Revision: 6552
http://playerstage.svn.sourceforge.net/playerstage/?rev=6552&view=rev
Author: alexcb
Date: 2008-06-12 16:35:26 -0700 (Thu, 12 Jun 2008)
Log Message:
-----------
camera model refactoring
Modified Paths:
--------------
code/stage/trunk/libstage/camera.cc
code/stage/trunk/libstage/canvas.cc
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/model_camera.cc
code/stage/trunk/libstage/stage.hh
Modified: code/stage/trunk/libstage/camera.cc
===================================================================
--- code/stage/trunk/libstage/camera.cc 2008-06-12 23:35:17 UTC (rev 6551)
+++ code/stage/trunk/libstage/camera.cc 2008-06-12 23:35:26 UTC (rev 6552)
@@ -14,7 +14,7 @@
//perspective camera
//perspective camera
StgPerspectiveCamera::StgPerspectiveCamera( void ) :
- _x( 0 ), _y( 0 ), _z( 0 ), _pitch( 90 ), _yaw( 0 ), _z_near(
0.1 ), _z_far( 20.0 )
+ _x( 0 ), _y( 0 ), _z( 0 ), _pitch( 90 ), _yaw( 0 ), _z_near(
0.2 ), _z_far( 40.0 ), _fov( 60 )
{
}
@@ -33,12 +33,7 @@
void StgPerspectiveCamera::SetProjection( float pixels_width, float
pixels_height, float y_min, float y_max ) const
{
- glMatrixMode (GL_PROJECTION);
- glLoadIdentity ();
-
- gluPerspective( 60.0, pixels_width/pixels_height, _z_near, _z_far );
-
- glMatrixMode (GL_MODELVIEW);
+ SetProjection( pixels_width/pixels_height );
}
void StgPerspectiveCamera::SetProjection( float aspect ) const
@@ -46,7 +41,7 @@
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
- gluPerspective( 60.0, aspect, _z_near, _z_far );
+ gluPerspective( _fov, aspect, _z_near, _z_far );
glMatrixMode (GL_MODELVIEW);
}
Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc 2008-06-12 23:35:17 UTC (rev 6551)
+++ code/stage/trunk/libstage/canvas.cc 2008-06-12 23:35:26 UTC (rev 6552)
@@ -34,7 +34,7 @@
use_perspective_camera = false;
perspective_camera.setPose( -3.0, 0.0, 1.0 );
- perspective_camera._pitch = 70.0; //look down
+ perspective_camera.setPitch( 70.0 ); //look down
startx = starty = 0;
//panx = pany = stheta = sphi = 0.0;
@@ -175,7 +175,7 @@
else
{
if( use_perspective_camera == true ) {
- perspective_camera._z += Fl::event_dy()
/ 10.0;
+ perspective_camera.scroll(
Fl::event_dy() / 10.0 );
} else {
camera.scale( Fl::event_dy(),
Fl::event_x(), w(), Fl::event_y(), h() );
}
@@ -190,8 +190,8 @@
int dy = Fl::event_y() - starty;
if( use_perspective_camera == true ) {
- perspective_camera._yaw += -dx;
- perspective_camera._pitch += -dy;
+ perspective_camera.addYaw( -dx );
+ perspective_camera.addPitch( -dy );
} else {
camera.pitch( 0.5 *
static_cast<double>( dy ) );
camera.yaw( 0.5 * static_cast<double>(
dx ) );
@@ -205,8 +205,7 @@
int dy = Fl::event_y() - starty;
if( use_perspective_camera == true ) {
- perspective_camera._x += -dx / 100.0 *
perspective_camera._z;
- perspective_camera._y += dy / 100.0 *
perspective_camera._z;
+ perspective_camera.move( -dx, dy, 0.0 );
} else {
camera.move( -dx, dy );
@@ -359,15 +358,13 @@
void StgCanvas::renderFrame( bool robot_camera )
{
-
uint32_t showflags = this->showflags;
if( robot_camera == true )
showflags = STG_SHOW_BLOCKS;
- if( ! (showflags & STG_SHOW_TRAILS) || robot_camera )
+ if( ! (showflags & STG_SHOW_TRAILS) || robot_camera == true )
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
-
glPushMatrix();
// draw the world size rectangle in white, using the polygon offset
@@ -532,9 +529,11 @@
void StgCanvas::draw()
{
static bool loaded_texture = false;
- // static int centerx = 0, centery = 0;
- //puts( "CANVAS" );
+ //Enable the following to debug camera model
+// if( loaded_texture == true && use_perspective_camera == true )
+// return;
+
if (!valid())
{
valid(1);
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2008-06-12 23:35:17 UTC (rev 6551)
+++ code/stage/trunk/libstage/model.cc 2008-06-12 23:35:26 UTC (rev 6552)
@@ -967,7 +967,7 @@
DrawBlinkenlights();
// draw speech bubble
- if( this->say_string )
+ if( say_string && flags & STG_SHOW_STATUS )
{
