1 | // created: 2013/03/25
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2 | // filename: Model_impl.cpp
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3 | //
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4 | // author: Guillaume Sanahuja
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5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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6 | //
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7 | // version: $Id: $
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8 | //
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9 | // purpose: classe definissant un modele a simuler
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10 | //
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11 | /*********************************************************************/
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12 |
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13 | #include "Model.h"
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14 | #include "Model_impl.h"
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15 | #include "Simulator.h"
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16 | #include "TabWidget.h"
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17 | #include "Tab.h"
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18 | #include "DoubleSpinBox.h"
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19 | #include "Vector3DSpinBox.h"
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20 | #include "SpinBox.h"
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21 | #include "CheckBox.h"
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22 | #include "cvmatrix.h"
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23 | #include "Euler.h"
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24 | #include <math.h>
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25 |
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26 | #ifdef GL
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27 | #include "ConditionVariable.h"
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28 | #include "Gui.h"
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29 | #include "Gui_impl.h"
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30 | #include <ISceneManager.h>
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31 | #include <ISceneNodeAnimatorCollisionResponse.h>
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32 | #include <IMetaTriangleSelector.h>
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33 | #include <IVideoDriver.h>
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34 | #include <ICameraSceneNode.h>
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35 | #include "AnimPoursuite.h"
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36 | using namespace irr;
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37 | using namespace video;
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38 | using namespace scene;
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39 | using namespace core;
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40 | using namespace io;
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41 | #endif
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42 |
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43 | using namespace flair::core;
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44 | using namespace flair::gui;
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45 | using namespace flair::simulator;
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46 |
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47 | #ifdef GL
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48 | Model_impl::Model_impl(Model* self,std::string name,ISceneManager* scenemanager,vrpn_Connection_IP* vrpn)
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49 | : ISceneNode(scenemanager->getRootSceneNode(), scenemanager, -1),Thread(self,name,50),vrpn_Tracker( name.c_str(), vrpn )
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50 |
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51 | #else
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52 | Model_impl::Model_impl(Model* self,std::string name,vrpn_Connection_IP* vrpn)
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53 | : Thread(self,name,50),vrpn_Tracker( name.c_str(), vrpn )
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54 | #endif
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55 | {
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56 | this->self=self;
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57 |
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58 | #ifdef GL
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59 | //for sync with gui
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60 | cond=new ConditionVariable(this,name);
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61 | sync_count=0;
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62 |
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63 | //collisions
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64 | collision_mutex=new Mutex(this);
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65 | collision_occured=false;
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66 |
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67 | //selector for collisions
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68 | selector = getSceneManager()->createTriangleSelectorFromBoundingBox(this);
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69 | setTriangleSelector(selector);
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70 | meta_selector = getSceneManager()->createMetaTriangleSelector();
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71 |
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72 | anim = getSceneManager()->createCollisionResponseAnimator(meta_selector, this,vector3df(1,1,1),vector3df(0,0,0), vector3df(0,0,0));
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73 | addAnimator(anim);
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74 |
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75 | //camera
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76 | camera =getSceneManager()->addCameraSceneNode();
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77 | camera->setAspectRatio(getGui()->getAspectRatio());//on force a cause du view port
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78 | camera->setUpVector(vector3df(0,0,1));
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79 |
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80 | animator=new AnimPoursuite(this);
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81 | camera->addAnimator(animator);
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82 | camera->setFarValue(8000);
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83 |
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84 | position_init=false;
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85 | #endif
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86 |
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87 | //init user interface
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88 | Tab* tab=new Tab(getSimulator()->GetTabWidget(),ObjectName());
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89 | tabwidget=new TabWidget(tab->NewRow(),"tabs");
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90 | Tab* sampl=new Tab(tabwidget,"sampling");
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91 | dT=new DoubleSpinBox(sampl->NewRow(),"Tech (s):",0.001,1,0.001,3);
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92 | Tab* layout=new Tab(tabwidget,"optitrack");
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93 | enable_opti=new CheckBox(layout->NewRow(),"enabled");
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94 | Tab* init=new Tab(tabwidget,"init");
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95 | pos_init=new Vector3DSpinBox(init->NewRow(),"position",-50,50,1);
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96 | yaw_init=new SpinBox(init->NewRow(),"yaw (deg):",-180,180,10);
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97 |
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98 | //modele
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99 | states_mutex=new Mutex(this);
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100 | self->state[0].Pos=pos_init->Value();
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101 | self->state[0].Vel.x=0;
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102 | self->state[0].Vel.y=0;
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103 | self->state[0].Vel.z=0;
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104 | self->state[0].Quat=ComputeInitRotation(Quaternion(1,0,0,0));
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105 | self->state[0].W.x=0;
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106 | self->state[0].W.y=0;
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107 | self->state[0].W.z=0;
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108 |
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109 | self->state[-1]=self->state[0];
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110 | self->state[-2]=self->state[0];
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111 |
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112 | cvmatrix_descriptor* desc=new cvmatrix_descriptor(13,1);
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113 | desc->SetElementName(0,0,"q0");
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114 | desc->SetElementName(1,0,"q1");
