初步实现2轴的3D模型联动

HPPA/HPPA.cpp

@@ -99,7 +99,7 @@ HPPA::HPPA(QWidget* parent)
 	heightScale = 1;
 
 	//<2F><><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>ģ<EFBFBD><C4A3>
-	connect(ui.graphicsView->imager, SIGNAL(leftMouseButtonPressed(int, int)), this, SLOT(onimagerSimulatorMove(int, int)));
+	//connect(ui.graphicsView->imager, SIGNAL(leftMouseButtonPressed(int, int)), this, SLOT(onimagerSimulatorMove(int, int)));
 
 	initPanelToolbar();
 	setDockNestingEnabled(true);
@@ -125,6 +125,10 @@ HPPA::HPPA(QWidget* parent)
 	ui.mDockWidgetSimulator->setTile(QString::fromLocal8Bit("3Dģ<EFBFBD><EFBFBD>"));
 	ui.mDockWidgetSpectrometer->setTile(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
 
+	m_view3D_tmp = new View3D("D:\\cpp_project_vs2022\\HPPA\\x64\\Debug\\3DModel\\HPPA_frame.obj", "D:\\cpp_project_vs2022\\HPPA\\x64\\Debug\\3DModel\\HPPA_camera.obj");
+
+	ui.mDockWidgetSimulator->setWidget(m_view3D_tmp);
+
 	//TOC
 	CustomDockWidgetBase* dock_layers = new CustomDockWidgetBase(QString::fromLocal8Bit("layers"), this);
 	dock_layers->setObjectName("mDockLayers");
@@ -574,6 +578,7 @@ void HPPA::initControlTabwidget()
 	tmc = new TwoMotorControl(this);
 	connect(tmc, SIGNAL(startLineNumSignal(int)), this, SLOT(onCreateTab(int)));
 	connect(tmc, SIGNAL(sequenceComplete()), this, SLOT(onsequenceComplete()));
+	connect(tmc, SIGNAL(broadcastLocationSignal(std::vector<double>)), m_view3D_tmp, SLOT(setLoc(std::vector<double>)));
 	tmc->setWindowFlags(Qt::Widget);
 	ui.controlTabWidget->addTab(tmc, QString::fromLocal8Bit("2<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
 }
@@ -1144,7 +1149,7 @@ void HPPA::setImagerSimulationPos(double x, double y)
 {
 	x = widthScale * x;
 	y = heightScale * y;
-	ui.graphicsView->imager->setPos(x, y);
+	//ui.graphicsView->imager->setPos(x, y);
 }
 
 void HPPA::onimagerSimulatorMove(int x, int y)

HPPA/HPPA.h

@@ -46,6 +46,8 @@
 #include "CustomDockWidgetBase.h"
 #include "Carousel.h"
 
+#include "View3D.h"
+
 #define PI 3.1415926
 
 QT_CHARTS_USE_NAMESPACE//QChartView ʹ<><CAB9> <20><>Ҫ<EFBFBD>Ӻ꣬ <20><><EFBFBD><EFBFBD><EFBFBD>޷<EFBFBD>ʹ<EFBFBD><CAB9>
@@ -233,6 +235,8 @@ private:
 	QPushButton* m_open_rgb_camera_btn;
 	QPushButton* m_close_rgb_camera_btn;
 
+	View3D* m_view3D_tmp;
+
 public Q_SLOTS:
 	void onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber);
 	void PlotSpectral(int state);

HPPA/HPPA.ui

@@ -263,22 +263,6 @@ QToolBar QToolButton:hover {
      <property name="verticalSpacing">
       <number>0</number>
      </property>
-     <item row="0" column="0">
-      <widget class="ImagerPositionSimulation" name="graphicsView">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="frameShape">
-        <enum>QFrame::NoFrame</enum>
-       </property>
-       <property name="frameShadow">
-        <enum>QFrame::Raised</enum>
-       </property>
-      </widget>
-     </item>
     </layout>
    </widget>
   </widget>
@@ -813,11 +797,6 @@ QToolBar QToolButton:hover {
    <extends>QSlider</extends>
    <header>qdoubleslider.h</header>
   </customwidget>
-  <customwidget>
-   <class>ImagerPositionSimulation</class>
-   <extends>QGraphicsView</extends>
-   <header>imagerpositionsimulation.h</header>
-  </customwidget>
   <customwidget>
    <class>CustomDockWidgetBase</class>
    <extends>QDockWidget</extends>

