void CameraToolKit::setCameraUpVector( unsigned int iID, Vector up )
{
ICameraSceneNode *pCamera = getCamera( iID );
if ( pCamera )
pCamera->setUpVector( up );
}
void CSceneNodeAnimatorCameraFollowShip::animateNode( ISceneNode* node, u32 timeMs )
{
ICameraSceneNode* camera = static_cast<ICameraSceneNode*>( node );
IShip* ship = static_cast<IShip*>(Target);
vector3df direction = (ship->getTarget() - ship->getPosition()).normalize();
vector3df offset = direction * Distance;
/*vector3df upoffset = ship->getUpVector();
upoffset = upoffset.normalize() * 10;*/
camera->setPosition( ship->getPosition() + offset/* + upoffset */);
camera->setRotation( ship->getRotation() );
camera->setUpVector( ship->getUpVector() );
camera->setTarget( ship->getTarget() );
}
bool terrainSceneNode(void)
{
IrrlichtDevice *device =
createDevice(video::EDT_OPENGL, dimension2di(160, 120), 32);
IVideoDriver* driver = device->getVideoDriver();
ISceneManager* smgr = device->getSceneManager();
ITerrainSceneNode* terrain = smgr->addTerrainSceneNode(
"../media/terrain-heightmap.bmp");
terrain->setScale(core::vector3df(40.f, .1f, 40.f));
terrain->setMaterialFlag(video::EMF_LIGHTING, false);
terrain->setMaterialTexture(0, driver->getTexture("../media/terrain-texture.jpg"));
terrain->setDebugDataVisible(scene::EDS_FULL);
ICameraSceneNode* camera = smgr->addCameraSceneNode();
const core::vector3df center (terrain->getBoundingBox().getCenter());
camera->setTarget (center);
// yes, Y is intentionally being set to X here
const core::vector3df above (center.X, center.X, center.Z);
camera->setPosition (above);
camera->setUpVector(vector3df(1.f, 0.f, 0.f));
camera->setFarValue(above.Y);
device->run();
smgr->drawAll();
// This shouldn't cause a recalc
camera->setUpVector(vector3df(1.f, 0.f, .01f).normalize());
device->run();
driver->beginScene(true, true, video::SColor(255,100,101,140));
smgr->drawAll();
driver->endScene();
// Note that this has to be a slightly fuzzier than usual compare to satisfy multiple OpenGL environments
bool result = takeScreenshotAndCompareAgainstReference(driver, "-terrainSceneNode-1.png", 98.3f);
if(!result)
{
logTestString("Small camera up rotation caused bad recalc.\n");
assert(false);
}
// This is big enough to cause a recalc
camera->setUpVector(vector3df(1.f, 0.f, .1f).normalize());
device->run();
driver->beginScene(true, true, video::SColor(255,100,101,140));
smgr->drawAll();
driver->endScene();
result &= takeScreenshotAndCompareAgainstReference(driver, "-terrainSceneNode-2.png", 98.9f);
if(!result)
{
logTestString("Large camera up rotation caused bad recalc.\n");
assert(false);
}
device->drop();
return result;
}
void loop_ctr(s4 &game_state)
{
ISceneNode* empty_node = irrlicht->smgr->addEmptySceneNode();
empty_node->setPosition(vector3df(0,0,0));
ICameraSceneNode* camera = irrlicht->smgr->addCameraSceneNode();
camera->setPosition({0,-250,-100});
camera->setUpVector({0,0,-1});
camera->setTarget({0,0,0});
camera->setParent(empty_node);
camera->setFOV(70);
irrlicht->device->getCursorControl()->setVisible(false);
irrlicht->smgr->setAmbientLight(SColorf(1,1,1,1));
irrlicht->hud = irrlicht->smgr->createNewSceneManager(false);
ICameraSceneNode* hud_camera = irrlicht->hud->addCameraSceneNode();
matrix4 ortho;
ortho.buildProjectionMatrixOrthoLH(
irrlicht->driver->getScreenSize().Width/ortho_scale,
irrlicht->driver->getScreenSize().Height/ortho_scale,-1.0,1000.0);
