Added UFO manipulator
This commit is contained in:
Don BURNS
parent
537fa6c604
commit
a7ac8f5992
165
include/osgGA/UFOManipulator
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165
include/osgGA/UFOManipulator
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@ -0,0 +1,165 @@
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/* -*-c++-*- OpenSceneGraph - Copyright (C) 1998-2003 Robert Osfield
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*
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* This library is open source and may be redistributed and/or modified under
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* the terms of the OpenSceneGraph Public License (OSGPL) version 0.0 or
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* (at your option) any later version. The full license is in LICENSE file
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* included with this distribution, and on the openscenegraph.org website.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* OpenSceneGraph Public License for more details.
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*/
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#ifndef OSGGA_UFO_MANIPULATOR_DEF
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#define OSGGA_UFO_MANIPULATOR_DEF 1
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#include <iostream>
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#include <Producer/Keyboard>
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#include <osgGA/MatrixManipulator>
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#include <osg/Node>
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#include <osg/Matrix>
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/**
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\class UFOManipulator
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\brief A UFO manipulator driven with keybindings.
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The UFOManipulator is better suited for applications that employ
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architectural walk-throughs, or situations where the eyepoint motion
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model must move slowly, deliberately and well controlled.
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The UFO Manipulator allows the following movements with the listed
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Key combinations:
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\param UpArrow Acceleration forward.
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\param DownArrow Acceleration backward (or deceleration forward).
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\param LeftArrow Rotate view and direction of travel to the left.
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\param RightArrow Rotate view and direction of travel to the right.
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\param SpaceBar Brake. Gradually decelerates linear and rotational movement.
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\param Shift/UpArrow Accelerate up.
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\param Shift/DownArrow Accelerate down.
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\param Shift/LeftArrow Accelerate (linearly) left.
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\param Shift/RightArrow Accelerate (linearly) right.
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\param Shift/SpaceBar Instant brake. Immediately stop all linear and rotational movement.
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When the Shift key is released, up, down, linear left and/or linear right movement is decelerated.
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\param Ctrl/UpArrow Rotate view (but not direction of travel) up.
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\param Ctrl/DownArrow Rotate view (but not direction of travel) down.
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\param Ctrl/LeftArrow Rotate view (but not direction of travel) left.
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\param Ctrl/RightArrow Rotate view (but not direction of travel) right.
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\param Ctrl/Return Straightens out the view offset.
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*/
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namespace osgGA {
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class OSGGA_EXPORT UFOManipulator : public osgGA::MatrixManipulator
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{
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public:
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/** Default constructor */
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UFOManipulator();
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/** return className
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\return returns constant "UFOManipulator"
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*/
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virtual const char* className() const;
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/** Set the current position with a matrix
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\param matrix A viewpoint matrix.
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*/
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virtual void setByMatrix( const osg::Matrix &matrix ) ;
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/** Set the current position with the invers matrix
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\param invmatrix The inverse of a viewpoint matrix
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*/
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virtual void setByInverseMatrix( const osg::Matrix &invmat);
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/** Get the current viewmatrix */
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virtual osg::Matrix getMatrix() const;
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/** Get the current inverse view matrix */
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virtual osg::Matrix getInverseMatrix() const ;
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/** Set the subgraph this manipulator is driving the eye through.
