Added new osg::DOFTransform node from Sasa Bistrovic, designed to mirror
the OpenFlight DOF transform nodes.
This commit is contained in:
Robert Osfield
382
src/osg/DOFTransform.cpp
Normal file
382
src/osg/DOFTransform.cpp
Normal file
@@ -0,0 +1,382 @@
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#include <osg/DOFTransform>
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#include <osgUtil/CullVisitor>
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#include <osgUtil/AppVisitor>
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using namespace osg;
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struct DOFCullCallback : public Transform::ComputeTransformCallback
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{
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/**/
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virtual const bool computeLocalToWorldMatrix(Matrix& matrix, const Transform* trans, NodeVisitor* nv) const
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{
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osgUtil::CullVisitor* cv = dynamic_cast<osgUtil::CullVisitor*>(nv);
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if(cv)
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{
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const DOFTransform* dof = dynamic_cast<const DOFTransform*>(trans);
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if(dof)
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{
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//here we are:
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//put the PUT matrix first:
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Matrix l2w(dof->getPutMatrix());
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//now the current matrix:
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Matrix current;
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current.makeTranslate(dof->getCurrentTranslate());
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//now create the local rotation:
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current.preMult(Matrix::rotate(dof->getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
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current.preMult(Matrix::rotate(dof->getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
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current.preMult(Matrix::rotate(dof->getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
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//and scale:
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current.preMult(Matrix::scale(dof->getCurrentScale()));
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l2w.postMult(current);
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//and impose inverse put:
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l2w.postMult(dof->getInversePutMatrix());
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//finally:
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matrix.preMult(l2w);
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}
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}
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return true;
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}
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/**/
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virtual const bool computeWorldToLocalMatrix(Matrix& matrix, const Transform* trans, NodeVisitor* nv) const
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{
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osgUtil::CullVisitor* cv = dynamic_cast<osgUtil::CullVisitor*>(nv);
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if(cv)
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{
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const DOFTransform* dof = dynamic_cast<const DOFTransform*>(trans);
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if(dof)
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{
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//here we are:
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//put the PUT matrix first:
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Matrix w2l(dof->getInversePutMatrix());
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//now the current matrix:
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Matrix current;
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current.makeTranslate(-dof->getCurrentTranslate());
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//now create the local rotation:
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current.postMult(Matrix::rotate(-dof->getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
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current.postMult(Matrix::rotate(-dof->getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
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current.postMult(Matrix::rotate(-dof->getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
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//and scale:
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current.postMult(Matrix::scale(1./dof->getCurrentScale()[0], 1./dof->getCurrentScale()[1], 1./dof->getCurrentScale()[2]));
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w2l.postMult(current);
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//and impose inverse put:
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w2l.postMult(dof->getPutMatrix());
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//finally:
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matrix.postMult(w2l);
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}
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}
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return true;
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}
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};
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class DOFAnimationAppCallback : public osg::NodeCallback
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{
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/** Callback method call by the NodeVisitor when visiting a node.*/
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virtual void operator()(Node* node, NodeVisitor* nv)
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{
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//this is aspp visitor, see if we have DOFTransform:
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DOFTransform* dof = dynamic_cast<DOFTransform*>(node);
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if(dof)
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{
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//see if it is ina animation mode:
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dof->animate();
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}
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// note, callback is repsonsible for scenegraph traversal so
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// should always include call the traverse(node,nv) to ensure
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// that the rest of cullbacks and the scene graph are traversed.
