source: flair-src/trunk/lib/FlairSimulator/src/unexported/Model_impl.h @ 158

Last change on this file since 158 was 158, checked in by Sanahuja Guillaume, 5 years ago

corrected simu/device id for sensors

File size: 2.8 KB
RevLine 
[10]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[10]4// %flair:license}
[8]5//  created:    2013/03/25
6//  filename:   Model_impl.h
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    classe definissant un modele a simuler
14//
15/*********************************************************************/
16
17#ifndef MODEL_IMPL_H
18#define MODEL_IMPL_H
19
20#include <Thread.h>
21#include <vrpn_Tracker.h>
22#include "Model.h"
23#include "Quaternion.h"
24
[15]25namespace flair {
26namespace core {
27class cvmatrix;
28class Mutex;
29class ConditionVariable;
[8]30}
[15]31namespace gui {
32class TabWidget;
33class CheckBox;
34class DoubleSpinBox;
35class SpinBox;
36class Vector3DSpinBox;
37}
38namespace simulator {
39class Simulator;
[69]40class FollowMeCamera;
[15]41}
42}
[8]43
44#ifdef GL
45#include <Vector3D.h>
46#include <IMeshSceneNode.h>
47
[15]48namespace irr {
49namespace scene {
50class ISceneManager;
51class ITriangleSelector;
52class IMetaTriangleSelector;
53class ISceneNodeAnimatorCollisionResponse;
[8]54}
[15]55}
[8]56#endif
57
58#ifdef GL
[15]59class Model_impl : public irr::scene::ISceneNode,
60                   public flair::core::Thread,
61                   private vrpn_Tracker
[8]62#else
[15]63class Model_impl : public flair::core::Thread,
64                   private vrpn_Tracker
[8]65#endif
[15]66                   {
67public:
[158]68  Model_impl(flair::simulator::Model *self, std::string name,uint32_t modelId);
[15]69  ~Model_impl();
[8]70
71#ifdef GL
[15]72  void OnRegisterSceneNode(void);
73  void render(void);
74  void Draw(void) {
75    printf("CA MARCHE PAS PUNAISE\r\n");
76    ExtraDraw();
77  };
78  void ExtraDraw(void) { printf("nope\r\n"); };
[8]79
[15]80  const irr::core::aabbox3d<irr::f32> &getBoundingBox(void) const {
81    return box;
82  }
83  void UpdatePos(void);
84  void CheckCollision(void);
85  irr::scene::ITriangleSelector *TriangleSelector(void);
86  irr::scene::IMetaTriangleSelector *MetaTriangleSelector(void);
87  irr::core::aabbox3d<irr::f32> box;
88  void SynchronizationPoint();
[69]89  flair::simulator::FollowMeCamera *camera;
[15]90  irr::scene::ITriangleSelector *selector;
[8]91#endif
[15]92  void mainloop(void);
[8]93
[15]94  flair::gui::TabWidget *tabwidget;
95  flair::gui::DoubleSpinBox *dT;
[158]96  int modelId;
[8]97
[15]98private:
99  flair::gui::Vector3DSpinBox *pos_init;
100  flair::gui::SpinBox *yaw_init;
101  flair::gui::CheckBox *enable_opti;
102  flair::simulator::Model *self;
103  flair::core::cvmatrix *output;
104  flair::core::Mutex *states_mutex;
[8]105
[15]106  struct timeval _timestamp;
107  void Run(void);
108  flair::core::Quaternion ComputeInitRotation(flair::core::Quaternion quat_in);
[8]109#ifdef GL
[15]110  void CollisionHandler(void);
[8]111
[15]112  irr::scene::IMetaTriangleSelector *meta_selector;
113  irr::scene::ISceneNodeAnimatorCollisionResponse *anim;
[8]114
[15]115  bool position_init;
[8]116
[15]117  flair::core::ConditionVariable *cond;
118  int sync_count;
[8]119
[15]120  flair::core::Mutex *collision_mutex;
121  bool collision_occured;
122  flair::core::Vector3D collision_point;
[8]123#endif
124};
125
126#endif // MODEL_IMPL_H
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