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Improvements to the NodeTrackManipulator and osgsimulation example

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This commit is contained in:
Robert Osfield
2004-10-14 10:38:29 +00:00
parent cecaec4ed8
commit 792a7fe0d5
3 changed files with 85 additions and 308 deletions
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65
examples/osgsimulation/osgsimulation.cpp
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@@ -197,6 +197,61 @@ int main(int argc, char **argv)
// get details on keyboard and mouse bindings used by the viewer.
viewer.getUsage(*arguments.getApplicationUsage());
osg::Quat rotation;
osg::Vec4 vec4;
while (arguments.read("--rotate-model",vec4[0],vec4[1],vec4[2],vec4[3]))
{
osg::Quat local_rotate;
local_rotate.makeRotate(osg::DegreesToRadians(vec4[0]),vec4[1],vec4[2],vec4[3]);
rotation = rotation * local_rotate;
}
osg::NodeCallback* nc = 0;
std::string flightpath_filename;
while (arguments.read("--flight-path",flightpath_filename))
{
std::fstream fin(flightpath_filename.c_str());
if (fin)
{
osg::AnimationPath* path = new osg::AnimationPath;
path->read(fin);
nc = new osg::AnimationPathCallback(path);
}
}
osgGA::NodeTrackerManipulator::TrackerMode trackerMode = osgGA::NodeTrackerManipulator::NODE_CENTER_AND_ROTATION;
std::string mode;
while (arguments.read("--tracker-mode",mode))
{
if (mode=="NODE_CENTER_AND_ROTATION") trackerMode = osgGA::NodeTrackerManipulator::NODE_CENTER_AND_ROTATION;
else if (mode=="NODE_CENTER_AND_AZIM") trackerMode = osgGA::NodeTrackerManipulator::NODE_CENTER_AND_AZIM;
else if (mode=="NODE_CENTER") trackerMode = osgGA::NodeTrackerManipulator::NODE_CENTER;
else
{
std::cout<<"Unrecognized --tracker-mode option "<<mode<<", valid options are:"<<std::endl;
std::cout<<" NODE_CENTER_AND_ROTATION"<<std::endl;
std::cout<<" NODE_CENTER_AND_AZIM"<<std::endl;
std::cout<<" NODE_CENTER"<<std::endl;
return 1;
}
}
osgGA::NodeTrackerManipulator::RotationMode rotationMode = osgGA::NodeTrackerManipulator::TRACKBALL;
while (arguments.read("--rotation-mode",mode))
{
if (mode=="TRACKBALL") rotationMode = osgGA::NodeTrackerManipulator::TRACKBALL;
else if (mode=="ELEVATION_AZIM") rotationMode = osgGA::NodeTrackerManipulator::ELEVATION_AZIM;
else
{
std::cout<<"Unrecognized --rotation-mode option "<<mode<<", valid options are:"<<std::endl;
std::cout<<" TRACKBALL"<<std::endl;
std::cout<<" ELEVATION_AZIM"<<std::endl;
return 1;
}
}
// if user request help write it out to cout.
