Changeset 287 in flair-src for trunk/lib/FlairSimulator/src

Timestamp:

Jan 8, 2019, 11:46:02 AM (6 years ago)

Author:

Sanahuja Guillaume

Message:

handle vrpn yaw rotation for drawing vrpn axis

Location:

trunk/lib/FlairSimulator/src

Files:

• VisualizationCamera.cpp (modified) (3 diffs)
• VisualizationCamera.h (modified) (1 diff)

trunk/lib/FlairSimulator/src/VisualizationCamera.cpp

@@ -22 +22 @@
 #include "Gui.h"
 #include "Gui_impl.h"
+#include <Euler.h>
 #include <ICursorControl.h>
 #include <ICameraSceneNode.h>
@@ -52 +53 @@
   // camera to draw axis, in a new dedicated scene manager
   axis_scenemanager=getGui()->getSceneManager()->createNewSceneManager();
-  axis_camera = axis_scenemanager->addCameraSceneNode();
+  axis_camera= axis_scenemanager->addCameraSceneNode();
   axis_camera->setAspectRatio(1);  // same as texture ratio, TODO: get it from texture in renderAxisToTexture
   axis_camera->setUpVector(vector3df(0, 0, 1));
   axis_camera->setFOV(PI / 2.5f);
   axis_scenemanager->setActiveCamera(axis_camera);
-  prendre en compte le yaw monde/optitrack (rotation de axis_scenemanager?)
+  
+  //draw ned axis
   IAnimatedMesh* arrowMeshRed = axis_scenemanager->addArrowMesh( "x_axisArrow",video::SColor(255, 255, 0, 0),video::SColor(255, 255, 0, 0));
   nodeX = axis_scenemanager->addMeshSceneNode(arrowMeshRed);
   nodeX->setMaterialFlag(video::EMF_LIGHTING, false);
-  nodeX->setRotation(vector3df(0,0,-90));
+  nodeX->setRotation(vector3df(0,0,-90+core::Euler::ToDegree(getSimulator()->Yaw())));//use vrpn yaw rotation from earth
   nodeX->setScale(vector3df(1,3,1));
   
@@ -67 +69 @@
   nodeY = axis_scenemanager->addMeshSceneNode(arrowMeshGreen);
   nodeY->setMaterialFlag(video::EMF_LIGHTING, false);
+  nodeY->setRotation(vector3df(0,0,core::Euler::ToDegree(getSimulator()->Yaw())));//use vrpn yaw rotation from earth
   nodeY->setScale(vector3df(1,3,1));
   

trunk/lib/FlairSimulator/src/VisualizationCamera.h

@@ -51 +51 @@
   irr::scene::ISceneNode *nodeX,*nodeY,*nodeZ;
   irr::scene::ISceneManager *axis_scenemanager;
-  
+
 protected:
   bool LMouseKey;