/// <summary>
/// カメラ視点の更新処理
/// </summary>
/// <param name="vm">カメラ視点モード</param>
private void ViewpointUpdate(ViewpointMode vm)
{
Ode.Vector3 viewPos = new Ode.Vector3(); // 視点の位置(x, y, z)
Ode.Vector3 viewDir = new Ode.Vector3(); // 視点の方向(ヘッド，ピッチ，ロール)
// 車の位置行列・回転行列を取得
Ode.Vector3 pos; ;
Ode.Matrix3 R;
_car.GetStatus(out pos, out R);
switch (vm)
{
case ViewpointMode.Fixed:
break;
case ViewpointMode.Trace:
viewPos.X = pos.X;
viewPos.Y = pos.Y;
viewPos.Z = 10.0f;
viewDir.X = 90.0f;
viewDir.Y = -90.0f;
viewDir.Z = 0.0f;
Ds.SetViewpoint(ref viewPos, ref viewDir); // 視点の設定
break;
case ViewpointMode.FirstPerson:
Real yaw = (float)Math.Atan2(R.M21, R.M11) / Ode.PI * 180.0f;
viewPos.X = pos.X;
viewPos.Y = pos.Y;
viewPos.Z = 0.5f;
viewDir.X = 90.0f - yaw;
viewDir.Y = 0.0f;
viewDir.Z = 0.0f;
Ds.SetViewpoint(ref viewPos, ref viewDir); // 視点の設定
break;
}
}
/// <summary>
/// Drawstuffのコマンド入力時コールバック関数
/// <param name="cmd">コマンド入力</param>
/// </summary>
private void CommandFunctionCallback(IntPtr cmd)
{
switch ((char)cmd)
{
case 'f':
_car.speedL += 0.5f;
break;
case 'd':
_car.speedL -= 0.5f;
break;
case 'j':
_car.speedR += 0.5f;
break;
case 'k':
_car.speedR -= 0.5f;
break;
case 'u':
_car.v += 1.0f;
break;
case 'i':
_car.v -= 1.0f;
break;
case 'y':
_car.omega += 0.4f;
break;
case 'o':
_car.omega -= 0.4f;
break;
case 's':
_car.speedR = _car.speedL = 0.0f;
break;
// カメラ視点：固定
case 'z':
_viewPointMode = ViewpointMode.Fixed;
break;
// カメラ視点：追従
case 'x':
_viewPointMode = ViewpointMode.Trace;
break;
// カメラ視点：一人称視点
case 'c':
_viewPointMode = ViewpointMode.FirstPerson;
break;
}
Console.WriteLine("SpeedL: " + _car.speedL.ToString() + ", SpeedR: " + _car.speedR.ToString());
}