if (arguments.read("-h") || arguments.read("--help"))
{
@@ -231,16 +286,22 @@ int main(int argc, char **argv)
osg::MatrixTransform* scaler = new osg::MatrixTransform;
scaler->addChild(cessna);
scaler->setMatrix(osg::Matrixd::scale(s,s,s));
scaler->setMatrix(osg::Matrixd::scale(s,s,s)*osg::Matrixd::rotate(rotation));
scaler->getOrCreateStateSet()->setMode(GL_RESCALE_NORMAL,osg::StateAttribute::ON);
osg::MatrixTransform* mt = new osg::MatrixTransform;
mt->addChild(scaler);
mt->setUpdateCallback(new ModelPositionCallback);
if (!nc) nc = new ModelPositionCallback;
mt->setUpdateCallback(nc);
csn->addChild(mt);
osgGA::NodeTrackerManipulator* tm = new osgGA::NodeTrackerManipulator;
tm->setTrackerMode(trackerMode);
tm->setRotationMode(rotationMode);
tm->setTrackNode(scaler);
unsigned int num = viewer.addCameraManipulator(tm);

6
include/osgGA/NodeTrackerManipulator
View File

@@ -42,7 +42,7 @@ class OSGGA_EXPORT NodeTrackerManipulator : public MatrixManipulator
enum TrackerMode
{
NODE_CENTER,
NODE_CENTER_AND_AZMIM_ROTATION,
NODE_CENTER_AND_AZIM,
NODE_CENTER_AND_ROTATION,
};
@@ -52,7 +52,7 @@ class OSGGA_EXPORT NodeTrackerManipulator : public MatrixManipulator
enum RotationMode
{
ELEVATION_AZIM_ROLL,
TRACKBALL,
ELEVATION_AZIM,
};
@@ -163,11 +163,9 @@ class OSGGA_EXPORT NodeTrackerManipulator : public MatrixManipulator
bool _thrown;
osg::Vec3d _center;
osg::Quat _nodeRotation;
osg::Quat _rotation;
float _distance;
osg::Vec3d _previousUp;
};

322
src/osgGA/NodeTrackerManipulator.cpp
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@@ -31,10 +31,8 @@ public:
NodeTrackerManipulator::NodeTrackerManipulator()
{
_trackerMode = NODE_CENTER_AND_ROTATION;
_trackerMode = NODE_CENTER_AND_AZMIM_ROTATION;
_rotationMode = TRACKBALL;
_rotationMode = ELEVATION_AZIM;
// _rotationMode = ELEVATION_AZIM_ROLL;
_distance = 1.0;
_thrown = false;
@@ -234,100 +232,6 @@ void NodeTrackerManipulator::addMouseEvent(const GUIEventAdapter& ea)
void NodeTrackerManipulator::setByMatrix(const osg::Matrixd& matrix)
{
osg::Vec3 lookVector(- matrix(2,0),-matrix(2,1),-matrix(2,2));
osg::Vec3 eye(matrix(3,0),matrix(3,1),matrix(3,2));
osg::notify(INFO)<<"eye point "<<eye<<std::endl;
osg::notify(INFO)<<"lookVector "<<lookVector<<std::endl;
if (!_node)
{
_center = eye+ lookVector;
_distance = lookVector.length();
matrix.get(_rotation);
return;
}
// need to reintersect with the Tracker
osgUtil::IntersectVisitor iv;
const osg::BoundingSphere& bs = _node->getBound();
float distance = (eye-bs.center()).length() + _node->getBound().radius();
osg::Vec3d start_segment = eye;
osg::Vec3d end_segment = eye + lookVector*distance;
//CoordinateFrame coordinateFrame = getCoordinateFrame(_center.x(), _center.y(), _center.z());
//osg::notify(INFO)<<"start="<<start_segment<<"\tend="<<end_segment<<"\tupVector="<<getUpVector(coordinateFrame)<<std::endl;
osg::ref_ptr<osg::LineSegment> segLookVector = new osg::LineSegment;
segLookVector->set(start_segment,end_segment);
iv.addLineSegment(segLookVector.get());
_node->accept(iv);
bool hitFound = false;
if (iv.hits())
{
osgUtil::IntersectVisitor::HitList& hitList = iv.getHitList(segLookVector.get());
if (!hitList.empty())
{
notify(INFO) << "Hit Tracker ok A"<< std::endl;
osg::Vec3d ip = hitList.front().getWorldIntersectPoint();
_center = ip;
_distance = (eye-ip).length();
osg::Matrix rotation_matrix = osg::Matrixd::translate(0.0,0.0,-_distance)*
matrix*
osg::Matrixd::translate(-_center);
rotation_matrix.get(_rotation);
hitFound = true;
}
}
if (!hitFound)
{
CoordinateFrame eyePointCoordFrame = getCoordinateFrame( eye );
// clear the intersect visitor ready for a new test
iv.reset();
osg::ref_ptr<osg::LineSegment> segDowVector = new osg::LineSegment;
segLookVector->set(eye+getUpVector(eyePointCoordFrame)*distance,
eye-getUpVector(eyePointCoordFrame)*distance);
iv.addLineSegment(segLookVector.get());
_node->accept(iv);
hitFound = false;
if (iv.hits())
{
osgUtil::IntersectVisitor::HitList& hitList = iv.getHitList(segLookVector.get());
