mainwindow.cpp

#include "mainwindow.h"
#include "ui_mainwindow.h"


int matchRowData(QStandardItem* item, QVariant data) {
    for (int i = 0; i < item->rowCount(); i++) {
        if (item->child(i)->data() == data) {
            return i;
        }
    }
    return -1;
}


// 导入点云 
PointCloudRenderer* MainWindow::importPointCloud(const QString& path, float initialScale = 1) {
    HierarchyObject* obj = hierarchy->createObject(path.split(QRegularExpression("[/\\\\]")).last());
    obj->transform = glm::scale(glm::identity<glm::mat4>(), glm::vec3(1, 1, 1) * initialScale);
    PointCloudRenderer* renderer = new PointCloudRenderer();
    obj->addComponent(renderer);
    
    if (path.endsWith(".ply")) {
        auto vertices = readPly(std::string(path.toLocal8Bit().data()));
        renderer->setVertices(vertices);
    }
    else if (path.endsWith(".txt")) {
        renderer->setVertices(readTxt(path.toStdString()));
    }
    else {
        throw "file format not supported";
    }
    //ui->openGLWidget->pointClouds.push_back(pointCloud);

    //QStandardItem* hierarchyItem = new QStandardItem(path.split(QRegularExpression("[/\\\\]")).last());
    //hierarchyItem->setData((intptr_t)pointCloud);
    //modelsParent->appendRow(hierarchyItem);

    return renderer;
}

// 插入keypoint   
void addKeypoint(HierarchyObject* obj, HierarchyModel* hierarchy, float angle, glm::vec3 axis, glm::vec3 translation) {
    auto kp = hierarchy->createObject("keypoint");
    kp->transform = glm::translate(glm::identity<glm::mat4>(), translation)
        * glm::toMat4(glm::angleAxis(angle, axis));
    hierarchy->moveObject(kp, obj, obj->childrenCount());
}

// 主窗口初始化 
MainWindow::MainWindow(QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::MainWindow)
{
    ui->setupUi(this);
    statusBar()->showMessage("Done");
    record = new RecordWindow();
    connect(ui->openGLWidget, SIGNAL(onSelection(HierarchyObject*)), this, SLOT(onWidgetSelection(HierarchyObject*)));
    connect(ui->openGLWidget, SIGNAL(onTransformEdited(HierarchyObject*)), this, SLOT(onWidgetTransformEdited(HierarchyObject*)));

    // 分割线默认比例  
    ui->splitter_hor->setStretchFactor(0, 1);
    ui->splitter_hor->setStretchFactor(1, 3);
    ui->splitter_hor->setStretchFactor(2, 1);

    
    // 初始编辑框为禁用状态   
    ui->lineEdit_scaleX->setEnabled(false);
    ui->lineEdit_scaleY->setEnabled(false);
    ui->lineEdit_scaleZ->setEnabled(false);
    ui->lineEdit_translationX->setEnabled(false);
    ui->lineEdit_translationY->setEnabled(false);
    ui->lineEdit_translationZ->setEnabled(false);
    ui->lineEdit_rotationX->setEnabled(false);
    ui->lineEdit_rotationY->setEnabled(false);
    ui->lineEdit_rotationZ->setEnabled(false);

    // 右侧属性面板  
    //QStringList thead2;
    //thead2 << "Property" << "Value";
    //QStandardItemModel* propModel = new QStandardItemModel();
    //propModel->setHorizontalHeaderLabels(thead2);
    //QStandardItem* parent1 = new QStandardItem(QStringLiteral("foo"));
    //propModel->appendRow(parent1);
    //QStandardItem* parent2 = new QStandardItem(QStringLiteral("foo2"));
    //parent2->setEditable(false);
    //propModel->appendRow(parent2);
    //propModel->appendRow({ new QStandardItem("sdf"), new QStandardItem("wwww1") });
    // 加入treeview  
    //ui->treeView_prop->setModel(propModel);
    ui->treeView_prop->header()->setSectionResizeMode(QHeaderView::Stretch);

    ui->treeView_prop->setEnabled(false);