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115 | desc->SetElementName(2,0,"q2");
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116 | desc->SetElementName(3,0,"q3");
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117 | desc->SetElementName(4,0,"x");
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118 | desc->SetElementName(5,0,"y");
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119 | desc->SetElementName(6,0,"z");
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120 | desc->SetElementName(7,0,"wx");
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121 | desc->SetElementName(8,0,"wy");
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122 | desc->SetElementName(9,0,"wz");
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123 | desc->SetElementName(10,0,"vx");
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124 | desc->SetElementName(11,0,"vy");
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125 | desc->SetElementName(12,0,"vz");
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126 | output=new cvmatrix(this,desc,floatType,"state");
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127 |
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128 | self->AddDataToLog(output);
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129 | }
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130 |
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131 | Model_impl::~Model_impl()
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132 | {
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133 | SafeStop();
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134 | Join();
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135 | #ifdef GL
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136 | remove();//remove ISceneNode
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137 | #endif
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138 | }
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139 |
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140 | Quaternion Model_impl::ComputeInitRotation(Quaternion quat_in) {
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141 | Quaternion yaw_rot_quat;
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142 | Euler yaw_rot_euler(0,0,Euler::ToRadian(yaw_init->Value()));
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143 | yaw_rot_euler.ToQuaternion(yaw_rot_quat);
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144 | return yaw_rot_quat*quat_in;
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145 | }
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146 |
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147 | void Model_impl::mainloop(void)
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148 | {
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149 | if(enable_opti->Value()==false) return;
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150 | vrpn_gettimeofday(&_timestamp, NULL);
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151 | vrpn_Tracker::timestamp = _timestamp;
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152 |
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153 | //change to vrpn reference
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154 | states_mutex->GetMutex();
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155 | Quaternion quat=getSimulator()->ToVRPNReference(self->state[0].Quat);
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156 | Vector3D position=getSimulator()->ToVRPNReference(self->state[0].Pos);
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157 | states_mutex->ReleaseMutex();
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158 |
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159 | pos[0]=position.x;
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160 | pos[1]=position.y;
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161 | pos[2]=position.z;
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162 | //warning: d_quat is defined as (qx,qy,qz,qw), which is different from flair::core::Quaternion
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163 | d_quat[0] = quat.q1;
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164 | d_quat[1] = quat.q2;
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165 | d_quat[2] = quat.q3;
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166 | d_quat[3] = quat.q0;
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167 |
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168 | char msgbuf[1000];
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169 |
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170 | d_sensor = 0;
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171 |
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172 | int len = vrpn_Tracker::encode_to(msgbuf);
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173 |
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174 | if (d_connection->pack_message(len, _timestamp, position_m_id, d_sender_id, msgbuf, vrpn_CONNECTION_LOW_LATENCY))
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175 | {
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176 | fprintf(stderr,"can't write message: tossing\n");
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177 | }
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178 |
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179 | server_mainloop();
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180 | }
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181 |
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182 | #ifdef GL
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183 | ITriangleSelector* Model_impl::TriangleSelector(void)
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184 | {
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185 | return selector;
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186 | }
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187 |
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188 | IMetaTriangleSelector* Model_impl::MetaTriangleSelector(void)
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189 | {
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190 | return meta_selector;
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191 | }
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192 |
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193 | void Model_impl::UpdatePos(void)
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194 | {
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195 | vector3df nodePosition;
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196 | Quaternion nodeOrientation;
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197 | Euler euler;
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198 |
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199 | states_mutex->GetMutex();
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200 | nodePosition=ToIrrlichtCoordinates(self->state[0].Pos);
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201 | nodeOrientation=ToIrrlichtOrientation(self->state[0].Quat);
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202 | states_mutex->ReleaseMutex();
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203 |
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204 | setPosition(nodePosition);
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205 |
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206 | nodeOrientation.ToEuler(euler);
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207 | ISceneNode::setRotation(Euler::ToDegree(1)*vector3df(euler.roll,euler.pitch,euler.yaw));
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208 |
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209 | if(position_init==false)
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210 | {
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211 | anim->setTargetNode(this); // a faire pour se teleporter sans les collisions
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212 | position_init=true;
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213 | }
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214 |
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215 | self->AnimateModel();
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216 | }
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217 |
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218 | void Model_impl::CheckCollision(void)
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219 | {
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220 | //TODO: setEllipsoidRadius should be called in Model::setScale
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221 | //but we need to call recalculateBoundingBox
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222 | anim->setEllipsoidRadius(getTransformedBoundingBox().getExtent());
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223 |
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224 | if(anim->collisionOccurred()==true)
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225 | {
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226 | vector3df pos;
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227 | vector3df pos_rel;
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228 | vector3df nodePosition;
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229 | pos= anim->getCollisionPoint();
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230 | nodePosition=getPosition();
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231 | pos_rel=pos-nodePosition;
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232 | //printf("collision %f %f %f\n",pos.X,pos.Y,pos.Z);