HPPA/HPPA.vcxproj

@@ -32,7 +32,7 @@
   </ImportGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'" Label="QtSettings">
     <QtInstall>5.13.2_msvc2017_64</QtInstall>
-    <QtModules>core;network;gui;widgets;serialport;websockets;charts</QtModules>
+    <QtModules>core;network;gui;widgets;serialport;websockets;3dcore;3danimation;3dextras;3dinput;3dlogic;3drender;3dquick;charts</QtModules>
     <QtBuildConfig>debug</QtBuildConfig>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'" Label="QtSettings">
@@ -129,6 +129,7 @@
     </ClCompile>
     <ClCompile Include="TwoMotorControl.cpp" />
     <ClCompile Include="utility_tc.cpp" />
+    <ClCompile Include="View3D.cpp" />
     <QtRcc Include="HPPA.qrc" />
     <QtUic Include="about.ui" />
     <QtUic Include="adjustTable.ui" />
@@ -163,6 +164,7 @@
     <QtMoc Include="image2display.h" />
   </ItemGroup>
   <ItemGroup>
+    <QtMoc Include="View3D.h" />
     <QtMoc Include="adjustTable.h" />
     <QtMoc Include="PowerControl.h" />
     <QtMoc Include="RobotArmControl.h" />

HPPA/HPPA.vcxproj.filters

@@ -139,6 +139,9 @@
     <ClCompile Include="Carousel.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="View3D.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h">
@@ -204,6 +207,9 @@
     <QtMoc Include="Carousel.h">
       <Filter>Header Files</Filter>
     </QtMoc>
+    <QtMoc Include="View3D.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="imageProcessor.h">

HPPA/TwoMotorControl.cpp

@@ -320,6 +320,8 @@ void TwoMotorControl::displayRealTimeLoc(std::vector<double> loc)
 
     tmp = round(loc[1] * 100) / 100;
     this->ui.ymotor_realTimeLoc_lineEdit->setText(QString::number(tmp));
+
+	emit broadcastLocationSignal(loc);
 }
 
 void TwoMotorControl::zeroStart()

HPPA/TwoMotorControl.h

@@ -84,6 +84,8 @@ signals:
     void startLineNumSignal(int lineNum);
     void sequenceComplete();//所有采集线正常运行完成
 
+    void broadcastLocationSignal(std::vector<double>);
+
 private:
     Ui::twoMotorControl_UI ui;
     QThread m_coordinatorThread;