    // 初始化场景  
    hierarchy = new HierarchyModel();
    ui->openGLWidget->setHierarchy(hierarchy);
    ui->treeView_hierarchy->setModel(hierarchy);
    ui->treeView_hierarchy->header()->setSectionResizeMode(QHeaderView::Stretch);
    // 初始化菜单  
    ui->treeView_hierarchy->setContextMenuPolicy(Qt::CustomContextMenu);
    treeContextMenu = new QMenu(ui->openGLWidget);
    treeContextMenu->addAction("add child", this, SLOT(onTreeViewAddObject()));
    treeContextMenu->addAction("delete", this, SLOT(onTreeViewRemoveObject()));
    treeContextMenuSpace = new QMenu(ui->openGLWidget);
    treeContextMenuSpace->addAction("add child", this, SLOT(onTreeViewAddObject()));


    QActionGroup* toolBoxGroup1 = new QActionGroup(this);
    ui->actionTranslation->setActionGroup(toolBoxGroup1);
    ui->actionRotate->setActionGroup(toolBoxGroup1);
    ui->actionScale->setActionGroup(toolBoxGroup1);
    ui->actionCursor->setActionGroup(toolBoxGroup1);
    ui->actionCursor->setChecked(true);

    // 链接选择信号槽  
    connect(ui->treeView_hierarchy->selectionModel(), SIGNAL(selectionChanged(const QItemSelection&, const QItemSelection&)), 
        hierarchy, SLOT(selectionChanged(const QItemSelection&, const QItemSelection&)));
    connect(ui->treeView_hierarchy->selectionModel(), SIGNAL(selectionChanged(const QItemSelection&, const QItemSelection&)),
        this, SLOT(ObjectSelected(const QItemSelection&, const QItemSelection&)));
    // 链接右键菜单信号槽  
    connect(ui->treeView_hierarchy, SIGNAL(customContextMenuRequested(const QPoint &)), this, SLOT(onTreeViewCustomContextMenu(const QPoint &)));
	// 链接拖拽生成点云信号槽  
	connect(ui->openGLWidget, SIGNAL(drag_signal(QString)), this, SLOT(drag_solt(QString)));
    // 点击菜单栏，出现录像窗口  
    connect(ui->actionvideoRecord, SIGNAL(clicked()), this, SLOT(on_actionvideoRecord_triggered()));

    // 录像窗口点击开始，信号传入mainwindow        
    connect(record,SIGNAL(onRecordVideo2MainWindow(float,bool)),this,SLOT(onRecordVideo1MainWindow(float,bool)));
    // mainwindow接收录制信号，传到widget    
    connect(this, SIGNAL(onRecordVideo2Widget(float,bool)), ui->openGLWidget, SLOT(onRecordVideo1Wigdet(float,bool)));
    // 录制结束信号，widget传回主窗口  
    connect(ui->openGLWidget, SIGNAL(videoRecordFinish(bool)), this, SLOT(offRecordVideo1MainWindow(bool)));
    // 录制结束信号，主窗口传回recordWindow   
    connect(this, SIGNAL(offRecordVideo2recordWindow(bool)), record, SLOT(offRecordVideo(bool)));

    // 录像窗口点击保存，信号传入mainwindow    
    connect(record, SIGNAL(onSaveVideo2MainWindow()), this, SLOT(onSaveVideo1MainWindow()));
    // mainwindow接收保存信号，传到widget
    connect(this, SIGNAL(onSaveVideo2Widget(QString)), ui->openGLWidget, SLOT(onSaveVideo1Widget(QString)));
    // 保存结束信号，widget传回mainwindow
    connect(ui->openGLWidget, SIGNAL(videoSaveFinish()), this, SLOT(offSaveVideo1MainWindow()));
    // 保存结束信号，mainwindow传回recordWindow
    connect(this, SIGNAL(offSaveVideo2recordWindow()), record, SLOT(offSaveVideo()));

    // 天空时间变化信号
    connect(ui->daytime, SIGNAL(valueChanged(int)), this, SLOT(toskybox(int)));
    connect(this, SIGNAL(mainwindow2skybox(int)), ui->openGLWidget, SLOT(changedaytime(int)));
    // 天空默认时间
    ui->daytime->setValue(120);
 
    // 测试用：加载模型   
    auto buildingRoot = hierarchy->createObject("building");
    buildingRoot->transform = glm::rotate(
        glm::scale(glm::identity<glm::mat4>(), glm::vec3(1, 1, 1) * 0.1f),
        3.5f, { 1.0f, 0.0f, 0.0f });
    auto bun = importPointCloud("bun180.ply", 10);
    bun->setProp("sizeScale", 2.0f);
    //LineRenderer* l1 = new LineRenderer();
    //l1->setVertices({ {{0,0,0},{0,0,0}} });
    //bun->hierarchyObject->addComponent(l1);
    
    auto building = importPointCloud("uwo.txt");
    building->setProp("sizeScale", 2.0f);
    hierarchy->moveObject(building->hierarchyObject, buildingRoot, 0);

