void TransformState::setMaxPitch(double maxPitch) {
if (maxPitch >= getMinPitch()) {
max_pitch = maxPitch;
}
}
bool ccGBLSensor::applyViewport(ccGenericGLDisplay* win/*=0*/)
{
if (!win)
{
win = getDisplay();
if (!win)
{
ccLog::Warning("[ccGBLSensor::applyViewport] No associated display!");
return false;
}
}
ccIndexedTransformation trans;
if (!getActiveAbsoluteTransformation(trans))
{
return false;
}
//scanner main directions
CCVector3d sensorX(trans.data()[0],trans.data()[1],trans.data()[2]);
CCVector3d sensorY(trans.data()[4],trans.data()[5],trans.data()[6]);
CCVector3d sensorZ(trans.data()[8],trans.data()[9],trans.data()[10]);
switch(getRotationOrder())
{
case ccGBLSensor::YAW_THEN_PITCH:
{
double theta = (getMinYaw() + getMaxYaw())/2;
ccGLMatrixd rotz; rotz.initFromParameters(theta,sensorZ,CCVector3d(0,0,0));
rotz.applyRotation(sensorX);
rotz.applyRotation(sensorY);
double phi = 0; //(getMinPitch() + getMaxPitch())/2;
ccGLMatrixd roty; roty.initFromParameters(-phi,sensorY,CCVector3d(0,0,0)); //theta = 0 corresponds to the upward vertical direction!
roty.applyRotation(sensorX);
roty.applyRotation(sensorZ);
break;
}
case ccGBLSensor::PITCH_THEN_YAW:
{
double phi = (getMinPitch() + getMaxPitch())/2;
ccGLMatrixd roty; roty.initFromParameters(-phi,sensorY,CCVector3d(0,0,0)); //theta = 0 corresponds to the upward vertical direction!
roty.applyRotation(sensorX);
roty.applyRotation(sensorZ);
double theta = (getMinYaw() + getMaxYaw())/2;
ccGLMatrixd rotz; rotz.initFromParameters(theta,sensorZ,CCVector3d(0,0,0));
rotz.applyRotation(sensorX);
rotz.applyRotation(sensorY);
break;
}
default:
assert(false);
break;
}
//center camera on sensor
CCVector3d sensorCenterd = CCVector3d::fromArray(trans.getTranslation());
ccGLMatrixd viewMat = ccGLMatrixd::FromViewDirAndUpDir(sensorX,sensorZ);
viewMat.invert();
viewMat.setTranslation(sensorCenterd);
//TODO: can we set the right FOV?
win->setupProjectiveViewport(viewMat,0,1.0f,true,true);
return true;
}
