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formheadache.cpp
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// Copyright (C) 2024 Michael Torrie and the QtAgOpenGPS Dev Team
// SPDX-License-Identifier: GNU General Public License v3.0 or later
//
//
#include "formheadache.h"
#include "cheadline.h"
#include "cboundary.h"
#include "cabcurve.h"
#include "cvehicle.h"
#include "glm.h"
#include "qmlutil.h"
#include "ctrack.h"
#include <QMatrix4x4>
#include <QOpenGLFunctions>
#include "glutils.h"
#include "aogproperty.h"
#include "aogrenderer.h"
#include <QTime>
//here for now. Put in another module for use in other places.
void CalculateHeadings(QVector<Vec3> &xList);
void MakePointMinimumSpacing(QVector<Vec3> &xList, double minDistance);
int GetLineIntersection(double p0x, double p0y, double p1x, double p1y,
double p2x, double p2y, double p3x, double p3y,
double &iEast,
double &iNorth);
FormHeadache::FormHeadache(QObject *parent)
: QObject{parent}
{}
void FormHeadache::connect_ui(QObject *headache_designer_instance) {
isA = true; //why is this not initialized?
this->headache_designer_instance = headache_designer_instance;
InterfaceProperty<HeadacheDesigner,int>::set_qml_root(headache_designer_instance);
InterfaceProperty<HeadacheDesigner,bool>::set_qml_root(headache_designer_instance);
InterfaceProperty<HeadacheDesigner,double>::set_qml_root(headache_designer_instance);
InterfaceProperty<HeadacheDesigner,QColor>::set_qml_root(headache_designer_instance);
InterfaceProperty<HeadacheDesigner,QPoint>::set_qml_root(headache_designer_instance);
//connect UI signals
connect(headache_designer_instance,SIGNAL(load()),this,SLOT(load_headline()));
connect(headache_designer_instance,SIGNAL(update_lines()),this,SLOT(update_lines()));
connect(headache_designer_instance,SIGNAL(mouseClicked(int, int)),this,SLOT(clicked(int,int)));
connect(headache_designer_instance,SIGNAL(cycleForward()),this,SLOT(btnCycleForward_Click()));
connect(headache_designer_instance,SIGNAL(cycleBackward()),this,SLOT(btnCycleBackward_Click()));
connect(headache_designer_instance,SIGNAL(deleteCurve()),this,SLOT(btnDeleteCurve_Click()));
connect(headache_designer_instance,SIGNAL(deleteHeadland()), this, SLOT(btnDeleteHeadland_Click()));
connect(headache_designer_instance,SIGNAL(createHeadland()),this,SLOT(btnBndLoop_Click()));
//connect(headache_designer_instance,SIGNAL(deletePoints()),this,SLOT(btnDeletePoints_Click()));
connect(headache_designer_instance,SIGNAL(ashrink()),this,SLOT(btnAShrink_Click()));
connect(headache_designer_instance,SIGNAL(bshrink()),this,SLOT(btnBShrink_Click()));
connect(headache_designer_instance,SIGNAL(alength()),this,SLOT(btnALength_Click()));
connect(headache_designer_instance,SIGNAL(blength()),this,SLOT(btnBLength_Click()));
connect(headache_designer_instance,SIGNAL(headlandOff()),this,SLOT(btnHeadlandOff_Click()));
connect(headache_designer_instance,SIGNAL(cancelTouch()),this,SLOT(btnCancelTouch_Click()));
connect(headache_designer_instance,SIGNAL(isSectionControlled(bool)),this,SLOT(isSectionControlled(bool)));
connect(headache_designer_instance,SIGNAL(save_exit()),this,SLOT(btnExit_Click()));
}
void FormHeadache::setFieldInfo(double maxFieldDistance, double fieldCenterX, double fieldCenterY) {
this->maxFieldDistance = maxFieldDistance;
this->fieldCenterX = fieldCenterX;
this->fieldCenterY = fieldCenterY;
}
QVector3D FormHeadache::mouseClickToField(int mouseX, int mouseY) {
/* returns the field easting and northing position of a
* mouse click
*/
QMatrix4x4 modelview;
QMatrix4x4 projection;
int width = qmlItem(headache_designer_instance, "headacheRenderer")->property("width").toReal();
int height = qmlItem(headache_designer_instance, "headacheRenderer")->property("height").toReal();
projection.setToIdentity();
//to shift, translate projection here. -1,0,0 is far left, 1,0,0 is far right.
