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