142 lines
3.9 KiB
C++
142 lines
3.9 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include "gazebo/math/Vector2i.hh"
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#include "gazebo/common/MouseEvent.hh"
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#include "gazebo/rendering/UserCamera.hh"
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#include "gazebo/rendering/FPSViewController.hh"
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#define TYPE_STRING "fps"
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using namespace gazebo;
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using namespace rendering;
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//////////////////////////////////////////////////
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FPSViewController::FPSViewController(UserCameraPtr _camera)
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: ViewController(_camera)
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{
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this->xVelocityFactor = 1.0;
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this->yVelocityFactor = 0.8;
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this->typeString = TYPE_STRING;
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}
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//////////////////////////////////////////////////
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FPSViewController::~FPSViewController()
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{
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}
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//////////////////////////////////////////////////
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void FPSViewController::Init()
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{
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this->xVelocityFactor = 1.0;
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this->yVelocityFactor = 0.8;
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this->xVelocity = math::Vector3::Zero;
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this->yVelocity = math::Vector3::Zero;
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}
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//////////////////////////////////////////////////
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void FPSViewController::Update()
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{
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if (this->xVelocity != math::Vector3::Zero ||
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this->yVelocity != math::Vector3::Zero)
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{
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// Move based on the camera's current velocity
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// Calculate delta based on frame rate
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common::Time interval = common::Time::GetWallTime() -
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this->camera->LastRenderWallTime();
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float dt = interval.Float();
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ignition::math::Vector3d trans = this->xVelocity.Ign() +
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this->yVelocity.Ign();
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this->camera->Translate(trans * dt);
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}
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}
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//////////////////////////////////////////////////
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void FPSViewController::HandleMouseEvent(const common::MouseEvent &_event)
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{
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if (!this->enabled)
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return;
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ignition::math::Vector2i drag = _event.Pos() - _event.PrevPos();
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if (_event.Buttons() & common::MouseEvent::LEFT)
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{
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this->camera->Yaw(static_cast<ignition::math::Angle>(
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IGN_DTOR(-drag.X()*0.1)));
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this->camera->Pitch(static_cast<ignition::math::Angle>(
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IGN_DTOR(drag.Y()*0.1)));
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}
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else if (_event.Type() == common::MouseEvent::SCROLL)
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{
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if (_event.Scroll().Y() < 0)
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{
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this->xVelocityFactor *= 1.05;
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this->yVelocityFactor *= 1.05;
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this->xVelocity *= 1.05;
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this->yVelocity *= 1.05;
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}
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else
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{
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this->xVelocityFactor *= 0.95;
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this->yVelocityFactor *= 0.95;
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this->xVelocity *= 0.95;
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this->yVelocity *= 0.95;
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}
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}
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}
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//////////////////////////////////////////////////
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std::string FPSViewController::GetTypeString()
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{
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return TYPE_STRING;
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}
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//////////////////////////////////////////////////
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void FPSViewController::HandleKeyReleaseEvent(const std::string & _key)
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{
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if (_key.compare("w") == 0 || _key.compare("s") == 0)
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this->xVelocity = math::Vector3::Zero;
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if (_key.compare("a") == 0 || _key.compare("d") == 0)
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this->yVelocity = math::Vector3::Zero;
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}
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//////////////////////////////////////////////////
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void FPSViewController::HandleKeyPressEvent(const std::string & _key)
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{
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if (_key.compare("w") == 0)
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this->xVelocity = math::Vector3(this->xVelocityFactor, 0, 0);
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else if (_key.compare("s") == 0)
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this->xVelocity = math::Vector3(-this->xVelocityFactor, 0, 0);
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if (_key.compare("a") == 0)
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this->yVelocity = math::Vector3(0, this->yVelocityFactor, 0);
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else if (_key.compare("d") == 0)
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this->yVelocity = math::Vector3(0, -this->yVelocityFactor, 0);
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}
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