Added UFO manipulator
This commit is contained in:
Don BURNS
@@ -8,6 +8,7 @@ CXXFILES = \
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DriveManipulator.cpp\
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EventVisitor.cpp\
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FlightManipulator.cpp\
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UFOManipulator.cpp\
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GUIEventAdapter.cpp\
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GUIEventHandler.cpp\
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GUIEventHandlerVisitor.cpp\
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511
src/osgGA/UFOManipulator.cpp
Normal file
511
src/osgGA/UFOManipulator.cpp
Normal file
@@ -0,0 +1,511 @@
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#include <osgGA/UFOManipulator>
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#include <osgUtil/IntersectVisitor>
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using namespace osgGA;
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UFOManipulator::UFOManipulator():
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_t0(0.0),
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_shift(false),
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_ctrl(false)
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{
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_minHeightAboveGround = 2.0;
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_minDistanceInFront = 5.0;
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_speedAccelerationFactor = 0.4;
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_speedDecelerationFactor = 0.90;
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_directionRotationRate = 0.0;
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_directionRotationAcceleration = M_PI*0.00005;
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_directionRotationDeceleration = 0.90;
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_speedEpsilon = 0.02;
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_directionRotationEpsilon = 0.0001;
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_viewOffsetDelta = M_PI * 0.0025;
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_pitchOffsetRate = 0.0;
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_pitchOffset = 0.0;
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_yawOffsetRate = 0.0;
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_yawOffset = 0.0;
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_offset.makeIdentity();
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_decelerateOffsetRate = true;
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_straightenOffset = false;
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_direction.set( 0,1,0);
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_stop();
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}
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void UFOManipulator::setNode( osg::Node *node )
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{
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_node = node;
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if (getAutoComputeHomePosition())
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computeHomePosition();
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_home();
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}
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const osg::Node* UFOManipulator::getNode() const
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{
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return _node.get();
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}
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osg::Node* UFOManipulator::getNode()
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{
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return _node.get();
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}
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const char* UFOManipulator::className() const
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{
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return "UFOManipulator";
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}
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void UFOManipulator::setByMatrix( const osg::Matrix &mat )
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{
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_inverseMatrix = mat;
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_matrix.invert( _inverseMatrix );
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}
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void UFOManipulator::setByInverseMatrix( const osg::Matrix &invmat)
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{
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_matrix = invmat;
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_inverseMatrix.invert( _matrix );
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}
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osg::Matrix UFOManipulator::getMatrix() const
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{
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return (_offset * _matrix);
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}
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osg::Matrix UFOManipulator::getInverseMatrix() const
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{
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return (_inverseMatrix * _offset);
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}
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void UFOManipulator::computeHomePosition()
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{
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if( !_node.valid() )
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return;
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osg::BoundingSphere bs = _node->getBound();
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/*
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* Find the ground - Assumption: The ground is the hit of an intersection
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* from a line segment extending from above to below the database at its
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* horizontal center, that intersects the database closest to zero. */
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osgUtil::IntersectVisitor iv;
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osg::ref_ptr<osg::LineSegment> seg = new osg::LineSegment;
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osg::Vec3 A = bs.center() + (osg::Vec3(0,0,1)*(bs.radius()*2));
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osg::Vec3 B = bs.center() + (osg::Vec3(0,0,-1)*(bs.radius()*2));
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if( (B-A).length() == 0.0)
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{
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puts( "DOH" ); fflush(stdout);
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return;
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}
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/*
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seg->set( bs.center() + (osg::Vec3(0,0,1)*(bs.radius()*2)),
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bs.center() + (osg::Vec3(0,0,-1)*(bs.radius()*2)) );
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*/
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seg->set( A, B );
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iv.addLineSegment( seg.get() );
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_node->accept(iv);
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// start with it high
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double ground = bs.radius() * 3;
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if (iv.hits())
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{
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osgUtil::IntersectVisitor::HitList& hitList = iv.getHitList(seg.get());
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for(osgUtil::IntersectVisitor::HitList::iterator hitr=hitList.begin();
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hitr!=hitList.end(); ++hitr)