//58 degrees view
//projection.viewport(0,0,width,height);
projection.perspective(58, 1.0f, 1.0f, 20000);
modelview.setToIdentity();
//back the camera up
modelview.translate(0, 0, -(double)maxFieldDistance * (double)zoom);
//translate to that spot in the world
modelview.translate(-(double)fieldCenterX + (double)sX * (double)maxFieldDistance,
-(double)fieldCenterY + (double)sY * (double)maxFieldDistance,
0);
float x,y;
x = mouseX;
y = height - mouseY;
//y = mouseY;
//get point on the near plane
QVector3D worldpoint_near = QVector3D( { x, y, 0} ).unproject(modelview,projection,QRect(0,0,width, height));
//get point on the far plane
QVector3D worldpoint_far = QVector3D( { x, y, 1} ).unproject(modelview, projection,QRect(0,0,width, height));
//get direction vector from near to far
QVector3D direction = worldpoint_far - worldpoint_near;
//determine intercept with z=0 plane, and calculate easting and northing
double lambda = -(worldpoint_near.z()) / direction.z();
float mouseEasting = worldpoint_near.x() + lambda * direction.x();
float mouseNorthing = worldpoint_near.y() + lambda * direction.y();
QVector3D fieldCoord = QVector3D( { (float)mouseEasting, (float)mouseNorthing, 0 } );
return fieldCoord;
}
void FormHeadache::load_headline() {
hdl->idx = -1;
headache_designer_instance->setProperty("showa", false);
headache_designer_instance->setProperty("showb", false);
emit loadHeadlines();
//clear headline. Not sure I like that.
update_lines();
update_headland();
}
void FormHeadache::setup_matrices(QMatrix4x4 &modelview, QMatrix4x4 &projection) {
projection.setToIdentity();
//to shift, translate projection here. -1,0,0 is far left, 1,0,0 is far right.
//58 degrees view
projection.perspective(58, 1.0f, 1.0f, 20000);
modelview.setToIdentity();
//back the camera up
modelview.translate(0, 0, -(double)maxFieldDistance * (double)zoom);
//translate to that spot in the world
modelview.translate(-(double)fieldCenterX + (double)sX * (double)maxFieldDistance,
-(double)fieldCenterY + (double)sY * (double)maxFieldDistance,
0);
}
void FormHeadache::update_lines() {
QVariantList lines;
QVariantMap linemap;
QVariantList linepoints;
QPoint linepoint;
QColor color;
QMatrix4x4 modelview;
QMatrix4x4 projection;
QVector3D s;
QVector3D p;
setup_matrices(modelview, projection);
int width = qmlItem(headache_designer_instance, "headacheRenderer")->property("width").toReal();
int height = qmlItem(headache_designer_instance, "headacheRenderer")->property("height").toReal();
for (int j = 0; j < bnd->bndList.count(); j++)
{
if (j == bndSelect)
color = QColor::fromRgbF(0.75f, 0.75f, 0.750f);
else
color = QColor::fromRgbF(0.0f, 0.25f, 0.10f);
linemap.clear();
linemap["index"] = j;
linemap["color"] = color;
linemap["width"] = 4;
linepoints.clear();
for (int i = 0; i < bnd->bndList[j].fenceLine.count(); i++)
{
p = QVector3D (bnd->bndList[j].fenceLine[i].easting,
bnd->bndList[j].fenceLine[i].northing,
0);