if (!hitList.empty())
{
notify(INFO) << "Hit Tracker ok B"<< std::endl;
osg::Vec3d ip = hitList.front().getWorldIntersectPoint();
_center = ip;
_distance = (eye-ip).length();
_rotation.set(0,0,0,1);
hitFound = true;
}
}
}
CoordinateFrame coordinateFrame = getCoordinateFrame(_center);
_previousUp = getUpVector(coordinateFrame);
clampOrientation();
}
void NodeTrackerManipulator::computeNodeWorldToLocal(osg::Matrixd& worldToLocal) const
@@ -349,21 +253,28 @@ void NodeTrackerManipulator::computeNodeLocalToWorld(osg::Matrixd& localToWorld)
void NodeTrackerManipulator::computeNodeCenterAndRotation(osg::Vec3d& nodeCenter, osg::Quat& nodeRotation) const
{
osg::Matrixd localToWorld;
osg::Matrixd localToWorld, worldToLocal;
computeNodeLocalToWorld(localToWorld);
computeNodeWorldToLocal(worldToLocal);
if (validateNodePath())
nodeCenter = osg::Vec3d(_trackNodePath.back()->getBound().center())*localToWorld;
else
nodeCenter = osg::Vec3d(0.0f,0.0f,0.0f)*localToWorld;
switch(_trackerMode)
{
case(NODE_CENTER_AND_AZMIM_ROTATION):
case(NODE_CENTER_AND_AZIM):
{
double azim = atan2(-localToWorld(0,1),localToWorld(0,0));
nodeRotation.makeRotate(-azim,0.0,0.0,1.0);
CoordinateFrame coordinateFrame = getCoordinateFrame(nodeCenter);
osg::Matrixd localToFrame(localToWorld*osg::Matrixd::inverse(coordinateFrame));
double azim = atan2(-localToFrame(0,1),localToFrame(0,0));
osg::Quat nodeRotationRelToFrame, rotationOfFrame;
nodeRotationRelToFrame.makeRotate(-azim,0.0,0.0,1.0);
coordinateFrame.get(rotationOfFrame);
nodeRotation = nodeRotationRelToFrame*rotationOfFrame;
break;
}
case(NODE_CENTER_AND_ROTATION):
@@ -380,7 +291,8 @@ void NodeTrackerManipulator::computeNodeCenterAndRotation(osg::Vec3d& nodeCenter
case(NODE_CENTER):
default:
{
nodeRotation = osg::Quat();
CoordinateFrame coordinateFrame = getCoordinateFrame(nodeCenter);
coordinateFrame.get(nodeRotation);
break;
}
}
@@ -393,8 +305,7 @@ osg::Matrixd NodeTrackerManipulator::getMatrix() const
osg::Vec3d nodeCenter;
osg::Quat nodeRotation;
computeNodeCenterAndRotation(nodeCenter,nodeRotation);
// return osg::Matrixd::translate(0.0,0.0,_distance)*osg::Matrixd::rotate(_rotation)*osg::Matrixd::rotate(nodeRotation)*osg::Matrix::translate(nodeCenter);
return osg::Matrixd::translate(0.0,0.0,_distance)*osg::Matrixd::rotate(nodeRotation)*osg::Matrixd::rotate(_rotation)*osg::Matrix::translate(nodeCenter);
return osg::Matrixd::translate(0.0,0.0,_distance)*osg::Matrixd::rotate(_rotation)*osg::Matrixd::rotate(nodeRotation)*osg::Matrix::translate(nodeCenter);
}
osg::Matrixd NodeTrackerManipulator::getInverseMatrix() const
@@ -402,8 +313,7 @@ osg::Matrixd NodeTrackerManipulator::getInverseMatrix() const
osg::Vec3d nodeCenter;
osg::Quat nodeRotation;
computeNodeCenterAndRotation(nodeCenter,nodeRotation);
//return osg::Matrixd::translate(-nodeCenter)*osg::Matrixd::rotate(nodeRotation.inverse())*osg::Matrixd::rotate(_rotation.inverse())*osg::Matrixd::translate(0.0,0.0,-_distance);
return osg::Matrixd::translate(-nodeCenter)*osg::Matrixd::rotate(_rotation.inverse())*osg::Matrixd::rotate(nodeRotation.inverse())*osg::Matrixd::translate(0.0,0.0,-_distance);
return osg::Matrixd::translate(-nodeCenter)*osg::Matrixd::rotate(nodeRotation.inverse())*osg::Matrixd::rotate(_rotation.inverse())*osg::Matrixd::translate(0.0,0.0,-_distance);
}
void NodeTrackerManipulator::computePosition(const osg::Vec3d& eye,const osg::Vec3d& center,const osg::Vec3d& up)
@@ -413,60 +323,6 @@ void NodeTrackerManipulator::computePosition(const osg::Vec3d& eye,const osg::Ve
// compute rotation matrix
osg::Vec3 lv(center-eye);
_distance = lv.length();
_center = center;
osg::notify(osg::INFO) << "In compute"<< std::endl;
if (_node.valid())
{
bool hitFound = false;
float distance = lv.length();
float maxDistance = distance+2*(eye-_node->getBound().center()).length();
osg::Vec3 farPosition = eye+lv*(maxDistance/distance);
osg::Vec3 endPoint = center;
for(int i=0;
!hitFound && i<2;
++i, endPoint = farPosition)
{
// compute the itersection with the scene.
