Changeset 15 in flair-src for trunk/lib/FlairSimulator/src/SimuLaserGL.cpp

Timestamp:

04/08/16 15:40:57 (7 years ago)

Author:

Bayard Gildas

Message:

sources reformatted with flair-format-dir script

File:

• trunk/lib/FlairSimulator/src/SimuLaserGL.cpp (modified) (1 diff)

trunk/lib/FlairSimulator/src/SimuLaserGL.cpp

@@ -36 +36 @@
 using namespace flair::simulator;
 
-namespace flair
-{
-namespace sensor
-{
-SimuLaserGL::SimuLaserGL(const Model* parent,std::string name,int dev_id) :SimuLaser(parent,name,dev_id),SensorGL(parent)
-{
-    Tab* setup_tab=new Tab(parent->GetTabWidget(),name);
-            position=new Vector3DSpinBox(setup_tab->NewRow(),"position",-2,2,.01);
-            direction=new Vector3DSpinBox(setup_tab->NewRow(),"direction",-2,2,.01);
-            range=new DoubleSpinBox(setup_tab->NewRow(),"range:",0,30,1);
+namespace flair {
+namespace sensor {
+SimuLaserGL::SimuLaserGL(const Model *parent, std::string name, int dev_id)
+    : SimuLaser(parent, name, dev_id), SensorGL(parent) {
+  Tab *setup_tab = new Tab(parent->GetTabWidget(), name);
+  position = new Vector3DSpinBox(setup_tab->NewRow(), "position", -2, 2, .01);
+  direction = new Vector3DSpinBox(setup_tab->NewRow(), "direction", -2, 2, .01);
+  range = new DoubleSpinBox(setup_tab->NewRow(), "range:", 0, 30, 1);
 }
 
-SimuLaserGL::~SimuLaserGL()
-{
+SimuLaserGL::~SimuLaserGL() {}
 
-}
+void SimuLaserGL::UpdateFrom(const io_data *data) {
+  float value[360];
 
-void SimuLaserGL::UpdateFrom(const io_data *data)
-{
-    float value[360];
+  if (noGui() == false && data == NULL) {
+    for (int i = 0; i < 360; i++) {
+      line3d<f32> ray_laser;         // rayon provenant de l'ultra son
+      vector3df intersection_laser;  // point intersection us avec le sol
+      triangle3df hitTriangle_laser; // triangle intersection us avec le sol
 
-    if(noGui()==false && data==NULL)
-    {
-        for (int i=0; i<360; i++)
-        {
-            line3d<f32> ray_laser;//rayon provenant de l'ultra son
-            vector3df intersection_laser;//point intersection us avec le sol
-            triangle3df hitTriangle_laser;//triangle intersection us avec le sol
+      // get rotation matrix of node - Zeuss must be getRotation not
+      // getRelativeTransformation
+      matrix4 m;
+      matrix4 M;
+      m.setRotationDegrees(Node()->getRotation());
 
-             //get rotation matrix of node - Zeuss must be getRotation not getRelativeTransformation
-            matrix4 m;
-            matrix4 M;
-            m.setRotationDegrees(Node()->getRotation());
+      // Matrice de rotation pour balayage du laser, angle i
+      M.setRotationDegrees(vector3df(0, 0, i));
+      // transform forward vector of us
+      vector3df frv = ToIrrlichtCoordinates(direction->Value());
+      M.transformVect(frv);
+      m.transformVect(frv);
+      frv.normalize();
 
-            //Matrice de rotation pour balayage du laser, angle i
-            M.setRotationDegrees(vector3df(0,0,i));
-            // transform forward vector of us
-            vector3df frv =ToIrrlichtCoordinates(direction->Value());
-            M.transformVect(frv);
-            m.transformVect(frv);
-            frv.normalize();
+      // transform pos vector of us
+      vector3df pos = ToIrrlichtCoordinates(position->Value());
+      m.transformVect(pos);
 
+      ray_laser.start = Node()->getPosition() + pos;
+      ray_laser.end = ray_laser.start + ToIrrlichtScale(range->Value()) * frv;
 
-             // transform pos vector of us
-            vector3df pos =ToIrrlichtCoordinates(position->Value());
-            m.transformVect(pos);
-
-            ray_laser.start =Node()->getPosition() + pos;
-            ray_laser.end = ray_laser.start + ToIrrlichtScale(range->Value())*frv;
-
-            scene::ISceneNode * selectedSceneNode =
-                CollMan()->getSceneNodeAndCollisionPointFromRay(ray_laser,intersection_laser,hitTriangle_laser);
-    // //////////////////////////////////////////
-            if(selectedSceneNode) //
-            {
-                value[i]=ToSimulatorScale(ray_laser.start.getDistanceFrom(intersection_laser));
-            }
-            else
-            {
-                value[i]=-1;
-            }
-
-        }
-        shmem->Write((char*)value,360*sizeof(float));
+      scene::ISceneNode *selectedSceneNode =
+          CollMan()->getSceneNodeAndCollisionPointFromRay(
+              ray_laser, intersection_laser, hitTriangle_laser);
+      // //////////////////////////////////////////
+      if (selectedSceneNode) //
+      {
+        value[i] = ToSimulatorScale(
+            ray_laser.start.getDistanceFrom(intersection_laser));
+      } else {
+        value[i] = -1;
+      }
     }
+    shmem->Write((char *)value, 360 * sizeof(float));
+  }
 }