void Camera::KeyboardNumpad(InputManager &input, float factor)
{
//Use the numberpad to replace the mouse
if(input.KeyCheck(KEY_NUMPAD4)) LookRight(-factor);
if(input.KeyCheck(KEY_NUMPAD6)) LookRight(factor);
if(input.KeyCheck(KEY_NUMPAD8)) LookUp(factor);
if(input.KeyCheck(KEY_NUMPAD2)) LookUp(-factor);
if(input.KeyCheck(KEY_NUMPAD7)) Roll(factor);
if(input.KeyCheck(KEY_NUMPAD9)) Roll(-factor);
}
void NaoHeadControl::execute()
{
switch(headMotionRequest.headMotionType)
{
case HeadMotionRequest::intelligencemode:
IntelligenceMode();
break;
case HeadMotionRequest::automode:
AutoMode();
break;
case HeadMotionRequest::handmode:
HandMode();
break;
case HeadMotionRequest::lookforward:
LookForward();
break;
case HeadMotionRequest::lookleft:
LookLeft();
break;
case HeadMotionRequest::lookright:
LookRight();
break;
case HeadMotionRequest::lookatball:
LookAtBall();
break;
case HeadMotionRequest::lookatourgoal:
LookAtOurGoal();
break;
case HeadMotionRequest::lookatoppgoal:
LookAtOppGoal();
break;
default:
cerr << "There is No Such headMotionType!" << endl;
}
}
void Camera3::DecelerateLookRight(const double dt)
{
if(yawVelocity + (camAcceleration * camBrakeOffset * dt) < 0)
{
yawVelocity += camAcceleration * camBrakeOffset * dt;
yawAngle += camAcceleration * camBrakeOffset * dt;
LookRight(dt);
}
else
{
yawVelocity = 0.f;
yawMovingRight = false;
}
}
void Camera3::Yaw(const double dt)
{
/******************** set flags *********************/
bool Left = Controller::getCameraYaw() < 0.f;
bool Right = Controller::getCameraYaw() > 0.f;
if(Left)//(+vel)
{
yawMovingLeft = true;
}
else if(Right)//(-vel)
{
yawMovingRight = true;
}
/******************** update *************************/
if(yawMovingRight || yawMovingLeft)
{
yawVelocity += -camAcceleration * Controller::getCameraYaw() * (float)dt;
yawAngle += -camAcceleration * (float)dt;
}
/******************** cap *************************/
if(yawVelocity > CAMERA_MAX_VELOCITY)
yawVelocity = CAMERA_MAX_VELOCITY;
else if(yawVelocity < -CAMERA_MAX_VELOCITY)
yawVelocity = -CAMERA_MAX_VELOCITY;
/******************** decelerate *************************/
if(!Left && yawMovingLeft)
DecelerateLookLeft(dt);
else if(!Right && yawMovingRight)
DecelerateLookRight(dt);
if(Left)
LookLeft(dt);
else if(Right)
LookRight(dt);
}