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{
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osg::Vec3d ip = hitList.front().getWorldIntersectPoint();
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if( fabs(ip[3]) < ground )
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ground = ip[3];
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}
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}
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else
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{
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osg::notify(osg::WARN)<<"UFOManipulator : I can't find the ground!"<<std::endl;
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ground = 0.0;
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}
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osg::Vec3 p(bs.center()[0], bs.center()[1], ground + (_minHeightAboveGround*1.25) );
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setHomePosition( p, p + osg::Vec3(0,1,0), osg::Vec3(0,0,1) );
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}
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void UFOManipulator::home(const osgGA::GUIEventAdapter&, osgGA::GUIActionAdapter&)
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{
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_home();
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}
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void UFOManipulator::_home()
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{
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if (getAutoComputeHomePosition())
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computeHomePosition();
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_position = _homeEye;
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_direction = _homeCenter - _homeEye;
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_direction.normalize();
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_directionRotationRate = 0.0;
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_inverseMatrix.makeLookAt( _homeEye, _homeCenter, _homeUp );
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_matrix.invert( _matrix );
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_offset.makeIdentity();
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_forwardSpeed = 0.0;
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_sideSpeed = 0.0;
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_upSpeed = 0.0;
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}
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bool UFOManipulator::handle(const osgGA::GUIEventAdapter& ea,osgGA::GUIActionAdapter &aa)
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{
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switch(ea.getEventType())
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{
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case(osgGA::GUIEventAdapter::KEYUP):
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_keyUp( ea, aa );
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return false;
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break;
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case(osgGA::GUIEventAdapter::KEYDOWN):
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_keyDown(ea, aa);
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return false;
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break;
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case(osgGA::GUIEventAdapter::FRAME):
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_frame(ea,aa);
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return false;
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break;
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default:
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return false;
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}
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return false;
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}
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void UFOManipulator::getUsage(osg::ApplicationUsage& usage) const
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{
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usage.addKeyboardMouseBinding("UFO Manipulator: <SpaceBar>", "Reset the viewing angle to 0.0");
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usage.addKeyboardMouseBinding("UFO Manipulator: <UpArrow>", "Acceleration forward.");
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usage.addKeyboardMouseBinding("UFO Manipulator: <DownArrow>", "Acceleration backward (or deceleration forward");
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usage.addKeyboardMouseBinding("UFO Manipulator: <LeftArrow>", "Rotate view and direction of travel to the left.");
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usage.addKeyboardMouseBinding("UFO Manipulator: <RightArrow>", "Rotate view and direction of travel to the right.");
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usage.addKeyboardMouseBinding("UFO Manipulator: <SpaceBar>", "Brake. Gradually decelerates linear and rotational movement.");
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usage.addKeyboardMouseBinding("UFO Manipulator: <Shift/UpArrow>", "Accelerate up.");
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usage.addKeyboardMouseBinding("UFO Manipulator: <Shift/DownArrow>", "Accelerate down.");
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usage.addKeyboardMouseBinding("UFO Manipulator: <Shift/LeftArrow>", "Accelerate (linearly) left.");
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usage.addKeyboardMouseBinding("UFO Manipulator: <Shift/RightArrow>","Accelerate (linearly) right.");
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usage.addKeyboardMouseBinding("UFO Manipulator: <Shift/SpaceBar>", "Instant brake. Immediately stop all linear and rotational movement.");
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usage.addKeyboardMouseBinding("UFO Manipulator: <Ctrl/UpArrow>", "Rotate view (but not direction of travel) up.");
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usage.addKeyboardMouseBinding("UFO Manipulator: <Ctrl/DownArrow>", "Rotate view (but not direction of travel) down.");
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usage.addKeyboardMouseBinding("UFO Manipulator: <Ctrl/LeftArrow>", "Rotate view (but not direction of travel) left.");
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usage.addKeyboardMouseBinding("UFO Manipulator: <Ctrl/RightArrow>", "Rotate view (but not direction of travel) right.");
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}
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void UFOManipulator::_keyUp( const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter & )
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{
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switch( ea.getKey() )
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{
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case Producer::KeyChar_Control_L:
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case Producer::KeyChar_Control_R:
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_ctrl = false;
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_decelerateOffsetRate = true;
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_straightenOffset = false;
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break;
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case Producer::KeyChar_Shift_L:
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case Producer::KeyChar_Shift_R:
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_shift = false;
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_decelerateUpSideRate = true;
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break;
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}
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}
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void UFOManipulator::_keyDown( const osgGA::GUIEventAdapter &ea, osgGA::GUIActionAdapter & )
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{
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switch( ea.getKey() )
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{