s = p.project(modelview, projection, QRect(0,0,width,height));
linepoint = QPoint(s.x(),height - s.y());
linepoints.append(linepoint);
}
linemap["points"] = linepoints;
lines.append(linemap);
}
headache_designer_instance->setProperty("boundaryLines", lines);
update_headlines();
update_ab();
update_headland();
}
void FormHeadache::update_ab() {
QMatrix4x4 modelview, projection;
QVector3D p, s;
setup_matrices(modelview, projection);
int width = qmlItem(headache_designer_instance, "headacheRenderer")->property("width").toReal();
int height = qmlItem(headache_designer_instance, "headacheRenderer")->property("height").toReal();
//draw A and B points
if (start != 99999) {
p = QVector3D(bnd->bndList[bndSelect].fenceLine[start].easting, bnd->bndList[bndSelect].fenceLine[start].northing, 0);
s = p.project(modelview, projection, QRect(0,0,width,height));
showa = true;
apoint = QPoint(s.x(), height - s.y());
} //else {
//showa = false;
//}
if (end != 99999) {
p = QVector3D(bnd->bndList[bndSelect].fenceLine[end].easting, bnd->bndList[bndSelect].fenceLine[end].northing, 0);
s = p.project(modelview, projection, QRect(0,0,width,height));
bpoint = QPoint(s.x(), height - s.y());
showb = true;
}
}
void FormHeadache::update_headland() {
QMatrix4x4 modelview, projection;
QVector3D p, s;
QVariantList line;
QPoint linepoint;
setup_matrices(modelview, projection);
int width = qmlItem(headache_designer_instance, "headacheRenderer")->property("width").toReal();
int height = qmlItem(headache_designer_instance, "headacheRenderer")->property("height").toReal();
//draw headland line if exists
if (bnd->bndList[0].hdLine.count()) {
//color is set in QML
for (int i = 0; i < bnd->bndList[0].hdLine.count(); i++)
{
p = QVector3D (bnd->bndList[0].hdLine[i].easting,
bnd->bndList[0].hdLine[i].northing,
0);
s = p.project(modelview, projection, QRect(0,0,width,height));
linepoint = QPoint(s.x(),height - s.y());
line.append(linepoint);
}
}
headache_designer_instance->setProperty("headlandLine", line);
}
void FormHeadache::update_headlines()
{
QMatrix4x4 modelview, projection;
QVector3D p, s;
QVariantList lines;
QVariantMap linemap;
QVariantList linepoints;
QPoint linepoint;
QColor color;
setup_matrices(modelview, projection);
int width = qmlItem(headache_designer_instance, "headacheRenderer")->property("width").toReal();
int height = qmlItem(headache_designer_instance, "headacheRenderer")->property("height").toReal();
lines.clear();
showa = false;
showb = false;
if (isLinesVisible && hdl->tracksArr.count() > 0)
{
//GL.Enable(EnableCap.LineStipple);
//GL.LineStipple(1, 0x7070);
//GL.PointSize(3);
for (int i = 0; i < hdl->tracksArr.count(); i++)
{
linemap.clear();
if (hdl->tracksArr[i].mode == (int)TrackMode::AB)
{
color = QColor::fromRgbF(0.973f, 0.9f, 0.10f);
}
else
{
color = QColor::fromRgbF(0.3f, 0.99f, 0.20f);
}
linemap["color"] = color;
linepoints.clear();
for (Vec3 item: hdl->tracksArr[i].trackPts)
{
