| [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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| [34] | 27 | #include <IEventReceiver.h>
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| [13] | 28 | namespace irr {
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| 29 | class SEvent;
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| 30 | namespace scene {
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| 31 | class ISceneManager;
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| 32 | class ISceneNode;
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| 33 | class ITriangleSelector;
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| [8] | 34 | }
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| [13] | 35 | }
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| [8] | 36 | #endif
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| 37 |
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| [13] | 38 | namespace flair {
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| 39 | namespace gui {
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| 40 | class TabWidget;
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| [8] | 41 | }
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| [13] | 42 | namespace sensor {
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| 43 | class SensorGL;
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| 44 | }
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| 45 | }
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| [8] | 46 |
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| 47 | class Gui_impl;
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| 48 | class Simulator_impl;
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| 49 | class Model_impl;
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| 50 |
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| [13] | 51 | namespace flair {
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| 52 | namespace simulator {
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| [34] | 53 | class FollowMeCamera;
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| [8] | 54 |
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| [34] | 55 | class Model : public core::IODevice
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| 56 | #ifdef GL
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| 57 | , public irr::IEventReceiver
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| 58 | #endif
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| 59 | {
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| [13] | 60 | friend class ::Gui_impl;
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| 61 | friend class ::Simulator_impl;
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| 62 | friend class ::Model_impl;
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| 63 | friend class sensor::SensorGL;
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| [8] | 64 |
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| [13] | 65 | public:
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| [50] | 66 | Model(std::string name,uint32_t modelId);
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| [13] | 67 | virtual ~Model();
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| [8] | 68 |
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| [13] | 69 | typedef struct simu_state {
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| 70 | core::Quaternion Quat;
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| [50] | 71 | core::Vector3Df W;
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| 72 | core::Vector3D<double> Pos;
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| 73 | core::Vector3D<double> Vel;
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| [13] | 74 | } simu_state_t;
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| [8] | 75 |
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| [13] | 76 | #ifdef GL
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| 77 | irr::scene::ISceneNode *getSceneNode() const;
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| 78 | irr::core::aabbox3d<irr::f32> *Box() const;
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| [8] | 79 |
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| [13] | 80 | virtual size_t dbtSize(void) const = 0;
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| 81 | virtual void Draw(void){};
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| 82 | virtual void ExtraDraw(void){};
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| 83 | virtual void WritedbtBuf(char *dbtbuf) = 0;
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| 84 | virtual void ReaddbtBuf(char *dbtbuf) = 0;
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| [8] | 85 |
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| [34] | 86 | //default event handling
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| 87 | bool OnEvent(const irr::SEvent &event) { return false;};
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| 88 |
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| [13] | 89 | //! Sets the value of the camera's far clipping plane (default: 2000.0f)
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| 90 | /** \param zf: New z far value. */
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| 91 | void setCameraFarValue(float zf);
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| 92 | #endif
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| 93 | gui::TabWidget *GetTabWidget(void) const;
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| [50] | 94 | int GetId(void) const;
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| [8] | 95 |
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| [13] | 96 | protected:
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| 97 | DiscreteTimeVariable<simu_state_t, 3> state;
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| [50] | 98 | double dT(void) const;
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| [13] | 99 | virtual void CalcModel(void) = 0;
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| 100 | #ifdef GL
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| [34] | 101 | FollowMeCamera *getFollowMeCamera(void) const;
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| [13] | 102 | virtual void AnimateModel(void) = 0;
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| 103 | // void setPosition(core::Vector3D pos);
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| 104 | void setScale(float value);
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| 105 | void setTriangleSelector(irr::scene::ITriangleSelector *selector);
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| 106 | #endif
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| [8] | 107 |
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| [13] | 108 | private:
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| 109 | void UpdateFrom(const core::io_data *data){};
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| 110 | class Model_impl *pimpl_;
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| 111 | };
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| [8] | 112 | } // end namespace simulator
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| 113 | } // end namespace flair
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| 114 | #endif // MODEL_H
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