source: flair-src/trunk/lib/FlairSimulator/src/GenericObject.cpp @ 15

Last change on this file since 15 was 15, checked in by Bayard Gildas, 5 years ago

sources reformatted with flair-format-dir script

File size: 3.0 KB
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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:    2013/03/25
6//  filename:   GenericObject.cpp
7//
8//  author:     Cesar Richard
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    classe definissant un modele a simuler
14//
15/*********************************************************************/
16
17#ifdef GL
18#include "GenericObject.h"
19#include "Simulator_impl.h"
20
21#include "ConditionVariable.h"
22#include "Quaternion.h"
23#include "Gui.h"
24#include "Gui_impl.h"
25#include <IMesh.h>
26#include <ISceneManager.h>
27#include <IMetaTriangleSelector.h>
28#include <IVideoDriver.h>
29#include "AnimPoursuite.h"
30using namespace irr;
31using namespace video;
32using namespace scene;
33using namespace core;
34using namespace io;
35
36using namespace flair::core;
37using namespace flair::simulator;
38
39namespace flair {
40namespace simulator {
41
42GenericObject::GenericObject(Simulator *parent, std::string name,
43                             ISceneManager *sceneManager)
44    : IMeshSceneNode(sceneManager->getRootSceneNode(), sceneManager,
45                     -1) //, IODevice(parent,name)
46{
47  setMaterialFlag(EMF_LIGHTING, false);
48  Material = getMaterial(0);
49  // setMaterialTexture(0,sceneManager->getVideoDriver()->getTexture("/home/cesar/igep/uav_dev_svn/trunk/media/nskinbl.jpg"));
50  Material.NormalizeNormals = true;
51  Material.Wireframe = false;
52  Material.Lighting = false;
53
54  parent->pimpl_->objects.push_back(this);
55}
56
57GenericObject::~GenericObject() {}
58
59void GenericObject::setScale(float value) {
60  ISceneNode::setScale(vector3df(value, value, value));
61}
62
63void GenericObject::setScale(vector3df scale) { ISceneNode::setScale(scale); }
64
65ITriangleSelector *GenericObject::TriangleSelector(void) { return selector; }
66
67void GenericObject::OnRegisterSceneNode(void) {
68  if (IsVisible)
69    SceneManager->registerNodeForRendering(this);
70
71  ISceneNode::OnRegisterSceneNode();
72}
73
74void GenericObject::render(void) {
75  IVideoDriver *driver = SceneManager->getVideoDriver();
76
77  driver->setMaterial(Material);
78
79  driver->setTransform(ETS_WORLD, AbsoluteTransformation);
80  driver->drawMeshBuffer(mesh->getMeshBuffer(0));
81}
82
83void GenericObject::setMesh(IMesh *mesh) {
84  this->mesh = mesh;
85  box = mesh->getBoundingBox();
86
87  selector = getSceneManager()->createTriangleSelector(mesh, this);
88  setTriangleSelector(selector);
89}
90
91IMesh *GenericObject::getMesh(void) { return mesh; }
92
93void GenericObject::setPosition(irr::core::vector3df pos) {
94  ISceneNode::setPosition(ToIrrlichtCoordinates(pos));
95}
96
97void GenericObject::setRotation(irr::core::vector3df rotation) {
98  Euler eulerA(rotation.X, rotation.Y, rotation.Z);
99  Euler eulerB;
100  Quaternion quatA, quatB;
101  eulerA.ToQuaternion(quatA);
102  quatB = ToIrrlichtOrientation(quatA);
103  quatB.ToEuler(eulerB);
104
105  ISceneNode::setRotation(Euler::ToDegree(1) *
106                          vector3df(eulerB.roll, eulerB.pitch, eulerB.yaw));
107}
108
109} // end namespace simulator
110} // end namespace flair
111#endif
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