[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 "Euler.h"
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| 21 | #include <ISceneManager.h>
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| 22 | #include <IAnimatedMeshSceneNode.h>
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| 23 | #include <Tab.h>
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| 24 | #include <DoubleSpinBox.h>
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[69] | 25 | #include "FollowMeCamera.h"
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[8] | 26 |
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[134] | 27 | class addAnimatedMeshSceneNode;
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[8] | 28 | using namespace irr;
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| 29 | using namespace irr::core;
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| 30 | using namespace irr::scene;
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| 31 | using namespace irr::video;
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| 32 | using namespace flair::core;
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| 33 | using namespace flair::gui;
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| 34 |
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[15] | 35 | namespace flair {
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| 36 | namespace simulator {
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[8] | 37 |
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[158] | 38 | Man::Man(std::string name,uint32_t modelId) : Model(name,modelId) {
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[15] | 39 | node = getGui()->getSceneManager()->addAnimatedMeshSceneNode(
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| 40 | getGui()->getMesh("ninja.b3d"), getSceneNode(), -1, vector3df(0, 0, 0),
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| 41 | vector3df(90, 0, 90), vector3df(10, 10, 10));
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[8] | 42 |
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[15] | 43 | node->setFrameLoop(0, 13);
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| 44 | node->setAnimationSpeed(0);
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| 45 | node->getMaterial(0).NormalizeNormals = true;
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| 46 | node->getMaterial(0).Lighting = false;
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[8] | 47 |
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[70] | 48 | getFollowMeCamera()->setPositionOffset(vector3df(0, 0, -1));
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| 49 | getFollowMeCamera()->setTargetOffset(vector3df(0, 0, -1));
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[8] | 50 |
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[15] | 51 | setTriangleSelector(
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| 52 | getGui()->getSceneManager()->createTriangleSelector(node));
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| 53 | Box()->addInternalBox(node->getTransformedBoundingBox());
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[8] | 54 |
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[15] | 55 | Tab *setup_tab = new Tab(GetTabWidget(), "model");
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| 56 | t_speed = new DoubleSpinBox(setup_tab->NewRow(), "translational speed (m/s):",
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| 57 | 0, 5, 0.1);
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| 58 | r_speed = new DoubleSpinBox(setup_tab->NewRow(), "rotational speed (deg/s):",
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| 59 | 0, 180, 10);
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[157] | 60 |
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| 61 | SetIsReady(true);
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[8] | 62 | }
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| 63 |
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[15] | 64 | Man::~Man() {}
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[8] | 65 |
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[15] | 66 | void Man::CalcModel(void) {
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| 67 | // compute quaternion from W
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| 68 | // Quaternion derivative: dQ = 0.5*(Q*Qw)
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| 69 | Quaternion dQ = state[-1].Quat.GetDerivative(state[0].W);
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[8] | 70 |
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[15] | 71 | // Quaternion integration
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| 72 | state[0].Quat = state[-1].Quat + dQ * dT();
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| 73 | state[0].Quat.Normalize();
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[8] | 74 |
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[167] | 75 | Vector3D<double> dir = state[0].Vel;
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[15] | 76 | dir.Rotate(state[0].Quat);
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| 77 | state[0].Pos = state[-1].Pos + dT() * dir;
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[8] | 78 | }
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| 79 |
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[15] | 80 | bool Man::OnEvent(const SEvent &event) {
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| 81 | if (event.EventType != EET_KEY_INPUT_EVENT)
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| 82 | return false;
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[8] | 83 |
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[15] | 84 | if (event.KeyInput.PressedDown == false) {
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| 85 | state[0].Vel.x = 0;
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| 86 | state[0].W.z = 0;
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| 87 | node->setAnimationSpeed(0);
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| 88 | } else {
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| 89 | switch (event.KeyInput.Key) {
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| 90 | case KEY_UP:
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| 91 | state[0].Vel.x = t_speed->Value();
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| 92 | node->setAnimationSpeed(t_speed->Value() * 10.f);
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| 93 | break;
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| 94 | case KEY_DOWN:
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| 95 | state[0].Vel.x = -t_speed->Value();
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| 96 | node->setAnimationSpeed(-t_speed->Value() * 10.f);
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| 97 | break;
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| 98 | case KEY_LEFT:
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| 99 | state[0].W.z = -Euler::ToRadian(r_speed->Value());
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| 100 | node->setAnimationSpeed(r_speed->Value() * .15f);
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| 101 | break;
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| 102 | case KEY_RIGHT:
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| 103 | state[0].W.z = Euler::ToRadian(r_speed->Value());
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| 104 | node->setAnimationSpeed(-r_speed->Value() * .15f);
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| 105 | break;
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| 106 | default:
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| 107 | return false;
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| 108 | break;
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[8] | 109 | }
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[15] | 110 | }
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[8] | 111 |
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[15] | 112 | return true;
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[8] | 113 | }
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| 114 |
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[15] | 115 | size_t Man::dbtSize(void) const { return 6 * sizeof(float); }
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[8] | 116 |
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[15] | 117 | void Man::WritedbtBuf(char *dbtbuf) { /*
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| 118 | float *buf=(float*)dbtbuf;
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| 119 | vector3df vect=node->getPosition();
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| 120 | memcpy(buf,&vect.X,sizeof(float));
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| 121 | buf++;
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| 122 | memcpy(buf,&vect.Y,sizeof(float));
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| 123 | buf++;
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| 124 | memcpy(buf,&vect.Z,sizeof(float));
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| 125 | buf++;
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| 126 | vect=node->getRotation();
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| 127 | memcpy(buf,&vect.X,sizeof(float));
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| 128 | buf++;
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| 129 | memcpy(buf,&vect.Y,sizeof(float));
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| 130 | buf++;
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| 131 | memcpy(buf,&vect.Z,sizeof(float));
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| 132 | buf++;*/
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[8] | 133 | }
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| 134 |
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[15] | 135 | void Man::ReaddbtBuf(char *dbtbuf) { /*
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| 136 | float *buf=(float*)dbtbuf;
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| 137 | vector3df vect;
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| 138 | memcpy(&vect.X,buf,sizeof(float));
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| 139 | buf++;
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| 140 | memcpy(&vect.Y,buf,sizeof(float));
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| 141 | buf++;
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| 142 | memcpy(&vect.Z,buf,sizeof(float));
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| 143 | buf++;
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| 144 | node->setPosition(vect);
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| 145 | memcpy(&vect.X,buf,sizeof(float));
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| 146 | buf++;
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| 147 | memcpy(&vect.Y,buf,sizeof(float));
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| 148 | buf++;
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| 149 | memcpy(&vect.Z,buf,sizeof(float));
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| 150 | buf++;
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| 151 | node->setRotation(vect);
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| 152 | node->setAnimationSpeed(2.f);*/
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[8] | 153 | }
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| 154 |
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| 155 | } // end namespace simulator
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| 156 | } // end namespace flair
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[15] | 157 | #endif // GL
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