bool Camera::OnSpecialKeyboard(int Key) {
bool Ret = false;
switch(Key) {
case GLUT_KEY_UP:
{
pitch(Radian(Degree(5)));
Ret = true;
}
break;
case GLUT_KEY_DOWN:
{
pitch(Radian(Degree(-5)));
Ret = true;
}
break;
case GLUT_KEY_LEFT:
{
yaw(Radian(Degree(-5)));
Ret = true;
}
break;
case GLUT_KEY_RIGHT:
{
yaw(Radian(Degree(5)));
Ret = true;
}
break;
}
return Ret;
}
void OnUpdate(float dt)
{
XINPUT_STATE inputState = { 0, };
if (XInputGetState(0, &inputState) == ERROR_SUCCESS)
{
if (inputState.Gamepad.sThumbLX < XINPUT_GAMEPAD_LEFT_THUMB_DEADZONE &&
inputState.Gamepad.sThumbLX > -XINPUT_GAMEPAD_LEFT_THUMB_DEADZONE)
inputState.Gamepad.sThumbLX = 0;
if (inputState.Gamepad.sThumbLY < XINPUT_GAMEPAD_LEFT_THUMB_DEADZONE &&
inputState.Gamepad.sThumbLY > -XINPUT_GAMEPAD_LEFT_THUMB_DEADZONE)
inputState.Gamepad.sThumbLY = 0;
if (inputState.Gamepad.sThumbRX < XINPUT_GAMEPAD_RIGHT_THUMB_DEADZONE &&
inputState.Gamepad.sThumbRX > -XINPUT_GAMEPAD_RIGHT_THUMB_DEADZONE)
inputState.Gamepad.sThumbRX = 0;
if (inputState.Gamepad.sThumbRY < XINPUT_GAMEPAD_RIGHT_THUMB_DEADZONE &&
inputState.Gamepad.sThumbRY > -XINPUT_GAMEPAD_RIGHT_THUMB_DEADZONE)
inputState.Gamepad.sThumbRY = 0;
if (inputState.Gamepad.sThumbLY > 0) walk(30 * dt);
else if (inputState.Gamepad.sThumbLY < 0) walk(-30 * dt);
if (inputState.Gamepad.sThumbLX > 0) strafe(30 * dt);
else if (inputState.Gamepad.sThumbLX < 0) strafe(-30 * dt);
if (inputState.Gamepad.sThumbRY > 0) pitch(0.5f * dt);
else if (inputState.Gamepad.sThumbRY < 0) pitch(-0.5f * dt);
if (inputState.Gamepad.sThumbRX > 0) yaw(0.5f * dt);
else if (inputState.Gamepad.sThumbRX < 0) yaw(-0.5f * dt);
}
}
////////////////////////////////////////////////////////////////////////////////////////
// Convert From {Picth, Yaw, Roll} (RADIANS)
////////////////////////////////////////////////////////////////////////////////////////
void CVec3::AngToVecRad(CVec3& Right, CVec3& Up)
{
float sr, sp, sy, cr, cp, cy;
sy = sinf(yaw());
cy = cosf(yaw());
sp = sinf(pitch());
cp = cosf(pitch());
sr = sinf(roll());
cr = cosf(roll());
// Forward Vector Is Stored Here
v[0] = cp * cy;
v[1] = cp * sy;
v[2] = -sp;
// Calculate Right
Right.v[0] = (-1 * sr * sp * cy + -1 * cr * -sy);
Right.v[1] = (-1 * sr * sp * sy + -1 * cr * cy);
Right.v[2] = -1 * sr * cp;
// Calculate Up
Up.v[0] = (cr * sp * cy + -sr * -sy);
Up.v[1] = (cr * sp * sy + -sr * cy);
Up.v[2] = cr * cp;
}
////////////////////////////////////////////////////////////////////////////////////////
// Convert From {Picth, Yaw} (RADIANS)
////////////////////////////////////////////////////////////////////////////////////////
void CVec3::AngToVecRad()
{
float sp, sy, cp, cy;
sy = sinf(yaw());
cy = cosf(yaw());
sp = sinf(pitch());
cp = cosf(pitch());
v[0] = cp * cy;
v[1] = cp * sy;
v[2] = -sp;
}
void Camera::update(float timeDelta)
{
if(EventDispatcher::Get()->keys[KEY_UP]) walk(10.0f * timeDelta);