    //LineRenderer* l2 = new LineRenderer();
    //l2->setVertices({ {{0,0,0},{0,0,0}} });
    //building->hierarchyObject->addComponent(l2);

    auto trailTest = hierarchy->createObject("trailTest");
    trailTest->addComponent(new Trail());
    addKeypoint(trailTest, hierarchy, 0.0f, { 0, 1, 0 }, { 0, 0, 10 });
    addKeypoint(trailTest, hierarchy, 0.0f, { 0, 1, 0 }, { 0, 1, 5 });
    addKeypoint(trailTest, hierarchy, 3.14159 / 4, { 0, 1, 0 }, { 3, 1, 3 });
    addKeypoint(trailTest, hierarchy, 3.14159 / 2, { 0, 1, 0 }, { 4, 0.5, -1 });
    addKeypoint(trailTest, hierarchy, 3.14159 / 2 + 0.5, { 0, 1, 0 }, { 2, 0.5, -5 });
    addKeypoint(trailTest, hierarchy, 3.14159 * 3 / 4, { 0, 1, 0 }, { 0, 0.5, -5 });
    
    
    //ui->treeView_hierarchy->addAction(ui->actionbar);
    //connect(ui->pushButton, SIGNAL(clicked()), this, SLOT(btn_slot1()));
    //connect(ui->pushButton_3, SIGNAL(clicked()), this, SLOT(btn_slot2()));
    //connect(ui->pushButton_4, SIGNAL(clicked()), this, SLOT(btn_slot3()));
}

MainWindow::~MainWindow()
{
    delete ui;
    delete hierarchy->root;
    delete hierarchy;
}

#define PRINT_MAT4(t)\
qDebug() << t[0][0] << t[0][1] << t[0][2] << t[0][3];\
qDebug() << t[1][0] << t[1][1] << t[1][2] << t[1][3];\
qDebug() << t[2][0] << t[2][1] << t[2][2] << t[2][3];\
qDebug() << t[3][0] << t[3][1] << t[3][2] << t[3][3];

void MainWindow::day_time() {
    ui->label_5->setText(QString::number((ui->daytime->value()) / 10) + ":00");
}
void MainWindow::showObjectInfo(HierarchyObject * obj)
{
    glm::vec3 scale, translation, skew;
    glm::vec4 perspective;
    glm::quat orientation;
    glm::decompose(obj->transform, scale, orientation, translation, skew, perspective);
    glm::vec3 rotation = glm::eulerAngles(orientation);
    glm::mat3 rotationMatrix_inv = glm::toMat3(orientation);
    //歪打正着，读取了某列的某行，即读取了矩阵的逆 
    //qDebug() << rotationMatrix_inv[0][0] << rotationMatrix_inv[1][0] << rotationMatrix_inv[2][0];
    //qDebug() << rotationMatrix_inv[0][1] << rotationMatrix_inv[1][1] << rotationMatrix_inv[2][1];
    //qDebug() << rotationMatrix_inv[0][2] << rotationMatrix_inv[1][2] << rotationMatrix_inv[2][2];


    ///////////
    //旋转顺序y x z    
    //x轴旋转角度       
    float eps = 0.00001;
    if (abs(rotationMatrix_inv[2][1]) < eps)
        rotation.x = 0;
    else
        rotation.x = asinf(-1 * rotationMatrix_inv[2][1]);
    float cos_x = sqrt(1 - pow(rotationMatrix_inv[2][1], 2));
    //y、z轴旋转角度    
    if (cos(rotation.x) > eps) {//cos（Rx）！=0    
        if (abs(rotationMatrix_inv[2][2] / cos_x) > eps) {
            float rotationy = atanf(rotationMatrix_inv[2][0] / rotationMatrix_inv[2][2]);
            rotation.y = rotationy;
            if (abs(rotation.y) < eps) {
                if (rotationMatrix_inv[2][2] / cos_x < 0)
                    rotation.y = glm::pi<float>();
                else
                    rotation.y = 0;
            }
            else if (rotationMatrix_inv[2][2] < 0) {
                if (rotationMatrix_inv[2][0] < 0)
                    rotation.y = -1 * glm::pi<float>() + rotation.y;
                else if (rotationMatrix_inv[2][0] > 0)
                    rotation.y = glm::pi<float>() + rotation.y;
            }

