source: flair-src/trunk/lib/FlairSimulator/src/Man.cpp@ 8

Last change on this file since 8 was 8, checked in by Sanahuja Guillaume, 8 years ago

simulator

File size: 4.1 KB
RevLine 
[8]1// created: 2013/04/15
2// filename: Man.cpp
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: classe chargeant un personnage
10//
11/*********************************************************************/
12#ifdef GL
13
14#include "Man.h"
15#include "Gui.h"
16#include "Simulator.h"
17#include "Simulator_impl.h"
18#include "Euler.h"
19#include <ISceneManager.h>
20#include <IAnimatedMeshSceneNode.h>
21#include <Tab.h>
22#include <DoubleSpinBox.h>
23#include "AnimPoursuite.h"
24
25using namespace irr;
26using namespace irr::core;
27using namespace irr::scene;
28using namespace irr::video;
29using namespace flair::core;
30using namespace flair::gui;
31
32namespace flair
33{
34namespace simulator
35{
36
37Man::Man(const Simulator* parent,std::string name): Model(parent,name)
38{
39 node = getGui()->getSceneManager()->addAnimatedMeshSceneNode(getGui()->getMesh("ninja.b3d"),getSceneNode(),-1,
40 vector3df(0,0,0),vector3df(90,0,90),vector3df(10,10,10));
41
42 node->setFrameLoop(0, 13);
43 node->setAnimationSpeed(0);
44 node->getMaterial(0).NormalizeNormals = true;
45 node->getMaterial(0).Lighting = false;
46
47 getCamera()->setPositionOffset(vector3df(0,0,100));
48 getCamera()->setTargetOffset(vector3df(0,0,100));
49
50 setTriangleSelector(getGui()->getSceneManager()->createTriangleSelector(node));
51 Box()->addInternalBox(node->getTransformedBoundingBox());
52
53 Tab *setup_tab=new Tab(GetTabWidget(),"model");
54 t_speed=new DoubleSpinBox(setup_tab->NewRow(),"translational speed (m/s):",0,5,0.1);
55 r_speed=new DoubleSpinBox(setup_tab->NewRow(),"rotational speed (deg/s):",0,180,10);
56}
57
58Man::~Man()
59{
60
61}
62
63void Man::CalcModel(void)
64{
65 // compute quaternion from W
66 // Quaternion derivative: dQ = 0.5*(Q*Qw)
67 Quaternion dQ=state[-1].Quat.GetDerivative(state[0].W);
68
69 // Quaternion integration
70 state[0].Quat = state[-1].Quat +dQ*dT();
71 state[0].Quat.Normalize();
72
73 Vector3D dir=state[0].Vel;
74 dir.Rotate(state[0].Quat);
75 state[0].Pos=state[-1].Pos+dT()*dir;
76}
77
78bool Man::OnEvent(const SEvent& event)
79{
80 if (event.EventType != EET_KEY_INPUT_EVENT)
81 return false;
82
83 if(event.KeyInput.PressedDown==false)
84 {
85 state[0].Vel.x=0;
86 state[0].W.z=0;
87 node->setAnimationSpeed(0);
88 }
89 else
90 {
91 switch(event.KeyInput.Key)
92 {
93 case KEY_UP:
94 state[0].Vel.x=t_speed->Value();
95 node->setAnimationSpeed(t_speed->Value()*10.f);
96 break;
97 case KEY_DOWN:
98 state[0].Vel.x=-t_speed->Value();
99 node->setAnimationSpeed(-t_speed->Value()*10.f);
100 break;
101 case KEY_LEFT:
102 state[0].W.z=-Euler::ToRadian(r_speed->Value());
103 node->setAnimationSpeed(r_speed->Value()*.15f);
104 break;
105 case KEY_RIGHT:
106 state[0].W.z=Euler::ToRadian(r_speed->Value());
107 node->setAnimationSpeed(-r_speed->Value()*.15f);
108 break;
109 default:
110 return false;
111 break;
112 }
113 }
114
115 return true;
116}
117
118size_t Man::dbtSize(void) const
119{
120 return 6*sizeof(float);
121}
122
123void Man::WritedbtBuf(char* dbtbuf)
124{/*
125 float *buf=(float*)dbtbuf;
126 vector3df vect=node->getPosition();
127 memcpy(buf,&vect.X,sizeof(float));
128 buf++;
129 memcpy(buf,&vect.Y,sizeof(float));
130 buf++;
131 memcpy(buf,&vect.Z,sizeof(float));
132 buf++;
133 vect=node->getRotation();
134 memcpy(buf,&vect.X,sizeof(float));
135 buf++;
136 memcpy(buf,&vect.Y,sizeof(float));
137 buf++;
138 memcpy(buf,&vect.Z,sizeof(float));
139 buf++;*/
140}
141
142void Man::ReaddbtBuf(char* dbtbuf)
143{/*
144 float *buf=(float*)dbtbuf;
145 vector3df vect;
146 memcpy(&vect.X,buf,sizeof(float));
147 buf++;
148 memcpy(&vect.Y,buf,sizeof(float));
149 buf++;
150 memcpy(&vect.Z,buf,sizeof(float));
151 buf++;
152 node->setPosition(vect);
153 memcpy(&vect.X,buf,sizeof(float));
154 buf++;
155 memcpy(&vect.Y,buf,sizeof(float));
156 buf++;
157 memcpy(&vect.Z,buf,sizeof(float));
158 buf++;
159 node->setRotation(vect);
160 node->setAnimationSpeed(2.f);*/
161}
162
163} // end namespace simulator
164} // end namespace flair
165#endif //GL
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