if(EventDispatcher::Get()->keys[KEY_DOWN]) walk(-10.0f * timeDelta);
if(EventDispatcher::Get()->keys[KEY_LEFT]) strafe(-10.0f * timeDelta);
if(EventDispatcher::Get()->keys[KEY_RIGHT]) strafe(10.0f * timeDelta);
if(EventDispatcher::Get()->keys[KEY_N]) yaw(-1.0f * timeDelta);
if(EventDispatcher::Get()->keys[KEY_M]) yaw(1.0f * timeDelta);
if(EventDispatcher::Get()->keys[KEY_W]) pitch(-1.0f * timeDelta);
if(EventDispatcher::Get()->keys[KEY_S]) pitch(1.0f * timeDelta);
if(EventDispatcher::Get()->keys[KEY_Q]) roll(-1.0f * timeDelta);
if(EventDispatcher::Get()->keys[KEY_E]) roll(1.0f * timeDelta);
}
void OnUpdate(float dt)
{
if (IsKeyDown('W')) walk(30 * dt);
else if (IsKeyDown('S')) walk(-30 * dt);
if (IsKeyDown('A')) strafe(30 * dt);
else if (IsKeyDown('D')) strafe(-30 * dt);
float calcedX = GetMouseX() - lastMouseX, calcedY = GetMouseY() - lastMouseY;
lastMouseX = GetMouseX();
lastMouseY = GetMouseY();
if (calcedY < 0) pitch(0.5f * dt * abs(calcedY));
else if (calcedY > 0) pitch(-0.5f * dt * abs(calcedY));
if (calcedX > 0) yaw(0.5f * dt * abs(calcedX));
else if (calcedX < 0) yaw(-0.5f * dt * abs(calcedX));
}
void PeripheralSetup::setup(Projector& _proj)
{
QMatrix4x4 _matrix;
qreal _theta = yaw().radians();
qreal _ct = -cos(_theta), _st = -sin(_theta);
QVector2D _shiftVec = QVector2D(-_st,_ct) * shift_;
QVector2D _p = _shiftVec + distanceCenter_ * QVector2D(_ct,_st);
QVector3D _pos = QVector3D(_p.x(),_p.y(),towerHeight_);
_matrix.translate(_pos);
_matrix.rotate(yaw().degrees() + deltaYaw_.degrees(),QVector3D(0.0,0.0,1.0));
_matrix.rotate(-pitch().degrees(),QVector3D(0.0,1.0,0.0));
_matrix.rotate(roll().degrees(),QVector3D(1.0,0.0,0.0));
_proj.setMatrix(_matrix);
}
void Character::setYaw(const Ogre::Radian radians)
{
if (node) {
node->setOrientation(node->getInitialOrientation());
}
yaw(radians);
}
// 시야 체크
void cMobKnight::SetLook( D3DXVECTOR3 Player_Pos )
{
// 스테이터스가 DIE 상태일 경우
if( m_Status.m_Status == STATUS_DIE )
{
m_cMobKnightController.SetRangeNoLoop(m_Status.StartFrame,
m_Status.EndFrame,
m_Status.StartFrame,
m_Status.EndFrame,
m_Status.PlayTime );
return;
}
D3DXVECTOR3 vCross, m_vMonster_NewDir;
m_vMonster_dir = ( Player_Pos - m_vPos ); // 적이 플레이어를 바라보는 방향
D3DXVec3Normalize( &m_vMonster_NewDir, &m_vMonster_dir ); // 그 방향 정규화
D3DXVec3Normalize( &m_vLook, &m_vLook); // 현재 방향 정규화
D3DXVec3Cross( &vCross, &m_vMonster_NewDir, &m_vLook ); // 적이 플레이어 바라보는 방향과 원래 방향으로 외적
m_fDot = D3DXVec3Dot( &m_vMonster_NewDir, &m_vLook );
m_fLen = D3DXVec3Length( &vCross );
// 플레이어와 몬스터의 거리가 210.0f 안이고 몬스터가 현재 움직일 수 있는 상태일 경우
if( SetLength( Player_Pos ) < 210.0f && m_Status.ActionCansle == true )
{
if( m_fDot < 0.99f )
{
m_fangle -= vCross.y*0.2f; // 외적한 벡터의 y 마큼 회전 시킴
yaw( -vCross.y*0.2f );
}
}
}
void CCamera::ProcInput(GameInput *gameInput)
{
float fDelta = 0.005f;
float x = gameInput->m_CurMState.pos.x - gameInput->m_OldMState.pos.x;