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traverse(node,nv);
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}
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};
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DOFTransform::DOFTransform():
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_limitationFlags(0),
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_animationOn(false),
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_increasingFlags(0xffffff)
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{
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//default zero-ed Vec3-s are fine for all
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//default idenetiy inverse matrix is fine:
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_computeTransformCallback = new DOFCullCallback;
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DOFAnimationAppCallback* dof_animation = new DOFAnimationAppCallback;
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setAppCallback(dof_animation);
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}
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void DOFTransform::setCurrentHPR(const Vec3& hpr)
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{
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//if there is no constrain on animation
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if(!(_limitationFlags & ((unsigned long)1<<26)))
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{
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//if we have min == max, it is efective constrain, so don't change
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if(_minHPR[2] != _maxHPR[2])
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{
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_currentHPR[2] = hpr[2];
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unsigned short this_flag = (unsigned short)1<<4;//roll
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if(_currentHPR[2] < _minHPR[2])
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{
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_currentHPR[2] = _minHPR[2];
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//force increasing flag to 1
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_increasingFlags |= this_flag;
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}
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else if(_currentHPR[2] > _maxHPR[2])
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{
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_currentHPR[2] = _maxHPR[2];
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//force increasing flag to 0
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_increasingFlags &= ~this_flag;
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}
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}
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}
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if(!(_limitationFlags & ((unsigned long)1<<27)))
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{
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if(_minHPR[1] != _maxHPR[1])
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{
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_currentHPR[1] = hpr[1];
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unsigned short this_flag = (unsigned short)1<<3;//pitch
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if(_currentHPR[1] < _minHPR[1])
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{
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_currentHPR[1] = _minHPR[1];
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_increasingFlags |= this_flag;
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}
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else if(_currentHPR[1] > _maxHPR[1])
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{
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_currentHPR[1] = _maxHPR[1];
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_increasingFlags &= ~this_flag;
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}
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}
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}
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if(!(_limitationFlags & ((unsigned long)1<<28)))
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{
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if(_minHPR[0] != _maxHPR[0])
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{
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_currentHPR[0] = hpr[0];
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unsigned short this_flag = (unsigned short)1<<5;//heading
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if(_currentHPR[0] < _minHPR[0])
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{
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_currentHPR[0] = _minHPR[0];
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_increasingFlags |= this_flag;
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}
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else if(_currentHPR[0] > _maxHPR[0])
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{
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_currentHPR[0] = _maxHPR[0];
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_increasingFlags &= ~this_flag;
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}
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}
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}
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}
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void DOFTransform::setCurrentTranslate(const Vec3& translate)
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{
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if(!(_limitationFlags & (unsigned long)1<<29))
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{
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if(_minTranslate[2] != _maxTranslate[2])
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{
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_currentTranslate[2] = translate[2];
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unsigned short this_flag = (unsigned short)1<<2;
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if(_currentTranslate[2] < _minTranslate[2])
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{
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_currentTranslate[2] = _minTranslate[2];
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_increasingFlags |= this_flag;
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}
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else if(_currentTranslate[2] > _maxTranslate[2])
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{
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_currentTranslate[2] = _maxTranslate[2];
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_increasingFlags &= ~this_flag;
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}
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}
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}
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if(!(_limitationFlags & (unsigned long)1<<30))
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{
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if(_minTranslate[1] != _maxTranslate[1])
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{
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_currentTranslate[1] = translate[1];
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unsigned short this_flag = (unsigned short)1<<1;
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if(_currentTranslate[1] < _minTranslate[1])
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{
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_currentTranslate[1] = _minTranslate[1];
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_increasingFlags |= this_flag;
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}
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else if(_currentTranslate[1] > _maxTranslate[1])
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{
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_currentTranslate[1] = _maxTranslate[1];
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_increasingFlags &= ~this_flag;
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}
