source: flair-src/trunk/lib/FlairSimulator/src/SimuUsGL.cpp@ 10

Last change on this file since 10 was 10, checked in by Sanahuja Guillaume, 6 years ago

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File size: 2.9 KB
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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2014/02/07
6// filename: SimuUsGL.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Class for a simulation us
14//
15//
16/*********************************************************************/
17#include "SimuUsGL.h"
18#include "Model.h"
19#include <cvmatrix.h>
20#include <SharedMem.h>
21#include <TabWidget.h>
22#include <Tab.h>
23#include <DoubleSpinBox.h>
24#include <Vector3DSpinBox.h>
25
26#ifdef GL
27#include "Gui.h"
28#include <ISceneNode.h>
29#include <ISceneCollisionManager.h>
30using namespace irr;
31using namespace irr::scene;
32using namespace irr::core;
33#endif
34using namespace flair::core;
35using namespace flair::gui;
36using namespace flair::simulator;
37
38namespace flair
39{
40namespace sensor
41{
42SimuUsGL::SimuUsGL(const Model* parent,std::string name,int dev_id) :SimuUs(parent,name,dev_id),SensorGL(parent)
43{
44 Tab* setup_tab=new Tab(parent->GetTabWidget(),name);
45 position=new Vector3DSpinBox(setup_tab->NewRow(),"position",-2,2,.01);
46 direction=new Vector3DSpinBox(setup_tab->NewRow(),"direction",-2,2,.01);
47 range=new DoubleSpinBox(setup_tab->NewRow(),"range:",0,6,1);
48}
49
50SimuUsGL::~SimuUsGL()
51{
52
53}
54
55void SimuUsGL::UpdateFrom(const io_data *data)
56{
57 float value;
58#ifdef GL
59 if(noGui()==true)
60 {
61#endif
62 //todo: utiliser le placement de l'us dans le drone et sa portée
63 cvmatrix *input=(cvmatrix*)data;
64 value=input->Value(9,0);
65 shmem->Write((char*)&value,sizeof(float));
66#ifdef GL
67 }
68
69 if(noGui()==false && data==NULL)
70 {
71 line3d<f32> ray_us;//rayon provenant de l'ultra son
72 vector3df intersection_us;//point intersection us avec le sol
73 triangle3df hitTriangle_us;//triangle intersection us avec le sol
74
75 //get rotation matrix of node - Zeuss must be getRotation not getRelativeTransformation
76 matrix4 m;
77 m.setRotationDegrees(Node()->getRotation());
78
79 // transform forward vector of us
80 vector3df frv =ToIrrlichtCoordinates(direction->Value());
81 m.transformVect(frv);
82 frv.normalize();
83
84 // transform pos vector of us
85 vector3df pos =ToIrrlichtCoordinates(position->Value());
86 m.transformVect(pos);
87
88 ray_us.start =Node()->getPosition() +pos;
89 ray_us.end = ray_us.start + ToIrrlichtScale(range->Value())*frv;
90
91 scene::ISceneNode * selectedSceneNode =
92 CollMan()->getSceneNodeAndCollisionPointFromRay(ray_us,intersection_us,hitTriangle_us);
93
94 if(selectedSceneNode)
95 {
96 float value=ToSimulatorScale(ray_us.start.getDistanceFrom(intersection_us));
97 shmem->Write((char*)&value,sizeof(float));
98 }
99 }
100#endif
101}
102
103} // end namespace sensor
104} // end namespace flair
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