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