osgUtil::IntersectVisitor iv;
osg::ref_ptr<osg::LineSegment> segLookVector = new osg::LineSegment;
segLookVector->set(eye,endPoint );
iv.addLineSegment(segLookVector.get());
_node->accept(iv);
if (iv.hits())
{
osgUtil::IntersectVisitor::HitList& hitList = iv.getHitList(segLookVector.get());
if (!hitList.empty())
{
osg::notify(osg::INFO) << "Hit Tracker ok C"<< std::endl;
osg::Vec3d ip = hitList.front().getWorldIntersectPoint();
_center = ip;
_distance = (ip-eye).length();
hitFound = true;
}
}
}
}
// note LookAt = inv(CF)*inv(RM)*inv(T) which is equivilant to:
// inv(R) = CF*LookAt.
osg::Matrixd rotation_matrix = osg::Matrixd::lookAt(eye,center,up);
rotation_matrix.get(_rotation);
_rotation = _rotation.inverse();
CoordinateFrame coordinateFrame = getCoordinateFrame(_center);
_previousUp = getUpVector(coordinateFrame);
clampOrientation();
}
bool NodeTrackerManipulator::calcMovement()
@@ -486,23 +342,14 @@ bool NodeTrackerManipulator::calcMovement()
osg::Quat nodeRotation;
computeNodeCenterAndRotation(nodeCenter, nodeRotation);
if (validateNodePath())
{
osg::Matrix localToWorld;
localToWorld = osg::computeLocalToWorld(_trackNodePath);
_center = _trackNodePath.back()->getBound().center() * localToWorld;
}
unsigned int buttonMask = _ga_t1->getButtonMask();
if (buttonMask==GUIEventAdapter::LEFT_MOUSE_BUTTON)
{
if (_rotationMode==ELEVATION_AZIM_ROLL)
if (_rotationMode==TRACKBALL)
{
osg::notify(osg::NOTICE)<<"ELEVATION_AZIM_ROLL"<<std::endl;
// rotate camera.
osg::Vec3 axis;
double angle;
@@ -523,18 +370,14 @@ bool NodeTrackerManipulator::calcMovement()
}
else
{
osg::notify(osg::NOTICE)<<"!!!!ELEVATION_AZIM_ROLL"<<std::endl;
osg::Matrix rotation_matrix;
rotation_matrix.set(nodeRotation*_rotation);
rotation_matrix.set(_rotation);
osg::Vec3d lookVector = -getUpVector(rotation_matrix);
osg::Vec3d sideVector = getSideVector(rotation_matrix);
osg::Vec3d upVector = getFrontVector(rotation_matrix);
CoordinateFrame coordinateFrame = getCoordinateFrame(nodeCenter);
osg::Vec3d localUp = getUpVector(coordinateFrame);
//osg::Vec3d localUp = _previousUp;
osg::Vec3d localUp(0.0f,0.0f,1.0f);
osg::Vec3d forwardVector = localUp^sideVector;
sideVector = forwardVector^localUp;
@@ -558,97 +401,6 @@ bool NodeTrackerManipulator::calcMovement()
else if (buttonMask==GUIEventAdapter::MIDDLE_MOUSE_BUTTON ||
buttonMask==(GUIEventAdapter::LEFT_MOUSE_BUTTON|GUIEventAdapter::RIGHT_MOUSE_BUTTON))
{
/*
// pan model.
