00001 /*************************************************************************** 00002 * Copyright (C) 2005 by Robot Group Leipzig * 00003 * martius@informatik.uni-leipzig.de * 00004 * fhesse@informatik.uni-leipzig.de * 00005 * der@informatik.uni-leipzig.de * 00006 * frankguettler@gmx.de * 00007 * * 00008 * This program is free software; you can redistribute it and/or modify * 00009 * it under the terms of the GNU General Public License as published by * 00010 * the Free Software Foundation; either version 2 of the License, or * 00011 * (at your option) any later version. * 00012 * * 00013 * This program is distributed in the hope that it will be useful, * 00014 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00015 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * 00016 * GNU General Public License for more details. * 00017 * * 00018 * You should have received a copy of the GNU General Public License * 00019 * along with this program; if not, write to the * 00020 * Free Software Foundation, Inc., * 00021 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * 00022 *************************************************************************** 00023 * * 00024 * * 00025 * $Log: cameramanipulatorTV.cpp,v $ 00026 * Revision 1.1.2.6 2006/03/19 13:36:52 robot3 00027 * race mode now works 00028 * 00029 * Revision 1.1.2.5 2006/03/18 13:54:42 robot3 00030 * syntax error fix 00031 * 00032 * Revision 1.1.2.4 2006/03/18 13:49:05 robot3 00033 * TV mode works now, the appropiate pan and tilt are calculated 00034 * 00035 * Revision 1.1.2.3 2006/03/06 16:57:53 robot3 00036 * minor changes 00037 * 00038 * Revision 1.1.2.2 2006/03/03 12:08:50 robot3 00039 * preparations made for new cameramanipulators 00040 * 00041 * Revision 1.1.2.1 2006/02/01 10:24:34 robot3 00042 * new camera manipulator added 00043 * 00044 * * 00045 ***************************************************************************/ 00046 00047 #include <osg/Notify> 00048 #include "cameramanipulatorTV.h" 00049 #include "mathutils.h" 00050 #include "pos.h" 00051 #include <stdio.h> 00052 00053 00054 #define square(x) ((x)*(x)) 00055 00056 namespace lpzrobots { 00057 00058 using namespace osg; 00059 using namespace osgGA; 00060 00061 CameraManipulatorTV::CameraManipulatorTV(osg::Node* node,GlobalData& global) 00062 : CameraManipulator(node,global) {} 00063 00064 CameraManipulatorTV::~CameraManipulatorTV(){} 00065 00066 00067 void CameraManipulatorTV::calcMovementByAgent() { 00068 if (watchingAgent!=NULL) { 00069 // the actual position of the agent has to be recognized 00070 // we use the Position getPosition() from OdeRobot 00071 Position robPos = watchingAgent->getRobot()->getPosition(); 00072 // desiredEye is the position of the camera 00073 // calculate the horizontal angle, means pan (view.x) 00074 if (robPos.x-desiredEye[0]!=0) { // division by zero 00075 desiredView[0]= atan((desiredEye[0]-robPos.x)/(robPos.y-desiredEye[1])) 00076 / PI*180.0f+180.0f; 00077 if (desiredEye[1]-robPos.y<0) // we must switch 00078 desiredView[0]+=180.0f; 00079 } 00080 // calculate the vertical angle 00081 if (robPos.z-desiredEye[2]!=0) { // division by zero 00082 // need dz and sqrt(dx^2+dy^2) for calulation 00083 desiredView[1]=-atan((sqrt(square(desiredEye[0]-robPos.x)+ 00084 square(desiredEye[1]-robPos.y))) 00085 /(robPos.z-desiredEye[2])) 00086 / PI*180.0f-90.0f; 00087 if (desiredEye[2]-robPos.z<0) // we must switch 00088 desiredView[1]+=180.0f; 00089 } 00090 } 00091 } 00092 00093 00094 void CameraManipulatorTV::setHomeViewByAgent() { 00095 // the default camera manipulator does not need to change the view 00096 // normally the desired view should be changed 00097 } 00098 00099 00100 void CameraManipulatorTV::setHomeEyeByAgent() { 00101 // the default camera manipulator does not need to change the eye 00102 // normally the desired eye should be changed 00103 } 00104 }