GLFW port notes

这次重要修改/新增了什么，为什么这么改

main.cpp: 改成纯 GLFW/GLAD 版本，重建相机/输入、面板/点阵 VAO/VBO、实例化上传逻辑，避免 Qt 依赖，方便直接跑 OpenGL 核心模式。
shaders/panel.frag & shaders/dots.frag: 修过语法/Uniform，对接 GLFW 管线，并保持金属质感（不再做数据伪彩色）；点用内置小纹理，省掉外部贴图。
myshader.hh: 增加常用 uniform setter、修正 program 链接日志、析构释放 program，方便传矩阵/向量。
CMakeLists.txt: 指定 C++17，保证可用 std::clamp 等工具。
README.md: 补了构建、运行和操作说明，标明从项目根运行以找到 ./shaders。

Controls

右键拖拽：绕物体旋转相机（yaw/pitch）
滚轮：调节视角 FOV 缩放
Esc：退出

Build & run

mkdir -p build
cd build
cmake ..
make -j

从项目根目录运行（确保能找到 ./shaders）：

./build/base-project

目前用 update_demo_values 生成简单波纹示例数据，如需接入传感器数据，替换 main.cpp 里的该函数并在循环前设置好 set_spec / set_panel_size。

Heatmap Demo (Heightmap + Dented Surface)

This demo renders a thick slab with a dented top surface based on sensor values. Values are mapped to a depth range (0-500 -> 0..kDentMax), so higher force makes the surface go deeper. The side walls follow the dent so it reads as one solid.

UML (Mermaid)

classDiagram
    class AppState {
        +int minV
        +int maxV
        +mat4 mvp
        +vec3 cameraPos
    }
    class HeightMap {
        +low_values[12x7]
        +height_values[1200x700]
        +update_demo_heightmap(t)
        +upload_height_texture()
    }
    class HeatmapMesh {
        +meshCols
        +meshRows
        +vao/vbo/ibo
    }
    class SkirtMesh {
        +border_uvs
        +update_skirt_vertices()
    }
    class BaseMesh {
        +thickness
        +vao/vbo/ibo
    }
    class Renderer {
        +render_background()
        +render_base()
        +render_skirt()
        +render_heatmap()
    }
    class Shaders {
        +heatmap.vert/frag
        +base.vert/frag
        +bg.vert/frag
    }

    AppState --> Renderer
    HeightMap --> HeatmapMesh
    HeightMap --> SkirtMesh
    Renderer --> HeatmapMesh
    Renderer --> SkirtMesh
    Renderer --> BaseMesh
    Renderer --> Shaders

How It Works (Step-by-Step)

update_demo_heightmap(t) generates a slow-changing 12x7 grid using a few Gaussian blobs. This is the "raw sensor" layer.
The 12x7 grid is upsampled to 1200x700 with bilinear filtering, stored in height_values.
height_values is uploaded into an GL_R32F texture (height_tex).
heatmap.vert samples height_tex and displaces the surface in Z: z = uBaseZ + h, where h is the mapped depth (0..kDentMax).
heatmap.frag re-samples neighbor texels to approximate a normal, then applies a simple light + color ramp for readability.
init_skirt_geometry() builds a ring of border vertices, and update_skirt_vertices() samples the border heights so the side walls "follow" the dent. This keeps the slab looking solid when the edge is depressed.
Render order: background grid -> back face -> skirt -> heatmap surface.

Key Parameters You Can Tune

kThickness: slab thickness.
kDentMax: maximum dent depth (keep <= thickness).
kMeshCols/kMeshRows: heatmap mesh resolution (visual smoothness).
kHeightW/kHeightH: texture resolution (sampling detail).
g_state.minV/maxV: value range (0..500 by default).

If You Want Real Data

Replace update_demo_heightmap() with your sensor values:

Fill low_values from your 12x7 data.
Run the same upsample step to height_values.
Call upload_height_texture_if_needed() and update_skirt_vertices() each frame.

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