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<div class="title">al_ControlNav.hpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef INCLUDE_AL_CONTROL_NAV_HPP</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define INCLUDE_AL_CONTROL_NAV_HPP</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>  </div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">/* Allocore --</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> Multimedia / virtual environment application class library</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"></span> </div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> Copyright (C) 2009. AlloSphere Research Group, Media Arts & Technology,</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> UCSB. Copyright (C) 2012. The Regents of the University of California. All</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> rights reserved.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"></span> </div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> modification, are permitted provided that the following conditions are</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> met:</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"></span> </div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"></span> </div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> copyright notice, this list of conditions and the following disclaimer in the</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> documentation and/or other materials provided with the</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> distribution.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"></span> </div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> Neither the name of the University of California nor the names</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> of its contributors may be used to endorse or promote products derived from</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> this software without specific prior written permission.</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"></span> </div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"></span> </div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="comment"></span> </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="comment"> File description:</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="comment"> Key/Mouse events to control 3D navigation</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="comment"></span> </div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="comment"> File author(s):</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment"> Lance Putnam, 2010, [email protected]</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment"> Graham Wakefield, 2010, [email protected]</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="comment"> Keehong Youn, 2017, [email protected]</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment"></span> </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment">*/</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="preprocessor">#include "al/io/al_Window.hpp"</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="preprocessor">#include "al/spatial/al_Pose.hpp"</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="keyword">namespace </span><a class="code" href="namespaceal.html">al</a> {</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  </div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html"> 61</a></span> <span class="keyword">class </span><a class="code" href="classal_1_1_nav.html">Nav</a> : <span class="keyword">public</span> <a class="code" href="classal_1_1_pose.html">Pose</a> {</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#acc4c1f073d612a68703e0adc1209119c"> 65</a></span>  <a class="code" href="classal_1_1_nav.html#acc4c1f073d612a68703e0adc1209119c">Nav</a>(<span class="keyword">const</span> <a class="code" href="classal_1_1_vec.html">Vec3d</a> &<a class="code" href="classal_1_1_pose.html#a9553a50b8eaee80cd36d355daffe2a15">pos</a> = <a class="code" href="namespaceal.html#a2c986862410061adeaba684e7fffb06b">Vec3d</a>(0), <span class="keywordtype">double</span> <a class="code" href="classal_1_1_nav.html#aa5ece51abd15b52bc29d1f06424aa1e6">smooth</a> = 0);</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#af42cfabc555ae607fbb9c2eac97aebf8"> 68</a></span>  <a class="code" href="classal_1_1_nav.html#af42cfabc555ae607fbb9c2eac97aebf8">Nav</a>(<span class="keyword">const</span> <a class="code" href="classal_1_1_nav.html">Nav</a> &nav);</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  </div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#aa5ece51abd15b52bc29d1f06424aa1e6"> 71</a></span>  <span class="keywordtype">double</span> <a class="code" href="classal_1_1_nav.html#aa5ece51abd15b52bc29d1f06424aa1e6">smooth</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> mSmooth; }</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  </div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a198c8edf9d3eebb92dfe6cc845c27eec"> 74</a></span>  <span class="keyword">const</span> <a class="code" href="classal_1_1_vec.html">Vec3d</a> &<a class="code" href="classal_1_1_nav.html#a198c8edf9d3eebb92dfe6cc845c27eec">ur</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> mUR; }</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#af78cb58bcd60253c0b30e49c00afd571"> 77</a></span>  <span class="keyword">const</span> <a class="code" href="classal_1_1_vec.html">Vec3d</a> &<a class="code" href="classal_1_1_nav.html#af78cb58bcd60253c0b30e49c00afd571">uu</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> mUU; }</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  </div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a88d77bdecb0d3812548148d164d97778"> 80</a></span>  <span class="keyword">const</span> <a class="code" href="classal_1_1_vec.html">Vec3d</a> &<a class="code" href="classal_1_1_nav.html#a88d77bdecb0d3812548148d164d97778">uf</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> mUF; }</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a14f98fe7b2c689e1b288de95e901ac70"> 83</a></span>  <a class="code" href="classal_1_1_pose.html">Pose</a> <a