hud_camera->setProjectionMatrix(ortho);
hud_camera->setPosition({0,0,-100});
hud_camera->setTarget({0,0,0});
// temp objects ----------------------------------
blist cmpnt_list, joint_list, tree_list;
b_set(cmpnt_list,memory,sizeof(Component));
b_set(joint_list,memory,sizeof(Joint));
b_set(tree_list,memory,sizeof(CTree));
irr::core::map<ISceneNode*,Component*> node_cmpnt_map;
ISceneNode* ctr_parent = irrlicht->smgr->addEmptySceneNode();
IMesh* cube_mesh = irrlicht->smgr->getGeometryCreator()->createCubeMesh();
auto add_object_to_world = [&] (vec3 pos, vec3 scale, s4 a, s4 r, s4 g, s4 b) -> Component*
{
const f4 floor_position = 10.0f;
Component make_cmpnt;
make_cmpnt.id = CMPNT_ID; CMPNT_ID++;
make_cmpnt.node = irrlicht->smgr->addMeshSceneNode(cube_mesh,ctr_parent);
make_cmpnt.node->setPosition(pos.irr());
make_cmpnt.node->setScale(scale.irr());
make_cmpnt.node->getMaterial(0).AmbientColor.set(a,r,g,b);
make_cmpnt.shadow = irrlicht->smgr->addMeshSceneNode(cube_mesh,0);
make_cmpnt.shadow->setScale({scale.x, scale.y, 0.1f});
make_cmpnt.shadow->setPosition({pos.x, pos.y,floor_position});
make_cmpnt.shadow->getMaterial(0).AmbientColor.set(GREY_BLUE_SHADOW);
for (s4 i = 0; i < MAX_JOINTS; i++)
make_cmpnt.joints[i] = 0;
make_cmpnt.tree = 0;
b_copy(cmpnt_list,&make_cmpnt);
node_cmpnt_map.insert(make_cmpnt.node, (Component*)blast_address(cmpnt_list) );
return (Component*)blast_address(cmpnt_list);
};
auto add_joint = [&] (Component* A, Component* B, vec3 posA, vec3 posB)
{
Joint C;
C.A = A;
C.posA = A->node->getTransformedBoundingBox().getExtent() * A->node->getScale();
C.posA *= (posA * 0.5f);
C.B = B;
C.posB = B->node->getTransformedBoundingBox().getExtent() * B->node->getScale();
C.posB *= (posB * 0.5f);
C.type = Joint::SNAP;
C.is_connected = false;
b_copy(joint_list,&C);
for (s4 i = 0; i < MAX_JOINTS; i++)
{
if (C.A->joints[i] == 0)
{
C.A->joints[i] = (Joint*)blast_address(joint_list);
break;
} else if (i == MAX_JOINTS-1)
{
std::cout << "ERROR: Joint could not be added to C.A." << std::endl;
}
}
for (s4 i = 0; i < MAX_JOINTS; i++)
{
if (C.B->joints[i] == 0)
{
C.B->joints[i] = (Joint*)blast_address(joint_list);
break;
} else if (i == MAX_JOINTS-1)
{
std::cout << "ERROR: Joint could not be added to C.B." << std::endl;
}
}
};
{
Component* A = add_object_to_world(vec3(0,30,-20),vec3(3,3,3),BLUE_LIGHT);
Component* B = add_object_to_world(vec3(0,60,-20),vec3(9,3,2),BLACK);
add_joint(A,B,vec3(0.0f,0.0f,1.0f),vec3(0.0f,0.0f,-1.0f));
Component* C = add_object_to_world(vec3(0,-90,-20),vec3(3,3,3),YELLOW_LIGHT);
Component* D = add_object_to_world(vec3(0,-40,-20),vec3(8,10,4),GREEN_LIGHT);
add_joint(C,D,vec3(0.0f,1.0f,0.0f),vec3(0.0f,-1.0f,0.0f));
add_joint(A,D,vec3(0.0f,0.0f,-1.0f),vec3(0.0f,0.0f,1.0f));
}
// temp objects ----------------------------------
SimpleNodeEditor* sneditor = simple_node_editor_init();
sneditor->root_node = ctr_parent;
f4 target_z_rotation = empty_node->getRotation().Z;
p("---- Game loop start ----");
f4 dt = 0.0f;
const f4 maxDelta = 1.0f/60.0f * 5.0f;
const f4 tick_ms = 0.01666f;
f4 render_dt = 0.0f;
const f4 render_ms = 0.016667f;
u4 time_physics_prev = btclock->getTimeMicroseconds();
while(irrlicht->device->run() && game_state == GAME_STATE_PLAY)
{
const u4 time_physics_curr = btclock->getTimeMicroseconds();
const f4 frameTime = ((f4)(time_physics_curr - time_physics_prev)) / 1000000.0; // todo: is this truncated correctly?
