source: flair-src/trunk/lib/FlairSimulator/src/SimuUsGL.cpp@ 137

Last change on this file since 137 was 15, checked in by Bayard Gildas, 6 years ago

sources reformatted with flair-format-dir script

File size: 2.9 KB
Line 
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 {
39namespace sensor {
40SimuUsGL::SimuUsGL(const Model *parent, std::string name, int dev_id)
41 : SimuUs(parent, name, dev_id), SensorGL(parent) {
42 Tab *setup_tab = new Tab(parent->GetTabWidget(), name);
43 position = new Vector3DSpinBox(setup_tab->NewRow(), "position", -2, 2, .01);
44 direction = new Vector3DSpinBox(setup_tab->NewRow(), "direction", -2, 2, .01);
45 range = new DoubleSpinBox(setup_tab->NewRow(), "range:", 0, 6, 1);
46}
47
48SimuUsGL::~SimuUsGL() {}
49
50void SimuUsGL::UpdateFrom(const io_data *data) {
51 float value;
52#ifdef GL
53 if (noGui() == true) {
54#endif
55 // todo: utiliser le placement de l'us dans le drone et sa portée
56 cvmatrix *input = (cvmatrix *)data;
57 value = input->Value(9, 0);
58 shmem->Write((char *)&value, sizeof(float));
59#ifdef GL
60 }
61
62 if (noGui() == false && data == NULL) {
63 line3d<f32> ray_us; // rayon provenant de l'ultra son
64 vector3df intersection_us; // point intersection us avec le sol
65 triangle3df hitTriangle_us; // triangle intersection us avec le sol
66
67 // get rotation matrix of node - Zeuss must be getRotation not
68 // getRelativeTransformation
69 matrix4 m;
70 m.setRotationDegrees(Node()->getRotation());
71
72 // transform forward vector of us
73 vector3df frv = ToIrrlichtCoordinates(direction->Value());
74 m.transformVect(frv);
75 frv.normalize();
76
77 // transform pos vector of us
78 vector3df pos = ToIrrlichtCoordinates(position->Value());
79 m.transformVect(pos);
80
81 ray_us.start = Node()->getPosition() + pos;
82 ray_us.end = ray_us.start + ToIrrlichtScale(range->Value()) * frv;
83
84 scene::ISceneNode *selectedSceneNode =
85 CollMan()->getSceneNodeAndCollisionPointFromRay(ray_us, intersection_us,
86 hitTriangle_us);
87
88 if (selectedSceneNode) {
89 float value =
90 ToSimulatorScale(ray_us.start.getDistanceFrom(intersection_us));
91 shmem->Write((char *)&value, sizeof(float));
92 }
93 }
94#endif
95}
96
97} // end namespace sensor
98} // end namespace flair
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