p = QVector3D(item.easting, item.northing, 0);
s = p.project(modelview, projection, QRect(0,0,width,height));
linepoint = QPoint(s.x(), height - s.y());
linepoints.append(linepoint);
}
linemap["points"] = linepoints;
linemap["dashed"] = true;
linemap["width"] = 3;
linemap["index"] = 0; //unused
lines.append(linemap);
}
//GL.Disable(EnableCap.LineStipple);
if (hdl->idx > -1)
{
linemap.clear();
linemap["width"] = 6;
//GL.LineWidth(6);
linemap["color"] = QColor::fromRgbF(1.0f, 0.0f, 1.0f);
linemap["dashed"] = false;
linepoints.clear();
//GL.Begin(PrimitiveType.LineStrip);
for (Vec3 item: hdl->tracksArr[hdl->idx].trackPts)
{
p = QVector3D(item.easting, item.northing, 0);
s = p.project(modelview, projection, QRect(0,0,width,height));
linepoint = QPoint(s.x(), height - s.y());
linepoints.append(linepoint);
}
linemap["points"] = linepoints;
lines.append(linemap);
int cnt = hdl->tracksArr[hdl->idx].trackPts.count() - 1;
p = QVector3D(hdl->tracksArr[hdl->idx].trackPts[0].easting, hdl->tracksArr[hdl->idx].trackPts[0].northing,0);
s = p.project(modelview, projection, QRect(0,0,width,height));
apoint = QPoint(s.x(), height - s.y());
showa = true;
p = QVector3D(hdl->tracksArr[hdl->idx].trackPts[cnt].easting, hdl->tracksArr[hdl->idx].trackPts[cnt].northing,0);
s = p.project(modelview, projection, QRect(0,0,width,height));
bpoint = QPoint(s.x(), height - s.y());
showb = true;
}
}
headache_designer_instance->setProperty("headacheLines", lines);
}
void FormHeadache::FormHeadLine_FormClosing()
{
//hdl
if (hdl->idx == -1)
{
isBtnAutoSteerOn = false;
isYouTurnBtnOn = false;
}
emit saveHeadlines();
if (hdl->tracksArr.count() > 0)
{
hdl->idx = 0;
}
else hdl->idx = -1;
}
void FormHeadache::btnCycleBackward_Click()
{
bnd->bndList[0].hdLine.clear();
if (hdl->tracksArr.count() > 0)
{
hdl->idx++;
if (hdl->idx > (hdl->tracksArr.count() - 1)) hdl->idx = 0;
}
else
{
hdl->idx = -1;
}
update_headlines();
}
void FormHeadache::btnCycleForward_Click()
{
bnd->bndList[0].hdLine.clear();
if (hdl->tracksArr.count() > 0)
{
hdl->idx--;
if (hdl->idx < 0) hdl->idx = (hdl->tracksArr.count() - 1);
}
else
{
hdl->idx = -1;
}
update_headlines();
}
void FormHeadache::clicked(int mouseX, int mouseY) {
QVector3D fieldCoords = mouseClickToField(mouseX, mouseY);
pint.easting = fieldCoords.x();
pint.northing = fieldCoords.y();
bnd->bndList[0].hdLine.clear();
hdl->idx = -1;
headache_designer_instance->setProperty("showa", false);
headache_designer_instance->setProperty("showb", false);
if (isA)
{
double minDistA = glm::DOUBLE_MAX;
start = 99999; end = 99999;
for (int j = 0; j < bnd->bndList.count(); j++)
{
for (int i = 0; i < bnd->bndList[j].fenceLine.count(); i++)
{
double dist = ((pint.easting - bnd->bndList[j].fenceLine[i].easting) * (pint.easting - bnd->bndList[j].fenceLine[i].easting))
+ ((pint.northing - bnd->bndList[j].fenceLine[i].northing) * (pint.northing - bnd->bndList[j].fenceLine[i].northing));
if (dist < minDistA)
