raylib-cs/Examples/models/models_yaw_pitch_roll.cs

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);
    }
}