source: flair-src/trunk/lib/FlairSimulator/src/FixedCamera.cpp @ 120

Last change on this file since 120 was 120, checked in by Sanahuja Guillaume, 4 years ago

working fixed cameras

File size: 3.0 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
29using namespace irr;
30using namespace gui;
31using namespace core;
32using namespace scene;
33
34namespace flair {
35namespace simulator {
36
37FixedCamera::FixedCamera(std::string name,core::Vector3D position,core::Vector3D lookat,float inRotateSpeed,float inZoomSpeed):VisualizationCamera(name)  {
38  Rotating = false;
39  rotateSpeed=inRotateSpeed;
40  zoomSpeed=inZoomSpeed;
41
42  camera->bindTargetAndRotation(true);
43  camera->setPosition(vector3df(ToIrrlichtCoordinates(position)));
44  camera->setTarget(vector3df(ToIrrlichtCoordinates(lookat)));
45
46  fov=camera->getFOV();
47}
48
49FixedCamera::~FixedCamera() {}
50
51void FixedCamera::animateNode(ISceneNode *node, u32 timeMs) {
52  ICameraSceneNode *camera = static_cast<ICameraSceneNode *>(node);
53
54  if (LMouseKey == true) {
55    if (!Rotating) {
56      RotateStart = MousePos;
57      Rotating = true;
58      target = (camera->getTarget() - camera->getAbsolutePosition());
59    } else {
60      float nRotY = (RotateStart.Y - MousePos.Y) * rotateSpeed;
61      float nRotZ = -(RotateStart.X - MousePos.X) * rotateSpeed;
62
63      //normal between target and up vector
64      cameraAxeY=target.crossProduct(irr::core::vector3df(0,0,1));
65      cameraAxeY.normalize();
66
67      //rotation around z axis
68      irr::core::quaternion q1(target.X,target.Y,target.Z,0);
69      irr::core::quaternion q2;
70      q2.fromAngleAxis(nRotZ,vector3df(0,0,1));
71      irr::core::quaternion q3=q2*q1;
72      q2.makeInverse();
73      q3=q3*q2;
74
75      //rotation around cameraAxeY
76      q1.set(q3.X,q3.Y,q3.Z,0);
77      q2.fromAngleAxis(nRotY,cameraAxeY);
78      q3=q2*q1;
79      q2.makeInverse();
80      q3=q3*q2;
81
82      //check angle
83      irr::core::vector3df newTarget(q3.X,q3.Y,q3.Z);
84      float angle=acos(newTarget.dotProduct(irr::core::vector3df(0,0,1))/newTarget.getLength());
85      irr::core::vector3df cross = newTarget.crossProduct(irr::core::vector3df(0,0,1));
86      if (cross.dotProduct(cameraAxeY) > 0) {
87        newTarget += camera->getAbsolutePosition();
88        camera->setTarget(newTarget);
89      }
90    }
91  } else if (Rotating) {
92    Rotating = false;
93  }
94
95  //handle zoom
96  float newFov=fov+currentZoom*zoomSpeed;
97  if(newFov>fov) {
98    newFov=fov;
99    currentZoom=0;
100  }
101  if(newFov<0) {
102    newFov=zoomSpeed;
103    currentZoom=1-fov/zoomSpeed;
104  }
105  camera->setFOV(newFov);
106}
107
108
109} // end namespace simulator
110} // end namespace flair
111
112#endif // GL
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