float y = gameInput->m_CurMState.pos.y - gameInput->m_OldMState.pos.y;
pitch(y * fDelta * 0.5);
yaw(x * fDelta * 0.5);
if(KEYDOWN('W'))
{
walk(5000.0f * fDelta);
}
if(KEYDOWN('S'))
{
walk(-5000.0f * fDelta);
}
if(KEYDOWN('A'))
{
strafe(-5000.0f * fDelta);
}
if(KEYDOWN('D'))
{
strafe(5000.0f * fDelta);
}
return;
}
void
WiimoteManager::update(float dt)
{
// dt average: 0.000574
std::lock_guard<std::mutex> lock(m_mutex);
//std::cout << "Time: " << dt << std::endl;
//if (glm::abs(m_accel_pitch) < 70.0f)
{
glm::quat qpitch(glm::vec3(m_accel_pitch, 0.0f, 0.0f));
glm::quat qroll(glm::vec3(0.0f, 0.0f, m_accel_roll));
glm::quat qaccel = /*qyaw */ qpitch * qroll;
glm::quat yaw(glm::vec3(0.0f, m_gyro_yaw, 0.0f));
glm::quat qgyro = glm::inverse(yaw) * m_gyro_orientation;
m_gyro_orientation = yaw * glm::normalize(glm::lerp(qgyro, qaccel, std::min(1.0f, 2.0f * dt)));
//glm::quat yaw(glm::vec3(0.0f, m_gyro_yaw, 0.0f));
//m_gyro_orientation = glm::inverse(yaw) * m_gyro_orientation;
//m_gyro_orientation = glm::lerp(m_gyro_orientation, m_orientation, std::min(1.0f, 1.0f * dt));
//m_gyro_orientation = glm::normalize(m_gyro_orientation);
//m_gyro_orientation = yaw * m_gyro_orientation;
}
}
void Entity::SetRotation(ConstVec3fr rotation)
{
// assert(false);
this->rotation = rotation;
hasRotated = true;
if (physics && physics->useQuaternions)
{
/// This assumes Euler angles, so construct an euler angle now!
Quaternion pitch(Vector3f(1,0,0), -rotation.x),
yaw(Vector3f(0,1,0), rotation.y),
roll(Vector3f(0,0,1), rotation.z);
Quaternion pitchYaw = pitch * yaw;
pitchYaw.Normalize();
Quaternion newOrientation = pitch * yaw * roll;
physics->orientation = newOrientation;
physics->orientation.Normalize();
//physics->orientation = Quaternion();
//Quaternion rotationQuaternion = Quaternion(rotation, 1.0f);
//rotationQuaternion.Normalize();
//physics->orientation = physics->orientation * rotationQuaternion;
//physics->orientation.Normalize();
}
RecalculateMatrix();
}
void kexCamera::SetupMatrices(void) {
UpdateAspect();
// projection
projMatrix.Identity();
projMatrix.SetViewProjection(aspect,
(float)bFixedFOV ? fov : cvarClientFOV.GetFloat(), zNear, zFar);
// scaling the camera object will affect the view projection
projMatrix.vectors[0].x *= scale.x;
projMatrix.vectors[1].y *= scale.y;
// model
modelMatrix.Identity();
kexQuat yaw(-(angles.yaw + offsetAngle.yaw) + M_PI, kexVec3::vecUp);
kexQuat pitch(angles.pitch + offsetAngle.pitch, kexVec3::vecRight);
kexQuat roll(angles.roll + offsetAngle.roll,
kexVec3(0, kexMath::Sin(angles.pitch), kexMath::Cos(angles.pitch)));
modelMatrix = kexMatrix((yaw * roll) * pitch);
rotMatrix = modelMatrix;
modelMatrix.AddTranslation(-(origin * modelMatrix));
// frustum
viewFrustum.MakeClipPlanes(projMatrix, modelMatrix);
viewFrustum.TransformPoints(origin, angles.ToForwardAxis(), fov, aspect, zNear, zFar);
}