time_physics_prev = time_physics_curr;
f4 capped_dt = frameTime;
if (capped_dt > maxDelta) { capped_dt = maxDelta; }
render_dt += capped_dt;
if ( render_dt >= render_ms )
{
render_dt = 0.0f;
f4 curr_rotation = empty_node->getRotation().Z;
if (curr_rotation != target_z_rotation)
{
weighted_average(curr_rotation,target_z_rotation, 20.0f);
if (curr_rotation >= 360.0f) {
curr_rotation -= 360.0f;
target_z_rotation -= 360.0f;
}
else if (curr_rotation < 0) {
curr_rotation += 360.0f;
target_z_rotation += 360.0f;
}
empty_node->setRotation({0,0,curr_rotation});
}
if (sneditor->selected_node)
{
position2d<s32> screen_coord = irrlicht->colmgr->getScreenCoordinatesFrom3DPosition(sneditor->selected_node->getPosition(), camera);
sneditor->hand_icon->setPosition({(screen_coord.X - (SCREEN_WIDTH/2)) / ortho_scale,
(screen_coord.Y - (SCREEN_HEIGHT/2)) / -ortho_scale,0});
} else {
sneditor->hand_icon->setPosition({(sneditor->cursor->getPosition().X - (SCREEN_WIDTH/2)) / ortho_scale,
(sneditor->cursor->getPosition().Y - (SCREEN_HEIGHT/2)) / -ortho_scale,0});
}
// Render
irrlicht->driver->beginScene(true, true, SColor(GREY_BLUE));
irrlicht->smgr->drawAll();
irrlicht->driver->clearZBuffer();
irrlicht->hud->drawAll();
irrlicht->driver->endScene();
}
dt += capped_dt;
while( dt >= tick_ms )
{
dt -= tick_ms;
receiver->input();
if (receiver->a.state)
target_z_rotation -= 90.0f;
if (receiver->d.state)
target_z_rotation += 90.0f;
simple_node_editor_update(
sneditor, receiver->mouse.left.state, receiver->mouse.left.released, receiver->mouse.right.state,
false, receiver->tab.state, camera, &node_cmpnt_map);
// TODO: Change this to:
// - only test what the user is holding
// - and only if the user is holding the smaller inserting part.