float stheta = -dtor( canvas->camera.getPitch() );
float sphi = dtor( canvas->camera.getYaw() );
Modified: code/stage/trunk/libstage/model_camera.cc
===================================================================
--- code/stage/trunk/libstage/model_camera.cc 2008-06-12 23:35:17 UTC (rev
6551)
+++ code/stage/trunk/libstage/model_camera.cc 2008-06-12 23:35:26 UTC (rev
6552)
@@ -55,7 +55,11 @@
{
StgModel::Load();
Worldfile* wf = world->GetWorldFile();
-
+ int fov = wf->ReadLength( id, "fov", -1 );
+ if( fov > 0 ) {
+ _camera.setFov( fov );
+ }
+
}
@@ -66,11 +70,10 @@
float* StgModelCamera::laser()
{
- int h = 32;
- int w = 32;
+ //TODO allow the h and w to be passed by user
+ int h = 320;
+ int w = 320;
- static StgPerspectiveCamera camera;
-
static GLfloat* data_gl = NULL;
static GLfloat* data = NULL;
if( data == NULL ) {
@@ -80,20 +83,25 @@
}
glViewport( 0, 0, w, h );
- camera.update();
- camera.SetProjection( 1.0 );
+ _camera.update();
+ _camera.SetProjection( 1.0 );
- camera.setPose( parent->GetGlobalPose().x, parent->GetGlobalPose().y,
0.1 );
- camera.setYaw( rtod( parent->GetGlobalPose().a ) - 90.0 );
- camera.Draw();
+ _camera.setPose( parent->GetGlobalPose().x, parent->GetGlobalPose().y,
0.3 );
+ _camera.setYaw( rtod( parent->GetGlobalPose().a ) - 90.0 );
+ _camera.Draw();
_canvas->renderFrame( true );
glReadPixels(0, h / 2, w, 1, GL_DEPTH_COMPONENT, GL_FLOAT, data_gl );
for( int i = 0; i < w; i++ ) {
- data[ w-1-i ] = camera.realDistance( data_gl[ i ] );
+ data[ w-1-i ] = _camera.realDistance( data_gl[ i ] );
}
+ for( int i = 0; i < 32; i++ ) {
+ for( int j = 1; j < 10; j++ )
+ data[ i ] += data[ i * 10 + j ];
+ data[ i ] /= 10.0;
+ }
_canvas->invalidate();
return data;
}
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2008-06-12 23:35:17 UTC (rev 6551)
+++ code/stage/trunk/libstage/stage.hh 2008-06-12 23:35:26 UTC (rev 6552)
@@ -521,6 +521,7 @@
const uint32_t STG_SHOW_FOOTPRINT = (1<<10);
const uint32_t STG_SHOW_BLOCKS_2D = (1<<10);
const uint32_t STG_SHOW_TRAILRISE = (1<<11);
+ const uint32_t STG_SHOW_STATUS = (1<<12);
// forward declare
class StgWorld;
@@ -1712,13 +1713,14 @@
class StgPerspectiveCamera : public StgCamera
{
- public: //TODO make this private
+ private:
float _x, _y, _z;
float _pitch; //left-right (about y)
float _yaw; //up-down (about x)
- private:
+
float _z_near;
float _z_far;
+ float _fov;
public:
StgPerspectiveCamera( void );
@@ -1729,13 +1731,33 @@
void update( void );
inline void setPose( float x, float y, float z ) { _x = x; _y =
y; _z = z; }
+ inline void addPose( float x, float y, float z ) { _x += x; _y
+= y; _z += z; if( _z < 0.1 ) _z = 0.1; }
+ inline void move( float x, float y, float z )
+ {
+ //scale relative to zoom level
+ _x *= _z;
+ _y *= _z;
+
+ //adjust for yaw angle
+ std::cout << "yaw:" << _yaw << std::endl;
+ _x += cos( dtor( _yaw ) ) * x;
+ _y += -sin( dtor( _yaw ) ) * x;
+
+ _x += sin( dtor( _yaw ) ) * y;
+ _y += cos( dtor( _yaw ) ) * y;
+ }
+ inline void setFov( float fov ) { _fov = fov; }
inline void setYaw( float yaw ) { _yaw = yaw; }
+ inline void addYaw( float yaw ) { _yaw += yaw; }
+ inline void setPitch( float pitch ) { _pitch = pitch; }
+ inline void addPitch( float pitch ) { _pitch += pitch; }
inline float realDistance( float z_buf_val ) const {
//formulat found at
http://www.cs.unc.edu/~hoff/techrep/openglz.html
//Z = Zn*Zf / (Zf - z*(Zf-Zn))
return _z_near * _z_far / ( _z_far - z_buf_val * (
_z_far - _z_near ) );
}
+ inline void scroll( float dy ) { _z += dy; }
};
class StgOrthoCamera : public StgCamera
@@ -1759,7 +1781,7 @@
//adjust for pitch angle
y = y / cos( dtor( _pitch ) );
- //adjust for yaw andle
+ //adjust for yaw angle
_x += cos( dtor( _yaw ) ) * x;
_y += -sin( dtor( _yaw ) ) * x;
@@ -2369,6 +2391,8 @@
int _frame_data_width;
int _frame_data_height;
+ StgPerspectiveCamera _camera;
+
public:
StgModelCamera( StgWorld* world,
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