source: flair-src/branches/sanscv/lib/FlairSimulator/src/Man.cpp@ 426

Last change on this file since 426 was 324, checked in by Sanahuja Guillaume, 5 years ago

removing opencv dependency
File size: 5.3 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2013/04/15
6// filename: Man.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: classe chargeant un personnage
14//
15/*********************************************************************/
16#ifdef GL
17
18#include "Man.h"
19#include "Gui.h"
20#include "Euler.h"
21#include <ISceneManager.h>
22#include <IAnimatedMeshSceneNode.h>
23#include <Tab.h>
24#include <DoubleSpinBox.h>
25#include "FollowMeCamera.h"
26
27class addAnimatedMeshSceneNode;
28using namespace irr;
29using namespace irr::core;
30using namespace irr::scene;
31using namespace irr::video;
32using namespace flair::core;
33using namespace flair::gui;
34
35namespace flair {
36namespace simulator {
37
38Man::Man(std::string name,uint32_t modelId) : Model(name,modelId) {
39 node = getGui()->getSceneManager()->addAnimatedMeshSceneNode(
40 getGui()->getMesh("ninja.b3d"), getSceneNode(), -1, vector3df(0, 0, 0),
41 vector3df(90, 0, 90), vector3df(10, 10, 10));
42
43 node->setFrameLoop(0, 13);
44 node->setAnimationSpeed(0);
45 node->getMaterial(0).NormalizeNormals = true;
46 node->getMaterial(0).Lighting = false;
47
48 getFollowMeCamera()->setPositionOffset(vector3df(0, 0, -1));
49 getFollowMeCamera()->setTargetOffset(vector3df(0, 0, -1));
50
51 setTriangleSelector(
52 getGui()->getSceneManager()->createTriangleSelector(node));
53 Box()->addInternalBox(node->getTransformedBoundingBox());
54
55 Tab *setup_tab = new Tab(GetTabWidget(), "model");
56 t_speed = new DoubleSpinBox(setup_tab->NewRow(), "translational speed (m/s):",
57 0, 5, 0.1);
58 r_speed = new DoubleSpinBox(setup_tab->NewRow(), "rotational speed (deg/s):",
59 0, 180, 10);
60
61 SetIsReady(true);
62}
63
64Man::~Man() {}
65
66void Man::CalcModel(void) {
67 // compute quaternion from W
68 // Quaternion derivative: dQ = 0.5*(Q*Qw)
69 Quaternion dQ = state[-1].Quat.GetDerivative(state[0].W);
70
71 // Quaternion integration
72 state[0].Quat = state[-1].Quat + dQ * dT();
73 state[0].Quat.Normalize();
74
75 Vector3D<double> dir = state[0].Vel;
76 dir.Rotate(state[0].Quat);
77 state[0].Pos = state[-1].Pos + dT() * dir;
78}
79
80bool Man::OnEvent(const SEvent &event) {
81 if (event.EventType != EET_KEY_INPUT_EVENT)
82 return false;
83
84 if (event.KeyInput.PressedDown == false) {
85 state[0].Vel.x = 0;
86 state[0].W.z = 0;
87 node->setAnimationSpeed(0);
88 } else {
89 switch (event.KeyInput.Key) {
90 case KEY_UP:
91 state[0].Vel.x = t_speed->Value();
92 node->setAnimationSpeed(t_speed->Value() * 10.f);
93 break;
94 case KEY_DOWN:
95 state[0].Vel.x = -t_speed->Value();
96 node->setAnimationSpeed(-t_speed->Value() * 10.f);
97 break;
98 case KEY_LEFT:
99 state[0].W.z = -Euler::ToRadian(r_speed->Value());
100 node->setAnimationSpeed(r_speed->Value() * .15f);
101 break;
102 case KEY_RIGHT:
103 state[0].W.z = Euler::ToRadian(r_speed->Value());
104 node->setAnimationSpeed(-r_speed->Value() * .15f);
105 break;
106 default:
107 return false;
108 break;
109 }
110 }
111
112 return true;
113}
114
115size_t Man::dbtSize(void) const { return 6 * sizeof(float); }
116
117void Man::WritedbtBuf(char *dbtbuf) { /*
118 float *buf=(float*)dbtbuf;
119 vector3df vect=node->getPosition();
120 memcpy(buf,&vect.X,sizeof(float));
121 buf++;
122 memcpy(buf,&vect.Y,sizeof(float));
123 buf++;
124 memcpy(buf,&vect.Z,sizeof(float));
125 buf++;
126 vect=node->getRotation();
127 memcpy(buf,&vect.X,sizeof(float));
128 buf++;
129 memcpy(buf,&vect.Y,sizeof(float));
130 buf++;
131 memcpy(buf,&vect.Z,sizeof(float));
132 buf++;*/
133}
134
135void Man::ReaddbtBuf(char *dbtbuf) { /*
136 float *buf=(float*)dbtbuf;
137 vector3df vect;
138 memcpy(&vect.X,buf,sizeof(float));
139 buf++;
140 memcpy(&vect.Y,buf,sizeof(float));
141 buf++;
142 memcpy(&vect.Z,buf,sizeof(float));
143 buf++;
144 node->setPosition(vect);
145 memcpy(&vect.X,buf,sizeof(float));
146 buf++;
147 memcpy(&vect.Y,buf,sizeof(float));
148 buf++;
149 memcpy(&vect.Z,buf,sizeof(float));
150 buf++;
151 node->setRotation(vect);
152 node->setAnimationSpeed(2.f);*/
153}
154
155} // end namespace simulator
156} // end namespace flair
157#endif // GL
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