// example: holding a screw in a large box
bloop(joint_list, i)
{
Joint* c = (Joint*)b_get_mem_address(joint_list,i);
if (c->A->tree != sneditor->selected_tree && c->B->tree != sneditor->selected_tree )
{
continue;
}
if (!c->is_connected)
{
vec3 A = c->A->node->getPosition();
vec3 B = c->B->node->getPosition();
A += c->posA;
B += c->posB;
if (A.distance(B) < 13 /* && receiver->spacebar*/)
{
std::cout << "Comparing " << i << std::endl;
c->is_connected = true;
connect_joints(c,sneditor,camera,tree_list);
}
}
}
bloop(tree_list, i)
{
CTree* tree = (CTree*)b_get_mem_address(tree_list,i);
if (tree->translation == vec3(0,0,0))
{
continue;
}
for (s4 k = 0; k < tree->child_list.length;k++)
{
Component* cmpnt = (Component*)b_get_value(tree->child_list,k);
cmpnt->node->setPosition(cmpnt->node->getPosition() + tree->translation.irr());
cmpnt->shadow->setPosition(cmpnt->node->getPosition() * vector3df(1,1,0) + vector3df(0,0,10));
}
tree->translation = vec3(0,0,0);
}
if (receiver->restart.state) { game_state = GAME_STATE_RESET; }
if (receiver->QUIT) { game_state = GAME_STATE_QUIT; }
}
//! OnAnimate() is called just before rendering the whole scene.
//! nodes may calculate or store animations here, and may do other useful things,
//! dependent on what they are.
void CSceneNodeAnimatorCameraMaya::animateNode(ISceneNode *node, u32 timeMs)
{
//Alt + LM = Rotate around camera pivot
//Alt + LM + MM = Dolly forth/back in view direction (speed % distance camera pivot - max distance to pivot)
//Alt + MM = Move on camera plane (Screen center is about the mouse pointer, depending on move speed)
if (node->getType() != ESNT_CAMERA)
return;
ICameraSceneNode* camera = static_cast<ICameraSceneNode*>(node);
if (OldCamera != camera)
{
OldTarget = camera->getTarget();
OldCamera = camera;
}
Target = camera->getTarget();
const SViewFrustum* va = camera->getViewFrustum();
f32 nRotX = RotX;
f32 nRotY = RotY;
f32 nZoom = CurrentZoom;
if ( (isMouseKeyDown(0) && isMouseKeyDown(2)) || isMouseKeyDown(1) )
{
if (!Zooming)
{
ZoomStartX = MousePos.X;
ZoomStartY = MousePos.Y;
Zooming = true;
nZoom = CurrentZoom;
}
else
{
f32 old = nZoom;
nZoom += (ZoomStartX - MousePos.X) * ZoomSpeed;
f32 targetMinDistance = 0.1f;
if (nZoom < targetMinDistance) // jox: fixed bug: bounce back when zooming to close
nZoom = targetMinDistance;
if (nZoom < 0)
nZoom = old;
}
}
else
{
if (Zooming)
{
f32 old = CurrentZoom;
CurrentZoom = CurrentZoom + (ZoomStartX - MousePos.X ) * ZoomSpeed;
nZoom = CurrentZoom;
if (nZoom < 0)
nZoom = CurrentZoom = old;
}
Zooming = false;
}
// Translation ---------------------------------
core::vector3df translate(OldTarget), UpVector(camera->getUpVector());
core::vector3df tvectX = Pos - Target;
tvectX = tvectX.crossProduct(UpVector);
tvectX.normalize();
core::vector3df tvectY = (va->getFarLeftDown() - va->getFarRightDown());
tvectY = tvectY.crossProduct(UpVector.Y > 0 ? Pos - Target : Target - Pos);
tvectY.normalize();
if (isMouseKeyDown(2) && !Zooming)
{
if (!Translating)
{
TranslateStartX = MousePos.X;
TranslateStartY = MousePos.Y;
Translating = true;
}
else
{
translate += tvectX * (TranslateStartX - MousePos.X)*TranslateSpeed +