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case Producer::KeyChar_Control_L:
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case Producer::KeyChar_Control_R:
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_ctrl = true;
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break;
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case Producer::KeyChar_Shift_L :
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case Producer::KeyChar_Shift_R :
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_shift = true;
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break;
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case Producer::KeyChar_Up:
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if( _ctrl )
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{
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_pitchOffsetRate -= _viewOffsetDelta;
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_decelerateOffsetRate = false;
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}
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else
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{
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if( _shift )
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{
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_upSpeed += _speedAccelerationFactor;
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_decelerateUpSideRate = false;
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}
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else
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_forwardSpeed += _speedAccelerationFactor;
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}
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break;
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case Producer::KeyChar_Down:
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if( _ctrl )
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{
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_pitchOffsetRate += _viewOffsetDelta;
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_decelerateOffsetRate = false;
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}
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else
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{
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if( _shift )
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{
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_upSpeed -= _speedAccelerationFactor;
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_decelerateUpSideRate = false;
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}
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else
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_forwardSpeed -= _speedAccelerationFactor;
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}
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break;
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case Producer::KeyChar_Right:
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if( _ctrl )
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{
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_yawOffsetRate += _viewOffsetDelta;
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_decelerateOffsetRate = false;
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}
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else
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{
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if(_shift)
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{
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_sideSpeed += _speedAccelerationFactor;
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_decelerateUpSideRate = false;
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}
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else
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_directionRotationRate -= _directionRotationAcceleration;
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}
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break;
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case Producer::KeyChar_Left:
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if( _ctrl )
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{
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_yawOffsetRate -= _viewOffsetDelta;
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_decelerateOffsetRate = false;
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}
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else
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{
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if(_shift)
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{
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_sideSpeed -= _speedAccelerationFactor;
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_decelerateUpSideRate = false;
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}
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else
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_directionRotationRate += _directionRotationAcceleration;
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}
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break;
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case Producer::KeyChar_Return:
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if( _ctrl )
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{
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_straightenOffset = true;
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}
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break;
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case ' ':
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if( _shift )
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{
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_stop();
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}
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else
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{
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if( fabs(_forwardSpeed) > 0.0 )
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{
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_forwardSpeed *= _speedDecelerationFactor;
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if( fabs(_forwardSpeed ) < _speedEpsilon )
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_forwardSpeed = 0.0;
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}
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if( fabs(_sideSpeed) > 0.0 )
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{
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_sideSpeed *= _speedDecelerationFactor;
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if( fabs( _sideSpeed ) < _speedEpsilon )
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_sideSpeed = 0.0;
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}
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if( fabs(_upSpeed) > 0.0 )
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{
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_upSpeed *= _speedDecelerationFactor;
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if( fabs( _upSpeed ) < _speedEpsilon )
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_sideSpeed = 0.0;
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}
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if( fabs(_directionRotationRate ) > 0.0 )
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{
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_directionRotationRate *= _directionRotationDeceleration;
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if( fabs( _directionRotationRate ) < _directionRotationEpsilon )
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_directionRotationRate = 0.0;
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}
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}
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break;
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case 'H':
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_home();
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break;
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}
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}
