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

Timestamp:

04/08/16 15:40:57 (8 years ago)

Author:

Bayard Gildas

Message:

sources reformatted with flair-format-dir script

File:

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

trunk/lib/FlairSimulator/src/SimuUsGL.cpp

@@ -36 +36 @@
 using namespace flair::simulator;
 
-namespace flair
-{
-namespace sensor
-{
-SimuUsGL::SimuUsGL(const Model* parent,std::string name,int dev_id) :SimuUs(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:",0,6,1);
+namespace flair {
+namespace sensor {
+SimuUsGL::SimuUsGL(const Model *parent, std::string name, int dev_id)
+    : SimuUs(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, 6, 1);
 }
 
-SimuUsGL::~SimuUsGL()
-{
+SimuUsGL::~SimuUsGL() {}
 
-}
+void SimuUsGL::UpdateFrom(const io_data *data) {
+  float value;
+#ifdef GL
+  if (noGui() == true) {
+#endif
+    // todo: utiliser le placement de l'us dans le drone et sa portée
+    cvmatrix *input = (cvmatrix *)data;
+    value = input->Value(9, 0);
+    shmem->Write((char *)&value, sizeof(float));
+#ifdef GL
+  }
 
-void SimuUsGL::UpdateFrom(const io_data *data)
-{
-    float value;
-#ifdef GL
-    if(noGui()==true)
-    {
-#endif
-        //todo: utiliser le placement de l'us dans le drone et sa portée
-        cvmatrix *input=(cvmatrix*)data;
-        value=input->Value(9,0);
-        shmem->Write((char*)&value,sizeof(float));
-#ifdef GL
+  if (noGui() == false && data == NULL) {
+    line3d<f32> ray_us;         // rayon provenant de l'ultra son
+    vector3df intersection_us;  // point intersection us avec le sol
+    triangle3df hitTriangle_us; // triangle intersection us avec le sol
+
+    // get rotation matrix of node - Zeuss must be getRotation not
+    // getRelativeTransformation
+    matrix4 m;
+    m.setRotationDegrees(Node()->getRotation());
+
+    // transform forward vector of us
+    vector3df frv = ToIrrlichtCoordinates(direction->Value());
+    m.transformVect(frv);
+    frv.normalize();
+
+    // transform pos vector of us
+    vector3df pos = ToIrrlichtCoordinates(position->Value());
+    m.transformVect(pos);
+
+    ray_us.start = Node()->getPosition() + pos;
+    ray_us.end = ray_us.start + ToIrrlichtScale(range->Value()) * frv;
+
+    scene::ISceneNode *selectedSceneNode =
+        CollMan()->getSceneNodeAndCollisionPointFromRay(ray_us, intersection_us,
+                                                        hitTriangle_us);
+
+    if (selectedSceneNode) {
+      float value =
+          ToSimulatorScale(ray_us.start.getDistanceFrom(intersection_us));
+      shmem->Write((char *)&value, sizeof(float));
     }
-
-    if(noGui()==false && data==NULL)
-    {
-        line3d<f32> ray_us;//rayon provenant de l'ultra son
-        vector3df intersection_us;//point intersection us avec le sol
-        triangle3df hitTriangle_us;//triangle intersection us avec le sol
-
-         //get rotation matrix of node - Zeuss must be getRotation not getRelativeTransformation
-        matrix4 m;
-        m.setRotationDegrees(Node()->getRotation());
-
-        // transform forward vector of us
-        vector3df frv =ToIrrlichtCoordinates(direction->Value());
-        m.transformVect(frv);
-        frv.normalize();
-
-         // transform pos vector of us
-        vector3df pos =ToIrrlichtCoordinates(position->Value());
-        m.transformVect(pos);
-
-        ray_us.start =Node()->getPosition() +pos;
-        ray_us.end = ray_us.start + ToIrrlichtScale(range->Value())*frv;
-
-        scene::ISceneNode * selectedSceneNode =
-            CollMan()->getSceneNodeAndCollisionPointFromRay(ray_us,intersection_us,hitTriangle_us);
-
-        if(selectedSceneNode)
-        {
-            float value=ToSimulatorScale(ray_us.start.getDistanceFrom(intersection_us));
-            shmem->Write((char*)&value,sizeof(float));
-        }
-    }
+  }
 #endif
 }