{
minDistA = dist;
bndSelect = j;
start = i;
}
}
}
isA = false;
update_ab();
}
else
{
double minDistA = glm::DOUBLE_MAX;
int j = bndSelect;
for (int i = 0; i < bnd->bndList[j].fenceLine.count(); i++)
{
double dist = ((pint.easting - bnd->bndList[j].fenceLine[i].easting) * (pint.easting - bnd->bndList[j].fenceLine[i].easting))
+ ((pint.northing - bnd->bndList[j].fenceLine[i].northing) * (pint.northing - bnd->bndList[j].fenceLine[i].northing));
if (dist < minDistA)
{
minDistA = dist;
end = i;
}
}
isA = true;
if (start == end)
{
start = 99999; end = 99999;
emit timedMessageBox(3000, tr("Line Error"), tr("Start Point = End Point"));
return;
}
//build the lines
if ((bool)curveLine)
{
hdl->tracksArr.append(CHeadPath());
hdl->idx = hdl->tracksArr.count() - 1;
bool isLoop = false;
int limit = end;
if ((abs(start - end)) > (bnd->bndList[bndSelect].fenceLine.count() * 0.5))
{
if (start < end)
{
int tmp = start;
start = end;
end = tmp;
}
isLoop = true;
if (start < end)
{
limit = end;
end = 0;
}
else
{
limit = end;
end = bnd->bndList[bndSelect].fenceLine.count();
}
}
else
{
if (start > end)
{
int tmp = start;
start = end;
end = tmp;
}
}
hdl->tracksArr[hdl->idx].a_point = start;
hdl->tracksArr[hdl->idx].trackPts.clear();
Vec3 pt3;
if (start < end)
{
for (int i = start; i <= end; i++)
{
//calculate the point inside the boundary
pt3 = bnd->bndList[bndSelect].fenceLine[i];
hdl->tracksArr[hdl->idx].trackPts.append(pt3);
if (isLoop && i == bnd->bndList[bndSelect].fenceLine.count() - 1)
{
i = -1;
isLoop = false;
end = limit;
}
}
}
else
{
for (int i = start; i >= end; i--)
{
//calculate the point inside the boundary
pt3 = bnd->bndList[bndSelect].fenceLine[i];
hdl->tracksArr[hdl->idx].trackPts.append(pt3);
if (isLoop && i == 0)
{
i = bnd->bndList[bndSelect].fenceLine.count() - 1;
isLoop = false;
end = limit;
}
}
}
//who knows which way it actually goes
CalculateHeadings(hdl->tracksArr[hdl->idx].trackPts);
int ptCnt = hdl->tracksArr[hdl->idx].trackPts.count() - 1;
for (int i = 1; i < 30; i++)
{
Vec3 pt(hdl->tracksArr[hdl->idx].trackPts[ptCnt]);
pt.easting += (sin(pt.heading) * i);
pt.northing += (cos(pt.heading) * i);
hdl->tracksArr[hdl->idx].trackPts.append(pt);
}
Vec3 stat(hdl->tracksArr[hdl->idx].trackPts[0]);
for (int i = 1; i < 30; i++)
{
Vec3 pt(stat);
pt.easting -= (sin(pt.heading) * i);
pt.northing -= (cos(pt.heading) * i);
hdl->tracksArr[hdl->idx].trackPts.insert(0, pt);
}
//create a name
hdl->tracksArr[hdl->idx].name = QString("%1 Cu %2").arg(hdl->idx).arg(QTime::currentTime().toString("mm:ss"));
hdl->tracksArr[hdl->idx].moveDistance = 0;
hdl->tracksArr[hdl->idx].mode = (int)TrackMode::Curve;
emit saveHeadlines();
//update arrays
start = 99999; end = 99999;
//FixLabelsCurve();
}
else //straight line
{
if ((abs(start - end)) > (bnd->bndList[bndSelect].fenceLine.count() * 0.5))
{
if (start < end)
{
int tmp = start;
start = end;
end = tmp;
}
}
else
{
if (start > end)
{
