1/*******************************************************************************************
2*
3* raylib [models] example - Plane rotations (yaw, pitch, roll)
4*
5* This example has been created using raylib 1.8 (www.raylib.com)
6* raylib is licensed under an unmodified zlib/libpng license (View raylib.h for details)
7*
8* Example contributed by Berni (@Berni8k) and reviewed by Ramon Santamaria (@raysan5)
9*
10* Copyright (c) 2017 Berni (@Berni8k) and Ramon Santamaria (@raysan5)
11*
12********************************************************************************************/
13
14#include "raylib.h"
15#include "raymath.h"
16
17// Draw angle gauge controls
18void DrawAngleGauge(Texture2D angleGauge, int x, int y, float angle, char title[], Color color);
19
20int main(void)
21{
22 // Initialization
23 //--------------------------------------------------------------------------------------
24 const int screenWidth = 800;
25 const int screenHeight = 450;
26
27 InitWindow(screenWidth, screenHeight, "raylib [models] example - plane rotations (yaw, pitch, roll)");
28
29 Texture2D texAngleGauge = LoadTexture("resources/angle_gauge.png");
30 Texture2D texBackground = LoadTexture("resources/background.png");
31 Texture2D texPitch = LoadTexture("resources/pitch.png");
32 Texture2D texPlane = LoadTexture("resources/plane.png");
33
34 RenderTexture2D framebuffer = LoadRenderTexture(192, 192);
35
36 // Model loading
37 Model model = LoadModel("resources/plane.obj"); // Load OBJ model
38 model.materials[0].maps[MAP_DIFFUSE].texture = LoadTexture("resources/plane_diffuse.png"); // Set map diffuse texture
39
40 GenTextureMipmaps(&model.materials[0].maps[MAP_DIFFUSE].texture);
41
42 Camera camera = { 0 };
43 camera.position = (Vector3){ 0.0f, 60.0f, -120.0f };// Camera position perspective
44 camera.target = (Vector3){ 0.0f, 12.0f, 0.0f }; // Camera looking at point
45 camera.up = (Vector3){ 0.0f, 1.0f, 0.0f }; // Camera up vector (rotation towards target)
46 camera.fovy = 30.0f; // Camera field-of-view Y
47 camera.type = CAMERA_PERSPECTIVE; // Camera type
48
49 float pitch = 0.0f;
50 float roll = 0.0f;
51 float yaw = 0.0f;
52
53 SetTargetFPS(60); // Set our game to run at 60 frames-per-second
54 //--------------------------------------------------------------------------------------
55
56 // Main game loop
57 while (!WindowShouldClose()) // Detect window close button or ESC key
58 {
59 // Update
60 //----------------------------------------------------------------------------------
61
62 // Plane roll (x-axis) controls
63 if (IsKeyDown(KEY_LEFT)) roll += 1.0f;
64 else if (IsKeyDown(KEY_RIGHT)) roll -= 1.0f;
65 else
66 {
67 if (roll > 0.0f) roll -= 0.5f;
68 else if (roll < 0.0f) roll += 0.5f;
69 }
70
71 // Plane yaw (y-axis) controls
72 if (IsKeyDown(KEY_S)) yaw += 1.0f;
73 else if (IsKeyDown(KEY_A)) yaw -= 1.0f;
74 else
75 {
76 if (yaw > 0.0f) yaw -= 0.5f;
77 else if (yaw < 0.0f) yaw += 0.5f;
78 }
79
80 // Plane pitch (z-axis) controls
81 if (IsKeyDown(KEY_DOWN)) pitch += 0.6f;
82 else if (IsKeyDown(KEY_UP)) pitch -= 0.6f;
83 else
84 {
85 if (pitch > 0.3f) pitch -= 0.3f;
86 else if (pitch < -0.3f) pitch += 0.3f;
87 }
88
89 // Wraps the phase of an angle to fit between -180 and +180 degrees
90 int pitchOffset = pitch;
91 while (pitchOffset > 180) pitchOffset -= 360;
92 while (pitchOffset < -180) pitchOffset += 360;
93 pitchOffset *= 10;
94
95 /* matrix transform done with multiplication to combine rotations
96 Matrix transform = MatrixIdentity();
97
98 transform = MatrixMultiply(transform, MatrixRotateZ(DEG2RAD*roll));
99 transform = MatrixMultiply(transform, MatrixRotateX(DEG2RAD*pitch));
100 transform = MatrixMultiply(transform, MatrixRotateY(DEG2RAD*yaw));
101
102 model.transform = transform;
103 */
104 // matrix created from multiple axes at once
105 model.transform = MatrixRotateXYZ((Vector3){DEG2RAD*pitch,DEG2RAD*yaw,DEG2RAD*roll});
106
107 //----------------------------------------------------------------------------------
