al::Nav Class Reference

#include <C:/Users/Andres/source/repos/casm_viewer/external/tinc/external/allolib/include/al/io/al_ControlNav.hpp>

Inheritance diagram for al::Nav:

Public Member Functions
	Nav (const Vec3d &pos=Vec3d(0), double smooth=0)
	Nav (const Nav &nav)
	Copy constructor.
double	smooth () const
	Get smoothing amount.
const Vec3d &	ur () const
	Get right unit vector.
const Vec3d &	uu () const
	Get up unit vector.
const Vec3d &	uf () const
	Get forward unit vector.
Pose	vel () const
	Get current linear and angular velocities as a Pose.
double	velScale () const
Nav &	smooth (double v)
	Set smoothing amount in [0,1)
Nav &	view (double azimuth, double elevation, double bank)
Nav &	view (const Quatd &v)
void	faceToward (const Vec3d &p, double amt=1.)
	Turn to face a given world-coordinate point.
void	faceToward (const Vec3d &point, const Vec3d &up, double amt=1.)
void	nudgeToward (const Vec3d &p, double amt=1.)
	Move toward a given world-coordinate point.
void	move (double dr, double du, double df)
	Set linear velocity.
template<class T >
void	move (const Vec< 3, T > &dp)
void	moveR (double v)
	Set linear velocity along right vector.
void	moveU (double v)
	Set linear velocity long up vector.
void	moveF (double v)
	Set linear velocity long forward vector.
Vec3d &	move ()
void	nudge (double dr, double du, double df)
	Move by a single increment.
template<class T >
void	nudge (const Vec< 3, T > &dp)
void	nudgeR (double amount)
void	nudgeU (double amount)
void	nudgeF (double amount)
void	spin (double da, double de, double db)
template<class T >
void	spin (const Vec< 3, T > &daeb)
void	spin (const Quatd &v)
	Set angular velocity from a unit quaternion (versor)
void	spinR (double v)
	Set angular velocity around right vector (elevation), in radians.
void	spinU (double v)
	Set angular velocity around up vector (azimuth), in radians.
void	spinF (double v)
	Set angular velocity around forward vector (bank), in radians.
Vec3d &	spin ()
	Set angular velocity directly.
void	turn (double az, double el, double ba)
	Turn by a single increment for one step, in radians.
template<class T >
void	turn (const Vec< 3, T > &daeb)
void	turnR (double v)
void	turnU (double v)
	Turn by a single increment, in radians, around the up vector (azimuth)
void	turnF (double v)
	Turn by a single increment, in radians, around the forward vector (bank)
Nav &	halt ()
	Stop moving and spinning.
Nav &	home ()
	Go to origin, reset orientation.
Nav &	setHome ()
	set current nav to be home
void	updateDirectionVectors ()
	Update coordinate frame basis vectors based on internal quaternion.
Nav &	set (const Pose &v)
Nav &	set (const Nav &v)
void	step (double dt=1)
	Accumulate pose based on velocity.
double	pullBack () const
	Get pull-back amount.
Nav &	pullBack (double v)
	Set pull-back amount.
Pose &	transformed ()
	Get transformed pose.
Pose	operator* (const Pose &v) const
	Get pose transformed by another pose.
Pose &	operator*= (const Pose &v)
	Translate and rotate by argument.
bool	operator== (const Pose &v) const
Vec3d &	pos ()
	Get "position" vector.
const Vec3d &	pos () const
template<class T >
Pose &	pos (const Vec< 3, T > &v)
	Set position.
Pose &	pos (double x, double y, double z)
	Set position from individual components.
Vec3d &	vec ()
	Get vector component.
const Vec3d &	vec () const
template<class T >
Pose &	vec (const Vec< 3, T > &v)
	Set vector component.
Quatd &	quat ()
	Get quaternion component (represents orientation)
const Quatd &	quat () const
template<class T >
Pose &	quat (const Quat< T > &v)
	Set quaternion component.
double	x () const
double	y () const
double	z () const
Mat4d	matrix () const
	Convert to 4x4 projection space matrix.
Mat4d	directionMatrix () const
	Convert to 4x4 direction matrix.
void	toAED (const Vec3d &to, double &azimuth, double &elevation, double &distance) const
	Get the azimuth, elevation & distance from this to another point.
Vec3d	ux () const
	Get world space X unit vector.
Vec3d	uy () const
	Get world space Y unit vector.
Vec3d	uz () const
	Get world space Z unit vector.
template<class T >
void	unitVectors (Vec< 3, T > &ux, Vec< 3, T > &uy, Vec< 3, T > &uz) const
	Get world space unit vectors.
template<class T >
void	directionVectors (Vec< 3, T > &ur, Vec< 3, T > &uu, Vec< 3, T > &uf) const
	Get local right, up, and forward unit vectors.
Pose	lerp (const Pose &target, double amt) const
	Get a linear-interpolated Pose between this and another.
Pose &	set (Pose &src)
	Copy all attributes from another Pose.
Pose &	setIdentity ()
	Set to identity transform.
	operator Vec3d ()
	operator Quatd ()
void	print () const
	Print to standard output.

Static Public Member Functions
static Pose	identity ()
	Get identity.

Protected Attributes
Vec3d	mMove0
Vec3d	mMove1
Vec3d	mSpin0
Vec3d	mSpin1
Vec3d	mTurn
Vec3d	mNudge
Vec3d	mUR
Vec3d	mUU
Vec3d	mUF
double	mSmooth
double	mVelScale
double	mPullBack0
double	mPullBack1
Pose	mTransformed
Pose	mHome
Vec3d	mVec
Quatd	mQuat

Detailed Description

This manipulates a Pose with smooth angular and positional velocities. The smoothing is done using a one-pole low-pass filter which produces an exponential ease-out type of transition.

Definition at line 61 of file al_ControlNav.hpp.

Constructor & Destructor Documentation

Nav()

al::Nav::Nav	(	const Vec3d &	pos = Vec3d(0),
		double	smooth = 0
	)

Parameters

[in]	pos	Initial position
[in]	smooth	Motion smoothing amount in [0,1)

Member Function Documentation

faceToward()

void al::Nav::faceToward	(	const Vec3d &	point,
		const Vec3d &	up,
		double	amt = 1.
	)

Turn to face a given world-coordinate point, while maintaining an up vector

spin()

void al::Nav::spin ( double  da, double  de, double  db  )

inline

Set angular velocity from azimuth, elevation, and bank differentials, in radians

Definition at line 144 of file al_ControlNav.hpp.

turnR()

void al::Nav::turnR ( double  v )

inline

Turn by a single increment, in radians, around the right vector (elevation)

Definition at line 180 of file al_ControlNav.hpp.

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The documentation for this class was generated from the following file:

• al_ControlNav.hpp