int tmp = start;
start = end;
end = tmp;
}
}
Vec3 ptA(bnd->bndList[bndSelect].fenceLine[start]);
Vec3 ptB(bnd->bndList[bndSelect].fenceLine[end]);
//calculate the AB Heading
double abHead = atan2(
bnd->bndList[bndSelect].fenceLine[end].easting - bnd->bndList[bndSelect].fenceLine[start].easting,
bnd->bndList[bndSelect].fenceLine[end].northing - bnd->bndList[bndSelect].fenceLine[start].northing);
if (abHead < 0) abHead += glm::twoPI;
if (hdl->idx < hdl->tracksArr.count() - 1)
{
hdl->idx++;
hdl->tracksArr.insert(hdl->idx, CHeadPath());
}
else
{
hdl->tracksArr.append(CHeadPath());
hdl->idx = hdl->tracksArr.count() - 1;
}
hdl->tracksArr[hdl->idx].a_point = start;
hdl->tracksArr[hdl->idx].trackPts.clear();
ptA.heading = abHead;
ptB.heading = abHead;
for (int i = 0; i <= (int)(glm::Distance(ptA, ptB)); i++)
{
Vec3 ptC(
(sin(abHead) * i) + ptA.easting,
(cos(abHead) * i) + ptA.northing,
abHead
);
hdl->tracksArr[hdl->idx].trackPts.append(ptC);
}
int ptCnt = hdl->tracksArr[hdl->idx].trackPts.count() - 1;
for (int i = 1; i < 30; i++)
{
Vec3 pt(hdl->tracksArr[hdl->idx].trackPts[ptCnt]);
pt.easting += (sin(pt.heading) * i);
pt.northing += (cos(pt.heading) * i);
hdl->tracksArr[hdl->idx].trackPts.append(pt);
}
Vec3 stat(hdl->tracksArr[hdl->idx].trackPts[0]);
for (int i = 1; i < 30; i++)
{
Vec3 pt(stat);
pt.easting -= (sin(pt.heading) * i);
pt.northing -= (cos(pt.heading) * i);
hdl->tracksArr[hdl->idx].trackPts.insert(0, pt);
}
//create a name
hdl->tracksArr[hdl->idx].name = QString("%1 AB %2").arg(hdl->idx).arg(QTime::currentTime().toString("mm:ss"));
hdl->tracksArr[hdl->idx].moveDistance = 0;
hdl->tracksArr[hdl->idx].mode = (int)TrackMode::AB;
emit saveHeadlines();
start = 99999; end = 99999;
}
//bnd->bndList[0].hdLine.clear();
hdl->desList.clear();
if (hdl->tracksArr.count() < 1 || hdl->idx == -1) return;
double distAway = (double)lineDistance;
hdl->tracksArr[hdl->idx].moveDistance += distAway;
double distSqAway = (distAway * distAway) - 0.01;
Vec3 point;
int refCount = hdl->tracksArr[hdl->idx].trackPts.count();
for (int i = 0; i < refCount; i++)
{
point = Vec3(
hdl->tracksArr[hdl->idx].trackPts[i].easting - (sin(glm::PIBy2 + hdl->tracksArr[hdl->idx].trackPts[i].heading) * distAway),
hdl->tracksArr[hdl->idx].trackPts[i].northing - (cos(glm::PIBy2 + hdl->tracksArr[hdl->idx].trackPts[i].heading) * distAway),
hdl->tracksArr[hdl->idx].trackPts[i].heading);
bool Add = true;
for (int t = 0; t < refCount; t++)
{
double dist = ((point.easting - hdl->tracksArr[hdl->idx].trackPts[t].easting) * (point.easting - hdl->tracksArr[hdl->idx].trackPts[t].easting))
+ ((point.northing - hdl->tracksArr[hdl->idx].trackPts[t].northing) * (point.northing - hdl->tracksArr[hdl->idx].trackPts[t].northing));
if (dist < distSqAway)
{
Add = false;
break;
}
}
if (Add)
{
if (hdl->desList.count() > 0)
{
double dist = ((point.easting - hdl->desList[hdl->desList.count() - 1].easting) * (point.easting - hdl->desList[hdl->desList.count() - 1].easting))