Quaternion Quaternion::FromEulerAngles(const vec3& angles)
{
Quaternion pitch(vec3(1.0, 0.0, 0.0), angles.x);
Quaternion yaw(vec3(0.0, 1.0, 0.0), angles.y);
Quaternion roll(vec3(0.0, 0.0, 1.0), angles.z);
return pitch * yaw * roll;
}
////////////////////////////////////////////////////////////////////////////////////////
// Convert From {Picth, Yaw, Roll} (DEGREES)
////////////////////////////////////////////////////////////////////////////////////////
void CVec3::AngToVec(CVec3& Right, CVec3& Up)
{
float angle;
float sr, sp, sy, cr, cp, cy;
angle = yaw() * (RAVL_VEC_DEGTORADCONST);
sy = sinf(angle);
cy = cosf(angle);
angle = pitch() * (RAVL_VEC_DEGTORADCONST);
sp = sinf(angle);
cp = cosf(angle);
angle = roll() * (RAVL_VEC_DEGTORADCONST);
sr = sinf(angle);
cr = cosf(angle);
// Forward Vector Is Stored Here
v[0] = cp * cy;
v[1] = cp * sy;
v[2] = -sp;
// Calculate Right
Right.v[0] = (-1 * sr * sp * cy + -1 * cr * -sy);
Right.v[1] = (-1 * sr * sp * sy + -1 * cr * cy);
Right.v[2] = -1 * sr * cp;
// Calculate Up
Up.v[0] = (cr * sp * cy + -sr * -sy);
Up.v[1] = (cr * sp * sy + -sr * cy);
Up.v[2] = cr * cp;
}
void GameObject::setYaw(const Ogre::Radian radians)
{
if (node) {
node->setOrientation(node->getInitialOrientation());
}
yaw(radians);
}
void Camera::update(const GameTime& gameTime)
{
Vector2 mouseMovement = Mouse::getMovement();
yaw(mouseMovement.x * mouseSpeed);
pitch(mouseMovement.y * mouseSpeed);
Matrix m = Matrix::createFromAxisAngle(Vector3::up, rotationX);
Vector3 forward = Vector3::transform(Vector3::forward, m);
Vector3 right = Vector3::transform(Vector3::right, m);
Vector3 direction;
if (Keyboard::isKeyDown(buttonMoveForward))
direction += forward;
if (Keyboard::isKeyDown(buttonMoveBackward))
direction -= forward;
if (Keyboard::isKeyDown(buttonMoveRight))
direction += right;
if (Keyboard::isKeyDown(buttonMoveLeft))
direction -= right;
if (Keyboard::isKeyDown(buttonMoveUp))
direction += Vector3::up;
if (Keyboard::isKeyDown(buttonMoveDown))
direction -= Vector3::up;
float speed = rotationSpeed * gameTime.elapsed;
//if (Keyboard::isKeyDown(buttonLookDown))
// pitch(speed);
//if (Keyboard::isKeyDown(buttonLookUp))
// pitch(-speed);
//if (Keyboard::isKeyDown(buttonLookRight))
// yaw(speed);
//if (Keyboard::isKeyDown(buttonLookLeft))
// yaw(-speed);
float modifier = 1.0f;
if (Keyboard::isKeyDown(buttonMoveFast))
modifier *= moveFast;
if (Keyboard::isKeyDown(buttonMoveSlow))
modifier *= moveSlow;
position += Vector3::normalize(direction) * movementSpeed * modifier * gameTime.elapsed;
updateRotation();
}
void FPSViewController::handleMouseEvent(ViewportMouseEvent& event)
{
if ( event.shift() )
{
setStatus( "<b>Left-Click:</b> Move X/Y. <b>Right-Click:</b>: Move Z." );
}
else
{
setStatus( "<b>Left-Click:</b> Rotate. <b>Middle-Click:</b> Move X/Y. <b>Right-Click:</b>: Zoom. <b>Shift</b>: More options." );
}