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\param node root of subgraph
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*/
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virtual void setNode(osg::Node*);
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/** Get the root node of the subgraph this manipulator is driving the eye through (const)*/
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virtual const osg::Node* getNode() const;
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/** Get the root node of the subgraph this manipulator is driving the eye through */
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virtual osg::Node* getNode();
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/** Computes the home position based on the extents and scale of the
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scene graph rooted at node */
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virtual void computeHomePosition();
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/** Sets the viewpoint matrix to the home position */
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virtual void home(const osgGA::GUIEventAdapter&, osgGA::GUIActionAdapter&) ;
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/** Handles incoming osgGA events */
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bool handle(const osgGA::GUIEventAdapter& ea,osgGA::GUIActionAdapter &aa);
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/** Reports Usage parameters to the application */
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void getUsage(osg::ApplicationUsage& usage) const;
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protected:
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private:
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osg::ref_ptr<osg::Node> _node;
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float _viewAngle;
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osg::Matrix _matrix;
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osg::Matrix _inverseMatrix;
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osg::Matrix _offset;
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double _minHeightAboveGround;
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double _minDistanceInFront;
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double _speedEpsilon;
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double _forwardSpeed;
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double _sideSpeed;
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double _upSpeed;
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double _speedAccelerationFactor;
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double _speedDecelerationFactor;
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bool _decelerateUpSideRate;
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double _directionRotationEpsilon;
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double _directionRotationRate;
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double _directionRotationAcceleration;
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double _directionRotationDeceleration;
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double _viewOffsetDelta;
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double _pitchOffsetRate;
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double _pitchOffset;
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double _yawOffsetRate;
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double _yawOffset;
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double _t0;
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double _dt;
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osg::Vec3 _direction;
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osg::Vec3 _position;
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bool _shift;
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bool _ctrl;
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bool _decelerateOffsetRate;
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bool _straightenOffset;
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void _home();
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void _stop();
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void _keyDown( const osgGA::GUIEventAdapter &ea, osgGA::GUIActionAdapter &);
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void _keyUp( const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter &);
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void _frame(const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter &);
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void _adjustPosition();
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};
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}
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#endif
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@ -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
