using Raylib;
using static Raylib.Raylib;
using static Raylib.CameraType;
using static Raylib.TexmapIndex;
using static Raylib.BlendMode;
public partial class models_yaw_pitch_roll
{
/*******************************************************************************************
*
* raylib [models] example - Plane rotations (yaw, pitch, roll)
*
* This example has been created using raylib 1.8 (www.raylib.com)
* raylib is licensed under an unmodified zlib/libpng license (View raylib.h for details)
*
* Example based on Berni work on Raspberry Pi:
* http://forum.raylib.com/index.php?p=/discussion/124/line-versus-triangle-drawing-order
*
* Copyright (c) 2017 Ramon Santamaria (@raysan5)
*
********************************************************************************************/
// Draw angle gauge controls
//void DrawAngleGauge(Texture2D angleGauge, int x, int y, float angle, char title[], Color color);
//----------------------------------------------------------------------------------
// Main entry point
//----------------------------------------------------------------------------------
public static int Main()
{
// Initialization
//--------------------------------------------------------------------------------------
const int screenWidth = 800;
const int screenHeight = 450;
InitWindow(screenWidth, screenHeight, "raylib [models] example - plane rotations (yaw, pitch, roll)");
Texture2D texAngleGauge = LoadTexture("resources/angle_gauge.png");
Texture2D texBackground = LoadTexture("resources/background.png");
Texture2D texPitch = LoadTexture("resources/pitch.png");
Texture2D texPlane = LoadTexture("resources/plane.png");
RenderTexture2D framebuffer = LoadRenderTexture(192, 192);
// Model loading
Model model = LoadModel("resources/plane.obj"); // Load OBJ model
model.material.maps[(int)MAP_ALBEDO].texture = LoadTexture("resources/plane_diffuse.png"); // Set map diffuse texture
GenTextureMipmaps(ref model.material.maps[(int)MAP_ALBEDO].texture);
Camera3D camera = new Camera3D();
camera.position = new Vector3( 0.0f, 60.0f, -120.0f );// Camera3D position perspective
camera.target = new Vector3( 0.0f, 12.0f, 0.0f ); // Camera3D looking at point
camera.up = new Vector3( 0.0f, 1.0f, 0.0f ); // Camera3D up vector (rotation towards target)
camera.fovy = 30.0f; // Camera3D field-of-view Y
camera.type = CAMERA_PERSPECTIVE; // Camera3D type
float pitch = 0.0f;
float roll = 0.0f;
float yaw = 0.0f;
SetTargetFPS(60);
//--------------------------------------------------------------------------------------
while (!WindowShouldClose()) // Detect window close button or ESC key
{
// Update
//----------------------------------------------------------------------------------
// Plane roll (x-axis) controls
if (IsKeyDown(KEY_LEFT)) roll += 1.0f;
else if (IsKeyDown(KEY_RIGHT)) roll -= 1.0f;
else
{
if (roll > 0.0f) roll -= 0.5f;
else if (roll < 0.0f) roll += 0.5f;
}
// Plane yaw (y-axis) controls
if (IsKeyDown(KEY_S)) yaw += 1.0f;
else if (IsKeyDown(KEY_A)) yaw -= 1.0f;
else
{
if (yaw > 0.0f) yaw -= 0.5f;
else if (yaw < 0.0f) yaw += 0.5f;
}
// Plane pitch (z-axis) controls
if (IsKeyDown(KEY_DOWN)) pitch += 0.6f;
else if (IsKeyDown(KEY_UP)) pitch -= 0.6f;
else
{
if (pitch > 0.3f) pitch -= 0.3f;
else if (pitch < -0.3f) pitch += 0.3f;
}
// Wraps the phase of an angle to fit between -180 and +180 degrees
int pitchOffset = (int)pitch;
while (pitchOffset > 180) pitchOffset -= 360;
while (pitchOffset < -180) pitchOffset += 360;
pitchOffset *= 10;
Matrix transform = MatrixIdentity();
transform = MatrixMultiply(transform, MatrixRotateZ(DEG2RAD*roll));
transform = MatrixMultiply(transform, MatrixRotateX(DEG2RAD*pitch));
transform = MatrixMultiply(transform, MatrixRotateY(DEG2RAD*yaw));