bool moved = false;
int32_t diff_x = 0;
int32_t diff_y = 0;
if( event.type == QEvent::MouseMove )
{
diff_x = event.x - event.last_x;
diff_y = event.y - event.last_y;
moved = true;
}
if( event.left() && !event.shift() )
{
setCursor( Rotate3D );
yaw( -diff_x*0.005 );
pitch( diff_y*0.005 );
}
else if( event.middle() || ( event.shift() && event.left() ))
{
setCursor( MoveXY );
move( diff_x*0.01, -diff_y*0.01, 0.0f );
}
else if( event.right() )
{
setCursor( MoveZ );
move( 0.0f, 0.0f, diff_y*0.1 );
}
else
{
setCursor( event.shift() ? MoveXY : Rotate3D );
}
if ( event.wheel_delta != 0 )
{
int diff = event.wheel_delta;
move( 0.0f, 0.0f, -diff * 0.01 );
moved = true;
}
if (moved)
{
context_->queueRender();
}
}
void CCameraFeedbackNotifier::walkEffect(unsigned int msecs) {
Vector3 offset = _cameraComponent->getOffset();
_walkAnim.currentStrafingDir = _strafingDir;
_strafingDir = _avatarc->getDisplacementDir().x;
if(_strafingDir == 0) {
Quaternion yaw( _entity->getYaw() );
Math::rotate( Vector3::UNIT_Y, Ogre::Radian(Math::HALF_PI), yaw);
Vector3 horizontal = yaw * Vector3::NEGATIVE_UNIT_Z;
_walkAnim.currentHorizontalPos += _walkAnim.horizontalSpeed * msecs;
if(_walkAnim.currentHorizontalPos > ((2 * Math::PI) + Math::HALF_PI)) _walkAnim.currentHorizontalPos = Math::HALF_PI;
// Multiplicamos el vector horizontal normalizado por el desplazamiento y lo sumamos al offset
horizontal *= sin(_walkAnim.currentHorizontalPos) * _walkAnim.horizontalOffset;
offset += horizontal;
}
else {
// Reducimos el offset horizontal
// Queda mas suave sin correccion
offset = offset * Vector3(0.95f, 1.0f, 0.95f);
// Si no estamos recuperando el offset por haber llegado al máximo
// incrementamos el roll
if(!_walkAnim.recoveringRoll) {
_walkAnim.currentRoll += _strafingDir * _walkAnim.rollSpeed * msecs;
if(abs(_walkAnim.currentRoll) >= _walkAnim.rollOffset) {
_walkAnim.currentRoll = _walkAnim.rollOffset * _walkAnim.rollCoef * _strafingDir;
_walkAnim.recoveringRoll = true;
}
}
// Si cambiamos de direccion dejamos de recuperar el offset
else if(_walkAnim.currentStrafingDir != _strafingDir) {
_walkAnim.recoveringRoll = false;
}
}
// Recuperamos la posicion inicial multiplicando por el coeficiente
// de recuperacion
if(_walkAnim.recoveringRoll && _walkAnim.currentRoll != 0) {
_walkAnim.currentRoll *= _walkAnim.rollCoef;
if(abs(_walkAnim.currentRoll) < 0.001)
_walkAnim.currentRoll = 0;
}
_cameraComponent->rollCamera(_walkAnim.currentRoll);
_walkAnim.currentVerticalPos += _walkAnim.verticalSpeed * msecs;
if(_walkAnim.currentVerticalPos > ((2 * Math::PI) + Math::HALF_PI)) {
_walkAnim.currentVerticalPos = Math::HALF_PI;
}
offset.y += sin(_walkAnim.currentVerticalPos) * _walkAnim.verticalOffset;
_cameraComponent->setOffset(offset);
}
void Controllable::trackMouse()
{
float deltaX, deltaY;
input->getMouseDelta(deltaX, deltaY);
// Adjust the deltas by the sensitivity.