        }
        else {
            if (rotationMatrix_inv[2][0] < 0)
                rotation.y = -1 * glm::pi<float>() / 2.0f;
            else
                rotation.y = glm::pi<float>() / 2.0f;
        }
        if (abs(rotationMatrix_inv[1][1] / cos_x) > eps) {
            float rotationz = atanf(rotationMatrix_inv[0][1] / rotationMatrix_inv[1][1]);
            rotation.z = rotationz;
            if (abs(rotation.z) < eps) {
                if (rotationMatrix_inv[1][1] / cos_x < 0)
                    rotation.z = glm::pi<float>();
                else
                    rotation.z = 0;
            }
            else if (rotationMatrix_inv[1][1] < 0) {
                if (rotationMatrix_inv[0][1] < 0)
                    rotation.z = -1 * glm::pi<float>() + rotation.z;
                else if (rotationMatrix_inv[0][1] > 0)
                    rotation.z = glm::pi<float>() + rotation.z;
            }
        }
        else {
            if (rotationMatrix_inv[0][1] < 0)
                rotation.z = -1 * glm::pi<float>() / 2.0f;
            else
                rotation.z = glm::pi<float>() / 2.0f;
        }
    }
    else {
        rotation.z = 0;
        float cos_y_z = rotationMatrix_inv[0][0], sin_y_z = 0;
        if (-1 * rotationMatrix_inv[2][1] < 0)
            //此处代表rotationx为-pi/2
            sin_y_z = -1 * rotationMatrix_inv[1][0];
        else if (-1 * rotationMatrix_inv[2][1] > 0)
            //此处代表rotationx为 pi/2
            sin_y_z = -1 * rotationMatrix_inv[1][0];

        if (abs(cos_y_z) > eps) {
            rotation.y = atanf(sin_y_z / cos_y_z);
            if (cos_y_z < 0)
                rotation.y = -1 * glm::pi<float>() + rotation.y;
            else
                rotation.y = glm::pi<float>() + rotation.y;
        }
        else {
            if (sin_y_z > 0)
                rotation.y = glm::pi<float>() / 2;
            else
                rotation.y = -0.5 * glm::pi<float>();
        }
    }
    rotation = rotation / glm::pi<float>() * 180.0f;
    ///////////

    ui->lineEdit_translationX->setText(QString("%1").arg(translation.x));
    ui->lineEdit_translationY->setText(QString("%1").arg(translation.y));
    ui->lineEdit_translationZ->setText(QString("%1").arg(translation.z));
    ui->lineEdit_scaleX->setText(QString("%1").arg(scale.x));
    ui->lineEdit_scaleY->setText(QString("%1").arg(scale.y));
    ui->lineEdit_scaleZ->setText(QString("%1").arg(scale.z));
    ui->lineEdit_rotationX->setText(QString("%1").arg(rotation.x));
    ui->lineEdit_rotationY->setText(QString("%1").arg(rotation.y));
    ui->lineEdit_rotationZ->setText(QString("%1").arg(rotation.z));
}

void MainWindow::updateObjectInfo(HierarchyObject * obj)
{
    float translationX, translationY, translationZ;
    float scaleX, scaleY, scaleZ;
    float rotationX, rotationY, rotationZ;
    scaleX = QString(ui->lineEdit_scaleX->text()).toFloat();
    scaleY = QString(ui->lineEdit_scaleY->text()).toFloat();
    scaleZ = QString(ui->lineEdit_scaleZ->text()).toFloat();
    rotationX = QString(ui->lineEdit_rotationX->text()).toFloat();
    rotationY = QString(ui->lineEdit_rotationY->text()).toFloat();
    rotationZ = QString(ui->lineEdit_rotationZ->text()).toFloat();
    translationX = QString(ui->lineEdit_translationX->text()).toFloat();
    translationY = QString(ui->lineEdit_translationY->text()).toFloat();
    translationZ = QString(ui->lineEdit_translationZ->text()).toFloat();