tvectY * (TranslateStartY - MousePos.Y)*TranslateSpeed;
}
}
else
{
if (Translating)
{
translate += tvectX * (TranslateStartX - MousePos.X)*TranslateSpeed +
tvectY * (TranslateStartY - MousePos.Y)*TranslateSpeed;
OldTarget = translate;
}
Translating = false;
}
// Rotation ------------------------------------
if (isMouseKeyDown(0) && !Zooming)
{
if (!Rotating)
{
RotateStartX = MousePos.X;
RotateStartY = MousePos.Y;
Rotating = true;
nRotX = RotX;
nRotY = RotY;
}
else
{
nRotX += (RotateStartX - MousePos.X) * RotateSpeed;
nRotY += (RotateStartY - MousePos.Y) * RotateSpeed;
}
}
else
{
if (Rotating)
{
RotX = RotX + (RotateStartX - MousePos.X) * RotateSpeed;
RotY = RotY + (RotateStartY - MousePos.Y) * RotateSpeed;
nRotX = RotX;
nRotY = RotY;
}
Rotating = false;
}
// Set Pos ------------------------------------
Target = translate;
Pos.X = nZoom + Target.X;
Pos.Y = Target.Y;
Pos.Z = Target.Z;
Pos.rotateXYBy(nRotY, Target);
Pos.rotateXZBy(-nRotX, Target);
// Rotation Error ----------------------------
// jox: fixed bug: jitter when rotating to the top and bottom of y
UpVector.set(0,1,0);
UpVector.rotateXYBy(-nRotY);
UpVector.rotateXZBy(-nRotX+180.f);
camera->setPosition(Pos);
camera->setTarget(Target);
camera->setUpVector(UpVector);
}
//! OnAnimate() is called just before rendering the whole scene.
//! nodes may calculate or store animations here, and may do other useful things,
//! dependent on what they are.
void CSceneNodeAnimatorCameraMaya::animateNode(ISceneNode *node, u32 timeMs)
{
//Alt + LM = Rotate around camera pivot
//Alt + LM + MM = Dolly forth/back in view direction (speed % distance camera pivot - max distance to pivot)
//Alt + MM = Move on camera plane (Screen center is about the mouse pointer, depending on move speed)
if (!node || node->getType() != ESNT_CAMERA)
return;
ICameraSceneNode* camera = static_cast<ICameraSceneNode*>(node);
// If the camera isn't the active camera, and receiving input, then don't process it.
if(!camera->isInputReceiverEnabled())
return;
scene::ISceneManager * smgr = camera->getSceneManager();
if(smgr && smgr->getActiveCamera() != camera)
return;
if (OldCamera != camera)
{
OldTarget = camera->getTarget();
OldCamera = camera;
LastCameraTarget = OldTarget;
}
else
{
OldTarget += camera->getTarget() - LastCameraTarget;
}
core::vector3df target = camera->getTarget();
f32 nRotX = RotX;
f32 nRotY = RotY;
f32 nZoom = CurrentZoom;
if ( (isMouseKeyDown(0) && isMouseKeyDown(2)) || isMouseKeyDown(1) )
{
if (!Zooming)
{
ZoomStart = MousePos;
Zooming = true;
nZoom = CurrentZoom;
}
else
{
const f32 targetMinDistance = 0.1f;
nZoom += (ZoomStart.X - MousePos.X) * ZoomSpeed;
if (nZoom < targetMinDistance) // jox: fixed bug: bounce back when zooming to close
nZoom = targetMinDistance;
}
}
else if (Zooming)
{
const f32 old = CurrentZoom;
CurrentZoom = CurrentZoom + (ZoomStart.X - MousePos.X ) * ZoomSpeed;
nZoom = CurrentZoom;
if (nZoom < 0)
nZoom = CurrentZoom = old;
Zooming = false;
}
// Translation ---------------------------------
core::vector3df translate(OldTarget), upVector(camera->getUpVector());
core::vector3df tvectX = Pos - target;
tvectX = tvectX.crossProduct(upVector);
tvectX.normalize();
