| 1 | // created: 2013/03/25
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| 2 | // filename: Model_impl.h
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| 3 | //
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| 4 | // author: Guillaume Sanahuja
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| 5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 6 | //
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| 7 | // version: $Id: $
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| 8 | //
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| 9 | // purpose: classe definissant un modele a simuler
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| 10 | //
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| 11 | /*********************************************************************/
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| 12 |
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| 13 | #ifndef MODEL_IMPL_H
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| 14 | #define MODEL_IMPL_H
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| 15 |
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| 16 | #include <Thread.h>
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| 17 | #include <vrpn_Tracker.h>
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| 18 | #include "Model.h"
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| 19 | #include "Quaternion.h"
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| 20 |
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| 21 | namespace flair
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| 22 | {
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| 23 | namespace core
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| 24 | {
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| 25 | class cvmatrix;
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| 26 | class Mutex;
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| 27 | class ConditionVariable;
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| 28 | }
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| 29 | namespace gui
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| 30 | {
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| 31 | class TabWidget;
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| 32 | class CheckBox;
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| 33 | class DoubleSpinBox;
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| 34 | class SpinBox;
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| 35 | class Vector3DSpinBox;
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| 36 | }
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| 37 | namespace simulator
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| 38 | {
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| 39 | class Simulator;
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| 40 | class AnimPoursuite;
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| 41 | }
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| 42 | }
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| 43 |
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| 44 | #ifdef GL
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| 45 | #include <Vector3D.h>
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| 46 | #include <IMeshSceneNode.h>
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| 47 |
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| 48 | namespace irr
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| 49 | {
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| 50 | namespace scene
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| 51 | {
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| 52 | class ISceneManager;
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| 53 | class ITriangleSelector;
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| 54 | class IMetaTriangleSelector;
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| 55 | class ISceneNodeAnimatorCollisionResponse;
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| 56 | class ICameraSceneNode;
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| 57 | }
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| 58 | }
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| 59 | #endif
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| 60 |
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| 61 | #ifdef GL
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| 62 | class Model_impl : public irr::scene::ISceneNode,public flair::core::Thread,private vrpn_Tracker
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| 63 | #else
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| 64 | class Model_impl : public flair::core::Thread, private vrpn_Tracker
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| 65 | #endif
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| 66 | {
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| 67 | public:
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| 68 | #ifdef GL
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| 69 | Model_impl(flair::simulator::Model* self,std::string name,irr::scene::ISceneManager* scenemanager,vrpn_Connection_IP* vrpn);
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| 70 | #else
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| 71 | Model_impl(flair::simulator::Model* self,std::string name,vrpn_Connection_IP* vrpn);
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| 72 | #endif
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| 73 | ~Model_impl();
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| 74 |
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| 75 | #ifdef GL
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| 76 | void OnRegisterSceneNode(void);
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| 77 | void render(void);
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| 78 | void Draw(void){printf("CA MARCHE PAS PUNAISE\r\n");ExtraDraw();};
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| 79 | void ExtraDraw(void){printf("nope\r\n");};
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| 80 |
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| 81 | const irr::core::aabbox3d<irr::f32>& getBoundingBox(void) const
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| 82 | {
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| 83 | return box;
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| 84 | }
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| 85 | void UpdatePos(void);
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| 86 | void CheckCollision(void);
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| 87 | irr::scene::ITriangleSelector* TriangleSelector(void);
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| 88 | irr::scene::IMetaTriangleSelector* MetaTriangleSelector(void);
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| 89 | irr::core::aabbox3d<irr::f32> box;
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| 90 | void SynchronizationPoint();
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| 91 | irr::scene::ICameraSceneNode* camera;
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| 92 | flair::simulator::AnimPoursuite* animator;
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| 93 | irr::scene::ITriangleSelector* selector;
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| 94 | #endif
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| 95 | void mainloop(void);
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| 96 |
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| 97 | flair::gui::TabWidget *tabwidget;
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| 98 | flair::gui::DoubleSpinBox *dT;
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| 99 |
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| 100 | private:
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| 101 | flair::gui::Vector3DSpinBox* pos_init;
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| 102 | flair::gui::SpinBox *yaw_init;
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| 103 | flair::gui::CheckBox *enable_opti;
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| 104 | flair::simulator::Model* self;
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| 105 | flair::core::cvmatrix* output;
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| 106 | flair::core::Mutex *states_mutex;
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| 107 |
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| 108 | struct timeval _timestamp;
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| 109 | void Run(void);
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| 110 | flair::core::Quaternion ComputeInitRotation(flair::core::Quaternion quat_in);
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| 111 | #ifdef GL
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| 112 | void CollisionHandler(void);
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| 113 |
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| 114 | irr::scene::IMetaTriangleSelector* meta_selector;
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| 115 | irr::scene::ISceneNodeAnimatorCollisionResponse* anim;
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| 116 |
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| 117 | bool position_init;
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| 118 |
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| 119 | flair::core::ConditionVariable* cond;
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| 120 | int sync_count;
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| 121 |
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| 122 | flair::core::Mutex *collision_mutex;
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| 123 | bool collision_occured;
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| 124 | flair::core::Vector3D collision_point;
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| 125 | #endif
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| 126 |
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| 127 | };
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| 128 |
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| 129 | #endif // MODEL_IMPL_H
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