Initial commit

Lts/Tools/Trajectories/TrajectoryWidget/trajectorywidget.h

@@ -0,0 +1,47 @@
+#pragma once
+
+#include <QOpenGLWidget>
+#include <QOpenGLFunctions>
+#include <QOpenGLShaderProgram>
+#include <QVector3D>
+#include <QVector>
+#include <QPoint>
+
+struct Curve {
+    QVector<QVector3D> points;
+    QVector3D color;
+};
+
+class TrajectoryWidget : public QOpenGLWidget, protected QOpenGLFunctions
+{
+    Q_OBJECT
+
+public:
+    explicit TrajectoryWidget(QWidget *parent = nullptr);
+
+    void setCurves(const QVector<Curve>& curves);
+    void addCurve(const Curve& curve);
+    void clearCurves();
+
+protected:
+    void initializeGL() override;
+    void resizeGL(int w, int h) override;
+    void paintGL() override;
+
+    void mousePressEvent(QMouseEvent *event) override;
+    void mouseMoveEvent(QMouseEvent *event) override;
+    void wheelEvent(QWheelEvent *event) override;
+
+private slots:
+    void fitViewToCurves();
+
+private:
+    QVector<Curve> m_curves;
+
+    QOpenGLShaderProgram m_program;
+    float m_rotX = 20.0f;
+    float m_rotY = -30.0f;
+    float m_zoom = -10.0f;
+    QPoint m_lastMousePos;
+    QVector3D m_viewCenter{0, 0, 0};
+};