const SViewFrustum* const va = camera->getViewFrustum();
core::vector3df tvectY = (va->getFarLeftDown() - va->getFarRightDown());
tvectY = tvectY.crossProduct(upVector.Y > 0 ? Pos - target : target - Pos);
tvectY.normalize();
if (isMouseKeyDown(2) && !Zooming)
{
if (!Translating)
{
TranslateStart = MousePos;
Translating = true;
}
else
{
translate += tvectX * (TranslateStart.X - MousePos.X)*TranslateSpeed +
tvectY * (TranslateStart.Y - MousePos.Y)*TranslateSpeed;
}
}
else if (Translating)
{
translate += tvectX * (TranslateStart.X - MousePos.X)*TranslateSpeed +
tvectY * (TranslateStart.Y - MousePos.Y)*TranslateSpeed;
OldTarget = translate;
Translating = false;
}
// Rotation ------------------------------------
if (isMouseKeyDown(0) && !Zooming)
{
if (!Rotating)
{
RotateStart = MousePos;
Rotating = true;
nRotX = RotX;
nRotY = RotY;
}
else
{
nRotX += (RotateStart.X - MousePos.X) * RotateSpeed;
nRotY += (RotateStart.Y - MousePos.Y) * RotateSpeed;
}
}
else if (Rotating)
{
RotX += (RotateStart.X - MousePos.X) * RotateSpeed;
RotY += (RotateStart.Y - MousePos.Y) * RotateSpeed;
nRotX = RotX;
nRotY = RotY;
Rotating = false;
}
// Set Pos ------------------------------------
target = translate;
Pos.X = nZoom + target.X;
Pos.Y = target.Y;
Pos.Z = target.Z;
Pos.rotateXYBy(nRotY, target);
Pos.rotateXZBy(-nRotX, target);
// Rotation Error ----------------------------
// jox: fixed bug: jitter when rotating to the top and bottom of y
upVector.set(0,1,0);
upVector.rotateXYBy(-nRotY);
upVector.rotateXZBy(-nRotX+180.f);
camera->setPosition(Pos);
camera->setTarget(target);
camera->setUpVector(upVector);
LastCameraTarget = camera->getTarget();
}
int main()
{
// create device
EventHandler receiver;
Init();
Output();
ISceneNode* objects [MAX_OBJECTS];
IrrlichtDevice *device = createDevice(EDT_OPENGL, dimension2d<u32>(ResX, ResY), 32, fullscreen, false, vsync, &receiver);
receiver.device = device;
if (!device)
return 1;
IVideoDriver* driver = device->getVideoDriver();
ISceneManager* smgr = device->getSceneManager();
IGUIEnvironment* guienv = device->getGUIEnvironment();
HMDDescriptor HMD;
// Parameters from the Oculus Rift DK1
HMD.hResolution = ResX;
HMD.vResolution = ResY;
HMD.hScreenSize = 0.14976;
HMD.vScreenSize = 0.0936;
HMD.interpupillaryDistance = 0.064;
HMD.lensSeparationDistance = 0.064;
HMD.eyeToScreenDistance = 0.041;
HMD.distortionK[0] = 1.0;
HMD.distortionK[1] = 0.22;
HMD.distortionK[2] = 0.24;
HMD.distortionK[3] = 0.0;
HMDStereoRender renderer(device, HMD, 10);
#ifdef OCCULUS
ICameraSceneNode* camera = smgr->addCameraSceneNode();
camera->bindTargetAndRotation(false);
camera->setTarget(vector3df(1,0,0));
#else
ICameraSceneNode* camera = smgr->addCameraSceneNodeFPS();
#endif
device->getCursorControl()->setVisible(false);
// load a faerie
IAnimatedMesh* faerie = smgr->getMesh("media/faerie.md2");
IAnimatedMeshSceneNode* faerieNode = smgr->addAnimatedMeshSceneNode(faerie);
faerieNode->setMaterialTexture(0, driver->getTexture("media/faerie2.bmp"));
faerieNode->setMaterialFlag(EMF_LIGHTING, false);
faerieNode->setPosition(vector3df(40,190,-1030));
faerieNode->setRotation(vector3df(0,-90,0));
