Viewpoint AutoCPSensing::current_viewpoint() {
geometry_msgs::Quaternion orientation = ToGeometryMsgsQuaternion(
camera_->getOrientation());
geometry_msgs::Point position = ToGeometryMsgsPoint(camera_->getPosition());
geometry_msgs::Point focus;
QuaternionToFocus(orientation, position, &focus);
return Viewpoint(ToOgreVector3(position), ToOgreVector3(focus));
}
void ACMIView::Exec()
{
Tpoint pos;
if( !acmiDraw || !_tapeHasLoaded || Tape() == NULL || !Tape()->IsLoaded())
return;
if(fcount++ % 10 == 0)
{
frameStart = timeGetTime();
frameTime = frameStart - lastFrame;
lastFrame = frameStart;
}
//update the tape
Tape()->Update( -1.0 );
// set the camera's position and rotation matrix
UpdateViewPosRot();
pos.x = _camWorldPos.x + _camPos.x;
pos.y = _camWorldPos.y + _camPos.y;
pos.z = _camWorldPos.z + _camPos.z;
// check view isn't below ground
float groundZ= _renderer->viewpoint->GetGroundLevel( pos.x, pos.y );
if ( pos.z > groundZ - 10.0f )
pos.z = groundZ - 10.0f;
Viewpoint()->Update(&pos);
// draw the ACMI View
// Draw();
// ruurrr?
TheTimeManager.SetTime(DWORD(Tape()->SimTime() * 1000));
}
void Camera::setViewpoint(double x, double y, double z) {
setViewpoint(Viewpoint(x, y, z));
}
void main(int argc,String *argv) {
ArgParser a=ArgParser(argc,argv);
size=a.intafter("-gs","grid size",20);
float rotspeed=a.floatafter("-rs","rotation speed",pi/80.0);
float elevang=a.floatafter("-ea","elevation angle",pi/7.0);
float waterlevel=a.floatafter("-wl","water level",-0.2);
bool funky=a.argexists("-f","funky");
bool groovy=a.argexists("-g","groovy");
a.done();
int scrwid=800;
int scrhei=600;
//printf("z\n");
allegrosetup(scrwid,scrhei);
//printf("a\n");
PPsetup(scrwid,scrhei,4.0,4.0);
//printf("b\n");
mypalette(0,myRGB(0,0,0));
mypalette(255,myRGB(0,255,0));
makepalette(&greypalette);
alt=Map2d<float>(size,size,0.0);
randomise();
drv=Map2d<float>(size,size,&myrnd);
vel=Map2d<float>(size,size,0.0);
vs=Map2d<V3d>(size,size);
int time=0;
dogeol(300);
while (!keypressed()) {
//printf("d\n");
time++;
// Generate new mountain
alt.pos[0][0]=drv.pos[0][0];
alt.pos[size-1][0]=drv.pos[size-1][0];
alt.pos[0][size-1]=drv.pos[0][size-1];
alt.pos[size-1][size-1]=drv.pos[size-1][size-1];
makemountain(0,0,size-1,size-1);
// Render mountain
PPclear();
Matrix ma=Matrix::rotation(V3d(0,1,0),rotspeed*(float)time);
Matrix mb=Matrix::rotation(V3d(1,0,0),elevang);
//printf("!");
Octree<Renderable*> o=Octree<Renderable*>(V3d::o,2.0,&getpos);
for (int i=0;i<size;i++)
for (int j=0;j<size;j++) {
//printf(">");
V3d x=V3d((float)i/(float)size*2.0-1.0,alt.pos[i][j],(float)j/(float)size*2.0-1.0);
// x.y=x.y*ramp((float)i/(float)size*2.0);
x=x*V3d(1,2,1)-V3d(0,1,0);
bool wat;
if (x.y<waterlevel) {
x.y=waterlevel;
wat=true;
} else
wat=false;
x=ma*x;
x=mb*x;
vs.pos[i][j]=x;
if (i>0 && j>0) {
o.add(new Triangle3d(x,vs.pos[i-1][j],vs.pos[i][j-1]));
o.add(new Triangle3d(vs.pos[i-1][j],vs.pos[i][j-1],vs.pos[i-1][j-1]));
}
}
Ori ori;
Viewpoint v=Viewpoint(V3d(0,0,-4),ori);
// Viewpoint v=Viewpoint(mb*(ma*V3d(0,0,-4)),mb*(ma*ori));
render(&o,&v);
o.freedom();
// PPshow();
// alt.display();
// Change drivers
dogeol(1);
}
}
static Viewpoint fromto(V3d from,V3d to,V3d up) {
return Viewpoint(from,Ori::xz(V3d::normcross(up,to-from),to-from));
}
Avatar() {
v=Viewpoint(V3d(0,0,-4),V3d(0,1.5,0),V3d::j);
}
Viewpoint orientor() {
// Returns an viewpoint to frame where plane is x,y plane
return Viewpoint(pos,Ori::indir(nor));
}