class="code" href="classal_1_1_nav.html#a14f98fe7b2c689e1b288de95e901ac70">vel</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classal_1_1_pose.html#a2a461d1bdb369dbaea1be3a2633dd470">Pose</a>(mMove1, <a class="code" href="namespaceal.html#a82dabef78d597a60bb2bd513ea1d5de6">Quatd</a>().fromEuler(mSpin1)); }</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  </div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordtype">double</span> velScale()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> mVelScale; }</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#ae6f95cc6bec1f6b7de7d61770ed69e0e"> 88</a></span>  <a class="code" href="classal_1_1_nav.html">Nav</a> &<a class="code" href="classal_1_1_nav.html#ae6f95cc6bec1f6b7de7d61770ed69e0e">smooth</a>(<span class="keywordtype">double</span> v) {</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  mSmooth = v;</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  }</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <a class="code" href="classal_1_1_nav.html">Nav</a> &view(<span class="keywordtype">double</span> azimuth, <span class="keywordtype">double</span> elevation, <span class="keywordtype">double</span> bank);</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  </div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <a class="code" href="classal_1_1_nav.html">Nav</a> &view(<span class="keyword">const</span> <a class="code" href="classal_1_1_quat.html">Quatd</a> &v);</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  </div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#aecee01391e7f05c31c623659824b2328"> 98</a></span>  <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#aecee01391e7f05c31c623659824b2328">faceToward</a>(<span class="keyword">const</span> <a class="code" href="classal_1_1_vec.html">Vec3d</a> &p, <span class="keywordtype">double</span> amt = 1.);</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  </div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a8763ff4f6d68a1ad767bdc62075ba50e"> 102</a></span>  <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#a8763ff4f6d68a1ad767bdc62075ba50e">faceToward</a>(<span class="keyword">const</span> <a class="code" href="classal_1_1_vec.html">Vec3d</a> &point, <span class="keyword">const</span> <a class="code" href="classal_1_1_vec.html">Vec3d</a> &up, <span class="keywordtype">double</span> amt = 1.);</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  </div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a9a6b4a210194e8ae6ca31f9bcd5fa6c8"> 105</a></span>  <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#a9a6b4a210194e8ae6ca31f9bcd5fa6c8">nudgeToward</a>(<span class="keyword">const</span> <a class="code" href="classal_1_1_vec.html">Vec3d</a> &p, <span class="keywordtype">double</span> amt = 1.);</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  </div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a1b047bb752d100e561e9fc7dff602040"> 108</a></span>  <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#a1b047bb752d100e561e9fc7dff602040">move</a>(<span class="keywordtype">double</span> dr, <span class="keywordtype">double</span> du, <span class="keywordtype">double</span> df) {</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <a class="code" href="classal_1_1_nav.html#aaefb9e75330669fcf168011d194a6ec9">moveR</a>(dr);</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <a class="code" href="classal_1_1_nav.html#a57e91239a3fbc9c74982655b3150b8eb">moveU</a>(du);</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <a class="code" href="classal_1_1_nav.html#ab3575449b8e328d2cb9bd096cefbee3c">moveF</a>(df);</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  }</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keyword">template</span> <<span class="keyword">class</span> T> <span class="keywordtype">void</span> move(<span class="keyword">const</span> <a class="code" href="classal_1_1_vec.html">Vec<3, T></a> &dp) {</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  move(dp[0], dp[1], dp[2]);</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  }</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  </div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#aaefb9e75330669fcf168011d194a6ec9"> 118</a></span>  <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#aaefb9e75330669fcf168011d194a6ec9">moveR</a>(<span class="keywordtype">double</span> v) { mMove0[0] = v; }</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  </div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a57e91239a3fbc9c74982655b3150b8eb"> 121</a></span>  <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#a57e91239a3fbc9c74982655b3150b8eb">moveU</a>(<span class="keywordtype">double</span> v) { mMove0[1] = v; }</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  </div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#ab3575449b8e328d2cb9bd096cefbee3c"> 124</a></span>  <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#ab3575449b8e328d2cb9bd096cefbee3c">moveF</a>(<span class="keywordtype">double</span> v) { mMove0[2] = v; }</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  </div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <a class="code" href="classal_1_1_vec.html">Vec3d</a> &move() { <span class="keywordflow">return</span> mMove0; }</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  </div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a7ae8d403fb8cd5b421ffb9c8cf79238d"> 129</a></span>  <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#a7ae8d403fb8cd5b421ffb9c8cf79238d">nudge</a>(<span class="keywordtype">double</span> dr, <span class="keywordtype">double</span> du, <span class="keywordtype">double</span> df) {</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  nudgeR(dr);</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  nudgeU(du);</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  nudgeF(-df);</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  }</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keyword">template</span> <<span class="keyword">class</span> T> <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#a7ae8d403fb8cd5b421ffb9c8cf79238d">nudge</a>(<span class="keyword">const</span> <a class="code" href="classal_1_1_vec.html">Vec<3, T></a> &dp) {</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <a class="code" href="classal_1_1_nav.html#a7ae8d403fb8cd5b421ffb9c8cf79238d">nudge</a>(dp[0], dp[1], dp[2]);</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  }</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  </div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keywordtype">void</span> nudgeR(<span class="keywordtype">double</span> amount) { mNudge[0] += amount; }</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="keywordtype">void</span> nudgeU(<span class="keywordtype">double</span> amount) { mNudge[1] += amount; }</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keywordtype">void</span> nudgeF(<span class="keywordtype">double</span> amount) { mNudge[2] += amount; }</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  </div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#af99304075130247f9323e429ab5c27c3"> 144</a></span>  <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#af99304075130247f9323e429ab5c27c3">spin</a>(<span class="keywordtype">double</span> da, <span class="keywordtype">double</span> de, <span class="keywordtype">double</span> db) {</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <a class="code" href="classal_1_1_nav.html#a053be0b84659e89fbfd51117f80ed130">spinR</a>(de);</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <a class="code" href="classal_1_1_nav.html#a58b8ab9bf2661b37af441ee04d9cff82">spinU</a>(da);</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <a class="code" href="classal_1_1_nav.html#a5ceb811a43c21bb52f97f17f6264428f">spinF</a>(db);</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  }</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keyword">template</span> <<span class="keyword">class</span> T> <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#a80d1426b5b397409d80c9755beb5c0de">spin</a>(<span class="keyword">const</span> <a class="code" href="classal_1_1_vec.html">Vec<3, T></a> &daeb) {</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <a class="code" href="classal_1_1_nav.html#a80d1426b5b397409d80c9755beb5c0de">spin</a>(daeb[0], daeb[1], daeb[2]);</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  }</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  </div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a670ce5a128c21794d8ed1af78a41dac2"> 154</a></span>  <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#a670ce5a128c21794d8ed1af78a41dac2">spin</a>(<span class="keyword">const</span> <a class="code" href="classal_1_1_quat.html">Quatd</a> &v) { v.<a class="code" href="classal_1_1_quat.html#a34a2b152fbec4e13cb41d3c369a6f1ec">toEuler</a>(mSpin1); }</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  </div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a053be0b84659e89fbfd51117f80ed130"> 157</a></span>  <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#a053be0b84659e89fbfd51117f80ed130">spinR</a>(<span class="keywordtype">double</span> v) { mSpin0[1] = v; }</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  </div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a58b8ab9bf2661b37af441ee04d9cff82"> 160</a></span>  <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#a58b8ab9bf2661b37af441ee04d9cff82">spinU</a>(<span class="keywordtype">double</span> v) { mSpin0[0] = v; }</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  </div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a5ceb811a43c21bb52f97f17f6264428f"> 163</a></span>  <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#a5ceb811a43c21bb52f97f17f6264428f">spinF</a>(<span class="keywordtype">double</span> v) { mSpin0[2] = v; }</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  </div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a80d1426b5b397409d80c9755beb5c0de"> 166</a></span>  <a class="code" href="classal_1_1_vec.html">Vec3d</a> &<a class="code" href="classal_1_1_nav.html#a80d1426b5b397409d80c9755beb5c0de">spin</a>() { <span class="keywordflow">return</span> mSpin0; }</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  </div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a7ba8b38bf5fba66bac170040da60edf1"> 169</a></span>  <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#a7ba8b38bf5fba66bac170040da60edf1">turn</a>(<span class="keywordtype">double</span> az, <span class="keywordtype">double</span> el, <span class="keywordtype">double</span> ba) {</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <a class="code" href="classal_1_1_nav.html#a7a81d538896183aec65d232f522ab086">turnR</a>(el);</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <a class="code" href="classal_1_1_nav.html#acb5303612491ada7d2a67516d3527b92">turnU</a>(az);</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <a class="code" href="classal_1_1_nav.html#a2082e74ac432ae5c9b34dee0c6ae3a6e">turnF</a>(ba);</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  }</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keyword">template</span> <<span class="keyword">class</span> T> <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#a7ba8b38bf5fba66bac170040da60edf1">turn</a>(<span class="keyword">const</span> <a class="code" href="classal_1_1_vec.html">Vec<3, T></a> &daeb) {</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <a class="code" href="classal_1_1_nav.html#a7ba8b38bf5fba66bac170040da60edf1">turn</a>(daeb[0], daeb[1], daeb[2]);</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  }</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  </div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a7a81d538896183aec65d232f522ab086"> 180</a></span>  <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#a7a81d538896183aec65d232f522ab086">turnR</a>(<span class="keywordtype">double</span> v) { mTurn[1] = v; }</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  </div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#acb5303612491ada7d2a67516d3527b92"> 183</a></span>  <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#acb5303612491ada7d2a67516d3527b92">turnU</a>(<span class="keywordtype">double</span> v) { mTurn[0] = v; }</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  </div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a2082e74ac432ae5c9b34dee0c6ae3a6e"> 186</a></span>  <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#a2082e74ac432ae5c9b34dee0c6ae3a6e">turnF</a>(<span class="keywordtype">double</span> v) { mTurn[2] = v; }</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  </div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a0d09cbd5b34730a5565a2de059a114d7"> 189</a></span>  <a class="code" href="classal_1_1_nav.html">Nav</a> &<a class="code" href="classal_1_1_nav.html#a0d09cbd5b34730a5565a2de059a114d7">halt</a>();</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  </div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a8b5f50cb616e462e74f7131e72ab83a7"> 192</a></span>  <a class="code" href="classal_1_1_nav.html">Nav</a> &<a class="code" href="classal_1_1_nav.html#a8b5f50cb616e462e74f7131e72ab83a7">home</a>();</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  </div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#aed5207e02f2a74068a037dc1c590fd0b"> 195</a></span>  <a class="code" href="classal_1_1_nav.html">Nav</a> &<a class="code" href="classal_1_1_nav.html#aed5207e02f2a74068a037dc1c590fd0b">setHome</a>();</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  </div>
<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a0515d92933ee4e4226f4b6fe4325ed86"> 198</a></span>  <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#a0515d92933ee4e4226f4b6fe4325ed86">updateDirectionVectors</a>() {</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <a class="code" href="classal_1_1_pose.html#aca96b1cdc58485b1823bbba456151a22">quat</a>().<a class="code" href="classal_1_1_quat.html#aabc6123735e269768462c9c6ba3470c3">normalize</a>();</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <a class="code" href="classal_1_1_pose.html#afdb8aaa92ca7e0548fdbc26592bcce37">directionVectors</a>(mUR, mUU, mUF);</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  }</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  </div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <a class="code" href="classal_1_1_nav.html">Nav</a> &set(<span class="keyword">const</span> <a class="code" href="classal_1_1_pose.html">Pose</a> &v);</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  </div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <a class="code" href="classal_1_1_nav.html">Nav</a> &set(<span class="keyword">const</span> <a class="code" href="classal_1_1_nav.html">Nav</a> &v);</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  </div>
<div class="line"><a name="l00208"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a472c030ff4695bffabd9619a95d6e3d9"> 208</a></span>  <span class="keywordtype">void</span> <a class="code" href="classal_1_1_nav.html#a472c030ff4695bffabd9619a95d6e3d9">step</a>(<span class="keywordtype">double</span> dt = 1);</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  </div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#ae31f42c2b7451a2b6d3cfe6a4f275562"> 211</a></span>  <span class="keywordtype">double</span> <a class="code" href="classal_1_1_nav.html#ae31f42c2b7451a2b6d3cfe6a4f275562">pullBack</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> mPullBack0; }</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  </div>
<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a9a0746c1a383c58824061cc99cbe7a46"> 214</a></span>  <a class="code" href="classal_1_1_nav.html">Nav</a> &<a class="code" href="classal_1_1_nav.html#a9a0746c1a383c58824061cc99cbe7a46">pullBack</a>(<span class="keywordtype">double</span> v) {</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  mPullBack0 = v > 0. ? v : 0.;</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  }</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  </div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classal_1_1_nav.html#a4574060ca3a963d3fe6e8f30af38799f"> 220</a></span>  <a class="code" href="classal_1_1_pose.html">Pose</a> &<a class="code" href="classal_1_1_nav.html#a4574060ca3a963d3fe6e8f30af38799f">transformed</a>() { <span class="keywordflow">return</span> mTransformed; }</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  </div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span> <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <a class="code" href="classal_1_1_vec.html">Vec3d</a> mMove0, mMove1; <span class="comment">// linear velocities (raw, smoothed)</span></div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <a class="code" href="classal_1_1_vec.html">Vec3d</a> mSpin0, mSpin1; <span class="comment">// angular velocities (raw, smoothed)</span></div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <a class="code" href="classal_1_1_vec.html">Vec3d</a> mTurn; <span class="comment">// orientation increment for one step</span></div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <a class="code" href="classal_1_1_vec.html">Vec3d</a> mNudge; <span class="comment">// position increment for one step</span></div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <a class="code" href="classal_1_1_vec.html">Vec3d</a> mUR, mUU, mUF; <span class="comment">// basis vectors of local coordinate frame</span></div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="keywordtype">double</span> mSmooth;</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keywordtype">double</span> mVelScale; <span class="comment">// velocity scaling factor</span></div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keywordtype">double</span> mPullBack0, mPullBack1;</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <a class="code" href="classal_1_1_pose.html">Pose</a> mTransformed;</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <a class="code" href="classal_1_1_pose.html">Pose</a> mHome;</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span> };</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  </div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="classal_1_1_nav_input_control.html"> 238</a></span> <span class="keyword">class </span><a class="code" href="classal_1_1_nav_input_control.html">NavInputControl</a> : <span class="keyword">public</span> <a class="code" href="classal_1_1_window_event_handler.html">WindowEventHandler</a> {</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <a class="code" href="classal_1_1_nav_input_control.html">NavInputControl</a>(<span class="keywordtype">double</span> vscale = 0.125, <span class="keywordtype">double</span> tscale = 2.);</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <a class="code" href="classal_1_1_nav_input_control.html">NavInputControl</a>(<a class="code" href="classal_1_1_nav.html">Nav</a> &nav, <span class="keywordtype">double</span> vscale = 0.125, <span class="keywordtype">double</span> tscale = 2.);</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <a class="code" href="classal_1_1_nav_input_control.html">NavInputControl</a>(<span class="keyword">const</span> <a class="code" href="classal_1_1_nav_input_control.html">NavInputControl</a> &v);</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  </div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keyword">virtual</span> ~<a class="code" href="classal_1_1_nav_input_control.html">NavInputControl</a>() {}</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  </div>
