source: flair-src/trunk/lib/FlairSimulator/src/VisualizationCamera.cpp@ 287

Last change on this file since 287 was 287, checked in by Sanahuja Guillaume, 4 years ago

handle vrpn yaw rotation for drawing vrpn axis

File size: 4.6 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: 2016/09/01
6// filename: VisualizationCamera.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: class for a visualization camera in the gui
14//
15/*********************************************************************/
16#ifdef GL
17
18#include "VisualizationCamera.h"
19#include "Simulator.h"
20#include "Model.h"
21#include "Model_impl.h"
22#include "Gui.h"
23#include "Gui_impl.h"
24#include <Euler.h>
25#include <ICursorControl.h>
26#include <ICameraSceneNode.h>
27#include <IrrlichtDevice.h>
28#include <ISceneManager.h>
29
30using namespace irr;
31using namespace gui;
32using namespace core;
33using namespace scene;
34using namespace video;
35
36namespace flair {
37namespace simulator {
38
39VisualizationCamera::VisualizationCamera(std::string inName) {
40 name=inName;
41 currentZoom = 0;
42 LMouseKey = false;
43
44 // camera for visualization
45 camera = getGui()->getSceneManager()->addCameraSceneNode();
46 camera->setAspectRatio(getGui()->getAspectRatio()); // on force a cause du view port
47 camera->setUpVector(vector3df(0, 0, 1));
48 camera->addAnimator(this);
49 camera->setFarValue(8000);
50
51 getGui()->pimpl_->AddVisualizationCamera(this);
52
53 // camera to draw axis, in a new dedicated scene manager
54 axis_scenemanager=getGui()->getSceneManager()->createNewSceneManager();
55 axis_camera= axis_scenemanager->addCameraSceneNode();
56 axis_camera->setAspectRatio(1); // same as texture ratio, TODO: get it from texture in renderAxisToTexture
57 axis_camera->setUpVector(vector3df(0, 0, 1));
58 axis_camera->setFOV(PI / 2.5f);
59 axis_scenemanager->setActiveCamera(axis_camera);
60
61 //draw ned axis
62 IAnimatedMesh* arrowMeshRed = axis_scenemanager->addArrowMesh( "x_axisArrow",video::SColor(255, 255, 0, 0),video::SColor(255, 255, 0, 0));
63 nodeX = axis_scenemanager->addMeshSceneNode(arrowMeshRed);
64 nodeX->setMaterialFlag(video::EMF_LIGHTING, false);
65 nodeX->setRotation(vector3df(0,0,-90+core::Euler::ToDegree(getSimulator()->Yaw())));//use vrpn yaw rotation from earth
66 nodeX->setScale(vector3df(1,3,1));
67
68 IAnimatedMesh* arrowMeshGreen = axis_scenemanager->addArrowMesh( "y_axisArrow",video::SColor(255, 0, 255, 0),video::SColor(255, 0, 255, 0));
69 nodeY = axis_scenemanager->addMeshSceneNode(arrowMeshGreen);
70 nodeY->setMaterialFlag(video::EMF_LIGHTING, false);
71 nodeY->setRotation(vector3df(0,0,core::Euler::ToDegree(getSimulator()->Yaw())));//use vrpn yaw rotation from earth
72 nodeY->setScale(vector3df(1,3,1));
73
74 IAnimatedMesh* arrowMeshBlue = axis_scenemanager->addArrowMesh( "z_axisArrow",video::SColor(255, 0, 0, 255),video::SColor(255, 0, 0, 255));
75 nodeZ = axis_scenemanager->addMeshSceneNode(arrowMeshBlue);
76 nodeZ->setMaterialFlag(video::EMF_LIGHTING, false);
77 nodeZ->setRotation(vector3df(-90,0,0));//irrlicht is left handed, draw a right handed axis
78 nodeZ->setScale(vector3df(1,3,1));
79}
80
81VisualizationCamera::~VisualizationCamera() {}
82
83void VisualizationCamera::renderAxisToTexture(ITexture* texture) {
84 //put axis at a "normalized" distance
85 vector3df direction=camera->getTarget()-camera->getPosition();
86 direction.normalize();
87 nodeX->setPosition(camera->getPosition()+direction*6);
88 nodeY->setPosition(camera->getPosition()+direction*6);
89 nodeZ->setPosition(camera->getPosition()+direction*6);
90
91 axis_camera->setPosition(camera->getPosition());
92 axis_camera->setRotation(camera->getRotation());
93 axis_camera->setTarget(camera->getTarget());
94
95 axis_scenemanager->getVideoDriver()->setRenderTarget(texture, true, true, SColor(0,0,0,0));
96 axis_scenemanager->drawAll();
97 axis_scenemanager->getVideoDriver()->setRenderTarget(0, true, true, 0);
98}
99
100std::string VisualizationCamera::getName(void) {
101 return name;
102}
103
104ICameraSceneNode *VisualizationCamera::getCameraSceneNode(void) {
105 return camera;
106}
107
108ISceneNodeAnimator *VisualizationCamera::createClone(ISceneNode *node,
109 ISceneManager *newManager) {
110 return NULL;
111}
112
113bool VisualizationCamera::OnEvent(const irr::SEvent& event) {
114 if (event.EventType != EET_MOUSE_INPUT_EVENT)
115 return false;
116
117 switch (event.MouseInput.Event) {
118
119 case EMIE_MOUSE_WHEEL:
120 currentZoom -= event.MouseInput.Wheel;
121 break;
122 case EMIE_LMOUSE_PRESSED_DOWN:
123 LMouseKey = true;
124 break;
125 case EMIE_LMOUSE_LEFT_UP:
126 LMouseKey = false;
127 break;
128 case EMIE_MOUSE_MOVED:
129 MousePos = getGui()->getDevice()->getCursorControl()->getRelativePosition();
130 break;
131 default:
132 return false;
133 break;
134 }
135
136 return true;
137}
138
139} // end namespace simulator
140} // end namespace flair
141
142#endif // GL
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