL(int width, int height) { int side = qMax(width, height); glViewport((width - side) / 2, (height - side) / 2, side, side); glMatrixMode(GL_PROJECTION); glLoadIdentity(); glFrustum(-1.0, +1.0, -1.0, 1.0, 5.0, 60.0); glMatrixMode(GL_MODELVIEW); glLoadIdentity(); glTranslated(0.0, 0.0, -40.0); } void ShipGraph::mousePressEvent(QMouseEvent *event) { lastPos = event->pos(); } void ShipGraph::mouseMoveEvent(QMouseEvent *event) { int dx = event->x() - lastPos.x(); int dy = event->y() - lastPos.y(); if (event->buttons() & Qt::LeftButton) { setXRotation(xRot + 8 * dy); setYRotation(yRot + 8 * dx); } else if (event->buttons() & Qt::RightButton) { setXRotation(xRot + 8 * dy); setZRotation(zRot + 8 * dx); } else if (event->buttons() & Qt::MiddleButton) { pointMove(xPoint + 2 * dx / 100.0, yPoint - 2 * dy / 100.0); } lastPos = event->pos(); } void ShipGraph::wheelEvent(QWheelEvent *event) { scaleWheel = zoomScale*160 + event->angleDelta().y()/120*16; if ( 16 > scaleWheel) { scaleWheel = 16; } else if (20 * 16 < scaleWheel) { scaleWheel = 20 * 16; } setZoom(scaleWheel); } GLuint ShipGraph::makeShip(const GLfloat *reflectance, GLdouble width, GLdouble length, GLdouble scale) { const double Pi = 3.14159265358979323846; GLuint list = glGenLists(1); glNewList(list, GL_COMPILE); glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, reflectance); glShadeModel(GL_SMOOTH); GLdouble rH = width / 2.0; GLdouble rL = rH * 2.0; GLdouble ll = length - rL; GLdouble deltaPhi = 0.01; GLdouble delta = 0.01; GLdouble x = 0.0, y = 0.0, z = 0.0; //绘制船头主体部分 glNormal3d(0.0, 0.0, -1.0); glBegin(GL_POLYGON); for (GLdouble temp = 0.0; temp < rL+delta; temp += delta) { for (GLdouble angle = 0.0; angle < Pi; angle += deltaPhi) { x = -sqrt(1.0-pow(y/rL,2.0)) * rH * cos(angle); y = temp; z = -sqrt(1.0-pow(y/rL,2.0)) * rH * sin(angle) + rH/5.0; glVertex3d(x, y, z); } } glEnd(); //绘制船舶驾驶室部分 glBegin(GL_POLYGON); for (GLdouble z = rH/5.0; z < rH + delta; z += delta) { for (GLdouble y = -(0.0 - z*0.1); y < rH - z*0.3; y += delta) { for (GLdouble x = -(rH/1.5 - z*0.3 - y/5.0); x < rH/1.5 - z*0.3 - y/5.0; x += delta) { glNormal3d(x, y, z); glVertex3d(x, y, z); } } } glEnd(); //绘制船体部分 glNormal3d(0.0, 0.0, -1.0); glBegin(GL_QUADS); for (GLdouble angle = -deltaPhi*0.1; angle <= Pi; angle += deltaPhi) { x = -rH * cos(angle); y = 0.0; z = -rH * sin(angle) + rH/5.0; glVertex3d(x, y, z); x = -rH * cos(angle); y = -ll; z = -rH * sin(angle) + rH/5.0; glVertex3d(x, y, z); x = -rH * cos(angle+deltaPhi); y = -ll; z = -rH * sin(angle+deltaPhi) + rH/5.0; glVertex3d(x, y, z); x = -rH * cos(angle+deltaPhi); y = 0.0; z = -rH * sin(angle+deltaPhi) + rH/5.0; glVertex3d(x, y, z); } //画船舶甲板 glNormal3d(0.0, 0.0, 1.0); z = rH/5.0; for (double temp = -rH; temp < rH; temp += delta) { x = temp; y = sqrt(1.0-pow(x/rH,2.0)) * rL; glVertex3d(x, y, z); x = temp; y = -ll; glVertex3d(x, y, z); x = temp + delta; y = -ll; glVertex3d(x, y, z); x = temp + delta; y = sqrt(1.0-pow(x/rH,2.0)) * rL; glVertex3d(x, y, z); } glEnd(); //画船舶尾部 glNormal3d(0.0, 0.0, 1.0); glBegin(GL_TRIANGLES); y = -ll; for (double angle = 0.0; angle < Pi; angle += deltaPhi) { x = 0.0; z = 0.0 + rH/5.0; glVertex3d(x, y, z); x = rH * cos(angle); z = -rH * sin(angle) + rH/5.0; glVertex3d(x, y, z); x = rH * cos(angle+deltaPhi); z = -rH * sin(angle+deltaPhi) + rH/5.0; glVertex3d(x, y, z); } glEnd(); glEndList(); return list; } GLuint ShipGraph::makeSea(const GLfloat *reflectance) { GLuint list = glGenLists(1); glNewList(list, GL_CO