<div class="line"><a name="l00246"></a><span class="lineno"><a class="line" href="classal_1_1_nav_input_control.html#ae87accf49b3ce6899c0070b44e4b7833"> 246</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classal_1_1_nav_input_control.html#ae87accf49b3ce6899c0070b44e4b7833">keyDown</a>(<span class="keyword">const</span> <a class="code" href="classal_1_1_keyboard.html">Keyboard</a> &k);</div>
<div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="classal_1_1_nav_input_control.html#a1ea8bb643087694714bc39b422ab506b"> 247</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classal_1_1_nav_input_control.html#a1ea8bb643087694714bc39b422ab506b">keyUp</a>(<span class="keyword">const</span> <a class="code" href="classal_1_1_keyboard.html">Keyboard</a> &k);</div>
<div class="line"><a name="l00248"></a><span class="lineno"><a class="line" href="classal_1_1_nav_input_control.html#a32aec3a2f2c0e00f82b2fbc0f3c5106a"> 248</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classal_1_1_nav_input_control.html#a32aec3a2f2c0e00f82b2fbc0f3c5106a">mouseDrag</a>(<span class="keyword">const</span> <a class="code" href="classal_1_1_mouse.html">Mouse</a> &m);</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  </div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <span class="keywordtype">void</span> nav(<a class="code" href="classal_1_1_nav.html">Nav</a> &n) { mNav = &n; }</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <a class="code" href="classal_1_1_nav.html">Nav</a> &nav() { <span class="keywordflow">return</span> *mNav; }</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="keyword">const</span> Nav &nav()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> *mNav; }</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <span class="comment">// NavInputControl& nav(Nav& v){ mNav=v; return *this; }</span></div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  </div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="comment">// NavInputControl& target(Pose& pose) {</span></div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="comment">// mNav.target(pose);</span></div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="comment">// return *this;</span></div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <span class="comment">// }</span></div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  </div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="keywordtype">void</span> active(<span class="keywordtype">bool</span> b) {</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  mActive = b;</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <span class="keywordflow">if</span> (!mActive)</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  nav().<a class="code" href="classal_1_1_nav.html#a0d09cbd5b34730a5565a2de059a114d7">halt</a>();</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  }</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <span class="keywordtype">bool</span> active() { <span class="keywordflow">return</span> mActive; }</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="keywordtype">void</span> enable() { active(<span class="keyword">true</span>); }</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="keywordtype">void</span> disable() { active(<span class="keyword">false</span>); }</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="keywordtype">void</span> toggleActive() { active(!active()); }</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  </div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <span class="keywordtype">double</span> vscale()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> mVScale; }</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  NavInputControl &vscale(<span class="keywordtype">double</span> v) {</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  mVScale = v;</div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  }</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  </div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <span class="keywordtype">double</span> tscale()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> mTScale; }</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  NavInputControl &tscale(<span class="keywordtype">double</span> v) {</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  mTScale = v;</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  }</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  </div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <span class="keywordtype">void</span> useMouse(<span class="keywordtype">bool</span> use) { mUseMouse = use; }</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  </div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="comment">// void step(double dt=1) {</span></div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="comment">// mNav.step(dt);</span></div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  <span class="comment">// }</span></div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span> <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  Nav *mNav = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  <span class="keywordtype">double</span> mVScale, mTScale;</div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  <span class="keywordtype">bool</span> mUseMouse;</div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  <span class="keywordtype">bool</span> mActive = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span> };</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  </div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span> } <span class="comment">// namespace al</span></div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  </div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span> <span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclassal_1_1_keyboard_html"><div class="ttname"><a href="classal_1_1_keyboard.html">al::Keyboard</a></div><div class="ttdef"><b>Definition:</b> <a href="al___window_8hpp_source.html#l00073">al_Window.hpp:73</a></div></div>