faerieNode->setMD2Animation(EMAT_SALUTE);
// load a dwarf
IAnimatedMesh* dwarf = smgr->getMesh("media/dwarf.x");
IAnimatedMeshSceneNode* dwarfNode = smgr->addAnimatedMeshSceneNode(dwarf);
dwarfNode->setPosition(vector3df(40,-25,20));
Level currentLevel(device);
currentLevel.makeLevel(0);
smgr->setAmbientLight(video::SColorf(0.1,0.1,0.1,1));
ILightSceneNode* light1 = smgr->addLightSceneNode( camera , vector3df(0,0,0), video::SColorf(0.3f,0.4f,0.4f), 80.0f, 1 );
vector3df pos = vector3df(0,0,0);
//naplníme tunel pøekážkama
srand (time(NULL));
/* generate secret number between 1 and 10: */
for(int i = 0; i < MAX_OBJECTS; i++){
objects[i] = smgr->addCubeSceneNode(2);
objects[i]->setMaterialFlag(EMF_LIGHTING, false);
objects[i]->setPosition( vector3df( (rand() % 30) - 5, (rand() % 30) - 5, rand() % 80) );
}
//device->setInputReceivingSceneManager(smgr);
//použivane pro
vector3df tempRot;
irr::core::quaternion tempQ;
irr::core::matrix4 tempM;
float round = 0;
while(device->run())
{
round += 0.01;
driver->beginScene(true, true, SColor(255,100,101,140));
for(int i = 0; i < MAX_OBJECTS; i++){
vector3df tmpPos = objects[i]->getPosition();
if(tmpPos.Z > pos.Z) continue;
objects[i]->setPosition( vector3df( (rand() % 30) - 15, (rand() % 30) - 15, rand() % 80 + pos.Z) );
}
#ifndef OCCULUS
tempM.setRotationDegrees(vector3df(sin(round*0.5)*360-180, sin(round)*360-180, cos(round*0.8)*360-180));
// transform forward vector of camera
irr::core::vector3df frv = irr::core::vector3df (0.0f, 0.0f, 1.0f);
tempM.transformVect(frv);
// transform upvector of camera
irr::core::vector3df upv = irr::core::vector3df (0.0f, 1.0f, 0.0f);
tempM.transformVect(upv);
camera->setUpVector(upv); //set up vector of camera
camera->setTarget(frv); //set target of camera (look at point) (thx Zeuss for correcting it)
#endif
if(pSensor){
Quatf quaternion = FusionResult.GetOrientation();
ICameraSceneNode* camera = smgr->getActiveCamera();
tempQ.set(-quaternion.z,quaternion.y,-quaternion.x, quaternion.w);
tempQ.normalize();
tempQ.toEuler(tempRot);
tempM.setRotationDegrees(tempRot);
// transform forward vector of camera
irr::core::vector3df frv = irr::core::vector3df (0.0f, 0.0f, 1.0f);
tempM.transformVect(frv);
// transform upvector of camera
irr::core::vector3df upv = irr::core::vector3df (0.0f, 1.0f, 0.0f);
tempM.transformVect(upv);
camera->setUpVector(upv); //set up vector of camera
camera->setTarget(frv); //set target of camera (look at point) (thx Zeuss for correcting it)
// update absolute position
camera->updateAbsolutePosition();
float yaw, pitch, roll;
quaternion.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch, &roll);
camera->getParent()->setRotation( vector3df(RadToDegree(pitch),RadToDegree(yaw),RadToDegree(roll)));
//camera->setRotation( vector3df(RadToDegree(-pitch),RadToDegree(-yaw),RadToDegree(roll)));
//camera->setProjectionMatrix(ToMatrix(quaternion));
cout << " Yaw: " << RadToDegree(yaw) <<
", Pitch: " << RadToDegree(pitch) <<
", Roll: " << RadToDegree(roll) << endl;
if (_kbhit()) exit(0);
}
#ifdef OCCULUS
renderer.drawAll(smgr);
#else
smgr->drawAll();
#endif
guienv->drawAll();
driver->endScene();
}
device->drop();
Clear();
return 0;
}