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openglscene.h
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openglscene.h
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#ifndef OPENGLSCENE_H
#define OPENGLSCENE_H
#include <QGLWidget>
#include <QTimer>
#include <QMouseEvent>
namespace Ui {
class OpenGLScene;
}
struct TransfMat //rotate first, then translate
{
GLfloat x; //translate distance along x axis
GLfloat y;
GLfloat z;
GLfloat rotx; //rad, rotation angle about x axis
GLfloat roty;
GLfloat rotz;
};
class OpenGLScene : public QGLWidget
{
Q_OBJECT
friend class MainWindow;
public:
explicit OpenGLScene(QWidget *parent = 0);
~OpenGLScene();
private slots:
void initializeGL();
void resizeGL(int width, int height);
void paintGL();
private:
Ui::OpenGLScene *ui;
QTimer *timer;
GLfloat rotationX;
GLfloat rotationY;
GLfloat rotationZ;
GLfloat view_distance;
int AUTO_CAL_X;
int AUTO_CAL_Y;
QPoint lastPos;
//void drawCylinder();
//void drawWrist();
//void drawEndoscope();
void flushView();
void drawBox(GLdouble size);
void drawSphere(GLdouble size, GLfloat x, GLfloat y, GLfloat z);
void drawManipulator(GLdouble size_factor, struct TransfMat *t);
void drawGripper(GLdouble size_factor, GLfloat grip_angle, struct TransfMat *t);
void mousePressEvent(QMouseEvent *event);
void mouseMoveEvent(QMouseEvent *event);
void wheelEvent(QWheelEvent *event);
};
#endif // OPENGLSCENE_H