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233 | //printf("drone %f %f %f\n",nodePosition.X,nodePosition.Y,nodePosition.Z);
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234 | //printf("rel %f %f %f\n",pos_rel.X,pos_rel.Z,pos_rel.Y);
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235 |
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236 | collision_mutex->GetMutex();
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237 | collision_occured=true;
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238 | collision_point=ToSimulatorCoordinates(nodePosition);
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239 | collision_mutex->ReleaseMutex();
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240 | }
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241 | }
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242 |
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243 | void Model_impl::CollisionHandler(void)
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244 | {
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245 | collision_mutex->GetMutex();
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246 | if(collision_occured==true)
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247 | {
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248 | collision_occured=false;
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249 | states_mutex->GetMutex();
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250 | self->state[0].Pos=collision_point;
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251 | self->state[-1].Pos=self->state[0].Pos;
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252 | self->state[-2].Pos=self->state[0].Pos;
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253 | states_mutex->ReleaseMutex();
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254 | }
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255 | collision_mutex->ReleaseMutex();
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256 | }
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257 |
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258 | void Model_impl::OnRegisterSceneNode(void)
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259 | {
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260 | if (IsVisible)
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261 | SceneManager->registerNodeForRendering(this);
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262 |
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263 | ISceneNode::OnRegisterSceneNode();
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264 | }
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265 |
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266 | void Model_impl::render(void)
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267 | {
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268 | IVideoDriver* driver = SceneManager->getVideoDriver();
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269 | driver->setTransform(ETS_WORLD, AbsoluteTransformation);
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270 | }
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271 |
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272 | //le premier arrive attend l'autre
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273 | void Model_impl::SynchronizationPoint()
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274 | {
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275 | cond->GetMutex();
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276 | sync_count++;
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277 |
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278 | if (sync_count < 2)
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279 | {
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280 | cond->CondWait();
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281 | }
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282 | else
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283 | {
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284 | cond->CondSignal();
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285 | }
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286 |
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287 | cond->ReleaseMutex();
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288 | }
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289 | #endif //GL
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290 |
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291 | void Model_impl::Run(void)
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292 | {
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293 | // Ask Xenomai to warn us upon switches to secondary mode.
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294 | WarnUponSwitches(true);
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295 |
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296 | #ifdef GL
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297 | //synchronize with gui
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298 | SynchronizationPoint();
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299 | #endif
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300 |
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301 | SetPeriodMS(dT->Value()*1000.);
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302 |
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303 | while(!ToBeStopped())
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304 | {
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305 | if(dT->ValueChanged()) SetPeriodMS(dT->Value()*1000.);
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306 | WaitPeriod();
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307 |
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308 | #ifdef GL
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309 | CollisionHandler();
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310 | #endif
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311 | states_mutex->GetMutex();
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312 | self->CalcModel();
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313 |
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314 | output->GetMutex();
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315 | output->SetValueNoMutex(0,0,self->state[0].Quat.q0);
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316 | output->SetValueNoMutex(1,0,self->state[0].Quat.q1);
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317 | output->SetValueNoMutex(2,0,self->state[0].Quat.q2);
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318 | output->SetValueNoMutex(3,0,self->state[0].Quat.q3);
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319 | output->SetValueNoMutex(4,0,self->state[0].Pos.x);
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320 | output->SetValueNoMutex(5,0,self->state[0].Pos.y);
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321 | output->SetValueNoMutex(6,0,self->state[0].Pos.z);
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322 | output->SetValueNoMutex(7,0,self->state[0].W.x);
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323 | output->SetValueNoMutex(8,0,self->state[0].W.y);
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324 | output->SetValueNoMutex(9,0,self->state[0].W.z);
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325 | output->SetValueNoMutex(10,0,self->state[0].Vel.x);
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326 | output->SetValueNoMutex(11,0,self->state[0].Vel.y);
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327 | output->SetValueNoMutex(12,0,self->state[0].Vel.z);
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328 | output->ReleaseMutex();
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329 | output->SetDataTime(GetTime());
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330 |
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331 | self->state.Update();
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332 |
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333 | if(pos_init->ValueChanged() || yaw_init->ValueChanged())
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334 | {
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335 | self->state[-1].Quat=ComputeInitRotation(Quaternion(1,0,0,0));
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336 | self->state[-2].Quat=ComputeInitRotation(Quaternion(1,0,0,0));
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337 | self->state[-1].Pos=pos_init->Value();
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338 | self->state[-2].Pos=self->state[-1].Pos;
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339 | #ifdef GL
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340 | position_init=false;
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341 | #endif
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342 | }
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343 |
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344 | states_mutex->ReleaseMutex();
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345 |
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346 | self->ProcessUpdate(output);
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347 |
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348 | }
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349 |
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350 | WarnUponSwitches(false);
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351 | }
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