source: flair-src/trunk/lib/FlairSimulator/src/FixedCamera.cpp

Last change on this file was 286, checked in by Sanahuja Guillaume, 3 years ago

draw vrpn axis in simulator

File size: 2.9 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:    2016/09/01
6//  filename:   FixedCamera.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    class for a fixed camera in the gui
14//
15/*********************************************************************/
16#ifdef GL
17
18#include "FixedCamera.h"
19#include "Simulator.h"
20#include "Model.h"
21#include "Model_impl.h"
22#include "Gui.h"
23#include <ICursorControl.h>
24#include <ICameraSceneNode.h>
25#include <IrrlichtDevice.h>
26#include <ISceneManager.h>
27#include <Euler.h>
28
29
30using namespace irr;
31using namespace gui;
32using namespace core;
33using namespace scene;
34
35namespace flair {
36namespace simulator {
37
38FixedCamera::FixedCamera(std::string name,core::Vector3Df position,core::Vector3Df lookat,float inRotateSpeed,float inZoomSpeed):VisualizationCamera(name)  {
39  Rotating = false;
40  rotateSpeed=inRotateSpeed;
41  zoomSpeed=inZoomSpeed;
42
43  camera->bindTargetAndRotation(true);
44  camera->setPosition(vector3df(ToIrrlichtCoordinates(position)));
45  camera->setTarget(vector3df(ToIrrlichtCoordinates(lookat)));
46
47  fov=camera->getFOV();
48}
49
50FixedCamera::~FixedCamera() {}
51
52void FixedCamera::animateNode(ISceneNode *node, u32 timeMs) {
53  ICameraSceneNode *camera = static_cast<ICameraSceneNode *>(node);
54 
55  if (LMouseKey == true) {
56    if (!Rotating) {
57      RotateStart = MousePos;
58      Rotating = true;
59      target = (camera->getTarget() - camera->getAbsolutePosition());
60    } else {
61      float nRotY = (RotateStart.Y - MousePos.Y) * rotateSpeed;
62      float nRotZ = -(RotateStart.X - MousePos.X) * rotateSpeed;
63
64      //normal between target and up vector
65      cameraAxeY=target.crossProduct(vector3df(0,0,1));
66      cameraAxeY.normalize();
67
68      //rotation around z axis
69      irr::core::quaternion q1(target.X,target.Y,target.Z,0);
70      irr::core::quaternion q2;
71      q2.fromAngleAxis(nRotZ,vector3df(0,0,1));
72      irr::core::quaternion q3=q2*q1;
73      q2.makeInverse();
74      q3=q3*q2;
75
76      //rotation around cameraAxeY
77      q1.set(q3.X,q3.Y,q3.Z,0);
78      q2.fromAngleAxis(nRotY,cameraAxeY);
79      q3=q2*q1;
80      q2.makeInverse();
81      q3=q3*q2;
82
83      //check angle
84      vector3df newTarget(q3.X,q3.Y,q3.Z);
85      float angle=acos(newTarget.dotProduct(vector3df(0,0,1))/newTarget.getLength());
86      vector3df cross = newTarget.crossProduct(vector3df(0,0,1));
87      if (cross.dotProduct(cameraAxeY) > 0) {
88        newTarget += camera->getAbsolutePosition();
89        camera->setTarget(newTarget);
90      }
91    }
92  } else if (Rotating) {
93    Rotating = false;
94  }
95
96  //handle zoom
97  float newFov=fov+currentZoom*zoomSpeed;
98  if(newFov>fov) {
99    newFov=fov;
100    currentZoom=0;
101  }
102  if(newFov<0) {
103    newFov=zoomSpeed;
104    currentZoom=1-fov/zoomSpeed;
105  }
106  camera->setFOV(newFov);
107}
108
109
110} // end namespace simulator
111} // end namespace flair
112
113#endif // GL
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