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}
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}
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if(!(_limitationFlags & (unsigned long)1<<31))
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{
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if(_minTranslate[0] != _maxTranslate[0])
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{
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_currentTranslate[0] = translate[0];
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unsigned short this_flag = (unsigned short)1;
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if(_currentTranslate[0] < _minTranslate[0])
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{
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_currentTranslate[0] = _minTranslate[0];
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_increasingFlags |= this_flag;
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}
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else if(_currentTranslate[0] > _maxTranslate[0])
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{
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_currentTranslate[0] = _maxTranslate[0];
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_increasingFlags &= ~this_flag;
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}
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}
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}
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}
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void DOFTransform::setCurrentScale(const Vec3& scale)
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{
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if(!(_limitationFlags & ((unsigned long)1<<23)))
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{
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if(_minScale[2] != _maxScale[2])
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{
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_currentScale[2] = scale[2];
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unsigned short this_flag = (unsigned short)1<<8;
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if(_currentScale[2] < _minScale[2])
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{
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_currentScale[2] = _minScale[2];
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_increasingFlags |= this_flag;
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}
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else if(_currentScale[2] > _maxScale[2])
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{
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_currentScale[2] = _maxScale[2];
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_increasingFlags &= ~this_flag;
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}
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}
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}
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if(!(_limitationFlags & ((unsigned long)1<<24)))
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{
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if(_minScale[1] != _maxScale[1])
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{
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_currentScale[1] = scale[1];
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unsigned short this_flag = (unsigned short)1<<7;
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if(_currentScale[1] < _minScale[1])
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{
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_currentScale[1] = _minScale[1];
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_increasingFlags |= this_flag;
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}
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else if(_currentScale[1] > _maxScale[1])
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{
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_currentScale[1] = _maxScale[1];
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_increasingFlags &= ~this_flag;
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}
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}
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}
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if(!(_limitationFlags & ((unsigned long)1<<25)))
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{
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if(_minScale[0] != _maxScale[0])
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{
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_currentScale[0] = scale[0];
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unsigned short this_flag = (unsigned short)1<<6;
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if(_currentScale[0] < _minScale[0])
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{
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_currentScale[0] = _minScale[0];
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_increasingFlags |= this_flag;
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}
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else if(_currentScale[0] > _maxScale[0])
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{
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_currentScale[0] = _maxScale[0];
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_increasingFlags &= ~this_flag;
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}
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}
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}
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}
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void DOFTransform::animate()
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{
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if(!_animationOn) return;
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//this will increment or decrement all allowed values
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Vec3 new_value = _currentTranslate;
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if(_increasingFlags & 1)
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new_value[0] += _incrementTranslate[0];
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else
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new_value[0] -= _incrementTranslate[0];
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if(_increasingFlags & 1<<1)
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new_value[1] += _incrementTranslate[1];
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else
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new_value[1] -= _incrementTranslate[1];
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if(_increasingFlags & 1<<2)
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new_value[2] += _incrementTranslate[2];
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else
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new_value[2] -= _incrementTranslate[2];
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setCurrentTranslate(new_value);
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new_value = _currentHPR;
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if(_increasingFlags & ((unsigned short)1<<3))
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new_value[1] += _incrementHPR[1];
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else
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new_value[1] -= _incrementHPR[1];
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if(_increasingFlags & ((unsigned short)1<<4))
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new_value[2] += _incrementHPR[2];
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else
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new_value[2] -= _incrementHPR[2];
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if(_increasingFlags & ((unsigned short)1<<5))
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new_value[0] += _incrementHPR[0];
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else
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new_value[0] -= _incrementHPR[0];
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setCurrentHPR(new_value);
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new_value = _currentScale;