deltaX *= sensitivity / 100;
deltaY *= sensitivity / 100; // DirectInput maps +y to down in screen coords.
yaw(deltaX);
pitch(deltaY);
}
void PositionController::control(double t) {
// Evaluate trajectory
TrajectoryState s = this->getTargetState(t);
ModelState cur = vehicle->arrival_state();
Vector3d eP = s.position - cur.position;
Vector3d eV = s.velocity - cur.velocity;
// At low altitudes, there's no room to rotate so we reduce the error effect
// TODO: Have a better way of doing this: essentially we want a trajectory straight up followed
if(s.position.z() < 0.1) {
double factor = 0.8;
for(unsigned i = 0; i < 2; i++) {
eP(i) *= factor;
eV(i) *= factor;
}
}
Vector3d out;
if(hoverMode) {
// Do nothing if hovering on the ground
if(point.z() < 0.1) {
vehicle->setpoint_zero();
return;
}
out = hoverPid->compute(eP, eV, 0.01);
}
else {
out = pid->compute(eP, eV, 0.01 /* TODO: Make this more dynamic */);
}
Vector3d a = out + s.acceleration;
double yaw_angle = DEFAULT_YAW_ANGLE;
if(directAttitudeControl) {
vehicle->lastControlInput = a;
a += Vector3d(0, 0, GRAVITY_MS);
Quaterniond att = Quaterniond::FromTwoVectors(Vector3d(0,0,1), a.normalized());
Quaterniond yaw( AngleAxisd(yaw_angle, Vector3d::UnitZ()) );
vehicle->setpoint_attitude(att*yaw, a.norm());
}
else {
vehicle->setpoint_accel(a, yaw_angle);
}
}
void CameraComponent::onUpdate(float delta)
{
//Event_GetWindowResolution windowResolution;
//SEND_EVENT(&windowResolution);
//// Calculate split screen attribute
//float aspectRatio = windowResolution.getAspectRatio();
// Update rotation
while(itrPlayer.hasNext())
{
AttributePtr<Attribute_Player> ptr_player = itrPlayer.getNext();
AttributePtr<Attribute_Health> ptr_health = ptr_player->ptr_health;
AttributePtr<Attribute_Input> ptr_input = ptr_player->ptr_input;
AttributePtr<Attribute_Camera> ptr_camera = ptr_player->ptr_camera;
if(ptr_health->health <= 0)
{
//camera->aspectRatio += delta*100;
//updateProj(camera);
}
else
{
yaw(ptr_input->rotation.x, ptr_camera);
pitch(ptr_input->rotation.y, ptr_camera);
}
//Entity* entity = itrInput.owner();
//if(entity->hasAttribute(ATTRIBUTE_CAMERA))
//{
//std::vector<Attribute_Camera*> cameras = itrCamera.getMultiple(entity->getAttributes(ATTRIBUTE_CAMERA));
//for(int i=0; i<(int)cameras.size(); i++)
//{
//Attribute_Camera* camera = itrCamera.at(player->ptr_camera);//cameras.at(i);
//yaw(input->rotation.x, camera);
//pitch(input->rotation.y, camera);
//}
//}
}
// Recalculate view
while(itrCamera.hasNext())
{
AttributePtr<Attribute_Camera> ptr_camera = itrCamera.getNext();
AttributePtr<Attribute_Spatial> ptr_spatial = ptr_camera->ptr_spatial;
updateView(ptr_camera);
updateProj(ptr_camera);
}
}
void FreeCamera::cursorPositionCallback(const double xpos, const double ypos) {
int dx, dy;
if (cursorLastPos.x != Utils::MAX_INT) {
dx = int(cursorLastPos.x - float(xpos));
yaw(dx * 0.1f, WORLD);
}
if (cursorLastPos.y != Utils::MAX_INT) {
dy = int(cursorLastPos.y - float(ypos));
pitch(dy * 0.1f, LOCAL);
}
cursorLastPos.x = static_cast<int>(xpos);
cursorLastPos.y = static_cast<int>(ypos);
}
