1 | // %flair:license{
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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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4 | // %flair:license}
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5 | /*!
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6 | * \file SimuCameraGL.h
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7 | * \brief Class for a simulation camera
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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9 | * \date 2014/03/07
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10 | * \version 3.4
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11 | */
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12 |
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13 | #ifndef SIMUCAMERAGL_H
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14 | #define SIMUCAMERAGL_H
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15 |
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16 | #include <SimuCamera.h>
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17 | #include <SensorGL.h>
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18 | #include <ISceneNodeAnimator.h>
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19 |
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20 | // in order to get function prototypes from glext.h, define GL_GLEXT_PROTOTYPES
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21 | // before including glext.h
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22 | #define GL_GLEXT_PROTOTYPES
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23 | #include <GL/gl.h>
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24 |
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25 | namespace irr {
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26 | namespace scene {
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27 | class ICameraSceneNode;
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28 | }
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29 | }
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30 |
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31 | namespace flair {
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32 | namespace gui {
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33 | class DoubleSpinBox;
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34 | class Vector3DSpinBox;
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35 | }
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36 | namespace simulator {
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37 | class Model;
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38 | }
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39 | }
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40 |
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41 | namespace flair {
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42 | namespace sensor {
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43 | /*! \class SimuCameraGL
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44 | * \brief Class for a simulation camera
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45 | *
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46 | */
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47 | class SimuCameraGL : public SimuCamera,
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48 | public SensorGL,
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49 | public irr::scene::ISceneNodeAnimator {
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50 | public:
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51 | // top left origin
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52 | SimuCameraGL(const simulator::Model *parent, std::string name, int width,
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53 | int height, int x, int y, uint32_t modelId,uint32_t deviceId);
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54 | ~SimuCameraGL();
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55 | //! Sets the value of the near clipping plane. (default: 1.0f)
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56 | /** \param zn: New z near value. */
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57 | void setNearValue(float zn);
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58 |
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59 | //! Sets the value of the far clipping plane (default: 2000.0f)
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60 | /** \param zf: New z far value. */
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61 | void setFarValue(float zf);
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62 |
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63 | private:
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64 | void UpdateFrom(const core::io_data *data);
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65 | void animateNode(irr::scene::ISceneNode *node, irr::u32 timeMs);
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66 | ISceneNodeAnimator *createClone(irr::scene::ISceneNode *node,
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67 | irr::scene::ISceneManager *newManager = 0);
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68 | void getImage(void);
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69 | void putImage(char *pixels,core::Time imageTime);
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70 | irr::scene::ICameraSceneNode *camera;
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71 | irr::scene::ISceneManager *smgr;
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72 | gui::Vector3DSpinBox *position, *direction, *up;
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73 | gui::DoubleSpinBox *fov;
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74 | int width, height, x, y;
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75 | char *buffer;
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76 | bool use_pbo, invert_pixel, disable_output;
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77 | GLuint *pboIds;
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78 | int index;
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79 | };
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80 | } // end namespace simulator
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81 | } // end namespace flair
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82 | #endif // SIMUCAMERAGL_H
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