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void UFOManipulator::_frame( const osgGA::GUIEventAdapter &ea, osgGA::GUIActionAdapter & )
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{
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double t1 = ea.time();
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if( _t0 == 0.0 )
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{
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_t0 = ea.time();
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_dt = 0.0;
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}
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else
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{
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_dt = t1 - _t0;
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_t0 = t1;
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}
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if( fabs( _directionRotationRate ) > _directionRotationEpsilon )
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{
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_direction = _direction * osg::Matrix::rotate( _directionRotationRate, osg::Vec3(0,0,1));
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}
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{
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osg::Vec3 _sideVec = _direction * osg::Matrix::rotate( -M_PI*0.5, osg::Vec3(0,0,1));
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_position += ((_direction * _forwardSpeed) +
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(_sideVec * _sideSpeed) +
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(osg::Vec3(0,0,1) * _upSpeed))
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* _dt;
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}
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_pitchOffset += _pitchOffsetRate * _dt;
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if( _pitchOffset >= M_PI || _pitchOffset < -M_PI )
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_pitchOffset *= -1;
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_yawOffset += _yawOffsetRate * _dt;
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if( _yawOffset >= M_PI || _yawOffset < -M_PI )
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_yawOffset *= -1;
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_offset = osg::Matrix::rotate( _yawOffset, osg::Vec3(0,1,0),
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_pitchOffset, osg::Vec3(1,0,0),
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0.0, osg::Vec3(0,0,1));
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_adjustPosition();
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_inverseMatrix.makeLookAt( _position, _position + _direction, osg::Vec3(0,0,1));
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_matrix.invert(_inverseMatrix);
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if( _decelerateUpSideRate )
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{
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_upSpeed *= 0.98;
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_sideSpeed *= 0.98;
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}
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if( _decelerateOffsetRate )
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{
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_yawOffsetRate *= 0.98;
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_pitchOffsetRate *= 0.98;
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}
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if( _straightenOffset )
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{
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_pitchOffsetRate = 0.0;
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_yawOffsetRate = 0.0;
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_pitchOffset *= 0.99;
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_yawOffset *= 0.99;
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if( fabs(_pitchOffset ) < 0.01 )
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_pitchOffset = 0.0;
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if( fabs(_yawOffset ) < 0.01 )
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_pitchOffset = 0.0;
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if( _pitchOffset == 0.0 && _yawOffset == 0.0 )
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_straightenOffset = false;
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}
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}
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void UFOManipulator::_adjustPosition()
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{
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if( !_node.valid() )
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return;
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osgUtil::IntersectVisitor iv;
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// Forward line segment at 3 times our intersect distance
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osg::ref_ptr<osg::LineSegment> segForward = new osg::LineSegment;
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segForward->set(_position, _position + (_direction * (_minDistanceInFront * 3.0)) );
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iv.addLineSegment( segForward.get() );
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// Down line segment at 3 times our intersect distance
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osg::ref_ptr<osg::LineSegment> segDown = new osg::LineSegment;
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segDown->set( _position,
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_position - (osg::Vec3(0,0, _minHeightAboveGround*3)));
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iv.addLineSegment( segDown.get() );
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_node->accept(iv);
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if (iv.hits())
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{
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// Check intersects infront.
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{
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osgUtil::IntersectVisitor::HitList& hitList = iv.getHitList(segForward.get());
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if (!hitList.empty())
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{
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osg::Vec3d ip = hitList.front().getWorldIntersectPoint();
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double d = (ip - _position).length();
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if( d < _minDistanceInFront )
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{
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osg::Vec3 op = _position;
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_position = ip + (_direction * -_minDistanceInFront);
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_stop();
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}
|
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}
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}
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// Check intersects below.
|
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{
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osgUtil::IntersectVisitor::HitList& hitList = iv.getHitList(segDown.get());
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if (!hitList.empty())
|
||||
{
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osg::Vec3d ip = hitList.front().getWorldIntersectPoint();
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if( _position[2] - ip[2] < _minHeightAboveGround )
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||||
_position[2] = ip[2] + _minHeightAboveGround;
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||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
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void UFOManipulator::_stop()
|
||||
{
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||||
_forwardSpeed = 0.0;
|
||||
_sideSpeed = 0.0;
|
||||
_upSpeed = 0.0;
|
||||
_directionRotationRate = 0.0;
|
||||
}
|
||||
Reference in New Issue
Block a user