HPPA/View3D.cpp

@@ -0,0 +1,292 @@
+#include "View3D.h"
+#include <QHBoxLayout>
+#include <QShowEvent>
+#include <QMouseEvent>
+#include <QWheelEvent>
+#include <Qt3DExtras/QForwardRenderer>
+#include <QtMath>
+#include <Qt3DRender/QAttribute>
+#include <QGeometryRenderer> 
+
+View3D::View3D(const QString& baseModelPath,
+    const QString& armModelPath,
+    QWidget* parent)
+    : QWidget(parent),
+    m_container(nullptr),
+    m_baseModelPath(baseModelPath),
+    m_armModelPath(armModelPath)
+{
+    m_view = new Qt3DExtras::Qt3DWindow();
+    // 部分 Qt5.9 构建可能需要强转 frame graph，但 defaultFrameGraph() 通常可用
+    m_view->defaultFrameGraph()->setClearColor(Qt::white);
+
+    m_rootEntity = new Qt3DCore::QEntity();
+
+    initScene();
+    initCamera();
+
+    // 自动旋转臂（如果不需要可注释掉 timer/connect）
+    //connect(&m_timer, &QTimer::timeout, this, [=]() {
+    //    m_angle += 1.0f;
+    //    m_t += 1.0f;
+    //    if (m_angle >= 360.0f) m_angle = 0.0f;
+    //    if (m_armTransform)
+    //    {
+    //        //m_armTransform->setRotationX(m_angle);
+    //        //m_armTransform->setTranslation(QVector3D(m_t, 0, 0));
+    //        
+    //        Qt3DCore::QTransform transform;
+    //        transform.setTranslation(QVector3D(2, 0, 0));
+
+    //        QMatrix4x4 M = m_armTransform->matrix();
+    //        M = transform.matrix() * M;   // 左乘：在世界坐标系叠加
+    //        m_armTransform->setMatrix(M);
+
+    //        qDebug() << m_armTransform->matrix();
+    //    }
+    //    });
+}
+
+void View3D::initScene()
+{
+    // ===== 创建 base 根节点 =====
+    auto* baseModel = new Qt3DCore::QEntity(m_rootEntity);
+    auto* baseLoader = new Qt3DRender::QSceneLoader(baseModel);
+    baseLoader->setSource(QUrl::fromLocalFile(m_baseModelPath));
+
+    //connect(baseLoader, &Qt3DRender::QSceneLoader::statusChanged,
+    //    this, &View3D::onSceneLoaderStatusChanged);
+
+
+    m_baseTransform = new Qt3DCore::QTransform();
+    m_baseTransform->setTranslation(QVector3D(0, 0, 0));
+    baseModel->addComponent(baseLoader);
+    baseModel->addComponent(m_baseTransform);
+
+    // ===== 创建 arm 根节点 =====
+    auto* armModel = new Qt3DCore::QEntity(m_rootEntity);
+    auto* armLoader = new Qt3DRender::QSceneLoader(armModel);
+    armLoader->setSource(QUrl::fromLocalFile(m_armModelPath));
+
+    m_armTransform = new Qt3DCore::QTransform();
+    m_armTransform->setTranslation(QVector3D(0, 0, 0));
+    armModel->addComponent(armLoader);
+    armModel->addComponent(m_armTransform);
+
+    // 坐标轴依然挂在 root，不会被移动
+    //createAxes();
+
+    m_view->setRootEntity(m_rootEntity);
+
+    qDebug() << m_baseTransform->matrix();
+    qDebug() << m_armTransform->matrix();
+
+    //m_armTransform->setTranslation(QVector3D(2000, 0, 0));
+    //m_baseTransform->setTranslation(QVector3D(-1000, -1000, -1000));
+
+    qDebug() << m_baseTransform->matrix();
+    qDebug() << m_armTransform->matrix();
+}
+
+void View3D::createAxes()
+{
+    // 参数
+    float axisLength = 500.0f;
+    float axisRadius = 50.0f;
+
+    // ----- X axis (red) -----
+    Qt3DCore::QEntity* xAxis = new Qt3DCore::QEntity(m_rootEntity);
+    auto* xMesh = new Qt3DExtras::QCylinderMesh();
+    xMesh->setRadius(axisRadius);
+    xMesh->setLength(axisLength);
+    xMesh->setRings(16);
+    xMesh->setSlices(16);
+
+    auto* xTrans = new Qt3DCore::QTransform();
+    // cylinder 默认沿 Y 轴，绕 Z 轴 90 度让其沿 X
+    xTrans->setRotation(QQuaternion::fromAxisAndAngle(QVector3D(0, 0, 1), 90.0f));
+    xTrans->setTranslation(QVector3D(axisLength / 2.0f, 0.0f, 0.0f));
+
+    auto* xMat = new Qt3DExtras::QPhongMaterial();
+    xMat->setDiffuse(QColor(Qt::red));
+
+    xAxis->addComponent(xMesh);
+    xAxis->addComponent(xTrans);
+    xAxis->addComponent(xMat);
+
+    // ----- Y axis (green) -----
+    Qt3DCore::QEntity* yAxis = new Qt3DCore::QEntity(m_rootEntity);
+    auto* yMesh = new Qt3DExtras::QCylinderMesh();
+    yMesh->setRadius(axisRadius);
+    yMesh->setLength(axisLength*2);
+    yMesh->setRings(16);
+    yMesh->setSlices(16);
+
+    auto* yTrans = new Qt3DCore::QTransform();
+    // Y 轴无需旋转（cylinder 默认沿 Y）
+    yTrans->setTranslation(QVector3D(0.0f, axisLength / 2.0f, 0.0f));
+
+    auto* yMat = new Qt3DExtras::QPhongMaterial();
+    yMat->setDiffuse(QColor(Qt::green));
+
+    yAxis->addComponent(yMesh);
+    yAxis->addComponent(yTrans);
+    yAxis->addComponent(yMat);
+
+    // ----- Z axis (blue) -----
+    Qt3DCore::QEntity* zAxis = new Qt3DCore::QEntity(m_rootEntity);
+    auto* zMesh = new Qt3DExtras::QCylinderMesh();
+    zMesh->setRadius(axisRadius);
+    zMesh->setLength(axisLength*3);
+    zMesh->setRings(16);
+    zMesh->setSlices(16);
+
+    auto* zTrans = new Qt3DCore::QTransform();
+    // 让 cylinder 沿 Z：绕 X 轴 90 度