////////////////////////////////////////////////////////////////////////////////////////
// Convert From {Picth, Yaw} (DEGREES)
////////////////////////////////////////////////////////////////////////////////////////
void CVec3::AngToVec()
{
float angle;
float sp, sy, cp, cy;
angle = yaw() * (RAVL_VEC_DEGTORADCONST);
sy = sinf(angle);
cy = cosf(angle);
angle = pitch() * (RAVL_VEC_DEGTORADCONST);
sp = sinf(angle);
cp = cosf(angle);
v[0] = cp * cy;
v[1] = cp * sy;
v[2] = -sp;
}
void IMU::UpdateData(IMU_DATA &data)
{
XsByteArray imuData;
XsMessageArray msgs;
while (msgs.empty())
{
Aris::Core::Sleep(1);
pDevice->readDataToBuffer(imuData);
pDevice->processBufferedData(imuData, msgs);
}
//std::cout << "msg num:" << msgs.size()<<std::endl;
for (XsMessageArray::iterator it = msgs.begin(); it != msgs.end(); ++it)
{
// Retrieve a packet
XsDataPacket packet;
if ((*it).getMessageId() == XMID_MtData2)
{
packet.setMessage((*it));
packet.setDeviceId(pDevice->mtPort.deviceId());
}
// Get the all data
auto eul = packet.orientationEuler();
auto sdi = packet.sdiData();
auto acc = packet.calibratedAcceleration();
data.yaw = eul.yaw()*PI / 180;
data.pitch = eul.pitch()*PI / 180;
data.roll = eul.roll()*PI / 180;
data.va = sdi.orientationIncrement().x() * 2 * 100;
data.vb = sdi.orientationIncrement().y() * 2 * 100;
data.vc = sdi.orientationIncrement().z() * 2 * 100;
std::copy_n(acc.data(), acc.size(), data.acc);
data.time = packet.timeOfArrival().nowMs();
data.pmLhs = *pDevice->pmImuGround2BodyGround;
data.pmRhs = *pDevice->pmBody2Imu;
}
msgs.clear();
}
Camera::Camera(unsigned int width, unsigned int height) : _mode(PERSPECTIVE),
_fovy(75.0f), _width(width), _height(height),
_eyePosition(glm::vec3(0.0f, 0.0f, 0.0f)),
_latitude(0.0f), _longitude(0.0f)
{
_roll = glm::vec3(1.0f, 0.0f, 0.0f);
_yaw = glm::vec3(0.0f, -1.0f, 0.0f);
_pitch = glm::cross(_yaw, _roll);
_yawAngle = 0.0f;
_pitchAngle = 0.0f;
_rollAngle = 0.0f;
_projectionMatrix = glm::perspective(_fovy, (float)_width / (float)_height, 0.001f, 1000.0f);
yaw(-60);
}
void BgLoader::RotateSelected(const csVector2& pos)
{
if(selectedMesh.IsValid())
{
float factor_h = 6 * PI * ((float)previousPosition.x - pos.x) / g2d->GetHeight();
float factor_v = 6 * PI * ((float)previousPosition.y - pos.y) / g2d->GetHeight();
origRot += factor_h*currRot_h + factor_v*currRot_v;
csYRotMatrix3 pitch(origRot.x);
csYRotMatrix3 roll(origRot.y);
csZRotMatrix3 yaw(origRot.z);
csReversibleTransform trans(roll*yaw, rotBase);
trans *= csReversibleTransform(pitch, -rotBase+origTrans);
selectedMesh->GetMovable()->SetTransform(trans);
previousPosition = pos;
}
}
SoXipNeheBoxGenerator::SoXipNeheBoxGenerator()
{
SO_NODE_CONSTRUCTOR(SoXipNeheBoxGenerator);
SbRotation pitch(SbVec3f(1, 0, 0), 0); // rotation around X
SbMatrix pitchM;
SbRotation yaw(SbVec3f(0, 1, 0), 0); // rotation around Y
SbMatrix yawM;
SbMatrix transM = SbMatrix::identity(); // translation
SbMatrix compM = SbMatrix::identity();
float xrot = 0;
float yrot = 0;
for (int yloop = 1; yloop < 6 /* number of rows */ ; yloop++)
{
for (int xloop = 0; xloop < yloop; xloop++)
{
// another magic formula from Nehe for the translation...
