source: flair-src/trunk/lib/FlairSimulator/src/Gui.cpp @ 158

Last change on this file since 158 was 158, checked in by Sanahuja Guillaume, 5 years ago

corrected simu/device id for sensors

File size: 4.4 KB
RevLine 
[10]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[10]4// %flair:license}
[8]5//  created:    2013/03/27
6//  filename:   Gui.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    classe definissant une Gui
14//
15/*********************************************************************/
16#ifdef GL
17
18#include "Gui.h"
19#include "Gui_impl.h"
20#include "Simulator.h"
21#include "Model.h"
22#include <IMeshSceneNode.h>
23#include <IVideoDriver.h>
24#include <ISceneManager.h>
25#include <algorithm>
26#include <GL/gl.h>
[45]27#include "compile_info.h"
[8]28
[45]29//todo: put it on seprate file, but not possible with static lib?
30static void constructor() __attribute__((constructor));
31
32void constructor() {
[69]33  compile_info("FlairSimulator");
[45]34}
35
[8]36using namespace irr;
37using namespace irr::video;
38using namespace irr::core;
39using namespace irr::scene;
40using namespace irr::gui;
41using namespace flair::core;
42
43namespace {
[15]44flair::simulator::Gui *gui_ = NULL;
45std::vector<std::string> extensions;
46bool getGlInfo();
[8]47}
48
[15]49namespace flair {
50namespace simulator {
[8]51
[15]52Gui *getGui(void) { return gui_; }
[8]53
54bool noGui(void) {
[15]55  if (gui_ == NULL) {
56    return true;
57  } else {
58    return false;
59  }
[8]60}
61
[15]62// getGlinfo, code from Song Ho Ahn (song.ahn@gmail.com)
[8]63bool getGlInfo() {
[15]64  char *str = 0;
65  char *tok = 0;
[8]66
[15]67  // get all extensions as a string
68  str = (char *)glGetString(GL_EXTENSIONS);
[8]69
[15]70  // split extensions
71  if (str) {
72    tok = strtok((char *)str, " ");
73    while (tok) {
74      extensions.push_back(tok); // put a extension into struct
75      tok = strtok(0, " ");      // next token
[8]76    }
[15]77  } else {
78    printf("cannot get gl extensions\n");
79  }
[8]80
[15]81  // sort extension by alphabetical order
82  std::sort(extensions.begin(), extensions.end());
[8]83}
84
[15]85// isGlExtensionSupported, code from Song Ho Ahn (song.ahn@gmail.com)
86bool isGlExtensionSupported(const std::string &ext) {
87  if (extensions.size() == 0)
88    getGlInfo();
[8]89
[15]90  // search corresponding extension
91  std::vector<std::string>::const_iterator iter = extensions.begin();
92  std::vector<std::string>::const_iterator endIter = extensions.end();
[8]93
[15]94  while (iter != endIter) {
95    if (ext == *iter)
96      return true;
97    else
98      ++iter;
99  }
100  return false;
[8]101}
102
[15]103float ToIrrlichtScale(float value) { return value * 100.; }
[8]104
[15]105float ToSimulatorScale(float value) { return value / 100.; }
[8]106
107vector3df ToIrrlichtCoordinates(vector3df vect) {
[15]108  return ToIrrlichtScale(1) * vector3df(vect.X, vect.Y, -vect.Z);
[8]109}
110
111vector3df ToIrrlichtCoordinates(Vector3D vect) {
[15]112  return ToIrrlichtScale(1) * vector3df(vect.x, vect.y, -vect.z);
[8]113}
114
115Vector3D ToSimulatorCoordinates(vector3df vect) {
[15]116  return ToSimulatorScale(1) * Vector3D(vect.X, vect.Y, -vect.Z);
[8]117}
118
119Quaternion ToIrrlichtOrientation(Quaternion quat) {
[15]120  /* original code
121  Euler euler;
122  quat.ToEuler(euler);
123  matrix4 m;
124  m.setRotationRadians(vector3df(0, 0, euler.yaw));
125  matrix4 n;
126  n.setRotationRadians(vector3df(0, -euler.pitch,0));
127  m *= n;
128  n.setRotationRadians(vector3df(-euler.roll, 0, 0));
129  m *= n;
130  */
131  // seems to be equivalent to:
132  return Quaternion(quat.q0, -quat.q1, -quat.q2, quat.q3);
[8]133}
134
[158]135Gui::Gui(std::string name, int app_width,
[15]136         int app_height, int scene_width, int scene_height,
137         std::string media_path, E_DRIVER_TYPE driver_type)
[158]138    : Object(getSimulator(), name, "Gui") {
[15]139  if (gui_ != NULL)
140    Err("Gui should be instanced only one time\n");
141  pimpl_ = new Gui_impl(this, app_width, app_height, scene_width, scene_height,
142                        media_path, driver_type);
143  gui_ = this;
[8]144}
145
[15]146Gui::~Gui() { delete pimpl_; }
[8]147
148float Gui::getAspectRatio(void) const {
[15]149  return (float)pimpl_->scene_width / (float)pimpl_->scene_height;
[8]150}
151
[15]152ISceneManager *Gui::getSceneManager(void) const { return pimpl_->smgr; }
[8]153
[15]154void Gui::setMesh(std::string file, vector3df position, vector3df rotation,
155                  vector3df scale) {
156  pimpl_->setMesh(file, position, rotation, scale);
[8]157}
158
[15]159vector3df Gui::getRotation(void) const { return pimpl_->node->getRotation(); }
[8]160
[15]161IrrlichtDevice *Gui::getDevice(void) const { return pimpl_->device; }
[8]162
[15]163ITexture *Gui::getTexture(std::string filename) const {
164  filename = pimpl_->media_path + "/" + filename;
165  return pimpl_->driver->getTexture(filename.c_str());
[8]166}
167
[15]168IAnimatedMesh *Gui::getMesh(std::string filename) const {
169  filename = pimpl_->media_path + "/" + filename;
170  return pimpl_->smgr->getMesh(filename.c_str());
[8]171}
172
173} // end namespace simulator
174} // end namespace flair
[15]175#endif // GL
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