model.transform = transform;
//----------------------------------------------------------------------------------
// Draw
//----------------------------------------------------------------------------------
BeginDrawing();
ClearBackground(RAYWHITE);
// Draw framebuffer texture (Ahrs Display)
int centerX = framebuffer.texture.width/2;
int centerY = framebuffer.texture.height/2;
float scaleFactor = 0.5f;
BeginTextureMode(framebuffer);
BeginBlendMode((int)BLEND_ALPHA);
DrawTexturePro(texBackground, new Rectangle( 0, 0, texBackground.width, texBackground.height ),
new Rectangle( centerX, centerY, texBackground.width*scaleFactor, texBackground.height*scaleFactor),
new Vector2( texBackground.width/2*scaleFactor, texBackground.height/2*scaleFactor + pitchOffset*scaleFactor ), roll, WHITE);
DrawTexturePro(texPitch, new Rectangle( 0, 0, texPitch.width, texPitch.height ),
new Rectangle( centerX, centerY, texPitch.width*scaleFactor, texPitch.height*scaleFactor ),
new Vector2( texPitch.width/2*scaleFactor, texPitch.height/2*scaleFactor + pitchOffset*scaleFactor ), roll, WHITE);
DrawTexturePro(texPlane, new Rectangle( 0, 0, texPlane.width, texPlane.height ),
new Rectangle( centerX, centerY, texPlane.width*scaleFactor, texPlane.height*scaleFactor ),
new Vector2( texPlane.width/2*scaleFactor, texPlane.height/2*scaleFactor ), 0, WHITE);
EndBlendMode();
EndTextureMode();
// Draw 3D model (recomended to draw 3D always before 2D)
BeginMode3D(camera);
DrawModel(model, new Vector3( 0, 6.0f, 0 ), 1.0f, WHITE); // Draw 3d model with texture
DrawGrid(10, 10.0f);
EndMode3D();
// Draw 2D GUI stuff
DrawAngleGauge(texAngleGauge, 80, 70, roll, "roll", RED);
DrawAngleGauge(texAngleGauge, 190, 70, pitch, "pitch", GREEN);
DrawAngleGauge(texAngleGauge, 300, 70, yaw, "yaw", SKYBLUE);
DrawRectangle(30, 360, 260, 70, Fade(SKYBLUE, 0.5f));
DrawRectangleLines(30, 360, 260, 70, Fade(DARKBLUE, 0.5f));
DrawText("Pitch controlled with: KEY_UP / KEY_DOWN", 40, 370, 10, DARKGRAY);
DrawText("Roll controlled with: KEY_LEFT / KEY_RIGHT", 40, 390, 10, DARKGRAY);
DrawText("Yaw controlled with: KEY_A / KEY_S", 40, 410, 10, DARKGRAY);
// Draw framebuffer texture
DrawTextureRec(framebuffer.texture, new Rectangle( 0, 0, framebuffer.texture.width, -framebuffer.texture.height ),
new Vector2( screenWidth - framebuffer.texture.width - 20, 20 ), Fade(WHITE, 0.8f));
DrawRectangleLines(screenWidth - framebuffer.texture.width - 20, 20, framebuffer.texture.width, framebuffer.texture.height, DARKGRAY);
EndDrawing();
//----------------------------------------------------------------------------------
}
// De-Initialization
//--------------------------------------------------------------------------------------
// Unload all loaded data
UnloadModel(model);
UnloadRenderTexture(framebuffer);
UnloadTexture(texAngleGauge);
UnloadTexture(texBackground);
UnloadTexture(texPitch);
UnloadTexture(texPlane);
CloseWindow(); // Close window and OpenGL context
//--------------------------------------------------------------------------------------
return 0;
}
// Draw angle gauge controls
static void DrawAngleGauge(Texture2D angleGauge, int x, int y, float angle, string title, Color color)
{
Rectangle srcRec = new Rectangle( 0, 0, angleGauge.width, angleGauge.height );
Rectangle dstRec = new Rectangle( x, y, angleGauge.width, angleGauge.height );
Vector2 origin = new Vector2( angleGauge.width/2, angleGauge.height/2);
int textSize = 20;
DrawTexturePro(angleGauge, srcRec, dstRec, origin, angle, color);
DrawText(FormatText("%5.1f", angle), x - MeasureText(FormatText("%5.1f", angle), textSize) / 2, y + 10, textSize, DARKGRAY);
DrawText(title, x - MeasureText(title, textSize) / 2, y + 60, textSize, DARKGRAY);
}
}