    rotationX = rotationX * glm::pi<float>() / 180;
    rotationY = rotationY * glm::pi<float>() / 180;
    rotationZ = rotationZ * glm::pi<float>() / 180;
    float sin_x = sinf(rotationX), cos_x = cosf(rotationX);
    float sin_y = sinf(rotationY), cos_y = cosf(rotationY);
    float sin_z = sinf(rotationZ), cos_z = cosf(rotationZ);
    glm::mat4 t;//输错了但没完全输错 
    glm::mat4 rotation = glm::mat4({
        {cos_y * cos_z + sin_x * sin_y * sin_z,cos_x * sin_z,sin_x * cos_y * sin_z - sin_y * cos_z,0},
        {sin_x * sin_y * cos_z - cos_y * sin_z,cos_x * cos_z,sin_y * sin_z + sin_x * cos_y * cos_z,0},
        {cos_x * sin_y,-1 * sin_x,cos_x * cos_y,0},
        {0,0,0,1},
        });
    glm::mat4 scale = glm::mat4({
        {scaleX,0,0,0},
        {0,scaleY,0,0},
        {0,0,scaleZ,0},
        {0,0,0,1},
        });
    glm::mat4 translation = glm::transpose(glm::mat4({
        {1,0,0,translationX},
        {0,1,0,translationY},
        {0,0,1,translationZ},
        {0,0,0,1},
        }));

    PRINT_MAT4(rotation);
    PRINT_MAT4(scale);
    PRINT_MAT4(translation);

    obj->transform = translation * rotation * scale;
}


void MainWindow::ObjectSelected(const QItemSelection& selected, const QItemSelection& deselected) {
    QModelIndexList selectedIndices = selected.indexes();
    QModelIndexList deselectedIndices = deselected.indexes();
    HierarchyObject* obj = hierarchy->lastSelected;
    if (obj) {
        qDebug() << obj->name;

        ui->lineEdit_scaleX->setEnabled(true);
        ui->lineEdit_scaleY->setEnabled(true);
        ui->lineEdit_scaleZ->setEnabled(true);
        ui->lineEdit_translationX->setEnabled(true);
        ui->lineEdit_translationY->setEnabled(true);
        ui->lineEdit_translationZ->setEnabled(true);
        ui->lineEdit_rotationX->setEnabled(true);
        ui->lineEdit_rotationY->setEnabled(true);
        ui->lineEdit_rotationZ->setEnabled(true);

        ui->treeView_prop->setEnabled(true);
        ui->treeView_prop->setModel(obj);
        
        showObjectInfo(obj);
    }
    else {
        ui->lineEdit_scaleX->setEnabled(false);
        ui->lineEdit_scaleY->setEnabled(false);
        ui->lineEdit_scaleZ->setEnabled(false);
        ui->lineEdit_translationX->setEnabled(false);
        ui->lineEdit_translationY->setEnabled(false);
        ui->lineEdit_translationZ->setEnabled(false);
        ui->lineEdit_rotationX->setEnabled(false);
        ui->lineEdit_rotationY->setEnabled(false);
        ui->lineEdit_rotationZ->setEnabled(false);
        ui->treeView_prop->setEnabled(false);
        ui->treeView_prop->setModel(NULL);
    }
}

void MainWindow::onEdited()
{
    // 编辑完按下回车了   
    qDebug() << "获取参数";
    
    if (hierarchy->lastSelected) {
        updateObjectInfo(hierarchy->lastSelected);
    }

}




void MainWindow::onTreeViewCustomContextMenu(const QPoint & point) {
    QModelIndex index = ui->treeView_hierarchy->indexAt(point);
    hierarchy->lastRightClick = index;
    if (index.isValid()) {
        treeContextMenu->exec(ui->treeView_hierarchy->viewport()->mapToGlobal(point));
    }
    else {
        treeContextMenuSpace->exec(ui->treeView_hierarchy->viewport()->mapToGlobal(point));
    }
}

void MainWindow::onTreeViewAddObject() {
    auto obj = hierarchy->createObject("new Obj");
    auto parent = hierarchy->index2obj(hierarchy->lastRightClick);
    hierarchy->moveObject(obj, parent, parent->childrenCount());
}

void MainWindow::onTreeViewRemoveObject() {
    auto obj = hierarchy->index2obj(hierarchy->lastRightClick);
    hierarchy->removeObject(obj);
    //auto obj = hierarchy->createObject("new Obj");

    //QModelIndex index = QModelIndex(-1, -1, nullptr, hierarchy);

