[9] | 1 | // %flair:license{
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| 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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| 4 | // %flair:license}
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[8] | 5 | /*!
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| 6 | * \file SimuCameraGL.h
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| 7 | * \brief Class for a simulation camera
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2014/03/07
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| 10 | * \version 3.4
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| 11 | */
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| 12 |
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| 13 | #ifndef SIMUCAMERAGL_H
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| 14 | #define SIMUCAMERAGL_H
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| 15 |
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| 16 | #include <SimuCamera.h>
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| 17 | #include <SensorGL.h>
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| 18 | #include <ISceneNodeAnimator.h>
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| 19 |
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| 20 | // in order to get function prototypes from glext.h, define GL_GLEXT_PROTOTYPES before including glext.h
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| 21 | #define GL_GLEXT_PROTOTYPES
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| 22 | #include <GL/gl.h>
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| 23 |
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| 24 | namespace irr
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| 25 | {
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| 26 | namespace scene
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| 27 | {
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| 28 | class ICameraSceneNode;
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| 29 | }
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| 30 | }
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| 31 |
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| 32 | namespace flair
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| 33 | {
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| 34 | namespace gui
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| 35 | {
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| 36 | class DoubleSpinBox;
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| 37 | class Vector3DSpinBox;
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| 38 | }
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| 39 | namespace simulator
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| 40 | {
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| 41 | class Model;
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| 42 | }
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| 43 | }
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| 44 |
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| 45 | namespace flair
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| 46 | {
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| 47 | namespace sensor
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| 48 | {
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| 49 | /*! \class SimuCameraGL
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| 50 | * \brief Class for a simulation camera
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| 51 | *
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| 52 | */
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| 53 | class SimuCameraGL : public SimuCamera, public SensorGL, public irr::scene::ISceneNodeAnimator
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| 54 | {
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| 55 | public:
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| 56 | //top left origin
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| 57 | SimuCameraGL(const simulator::Model* parent,std::string name,int width,int height,int x,int y,int dev_id);
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| 58 | ~SimuCameraGL();
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| 59 | //! Sets the value of the near clipping plane. (default: 1.0f)
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| 60 | /** \param zn: New z near value. */
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| 61 | void setNearValue(float zn);
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| 62 |
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| 63 | //! Sets the value of the far clipping plane (default: 2000.0f)
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| 64 | /** \param zf: New z far value. */
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| 65 | void setFarValue(float zf);
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| 66 |
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| 67 | private:
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| 68 | void UpdateFrom(const core::io_data *data);
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| 69 | void animateNode(irr::scene::ISceneNode* node, irr::u32 timeMs);
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| 70 | ISceneNodeAnimator* createClone(irr::scene::ISceneNode* node,irr::scene::ISceneManager* newManager=0);
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| 71 | void getImage(void);
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| 72 | void putImage(char* pixels);
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| 73 | irr::scene::ICameraSceneNode* camera;
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| 74 | irr::scene::ISceneManager* smgr;
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| 75 | gui::Vector3DSpinBox *position,*direction,*up;
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| 76 | gui::DoubleSpinBox *fov;
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| 77 | int width,height,x,y;
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| 78 | char* buffer;
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| 79 | bool use_pbo,invert_pixel,disable_output;
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| 80 | GLuint *pboIds;
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| 81 | int index ;
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| 82 | };
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| 83 | } // end namespace simulator
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| 84 | } // end namespace flair
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| 85 | #endif // SIMUCAMERAGL_H
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