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if(_increasingFlags & 1<<6)
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new_value[0] += _incrementScale[0];
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else
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new_value[0] -= _incrementScale[0];
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if(_increasingFlags & 1<<7)
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new_value[1] += _incrementScale[1];
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else
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new_value[1] -= _incrementScale[1];
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if(_increasingFlags & 1<<8)
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new_value[2] += _incrementScale[2];
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else
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new_value[2] -= _incrementScale[2];
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setCurrentScale(new_value);
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}
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@@ -23,6 +23,7 @@ CXXFILES =\
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CullStack.cpp\
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Depth.cpp\
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DisplaySettings.cpp\
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DOFTransform.cpp\
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Drawable.cpp\
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DrawPixels.cpp\
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EarthSky.cpp\
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@@ -23,6 +23,8 @@
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#include <osg/Image>
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#include <osg/Notify>
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#include <osg/DOFTransform>
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#include <osgDB/FileNameUtils>
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#include <osgDB/FileNameUtils>
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#include <osgDB/ReadFile>
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@@ -620,6 +622,146 @@ osg::Group* ConvertFromFLT::visitOldLOD(osg::Group& osgParent, OldLodRecord* rec
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// Converted DOF to use transform - jtracy@ist.ucf.edu
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osg::Group* ConvertFromFLT::visitDOF(osg::Group& osgParent, DofRecord* rec)
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{
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#if 1
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osg::DOFTransform* transform = new osg::DOFTransform;
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transform->setName(rec->getData()->szIdent);
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transform->setDataVariance(osg::Object::DYNAMIC);
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visitAncillary(osgParent, *transform, rec)->addChild( transform );
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visitPrimaryNode(*transform, (PrimNodeRecord*)rec);
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SDegreeOfFreedom* p_data = rec->getData();
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//now fill up members:
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//tranlsations:
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transform->loadMinTranslate(osg::Vec3(_unitScale*p_data->dfX._dfMin,
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_unitScale*p_data->dfY._dfMin,
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_unitScale*p_data->dfZ._dfMin));
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transform->loadMaxTranslate(osg::Vec3(_unitScale*p_data->dfX._dfMax,
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_unitScale*p_data->dfY._dfMax,
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_unitScale*p_data->dfZ._dfMax));
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transform->loadCurrentTranslate(osg::Vec3(_unitScale*p_data->dfX._dfCurrent,
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_unitScale*p_data->dfY._dfCurrent,
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_unitScale*p_data->dfZ._dfCurrent));
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transform->loadIncrementTranslate(osg::Vec3(_unitScale*p_data->dfX._dfIncrement,
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_unitScale*p_data->dfY._dfIncrement,
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_unitScale*p_data->dfZ._dfIncrement));
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//rotations:
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transform->loadMinHPR(osg::Vec3(osg::inDegrees(p_data->dfYaw._dfMin),
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osg::inDegrees(p_data->dfPitch._dfMin),
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osg::inDegrees(p_data->dfRoll._dfMin)));
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transform->loadMaxHPR(osg::Vec3(osg::inDegrees(p_data->dfYaw._dfMax),
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osg::inDegrees(p_data->dfPitch._dfMax),
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osg::inDegrees(p_data->dfRoll._dfMax)));
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transform->loadCurrentHPR(osg::Vec3(osg::inDegrees(p_data->dfYaw._dfCurrent),
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osg::inDegrees(p_data->dfPitch._dfCurrent),
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osg::inDegrees(p_data->dfRoll._dfCurrent)));
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transform->loadIncrementHPR(osg::Vec3(osg::inDegrees(p_data->dfYaw._dfIncrement),
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osg::inDegrees(p_data->dfPitch._dfIncrement),
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osg::inDegrees(p_data->dfRoll._dfIncrement)));
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//scales:
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transform->loadMinScale(osg::Vec3(p_data->dfXscale._dfMin,
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p_data->dfYscale._dfMin,
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p_data->dfZscale._dfMin));
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transform->loadMaxScale(osg::Vec3(p_data->dfXscale._dfMax,
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p_data->dfYscale._dfMax,
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p_data->dfZscale._dfMax));
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transform->loadCurrentScale(osg::Vec3(p_data->dfXscale._dfCurrent,
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p_data->dfYscale._dfCurrent,
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p_data->dfZscale._dfCurrent));
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transform->loadIncrementScale(osg::Vec3(p_data->dfXscale._dfIncrement,
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p_data->dfYscale._dfIncrement,
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p_data->dfZscale._dfIncrement));
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//now calculate put and inverse put matrix:
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//the translation matrix:
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osg::Matrix l2g_translation;
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//translation vector
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osg::Vec3 origin_translation(p_data->OriginLocalDOF.x(), p_data->OriginLocalDOF.y(), p_data->OriginLocalDOF.z());
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origin_translation *= _unitScale;//of course, has to be scaled to units used
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//so we make translation matrix
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l2g_translation.makeTranslate(origin_translation);
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//now we need to construct rotation matrix that describes how is local coordinate system
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//rotatoed in global:
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osg::Matrix l2g_rotation;
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//we make two normalized osg::Vec3s so we can cross-multiply them ....