<div class="ttc" id="aclassal_1_1_mouse_html"><div class="ttname"><a href="classal_1_1_mouse.html">al::Mouse</a></div><div class="ttdef"><b>Definition:</b> <a href="al___window_8hpp_source.html#l00145">al_Window.hpp:145</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html"><div class="ttname"><a href="classal_1_1_nav.html">al::Nav</a></div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00061">al_ControlNav.hpp:61</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a0515d92933ee4e4226f4b6fe4325ed86"><div class="ttname"><a href="classal_1_1_nav.html#a0515d92933ee4e4226f4b6fe4325ed86">al::Nav::updateDirectionVectors</a></div><div class="ttdeci">void updateDirectionVectors()</div><div class="ttdoc">Update coordinate frame basis vectors based on internal quaternion.</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00198">al_ControlNav.hpp:198</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a053be0b84659e89fbfd51117f80ed130"><div class="ttname"><a href="classal_1_1_nav.html#a053be0b84659e89fbfd51117f80ed130">al::Nav::spinR</a></div><div class="ttdeci">void spinR(double v)</div><div class="ttdoc">Set angular velocity around right vector (elevation), in radians.</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00157">al_ControlNav.hpp:157</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a0d09cbd5b34730a5565a2de059a114d7"><div class="ttname"><a href="classal_1_1_nav.html#a0d09cbd5b34730a5565a2de059a114d7">al::Nav::halt</a></div><div class="ttdeci">Nav & halt()</div><div class="ttdoc">Stop moving and spinning.</div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a14f98fe7b2c689e1b288de95e901ac70"><div class="ttname"><a href="classal_1_1_nav.html#a14f98fe7b2c689e1b288de95e901ac70">al::Nav::vel</a></div><div class="ttdeci">Pose vel() const</div><div class="ttdoc">Get current linear and angular velocities as a Pose.</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00083">al_ControlNav.hpp:83</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a198c8edf9d3eebb92dfe6cc845c27eec"><div class="ttname"><a href="classal_1_1_nav.html#a198c8edf9d3eebb92dfe6cc845c27eec">al::Nav::ur</a></div><div class="ttdeci">const Vec3d & ur() const</div><div class="ttdoc">Get right unit vector.</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00074">al_ControlNav.hpp:74</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a1b047bb752d100e561e9fc7dff602040"><div class="ttname"><a href="classal_1_1_nav.html#a1b047bb752d100e561e9fc7dff602040">al::Nav::move</a></div><div class="ttdeci">void move(double dr, double du, double df)</div><div class="ttdoc">Set linear velocity.</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00108">al_ControlNav.hpp:108</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a2082e74ac432ae5c9b34dee0c6ae3a6e"><div class="ttname"><a href="classal_1_1_nav.html#a2082e74ac432ae5c9b34dee0c6ae3a6e">al::Nav::turnF</a></div><div class="ttdeci">void turnF(double v)</div><div class="ttdoc">Turn by a single increment, in radians, around the forward vector (bank)</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00186">al_ControlNav.hpp:186</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a4574060ca3a963d3fe6e8f30af38799f"><div class="ttname"><a href="classal_1_1_nav.html#a4574060ca3a963d3fe6e8f30af38799f">al::Nav::transformed</a></div><div class="ttdeci">Pose & transformed()</div><div class="ttdoc">Get transformed pose.</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00220">al_ControlNav.hpp:220</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a472c030ff4695bffabd9619a95d6e3d9"><div class="ttname"><a href="classal_1_1_nav.html#a472c030ff4695bffabd9619a95d6e3d9">al::Nav::step</a></div><div class="ttdeci">void step(double dt=1)</div><div class="ttdoc">Accumulate pose based on velocity.</div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a57e91239a3fbc9c74982655b3150b8eb"><div class="ttname"><a href="classal_1_1_nav.html#a57e91239a3fbc9c74982655b3150b8eb">al::Nav::moveU</a></div><div class="ttdeci">void moveU(double v)</div><div class="ttdoc">Set linear velocity long up vector.</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00121">al_ControlNav.hpp:121</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a58b8ab9bf2661b37af441ee04d9cff82"><div class="ttname"><a href="classal_1_1_nav.html#a58b8ab9bf2661b37af441ee04d9cff82">al::Nav::spinU</a></div><div class="ttdeci">void spinU(double v)</div><div class="ttdoc">Set angular velocity around up vector (azimuth), in radians.</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00160">al_ControlNav.hpp:160</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a5ceb811a43c21bb52f97f17f6264428f"><div class="ttname"><a href="classal_1_1_nav.html#a5ceb811a43c21bb52f97f17f6264428f">al::Nav::spinF</a></div><div class="ttdeci">void spinF(double v)</div><div class="ttdoc">Set angular velocity around forward vector (bank), in radians.</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00163">al_ControlNav.hpp:163</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a670ce5a128c21794d8ed1af78a41dac2"><div class="ttname"><a href="classal_1_1_nav.html#a670ce5a128c21794d8ed1af78a41dac2">al::Nav::spin</a></div><div class="ttdeci">void spin(const Quatd &v)</div><div class="ttdoc">Set angular velocity from a unit quaternion (versor)</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00154">al_ControlNav.hpp:154</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a7a81d538896183aec65d232f522ab086"><div class="ttname"><a href="classal_1_1_nav.html#a7a81d538896183aec65d232f522ab086">al::Nav::turnR</a></div><div class="ttdeci">void turnR(double v)</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00180">al_ControlNav.hpp:180</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a7ae8d403fb8cd5b421ffb9c8cf79238d"><div class="ttname"><a href="classal_1_1_nav.html#a7ae8d403fb8cd5b421ffb9c8cf79238d">al::Nav::nudge</a></div><div class="ttdeci">void nudge(double dr, double du, double df)</div><div class="ttdoc">Move by a single increment.