+    zTrans->setRotation(QQuaternion::fromAxisAndAngle(QVector3D(1, 0, 0), 90.0f));
+    zTrans->setTranslation(QVector3D(0.0f, 0.0f, axisLength / 2.0f));
+
+    auto* zMat = new Qt3DExtras::QPhongMaterial();
+    zMat->setDiffuse(QColor(Qt::blue));
+
+    zAxis->addComponent(zMesh);
+    zAxis->addComponent(zTrans);
+    zAxis->addComponent(zMat);
+}
+
+void View3D::initCamera()
+{
+    m_camera = m_view->camera();
+    // 16:10 假设窗口比例，后续 resize 时相机透视会保持
+    m_camera->lens()->setPerspectiveProjection(50.0f, 16.0f / 10.0f, 0.1f, 10000.0f);
+    updateCameraPosition();
+}
+
+void View3D::updateCameraPosition()
+{
+    float yaw = qDegreesToRadians(m_yawDeg);
+    float pitch = qDegreesToRadians(m_pitchDeg);
+
+    float x = m_distance * qCos(pitch) * qSin(yaw);
+    float y = m_distance * qSin(pitch);
+    float z = m_distance * qCos(pitch) * qCos(yaw);
+
+    QVector3D camPos = m_viewCenter + QVector3D(x, y, z);
+    m_camera->setPosition(camPos);
+    m_camera->setViewCenter(m_viewCenter);
+}
+
+void View3D::showEvent(QShowEvent* event)
+{
+    QWidget::showEvent(event);
+
+    if (!m_container) {
+        m_container = QWidget::createWindowContainer(m_view, this);
+        m_view->installEventFilter(this);
+
+        auto* layout = new QHBoxLayout(this);
+        layout->addWidget(m_container);
+        layout->setMargin(0);
+        setLayout(layout);
+
+        // 启动自动旋转 timer（如果你不需要可以注释）
+        m_timer.start(100);
+    }
+}
+
+bool View3D::eventFilter(QObject* obj, QEvent* event)
+{
+    if (obj == m_view)
+    {
+        // 鼠标按下
+        if (event->type() == QEvent::MouseButtonPress) {
+            auto* e = static_cast<QMouseEvent*>(event);
+            if (e->button() == Qt::LeftButton) {
+                m_mouseDragging = true;
+                m_lastMousePos = e->pos();
+            }
+            else if (e->button() == Qt::MiddleButton) {
+                m_middleDragging = true;
+                m_lastMousePos = e->pos();
+            }
+        }
+        // 鼠标释放
+        else if (event->type() == QEvent::MouseButtonRelease) {
+            auto* e = static_cast<QMouseEvent*>(event);
+            if (e->button() == Qt::LeftButton) {
+                m_mouseDragging = false;
+            }
+            else if (e->button() == Qt::MiddleButton) {
+                m_middleDragging = false;
+            }
+        }
+        // 鼠标移动
+        else if (event->type() == QEvent::MouseMove) {
+            auto* e = static_cast<QMouseEvent*>(event);
+            QPoint pos = e->pos();
+            QPoint delta = pos - m_lastMousePos;
+
+            // 左键：orbit（旋转）
+            if (m_mouseDragging) {
+                float sensitivity = 0.3f;
+                m_yawDeg -= delta.x() * sensitivity;
+                m_pitchDeg += delta.y() * sensitivity;
+
+                if (m_pitchDeg > 89.0f) m_pitchDeg = 89.0f;
+                if (m_pitchDeg < -89.0f) m_pitchDeg = -89.0f;
+
+                updateCameraPosition();
+            }
+
+            // 中键：pan（平移 viewCenter）
+            if (m_middleDragging) {
+                float speed = 2.0f;
+
+                // 根据摄像机方向计算平移方向
+                QVector3D camPos = m_camera->position();
+                QVector3D forward = (m_viewCenter - camPos).normalized();
+                QVector3D up(0, 1, 0);
+                QVector3D right = QVector3D::crossProduct(forward, up).normalized();
+
+                // 世界坐标变化量
+                QVector3D deltaMove =
+                    -right * (delta.x() * speed) +
+                    up * (delta.y() * speed);
+
+                // 将平移应用到两个模型根 Transform
+                if (m_baseRootTransform)
+                    m_baseRootTransform->setTranslation(
+                        m_baseRootTransform->translation() + deltaMove*-1);
+
+                if (m_armRootTransform)
+                    m_armRootTransform->setTranslation(
+                        m_armRootTransform->translation() + deltaMove*-1);
+            }
+
+            m_lastMousePos = pos;
+        }
+        // 滚轮缩放
+        else if (event->type() == QEvent::Wheel) {
+            auto* e = static_cast<QWheelEvent*>(event);
+            // Qt5: angleDelta 返回像素值（通常为 120 per notch）
+            int delta = e->angleDelta().y();
+            if (delta == 0) delta = e->delta(); // 备选
+            m_distance -= delta * 2.0f; // 缩放速度
+            if (m_distance < 2.0f) m_distance = 2.0f;
+            if (m_distance > 10000.0f) m_distance = 10000.0f;
+            updateCameraPosition();
+        }
+    }
+
+    // 让 Qt 继续处理（保持原行为）
+    return QWidget::eventFilter(obj, event);
+}
+
+void View3D::setLoc(std::vector<double> loc)
+{
+    double x = round(loc[0] * 100) / 100;
+    double y = round(loc[1] * 100) / 100;
+
+
+    m_armTransform->setTranslation(QVector3D(x, y, 0));
+}