+ ((point.northing - hdl->desList[hdl->desList.count() - 1].northing) * (point.northing - hdl->desList[hdl->desList.count() - 1].northing));
if (dist > 1)
hdl->desList.append(point);
}
else hdl->desList.append(point);
}
}
hdl->tracksArr[hdl->idx].trackPts.clear();
for (int i = 0; i < hdl->desList.count(); i++)
{
hdl->tracksArr[hdl->idx].trackPts.append(Vec3(hdl->desList[i]));
}
hdl->desList.clear();
update_headlines();
}
}
void FormHeadache::btnDeleteCurve_Click()
{
//bnd->bndList[0].hdLine.clear();
if (hdl->tracksArr.count() > 0 && hdl->idx > -1)
{
hdl->tracksArr.remove(hdl->idx);
hdl->idx--;
}
if (hdl->tracksArr.count() > 0)
{
if (hdl->idx == -1)
{
hdl->idx++;
}
}
else hdl->idx = -1;
update_headlines();
}
void FormHeadache::btnExit_Click() {
emit saveHeadlines();
}
void FormHeadache::isSectionControlled(bool wellIsIt) {
bnd->isSectionControlledByHeadland = wellIsIt;
property_setHeadland_isSectionControlled = wellIsIt;
}
void FormHeadache::btnBndLoop_Click() {
//sort the lines using CHeadPath::operator<
std::sort(hdl->tracksArr.begin(), hdl->tracksArr.end());
emit saveHeadlines();
hdl->idx = -1;
//build the headland
bnd->bndList[0].hdLine.clear();
//int numOfLines = hdl->tracksArr.count();
int nextLine = 0;
crossings.clear();
int isStart = 0;
for (int lineNum = 0; lineNum < hdl->tracksArr.count(); lineNum++)
{
nextLine = lineNum - 1;
if (nextLine < 0) nextLine = hdl->tracksArr.count() - 1;
if (nextLine == lineNum)
{
emit timedMessageBox(2000, tr("Create Error"), tr("Is there maybe only one line?"));
return;
}
for (int i = 0; i < hdl->tracksArr[lineNum].trackPts.count() - 2; i++)
{
for (int k = 0; k < hdl->tracksArr[nextLine].trackPts.count() - 2; k++)
{
int res = GetLineIntersection(
hdl->tracksArr[lineNum].trackPts[i].easting,
hdl->tracksArr[lineNum].trackPts[i].northing,
hdl->tracksArr[lineNum].trackPts[i + 1].easting,
hdl->tracksArr[lineNum].trackPts[i + 1].northing,
hdl->tracksArr[nextLine].trackPts[k].easting,
hdl->tracksArr[nextLine].trackPts[k].northing,
hdl->tracksArr[nextLine].trackPts[k + 1].easting,
hdl->tracksArr[nextLine].trackPts[k + 1].northing,
iE, iN);
if (res == 1)
{
if (isStart == 0) i++;
crossings.append(i);
isStart++;
if (isStart == 2) goto again;
nextLine = lineNum + 1;
if (nextLine > hdl->tracksArr.count() - 1) nextLine = 0;
}
}
}
again:
isStart = 0;
}
if (crossings.count() != hdl->tracksArr.count() * 2)
{
emit timedMessageBox(2000, tr("Crosings Error"), tr("Make sure all ends cross only once"));
bnd->bndList[0].hdLine.clear();
return;
}
for (int i = 0; i < hdl->tracksArr.count(); i++)
{
int low = crossings[i * 2];
int high = crossings[i * 2 + 1];
for (int k = low; k < high; k++)
{
bnd->bndList[0].hdLine.append(hdl->tracksArr[i].trackPts[k]);
}
}
//for (int i = 0; i < hdl->tracksArr.count(); i++)
//{
// hdl->desList.clear();
// int low = crossings[i * 2];
// int high = crossings[i * 2 + 1];