</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00129">al_ControlNav.hpp:129</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a7ba8b38bf5fba66bac170040da60edf1"><div class="ttname"><a href="classal_1_1_nav.html#a7ba8b38bf5fba66bac170040da60edf1">al::Nav::turn</a></div><div class="ttdeci">void turn(double az, double el, double ba)</div><div class="ttdoc">Turn by a single increment for one step, in radians.</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00169">al_ControlNav.hpp:169</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a80d1426b5b397409d80c9755beb5c0de"><div class="ttname"><a href="classal_1_1_nav.html#a80d1426b5b397409d80c9755beb5c0de">al::Nav::spin</a></div><div class="ttdeci">Vec3d & spin()</div><div class="ttdoc">Set angular velocity directly.</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00166">al_ControlNav.hpp:166</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a8763ff4f6d68a1ad767bdc62075ba50e"><div class="ttname"><a href="classal_1_1_nav.html#a8763ff4f6d68a1ad767bdc62075ba50e">al::Nav::faceToward</a></div><div class="ttdeci">void faceToward(const Vec3d &point, const Vec3d &up, double amt=1.)</div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a88d77bdecb0d3812548148d164d97778"><div class="ttname"><a href="classal_1_1_nav.html#a88d77bdecb0d3812548148d164d97778">al::Nav::uf</a></div><div class="ttdeci">const Vec3d & uf() const</div><div class="ttdoc">Get forward unit vector.</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00080">al_ControlNav.hpp:80</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a8b5f50cb616e462e74f7131e72ab83a7"><div class="ttname"><a href="classal_1_1_nav.html#a8b5f50cb616e462e74f7131e72ab83a7">al::Nav::home</a></div><div class="ttdeci">Nav & home()</div><div class="ttdoc">Go to origin, reset orientation.</div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a9a0746c1a383c58824061cc99cbe7a46"><div class="ttname"><a href="classal_1_1_nav.html#a9a0746c1a383c58824061cc99cbe7a46">al::Nav::pullBack</a></div><div class="ttdeci">Nav & pullBack(double v)</div><div class="ttdoc">Set pull-back amount.</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00214">al_ControlNav.hpp:214</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_a9a6b4a210194e8ae6ca31f9bcd5fa6c8"><div class="ttname"><a href="classal_1_1_nav.html#a9a6b4a210194e8ae6ca31f9bcd5fa6c8">al::Nav::nudgeToward</a></div><div class="ttdeci">void nudgeToward(const Vec3d &p, double amt=1.)</div><div class="ttdoc">Move toward a given world-coordinate point.</div></div>
<div class="ttc" id="aclassal_1_1_nav_html_aa5ece51abd15b52bc29d1f06424aa1e6"><div class="ttname"><a href="classal_1_1_nav.html#aa5ece51abd15b52bc29d1f06424aa1e6">al::Nav::smooth</a></div><div class="ttdeci">double smooth() const</div><div class="ttdoc">Get smoothing amount.</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00071">al_ControlNav.hpp:71</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_aaefb9e75330669fcf168011d194a6ec9"><div class="ttname"><a href="classal_1_1_nav.html#aaefb9e75330669fcf168011d194a6ec9">al::Nav::moveR</a></div><div class="ttdeci">void moveR(double v)</div><div class="ttdoc">Set linear velocity along right vector.</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00118">al_ControlNav.hpp:118</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_ab3575449b8e328d2cb9bd096cefbee3c"><div class="ttname"><a href="classal_1_1_nav.html#ab3575449b8e328d2cb9bd096cefbee3c">al::Nav::moveF</a></div><div class="ttdeci">void moveF(double v)</div><div class="ttdoc">Set linear velocity long forward vector.</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00124">al_ControlNav.hpp:124</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_acb5303612491ada7d2a67516d3527b92"><div class="ttname"><a href="classal_1_1_nav.html#acb5303612491ada7d2a67516d3527b92">al::Nav::turnU</a></div><div class="ttdeci">void turnU(double v)</div><div class="ttdoc">Turn by a single increment, in radians, around the up vector (azimuth)</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00183">al_ControlNav.hpp:183</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_acc4c1f073d612a68703e0adc1209119c"><div class="ttname"><a href="classal_1_1_nav.html#acc4c1f073d612a68703e0adc1209119c">al::Nav::Nav</a></div><div class="ttdeci">Nav(const Vec3d &pos=Vec3d(0), double smooth=0)</div></div>
<div class="ttc" id="aclassal_1_1_nav_html_ae31f42c2b7451a2b6d3cfe6a4f275562"><div class="ttname"><a href="classal_1_1_nav.html#ae31f42c2b7451a2b6d3cfe6a4f275562">al::Nav::pullBack</a></div><div class="ttdeci">double pullBack() const</div><div class="ttdoc">Get pull-back amount.</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00211">al_ControlNav.hpp:211</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_ae6f95cc6bec1f6b7de7d61770ed69e0e"><div class="ttname"><a href="classal_1_1_nav.html#ae6f95cc6bec1f6b7de7d61770ed69e0e">al::Nav::smooth</a></div><div class="ttdeci">Nav & smooth(double v)</div><div class="ttdoc">Set smoothing amount in [0,1)</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00088">al_ControlNav.hpp:88</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_aecee01391e7f05c31c623659824b2328"><div class="ttname"><a href="classal_1_1_nav.html#aecee01391e7f05c31c623659824b2328">al::Nav::faceToward</a></div><div class="ttdeci">void faceToward(const Vec3d &p, double amt=1.)</div><div class="ttdoc">Turn to face a given world-coordinate point.</div></div>
<div class="ttc" id="aclassal_1_1_nav_html_aed5207e02f2a74068a037dc1c590fd0b"><div class="ttname"><a href="classal_1_1_nav.html#aed5207e02f2a74068a037dc1c590fd0b">al::Nav::setHome</a></div><div class="ttdeci">Nav & setHome()</div><div class="ttdoc">set current nav to be home</div></div>
<div class="ttc" id="aclassal_1_1_nav_html_af42cfabc555ae607fbb9c2eac97aebf8"><div class="ttname"><a href="classal_1_1_nav.html#af42cfabc555ae607fbb9c2eac97aebf8">al::Nav::Nav</a></div><div class="ttdeci">Nav(const Nav &nav)</div><div class="ttdoc">Copy constructor.</div></div>