HPPA/View3D.h

@@ -0,0 +1,74 @@
+#ifndef VIEW3D_H
+#define VIEW3D_H
+
+#include <QWidget>
+#include <QTimer>
+#include <QPoint>
+#include <QString>
+#include <QQuaternion>
+#include <QColor>
+
+#include <Qt3DCore/QEntity>
+#include <Qt3DCore/QTransform>
+#include <Qt3DExtras/Qt3DWindow>
+#include <Qt3DRender/QCamera>
+#include <Qt3DExtras/QOrbitCameraController>
+#include <Qt3DExtras/QPhongMaterial>
+#include <Qt3DRender/QSceneLoader>
+#include <Qt3DExtras/QCylinderMesh>
+
+class View3D : public QWidget
+{
+    Q_OBJECT
+public:
+    explicit View3D(const QString& baseModelPath,
+        const QString& armModelPath,
+        QWidget* parent = nullptr);
+
+protected:
+    void showEvent(QShowEvent* event) override;
+    bool eventFilter(QObject* obj, QEvent* event) override;
+
+private:
+    void initScene();
+    void initCamera();
+    void updateCameraPosition();
+    void createAxes();
+
+private:
+    QString m_baseModelPath;
+    QString m_armModelPath;
+
+    Qt3DExtras::Qt3DWindow* m_view;
+    QWidget* m_container;
+    Qt3DCore::QEntity* m_rootEntity;
+
+    Qt3DCore::QEntity* m_baseEntity;
+    Qt3DCore::QEntity* m_armEntity;
+    Qt3DCore::QTransform* m_armTransform;
+    Qt3DCore::QTransform* m_baseTransform;
+
+    QTimer m_timer;
+    float m_angle = 0;    // arm auto rotation
+    float m_t = 0;
+
+    // ----- Camera control -----
+    Qt3DRender::QCamera* m_camera = nullptr;
+    float m_distance = 5000.0f;
+    float m_yawDeg = 0.0f;
+    float m_pitchDeg = 0.0f;
+    QVector3D m_viewCenter = QVector3D(1000, 1000, -1000);
+
+    // Mouse state
+    bool m_mouseDragging = false;       // left button: orbit
+    bool m_middleDragging = false;      // middle button: pan
+    QPoint m_lastMousePos;
+
+    Qt3DCore::QTransform* m_baseRootTransform = nullptr;
+    Qt3DCore::QTransform* m_armRootTransform = nullptr;
+
+public Q_SLOTS:
+    void setLoc(std::vector<double> loc);
+};
+
+#endif // VIEW3D_H