transM.setTranslate(SbVec3f(1.4f+(float(xloop)*2.8f)-(float(yloop)*1.4f),((6.0f-float(yloop))*2.4f)-7.0f,-20.0f));
pitch.setValue(SbVec3f(1, 0, 0), (M_PI/180) * (45.0f-(2.0f*yloop)+ xrot));
pitch.getValue(pitchM);
yaw.setValue(SbVec3f(0,1,0), (M_PI/180) * (45.0f + yrot));
yaw.getValue(yawM);
compM = yawM * pitchM * transM;
SoXipNeheBox* neheBox = new SoXipNeheBox();
neheBox->transform.setValue(compM);
neheBox->topColor.setValue(topCol[yloop - 1]);
neheBox->boxColor.setValue(boxCol[yloop - 1]);
this->addChild(neheBox);
}
}
}
//-----------------------------------------------------------------------------
//! @brief TODO enter a description
//! @remark
//-----------------------------------------------------------------------------
void Camera::update( float elapsedTime, double time, const Input& input )
{
const InputState* inputState = input.getInput(0);
if (inputState)
{
InputActions::ActionType fowardAction;
InputActions::ActionType backwardAction;
InputActions::ActionType moveLeftAction;
InputActions::ActionType moveRightAction;
InputActions::ActionType yawLeftAction;
InputActions::ActionType yawRightAction;
InputActions::ActionType pitchUpAction;
InputActions::ActionType pitchDownAction;
InputActions::ActionType rollLeftAction;
InputActions::ActionType rollRightAction;
InputSystem::getInputActionFromName(moveForward.getHash(), fowardAction);
InputSystem::getInputActionFromName(moveBackWards.getHash(), backwardAction);
InputSystem::getInputActionFromName(moveLeft.getHash(), moveLeftAction);
InputSystem::getInputActionFromName(moveRight.getHash(), moveRightAction);
InputSystem::getInputActionFromName(yawLeft.getHash(), yawLeftAction);
InputSystem::getInputActionFromName(yawRight.getHash(), yawRightAction);
InputSystem::getInputActionFromName(pitchUp.getHash(), pitchUpAction);
InputSystem::getInputActionFromName(pitchDown.getHash(), pitchDownAction);
InputSystem::getInputActionFromName(rollLeft.getHash(), rollLeftAction);
InputSystem::getInputActionFromName(rollRight.getHash(), rollRightAction);
float moveAlongDirectionFactor = inputState->getActionValue(fowardAction) - inputState->getActionValue(backwardAction);
moveAlongDirection(moveAlongDirectionFactor * m_movementSpeed * elapsedTime );//Move forwared, backward
float strafeFactor = inputState->getActionValue(moveLeftAction) - inputState->getActionValue(moveRightAction);
strafe(strafeFactor * m_movementSpeed * elapsedTime);//Move left/right
float yawFactor = inputState->getActionValue(yawLeftAction) - inputState->getActionValue(yawRightAction);
yaw(yawFactor * m_rotationSpeed * elapsedTime);
float pitchFactor = inputState->getActionValue(pitchUpAction) - inputState->getActionValue(pitchDownAction);
pitch(pitchFactor * m_rotationSpeed * elapsedTime);
float zAxisDelta = inputState->getActionValue(rollLeftAction) - inputState->getActionValue(rollRightAction);
roll(zAxisDelta * m_rotationSpeed * 0.05f);
}
//Use the varibles to avoid a warning and allows us to use them in the code above without change
time = 0.0;
elapsedTime = 0.0f;
}
void FreeCameraController::handleMouseMoveEvent(int x, int y)
{
if (!isActive())
return;
if (mNaviPrimary)
{
double scalar = getCameraSensitivity() * (getInverted() ? -1.0 : 1.0);
yaw(x * scalar);
pitch(y * scalar);
}
else if (mNaviSecondary)
{
osg::Vec3d movement;
movement += LocalLeft * -x * getSecondaryMovementMultiplier();
movement += LocalUp * y * getSecondaryMovementMultiplier();
translate(movement);
}
}