108 // Draw
109 //----------------------------------------------------------------------------------
110 BeginDrawing();
111
112 ClearBackground(RAYWHITE);
113
114 // Draw framebuffer texture (Ahrs Display)
115 int centerX = framebuffer.texture.width/2;
116 int centerY = framebuffer.texture.height/2;
117 float scaleFactor = 0.5f;
118
119 BeginTextureMode(framebuffer);
120
121 BeginBlendMode(BLEND_ALPHA);
122
123 DrawTexturePro(texBackground, (Rectangle){ 0, 0, texBackground.width, texBackground.height },
124 (Rectangle){ centerX, centerY, texBackground.width*scaleFactor, texBackground.height*scaleFactor},
125 (Vector2){ texBackground.width/2*scaleFactor, texBackground.height/2*scaleFactor + pitchOffset*scaleFactor }, roll, WHITE);
126
127 DrawTexturePro(texPitch, (Rectangle){ 0, 0, texPitch.width, texPitch.height },
128 (Rectangle){ centerX, centerY, texPitch.width*scaleFactor, texPitch.height*scaleFactor },
129 (Vector2){ texPitch.width/2*scaleFactor, texPitch.height/2*scaleFactor + pitchOffset*scaleFactor }, roll, WHITE);
130
131 DrawTexturePro(texPlane, (Rectangle){ 0, 0, texPlane.width, texPlane.height },
132 (Rectangle){ centerX, centerY, texPlane.width*scaleFactor, texPlane.height*scaleFactor },
133 (Vector2){ texPlane.width/2*scaleFactor, texPlane.height/2*scaleFactor }, 0, WHITE);
134
135 EndBlendMode();
136
137 EndTextureMode();
138
139 // Draw 3D model (recomended to draw 3D always before 2D)
140 BeginMode3D(camera);
141
142 DrawModel(model, (Vector3){ 0, 6.0f, 0 }, 1.0f, WHITE); // Draw 3d model with texture
143 DrawGrid(10, 10.0f);
144
145 EndMode3D();
146
147 // Draw 2D GUI stuff
148 DrawAngleGauge(texAngleGauge, 80, 70, roll, "roll", RED);
149 DrawAngleGauge(texAngleGauge, 190, 70, pitch, "pitch", GREEN);
150 DrawAngleGauge(texAngleGauge, 300, 70, yaw, "yaw", SKYBLUE);
151
152 DrawRectangle(30, 360, 260, 70, Fade(SKYBLUE, 0.5f));
153 DrawRectangleLines(30, 360, 260, 70, Fade(DARKBLUE, 0.5f));
154 DrawText("Pitch controlled with: KEY_UP / KEY_DOWN", 40, 370, 10, DARKGRAY);
155 DrawText("Roll controlled with: KEY_LEFT / KEY_RIGHT", 40, 390, 10, DARKGRAY);
156 DrawText("Yaw controlled with: KEY_A / KEY_S", 40, 410, 10, DARKGRAY);
157
158 // Draw framebuffer texture
159 DrawTextureRec(framebuffer.texture, (Rectangle){ 0, 0, framebuffer.texture.width, -framebuffer.texture.height },
160 (Vector2){ screenWidth - framebuffer.texture.width - 20, 20 }, Fade(WHITE, 0.8f));
161
162 DrawRectangleLines(screenWidth - framebuffer.texture.width - 20, 20, framebuffer.texture.width, framebuffer.texture.height, DARKGRAY);
163
164 EndDrawing();
165 //----------------------------------------------------------------------------------
166 }
167
168 // De-Initialization
169 //--------------------------------------------------------------------------------------
170
171 // Unload all loaded data
172 UnloadTexture(model.materials[0].maps[MAP_DIFFUSE].texture);
173 UnloadModel(model);
174
175 UnloadRenderTexture(framebuffer);
176
177 UnloadTexture(texAngleGauge);
178 UnloadTexture(texBackground);
179 UnloadTexture(texPitch);
180 UnloadTexture(texPlane);
181
182 CloseWindow(); // Close window and OpenGL context
183 //--------------------------------------------------------------------------------------
184
185 return 0;
186}
187
188// Draw angle gauge controls
189void DrawAngleGauge(Texture2D angleGauge, int x, int y, float angle, char title[], Color color)
190{
191 Rectangle srcRec = { 0, 0, angleGauge.width, angleGauge.height };
192 Rectangle dstRec = { x, y, angleGauge.width, angleGauge.height };
193 Vector2 origin = { angleGauge.width/2, angleGauge.height/2};
194 int textSize = 20;
195
196 DrawTexturePro(angleGauge, srcRec, dstRec, origin, angle, color);
197
198 DrawText(FormatText("%5.1f", angle), x - MeasureText(FormatText("%5.1f", angle), textSize) / 2, y + 10, textSize, DARKGRAY);
199 DrawText(title, x - MeasureText(title, textSize) / 2, y + 60, textSize, DARKGRAY);
200}
201