void NDynamicObject::updateFromVision(VisionSense vs)
{
setDistance(vs.distanceToSelf);
setLocalPos(vs.localPos);
if (WM.CanLocalize())
setGlobalPos(WM.getVisionPerceptorMatrix()*pos_local);
}
//===========================================================================
bool cCamera::set(const cVector3d& a_localPosition,
const cVector3d& a_localLookAt,
const cVector3d& a_localUp)
{
// copy new values to temp variables
cVector3d pos = a_localPosition;
cVector3d lookAt = a_localLookAt;
cVector3d up = a_localUp;
cVector3d Cy;
// check validity of vectors
if (pos.distancesq(lookAt) < C_SMALL) { return (false); }
if (up.lengthsq() < C_SMALL) { return (false); }
// compute new rotation matrix
pos.sub(lookAt);
pos.normalize();
up.normalize();
up.crossr(pos, Cy);
if (Cy.lengthsq() < C_SMALL) { return (false); }
Cy.normalize();
pos.crossr(Cy,up);
// update frame with new values
setLocalPos(a_localPosition);
cMatrix3d localRot;
localRot.setCol(pos, Cy, up);
setLocalRot(localRot);
// return success
return (true);
}
//Constructor
GuiTimer::GuiTimer(iPoint pos, const char *tex_path) : crono("00 : 00", 0)
{
setLocalPos(pos.x, pos.y);
crono.setLocalPos(pos.x + 62, pos.y + 18);
type = TIMER;
active = false;
seconds = minutes = 0;
monitor = app->tex->loadTexture(tex_path);
}