<div class="ttc" id="aclassal_1_1_nav_html_af78cb58bcd60253c0b30e49c00afd571"><div class="ttname"><a href="classal_1_1_nav.html#af78cb58bcd60253c0b30e49c00afd571">al::Nav::uu</a></div><div class="ttdeci">const Vec3d & uu() const</div><div class="ttdoc">Get up unit vector.</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00077">al_ControlNav.hpp:77</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_html_af99304075130247f9323e429ab5c27c3"><div class="ttname"><a href="classal_1_1_nav.html#af99304075130247f9323e429ab5c27c3">al::Nav::spin</a></div><div class="ttdeci">void spin(double da, double de, double db)</div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00144">al_ControlNav.hpp:144</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_input_control_html"><div class="ttname"><a href="classal_1_1_nav_input_control.html">al::NavInputControl</a></div><div class="ttdef"><b>Definition:</b> <a href="al___control_nav_8hpp_source.html#l00238">al_ControlNav.hpp:238</a></div></div>
<div class="ttc" id="aclassal_1_1_nav_input_control_html_a1ea8bb643087694714bc39b422ab506b"><div class="ttname"><a href="classal_1_1_nav_input_control.html#a1ea8bb643087694714bc39b422ab506b">al::NavInputControl::keyUp</a></div><div class="ttdeci">virtual bool keyUp(const Keyboard &k)</div><div class="ttdoc">Called when a keyboard key is released.</div></div>
<div class="ttc" id="aclassal_1_1_nav_input_control_html_a32aec3a2f2c0e00f82b2fbc0f3c5106a"><div class="ttname"><a href="classal_1_1_nav_input_control.html#a32aec3a2f2c0e00f82b2fbc0f3c5106a">al::NavInputControl::mouseDrag</a></div><div class="ttdeci">virtual bool mouseDrag(const Mouse &m)</div><div class="ttdoc">Called when the mouse moves while a button is down.</div></div>
<div class="ttc" id="aclassal_1_1_nav_input_control_html_ae87accf49b3ce6899c0070b44e4b7833"><div class="ttname"><a href="classal_1_1_nav_input_control.html#ae87accf49b3ce6899c0070b44e4b7833">al::NavInputControl::keyDown</a></div><div class="ttdeci">virtual bool keyDown(const Keyboard &k)</div><div class="ttdoc">Called when a keyboard key is pressed.</div></div>
<div class="ttc" id="aclassal_1_1_pose_html"><div class="ttname"><a href="classal_1_1_pose.html">al::Pose</a></div><div class="ttdoc">A local coordinate frame.</div><div class="ttdef"><b>Definition:</b> <a href="al___pose_8hpp_source.html#l00063">al_Pose.hpp:63</a></div></div>
<div class="ttc" id="aclassal_1_1_pose_html_a2a461d1bdb369dbaea1be3a2633dd470"><div class="ttname"><a href="classal_1_1_pose.html#a2a461d1bdb369dbaea1be3a2633dd470">al::Pose::Pose</a></div><div class="ttdeci">Pose(const Vec3d &pos=Vec3d(0), const Quatd &ori=Quatd::identity())</div></div>
<div class="ttc" id="aclassal_1_1_pose_html_a9553a50b8eaee80cd36d355daffe2a15"><div class="ttname"><a href="classal_1_1_pose.html#a9553a50b8eaee80cd36d355daffe2a15">al::Pose::pos</a></div><div class="ttdeci">Vec3d & pos()</div><div class="ttdoc">Get "position" vector.</div><div class="ttdef"><b>Definition:</b> <a href="al___pose_8hpp_source.html#l00100">al_Pose.hpp:100</a></div></div>
<div class="ttc" id="aclassal_1_1_pose_html_aca96b1cdc58485b1823bbba456151a22"><div class="ttname"><a href="classal_1_1_pose.html#aca96b1cdc58485b1823bbba456151a22">al::Pose::quat</a></div><div class="ttdeci">Quatd & quat()</div><div class="ttdoc">Get quaternion component (represents orientation)</div><div class="ttdef"><b>Definition:</b> <a href="al___pose_8hpp_source.html#l00108">al_Pose.hpp:108</a></div></div>
<div class="ttc" id="aclassal_1_1_pose_html_afdb8aaa92ca7e0548fdbc26592bcce37"><div class="ttname"><a href="classal_1_1_pose.html#afdb8aaa92ca7e0548fdbc26592bcce37">al::Pose::directionVectors</a></div><div class="ttdeci">void directionVectors(Vec< 3, T > &ur, Vec< 3, T > &uu, Vec< 3, T > &uf) const</div><div class="ttdoc">Get local right, up, and forward unit vectors.</div><div class="ttdef"><b>Definition:</b> <a href="al___pose_8hpp_source.html#l00144">al_Pose.hpp:144</a></div></div>
<div class="ttc" id="aclassal_1_1_quat_html"><div class="ttname"><a href="classal_1_1_quat.html">al::Quat< double ></a></div></div>
<div class="ttc" id="aclassal_1_1_quat_html_a34a2b152fbec4e13cb41d3c369a6f1ec"><div class="ttname"><a href="classal_1_1_quat.html#a34a2b152fbec4e13cb41d3c369a6f1ec">al::Quat::toEuler</a></div><div class="ttdeci">void toEuler(T &az, T &el, T &ba) const</div><div class="ttdoc">Convert to YXZ Euler angles (azimuth, elevation, bank), in radians.</div><div class="ttdef"><b>Definition:</b> <a href="al___quat_8hpp_source.html#l00675">al_Quat.hpp:675</a></div></div>
<div class="ttc" id="aclassal_1_1_quat_html_aabc6123735e269768462c9c6ba3470c3"><div class="ttname"><a href="classal_1_1_quat.html#aabc6123735e269768462c9c6ba3470c3">al::Quat::normalize</a></div><div class="ttdeci">Quat & normalize()</div><div class="ttdoc">Normalize magnitude to one.</div><div class="ttdef"><b>Definition:</b> <a href="al___quat_8hpp_source.html#l00443">al_Quat.hpp:443</a></div></div>
<div class="ttc" id="aclassal_1_1_vec_html"><div class="ttname"><a href="classal_1_1_vec.html">al::Vec< 3, double ></a></div></div>
<div class="ttc" id="aclassal_1_1_window_event_handler_html"><div class="ttname"><a href="classal_1_1_window_event_handler.html">al::WindowEventHandler</a></div><div class="ttdoc">Controller for handling input and window events.</div><div class="ttdef"><b>Definition:</b> <a href="al___window_8hpp_source.html#l00194">al_Window.hpp:194</a></div></div>
<div class="ttc" id="anamespaceal_html"><div class="ttname"><a href="namespaceal.html">al</a></div><div class="ttdef"><b>Definition:</b> <a href="al___app_8hpp_source.html#l00023">al_App.hpp:23</a></div></div>
<div class="ttc" id="anamespaceal_html_a2c986862410061adeaba684e7fffb06b"><div class="ttname"><a href="namespaceal.html#a2c986862410061adeaba684e7fffb06b">al::Vec3d</a></div><div class="ttdeci">Vec< 3, double > Vec3d</div><div class="ttdoc">double 3-vector</div><div class="ttdef"><b>Definition:</b> <a href="al___vec_8hpp_source.html#l00060">al_Vec.hpp:60</a></div></div>
<div class="ttc" id="anamespaceal_html_a82dabef78d597a60bb2bd513ea1d5de6"><div class="ttname"><a href="namespaceal.html#a82dabef78d597a60bb2bd513ea1d5de6">al::Quatd</a></div><div class="ttdeci">Quat< double > Quatd</div><div class="ttdoc">Double-precision quaternion.</div><div class="ttdef"><b>Definition:</b> <a href="al___quat_8hpp_source.html#l00057">al_Quat.hpp:57</a></div></div>
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