| [9] | 1 | // %flair:license{
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| [13] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| [9] | 4 | // %flair:license}
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| [8] | 5 | // created: 2013/03/25
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| 6 | // filename: Model.h
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: classe definissant un modele a simuler
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| 14 | //
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| 15 | /*********************************************************************/
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| 16 |
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| 17 | #ifndef MODEL_H
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| 18 | #define MODEL_H
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| 19 |
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| 20 | #include <IODevice.h>
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| 21 | #include <Quaternion.h>
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| 22 | #include <Vector3D.h>
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| 23 | #include <DiscreteTimeVariable.h>
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| 24 |
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| 25 | #ifdef GL
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| 26 | #include <aabbox3d.h>
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| [13] | 27 | namespace irr {
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| 28 | class SEvent;
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| 29 | namespace scene {
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| 30 | class ISceneManager;
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| 31 | class ISceneNode;
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| 32 | class ITriangleSelector;
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| [8] | 33 | }
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| [13] | 34 | }
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| [8] | 35 | #endif
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| 36 |
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| [13] | 37 | namespace flair {
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| 38 | namespace gui {
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| 39 | class TabWidget;
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| [8] | 40 | }
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| [13] | 41 | namespace sensor {
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| 42 | class SensorGL;
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| 43 | }
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| 44 | }
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| [8] | 45 |
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| 46 | class Gui_impl;
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| 47 | class Simulator_impl;
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| 48 | class Model_impl;
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| 49 |
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| [13] | 50 | namespace flair {
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| 51 | namespace simulator {
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| 52 | class Simulator;
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| 53 | class AnimPoursuite;
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| [8] | 54 |
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| [13] | 55 | class Model : public core::IODevice {
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| 56 | friend class ::Gui_impl;
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| 57 | friend class ::Simulator_impl;
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| 58 | friend class ::Model_impl;
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| 59 | friend class AnimPoursuite;
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| 60 | friend class sensor::SensorGL;
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| [8] | 61 |
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| [13] | 62 | public:
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| 63 | Model(const Simulator *parent, std::string name);
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| 64 | virtual ~Model();
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| [8] | 65 |
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| [13] | 66 | typedef struct simu_state {
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| 67 | core::Quaternion Quat;
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| 68 | core::Vector3D W;
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| 69 | core::Vector3D Pos;
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| 70 | core::Vector3D Vel;
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| 71 | } simu_state_t;
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| [8] | 72 |
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| [13] | 73 | #ifdef GL
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| 74 | irr::scene::ISceneNode *getSceneNode() const;
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| 75 | irr::core::aabbox3d<irr::f32> *Box() const;
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| [8] | 76 |
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| [13] | 77 | virtual size_t dbtSize(void) const = 0;
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| 78 | virtual void Draw(void){};
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| 79 | virtual void ExtraDraw(void){};
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| 80 | virtual void WritedbtBuf(char *dbtbuf) = 0;
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| 81 | virtual void ReaddbtBuf(char *dbtbuf) = 0;
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| 82 | virtual bool OnEvent(const irr::SEvent &event) = 0;
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| [8] | 83 |
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| [13] | 84 | //! Sets the value of the camera's far clipping plane (default: 2000.0f)
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| 85 | /** \param zf: New z far value. */
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| 86 | void setCameraFarValue(float zf);
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| 87 | #endif
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| 88 | gui::TabWidget *GetTabWidget(void) const;
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| [8] | 89 |
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| [13] | 90 | protected:
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| 91 | DiscreteTimeVariable<simu_state_t, 3> state;
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| 92 | float dT(void) const;
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| 93 | virtual void CalcModel(void) = 0;
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| 94 | #ifdef GL
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| 95 | AnimPoursuite *getCamera(void) const;
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| 96 | virtual void AnimateModel(void) = 0;
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| 97 | // void setPosition(core::Vector3D pos);
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| 98 | void setScale(float value);
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| 99 | void setTriangleSelector(irr::scene::ITriangleSelector *selector);
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| 100 | #endif
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| [8] | 101 |
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| [13] | 102 | private:
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| 103 | void UpdateFrom(const core::io_data *data){};
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| 104 | class Model_impl *pimpl_;
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| 105 | };
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| [8] | 106 | } // end namespace simulator
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| 107 | } // end namespace flair
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| 108 | #endif // MODEL_H
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