// for (int k = low; k < high; k++)
// {
// hdl->desList.append(hdl->tracksArr[i].trackPts[k]);
// }
// hdl->tracksArr[i].trackPts.clear();
// foreach (var item in hdl->desList)
// {
// hdl->tracksArr[i].trackPts.append(Vec3(item));
// }
//}
QVector<Vec3> hdArr;
if (bnd->bndList[0].hdLine.count() > 0)
{
hdArr = bnd->bndList[0].hdLine;
}
else
{
bnd->bndList[0].hdLine.clear();
return;
}
//middle points
for (int i = 1; i < hdArr.count(); i++)
{
hdArr[i - 1].heading = atan2(hdArr[i - 1].easting - hdArr[i].easting, hdArr[i - 1].northing - hdArr[i].northing);
if (hdArr[i].heading < 0) hdArr[i].heading += glm::twoPI;
}
double delta = 0;
for (int i = 0; i < hdArr.count(); i++)
{
if (i == 0)
{
bnd->bndList[0].hdLine.append(Vec3(hdArr[i].easting, hdArr[i].northing, hdArr[i].heading));
continue;
}
delta += (hdArr[i - 1].heading - hdArr[i].heading);
if (fabs(delta) > 0.005)
{
Vec3 pt(hdArr[i].easting, hdArr[i].northing, hdArr[i].heading);
bnd->bndList[0].hdLine.append(pt);
delta = 0;
}
}
update_headland();
emit saveHeadland();
}
void FormHeadache::btnSlice_Click() {
int startBnd = 0, endBnd = 0, startLine = 0, endLine = 0;
int isStart = 0;
if (sliceArr.count() == 0) return;
//save a backup
backupList.clear();
for (auto item: bnd->bndList[0].hdLine)
{
backupList.append(item);
}
for (int i = 0; i < sliceArr.count() - 2; i++)
{
for (int k = 0; k < bnd->bndList[0].hdLine.count() - 2; k++)
{
int res = GetLineIntersection(
sliceArr[i].easting,
sliceArr[i].northing,
sliceArr[i + 1].easting,
sliceArr[i + 1].northing,
bnd->bndList[0].hdLine[k].easting,
bnd->bndList[0].hdLine[k].northing,
bnd->bndList[0].hdLine[k + 1].easting,
bnd->bndList[0].hdLine[k + 1].northing,
iE, iN);
if (res == 1)
{
if (isStart == 0)
{
startBnd = k + 1;
startLine = i + 1;
}
else
{
endBnd = k + 1;
endLine = i;
}
isStart++;
}
}
}
if (isStart < 2)
{
emit timedMessageBox(2000, tr("Error"), tr("Crossings not Found"));
return;
}
//overlaps start finish
if ((fabs(startBnd - endBnd)) > (bnd->bndList[bndSelect].fenceLine.count() * 0.5))
{
if (startBnd < endBnd)
{
int tmp = startBnd;
startBnd = endBnd;
endBnd = tmp;
}
hdl->desList.clear();
//first bnd segment
for (int i = endBnd; i < startBnd; i++)
{
hdl->desList.append(bnd->bndList[0].hdLine[i]);
}
for (int i = startLine; i < endLine; i++)
{
hdl->desList.append(sliceArr[i]);
}
//build headline from desList
bnd->bndList[0].hdLine.clear();
for (auto item: hdl->desList)
{
bnd->bndList[0].hdLine.append(item);
}
}
// completely in between start finish
else
{
if (startBnd > endBnd)
{
int tmp = startBnd;
startBnd = endBnd;
endBnd = tmp;
}
hdl->desList.clear();
//first bnd segment
for (int i = 0; i < startBnd; i++)
{
hdl->desList.append(bnd->bndList[0].hdLine[i]);
}
//line segment
for (int i = startLine; i < endLine; i++)
{
hdl->desList.append(sliceArr[i]);
}
//final bnd segment
for (int i = endBnd; i < bnd->bndList[0].hdLine.count(); i++)
{
hdl->desList.append(bnd->bndList[0].hdLine[i]);