    //emit(hierarchy->dataChanged(index, index));
}

void MainWindow::onWidgetSelection(HierarchyObject * obj)
{
    if (obj) {
        ui->treeView_hierarchy->selectionModel()->select(hierarchy->obj2index(obj), QItemSelectionModel::ClearAndSelect);
    }
    else {
        ui->treeView_hierarchy->selectionModel()->clearSelection();
    }
}

void MainWindow::onWidgetTransformEdited(HierarchyObject * obj)
{
    showObjectInfo(obj);
}

void MainWindow::on_actionopen_triggered()
{
    // 菜单点击事件
    QFileDialog* fileDialog = new QFileDialog(this);
    fileDialog->setWindowTitle(QStringLiteral("打开文件"));
    fileDialog->setDirectory("./");
    //设置文件过滤器,只显示.ui .cpp 文件,多个过滤文件使用空格隔开   
    fileDialog->setNameFilter(tr("ply file(*.ply) ;; txt file(*.txt)"));

    fileDialog->setFileMode(QFileDialog::FileMode::ExistingFile);
    fileDialog->setViewMode(QFileDialog::Detail);

    //获取选择的文件的路径     
    QStringList fileNames;
    if (fileDialog->exec()) {
        fileNames = fileDialog->selectedFiles();
        QString fileName = fileNames[0];
        drag_solt(fileName);
    }
}

void MainWindow::drag_solt(QString re_path)			//添加点云  
{
	//qDebug() << "go" << endl;
	auto new_obj = importPointCloud((re_path), 10);
	new_obj->setProp("sizeScale", 2.0f);
}

void MainWindow::on_actionvideoRecord_triggered()
{
    qDebug() << "video record";

    
    record->setWindowTitle("RecordWindow");
    record->show();

}

void MainWindow::onRecordVideo1MainWindow(float speed, bool RecordOrPreview) {
    //qDebug() << "mainWindow  have received recordVideo signal";

    emit(onRecordVideo2Widget(speed,RecordOrPreview));   
    //record->hide();
}

void MainWindow::offRecordVideo1MainWindow(bool RecordOrPreview) {
    qDebug() << RecordOrPreview;
    emit(offRecordVideo2recordWindow(RecordOrPreview));
}

void MainWindow::onSaveVideo1MainWindow() {
    QFileDialog* fileDialog = new QFileDialog(this);

    //定义文件对话框标题    
    fileDialog->setWindowTitle(QStringLiteral("选择文件"));

    //设置打开的文件路径    
    fileDialog->setDirectory("./*.avi");

    //设置文件过滤器,只显示.ui .cpp 文件,多个过滤文件使用空格隔开   
    fileDialog->setNameFilter(tr("File(*.avi*)"));

    //设置可以选择多个文件,默认为只能选择一个文件QFileDialog::ExistingFiles    
    fileDialog->setFileMode(QFileDialog::FileMode::AnyFile);

    //设置视图模式
    fileDialog->setViewMode(QFileDialog::Detail);

    //获取选择的文件的路径     
    QStringList fileNames;
    if (fileDialog->exec()) {
        fileNames = fileDialog->selectedFiles();
        QString fileName = fileNames[0];
        if (QFileInfo(fileName).suffix().isEmpty())  //若后缀为空自动添加avi后缀   
            fileName.append(".avi");
        qDebug() << fileName;

        emit(onSaveVideo2Widget(fileName));
    }
}

void MainWindow::offSaveVideo1MainWindow() {
    //qDebug() << "main window receive savefinish from widget";   
    emit(offSaveVideo2recordWindow());
    //qDebug() << "main window launch savefinish to recordWindow";   
}

void MainWindow::on_actionTranslation_toggled(bool arg1)
{
    
    if (arg1) ui->openGLWidget->LMBMode = 1;
}

void MainWindow::on_actionRotate_toggled(bool arg1)
{
    if (arg1) ui->openGLWidget->LMBMode = 2;
}

void MainWindow::on_actionScale_toggled(bool arg1)
{
    if (arg1) ui->openGLWidget->LMBMode = 3;
}

void MainWindow::on_actionCursor_toggled(bool arg1)
{
    if (arg1) ui->openGLWidget->LMBMode = 0;
    qDebug() << "cursor";
}

void MainWindow::toskybox(int value) {
    qDebug() << "1111";
    emit(mainwindow2skybox(value));
}