double scale = -0.3f*_distance;
osg::Matrix rotation_matrix;
rotation_matrix.set(_rotation);
// compute look vector.
osg::Vec3d lookVector = -getUpVector(rotation_matrix);
osg::Vec3d sideVector = getSideVector(rotation_matrix);
osg::Vec3d upVector = getFrontVector(rotation_matrix);
// CoordinateFrame coordinateFrame = getCoordinateFrame(_center);
// osg::Vec3d localUp = getUpVector(coordinateFrame);
osg::Vec3d localUp = _previousUp;
osg::Vec3d forwardVector =localUp^sideVector;
sideVector = forwardVector^localUp;
forwardVector.normalize();
sideVector.normalize();
osg::Vec3d dv = forwardVector * (dy*scale) + sideVector * (dx*scale);
_center += dv;
// need to recompute the itersection point along the look vector.
if (_node.valid())
{
// now reorientate the coordinate frame to the frame coords.
CoordinateFrame coordinateFrame = getCoordinateFrame(_center);
// need to reintersect with the Tracker
osgUtil::IntersectVisitor iv;
double distance = _node->getBound().radius()*0.1f;
osg::Vec3d start_segment = _center + getUpVector(coordinateFrame) * distance;
osg::Vec3d end_segment = start_segment - getUpVector(coordinateFrame) * (2.0f*distance);
osg::notify(INFO)<<"start="<<start_segment<<"\tend="<<end_segment<<"\tupVector="<<getUpVector(coordinateFrame)<<std::endl;
osg::ref_ptr<osg::LineSegment> segLookVector = new osg::LineSegment;
segLookVector->set(start_segment,end_segment);
iv.addLineSegment(segLookVector.get());
_node->accept(iv);
bool hitFound = false;
if (iv.hits())
{
osgUtil::IntersectVisitor::HitList& hitList = iv.getHitList(segLookVector.get());
if (!hitList.empty())
{
notify(INFO) << "Hit Tracker ok"<< std::endl;
osg::Vec3d ip = hitList.front().getWorldIntersectPoint();
_center = ip;
hitFound = true;
}
}
if (!hitFound)
{
// ??
osg::notify(INFO)<<"NodeTrackerManipulator unable to intersect with Tracker."<<std::endl;
}
coordinateFrame = getCoordinateFrame(_center);
osg::Vec3d new_localUp = getUpVector(coordinateFrame);
osg::Quat pan_rotation;
pan_rotation.makeRotate(localUp,new_localUp);
if (!pan_rotation.zeroRotation())
{
_rotation = _rotation * pan_rotation;
_previousUp = new_localUp;
//osg::notify(osg::NOTICE)<<"Rotating from "<<localUp<<" to "<<new_localUp<<" angle = "<<acos(localUp*new_localUp/(localUp.length()*new_localUp.length()))<<std::endl;
//clampOrientation();
}
else
{
osg::notify(osg::INFO)<<"New up orientation nearly inline - no need to rotate"<<std::endl;
}
}
*/
return true;
}
else if (buttonMask==GUIEventAdapter::RIGHT_MOUSE_BUTTON)
@@ -677,40 +429,6 @@ bool NodeTrackerManipulator::calcMovement()
void NodeTrackerManipulator::clampOrientation()
{
if (_rotationMode==ELEVATION_AZIM)
{
osg::Matrix rotation_matrix;
rotation_matrix.set(_rotation);
osg::Vec3d lookVector = -getUpVector(rotation_matrix);
osg::Vec3d upVector = getFrontVector(rotation_matrix);
CoordinateFrame coordinateFrame = getCoordinateFrame(_center);
osg::Vec3d localUp = getUpVector(coordinateFrame);
//osg::Vec3d localUp = _previousUp;
osg::Vec3d sideVector = lookVector ^ localUp;
if (sideVector.length()<0.1)
{
osg::notify(osg::INFO)<<"Side vector short "<<sideVector.length()<<std::endl;
sideVector = upVector^localUp;
sideVector.normalize();
}
Vec3d newUpVector = sideVector^lookVector;
newUpVector.normalize();
osg::Quat rotate_roll;
rotate_roll.makeRotate(upVector,newUpVector);
if (!rotate_roll.zeroRotation())
{
_rotation = _rotation * rotate_roll;
}
}
}