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|
||||
//first we have "point on x axis", i.e. what the DOF local looks like in global
|
||||
osg::Vec3 point_on_x_axis(p_data->PointOnXaxis.x(), p_data->PointOnXaxis.y(), p_data->PointOnXaxis.z());
|
||||
point_on_x_axis *= _unitScale;
|
||||
point_on_x_axis -= origin_translation;//we need to offset it for the origin
|
||||
|
||||
//second, we have "point in xy plane", so x ^ y gives us local z vector
|
||||
osg::Vec3 point_in_xy_plane(p_data->PointInXYplane.x(), p_data->PointInXYplane.y(), p_data->PointInXYplane.z());
|
||||
point_in_xy_plane *= _unitScale;
|
||||
point_in_xy_plane -= origin_translation;//also offset it
|
||||
|
||||
//just in case, normalize them:
|
||||
point_on_x_axis.normalize();
|
||||
|
||||
//now, local x in global is [1 0 0 1] * rotation_matrix, so we can directly write down first row
|
||||
l2g_rotation.ptr()[0] = point_on_x_axis.x(); //that is mat[0][0]
|
||||
l2g_rotation.ptr()[1] = point_on_x_axis.y(); //that is mat[0][1]
|
||||
l2g_rotation.ptr()[2] = point_on_x_axis.z(); //that is mat[0][2]
|
||||
|
||||
|
||||
//the cross product of x ^point_in_local_xy_plane gives local z
|
||||
osg::Vec3 z_transformed = point_on_x_axis ^ point_in_xy_plane;
|
||||
z_transformed.normalize();//we have to normalize it, and than we can directly writ it down to rotation matrix
|
||||
//we can write it down to matrix directly:
|
||||
l2g_rotation.ptr()[8] = z_transformed.x(); //that is mat[2][0]
|
||||
l2g_rotation.ptr()[9] = z_transformed.y(); //that is mat[2][1]
|
||||
l2g_rotation.ptr()[10] = z_transformed.z(); //that is mat[2][2]
|
||||
|
||||
//now that we have x and z, we can get y = z ^ x
|
||||
osg::Vec3 y_transformed = z_transformed ^ point_on_x_axis;
|
||||
//and just in case, we can normalize it:
|
||||
// y_transformed.normalize();
|
||||
|
||||
//this goes to rotation matrix:
|
||||
l2g_rotation.ptr()[4] = y_transformed.x(); //that is mat[1][0]
|
||||
l2g_rotation.ptr()[5] = y_transformed.y(); //that is mat[1][0]
|
||||
l2g_rotation.ptr()[6] = y_transformed.z(); //that is mat[1][0]
|
||||
|
||||
|
||||
//now we have actually the second "PUT" transformation, and the first is inverse
|
||||
osg::Matrix second_put = l2g_rotation * l2g_translation;
|
||||
|
||||
//and we take invers of it since it has to be done at the end, see FLT spec
|
||||
osg::Matrix the_first = osg::Matrix::inverse(second_put);
|
||||
|
||||
transform->setPutMatrix(the_first);
|
||||
transform->setInversePutMatrix(second_put);
|
||||
/*
|
||||
//and now do a little ENDIAN to put flags in ordewr as described in OpenFlight spec
|
||||
unsigned long flags = p_data->dwFlags;
|
||||
ENDIAN(flags);
|
||||
|
||||
//and setup limitation flags:
|
||||
// transform->setLimitationFlags(flags);
|
||||
*/
|
||||
transform->setLimitationFlags(p_data->dwFlags);
|
||||
|
||||
return transform;
|
||||
|
||||
#else
|
||||
|
||||
osg::MatrixTransform* transform = new osg::MatrixTransform;
|
||||
|
||||
transform->setName(rec->getData()->szIdent);
|
||||
@@ -690,6 +832,9 @@ osg::Group* ConvertFromFLT::visitDOF(osg::Group& osgParent, DofRecord* rec)
|
||||
|
||||
transform->setMatrix(dof_matrix);
|
||||
return transform;
|
||||
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user