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511
src/osgGA/UFOManipulator.cpp
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@ -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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}
|
||||
else
|
||||
{
|
||||
if( fabs(_forwardSpeed) > 0.0 )
|
||||
{
|
||||
_forwardSpeed *= _speedDecelerationFactor;
|
||||
|
||||
if( fabs(_forwardSpeed ) < _speedEpsilon )
|
||||
_forwardSpeed = 0.0;
|
||||
}
|
||||
if( fabs(_sideSpeed) > 0.0 )
|
||||
{
|
||||
_sideSpeed *= _speedDecelerationFactor;
|
||||
|
||||
if( fabs( _sideSpeed ) < _speedEpsilon )
|
||||
_sideSpeed = 0.0;
|
||||
}
|
||||
|
||||
if( fabs(_upSpeed) > 0.0 )
|
||||
{
|
||||
_upSpeed *= _speedDecelerationFactor;
|
||||
|
||||
if( fabs( _upSpeed ) < _speedEpsilon )
|
||||
_sideSpeed = 0.0;
|
||||
}
|
||||
|
||||
|
||||
if( fabs(_directionRotationRate ) > 0.0 )
|
||||
{
|
||||
_directionRotationRate *= _directionRotationDeceleration;
|
||||
if( fabs( _directionRotationRate ) < _directionRotationEpsilon )
|
||||
_directionRotationRate = 0.0;
|
||||
}
|
||||
|
||||
}
|
||||
break;
|
||||
|
||||
case 'H':
|
||||
_home();
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void UFOManipulator::_frame( const osgGA::GUIEventAdapter &ea, osgGA::GUIActionAdapter & )
|
||||
{
|
||||
double t1 = ea.time();
|
||||
if( _t0 == 0.0 )
|
||||
{
|
||||
_t0 = ea.time();
|
||||
_dt = 0.0;
|
||||
}
|
||||
else
|
||||
{
|
||||
_dt = t1 - _t0;
|
||||
_t0 = t1;
|
||||
}
|
||||
|
||||
if( fabs( _directionRotationRate ) > _directionRotationEpsilon )
|
||||
{
|
||||
_direction = _direction * osg::Matrix::rotate( _directionRotationRate, osg::Vec3(0,0,1));
|
||||
}
|
||||
|
||||
{
|
||||
osg::Vec3 _sideVec = _direction * osg::Matrix::rotate( -M_PI*0.5, osg::Vec3(0,0,1));
|
||||
|
||||
_position += ((_direction * _forwardSpeed) +
|
||||
(_sideVec * _sideSpeed) +
|
||||
(osg::Vec3(0,0,1) * _upSpeed))
|
||||
* _dt;
|
||||
}
|
||||
|
||||
_pitchOffset += _pitchOffsetRate * _dt;
|
||||
if( _pitchOffset >= M_PI || _pitchOffset < -M_PI )
|
||||
_pitchOffset *= -1;
|
||||
|
||||
_yawOffset += _yawOffsetRate * _dt;
|
||||
if( _yawOffset >= M_PI || _yawOffset < -M_PI )
|
||||
_yawOffset *= -1;
|
||||
|
||||
_offset = osg::Matrix::rotate( _yawOffset, osg::Vec3(0,1,0),
|
||||
_pitchOffset, osg::Vec3(1,0,0),
|
||||
0.0, osg::Vec3(0,0,1));
|
||||
|
||||
_adjustPosition();
|
||||
|
||||
_inverseMatrix.makeLookAt( _position, _position + _direction, osg::Vec3(0,0,1));
|
||||
_matrix.invert(_inverseMatrix);
|
||||
|
||||
if( _decelerateUpSideRate )
|
||||
{
|
||||
_upSpeed *= 0.98;
|
||||
_sideSpeed *= 0.98;
|
||||
}
|
||||
|
||||
if( _decelerateOffsetRate )
|
||||
{
|
||||
_yawOffsetRate *= 0.98;
|
||||
_pitchOffsetRate *= 0.98;
|
||||
}
|
||||
|
||||
if( _straightenOffset )
|
||||
{
|
||||
_pitchOffsetRate = 0.0;
|
||||
_yawOffsetRate = 0.0;
|
||||
_pitchOffset *= 0.99;
|
||||
_yawOffset *= 0.99;
|
||||
|
||||
if( fabs(_pitchOffset ) < 0.01 )
|
||||
_pitchOffset = 0.0;
|
||||
if( fabs(_yawOffset ) < 0.01 )
|
||||
_pitchOffset = 0.0;
|
||||
|
||||
if( _pitchOffset == 0.0 && _yawOffset == 0.0 )
|
||||
_straightenOffset = false;
|
||||
}
|
||||
}
|
||||
|
||||
void UFOManipulator::_adjustPosition()
|
||||
{
|
||||
if( !_node.valid() )
|
||||
return;
|
||||
|
||||
osgUtil::IntersectVisitor iv;
|
||||
|
||||
// Forward line segment at 3 times our intersect distance
|
||||
osg::ref_ptr<osg::LineSegment> segForward = new osg::LineSegment;
|
||||
segForward->set(_position, _position + (_direction * (_minDistanceInFront * 3.0)) );
|
||||
iv.addLineSegment( segForward.get() );
|
||||
|
||||
|
||||
// Down line segment at 3 times our intersect distance
|
||||
osg::ref_ptr<osg::LineSegment> segDown = new osg::LineSegment;
|
||||
segDown->set( _position,
|
||||
_position - (osg::Vec3(0,0, _minHeightAboveGround*3)));
|
||||
iv.addLineSegment( segDown.get() );
|
||||
|
||||
_node->accept(iv);
|
||||
|
||||
if (iv.hits())
|
||||
{
|
||||
// Check intersects infront.
|
||||
{
|
||||
osgUtil::IntersectVisitor::HitList& hitList = iv.getHitList(segForward.get());
|
||||
if (!hitList.empty())
|
||||
{
|
||||
osg::Vec3d ip = hitList.front().getWorldIntersectPoint();
|
||||
|
||||
double d = (ip - _position).length();
|
||||
|
||||
if( d < _minDistanceInFront )
|
||||
{
|
||||
osg::Vec3 op = _position;
|
||||
_position = ip + (_direction * -_minDistanceInFront);
|
||||
_stop();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Check intersects below.
|
||||
{
|
||||
osgUtil::IntersectVisitor::HitList& hitList = iv.getHitList(segDown.get());
|
||||
if (!hitList.empty())
|
||||
{
|
||||
osg::Vec3d ip = hitList.front().getWorldIntersectPoint();
|
||||
if( _position[2] - ip[2] < _minHeightAboveGround )
|
||||
_position[2] = ip[2] + _minHeightAboveGround;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void UFOManipulator::_stop()
|
||||
{
|
||||
_forwardSpeed = 0.0;
|
||||
_sideSpeed = 0.0;
|
||||
_upSpeed = 0.0;
|
||||
_directionRotationRate = 0.0;
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user