From David Jung, added support for osg::Capsule shape
This commit is contained in:
Robert Osfield
parent
13d5b50bcf
commit
e2469aece9
@ -41,6 +41,7 @@ osg::Geode* createShapes()
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geode->addDrawable(new osg::ShapeDrawable(new osg::Box(osg::Vec3(2.0f,0.0f,0.0f),2*radius),hints));
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geode->addDrawable(new osg::ShapeDrawable(new osg::Cone(osg::Vec3(4.0f,0.0f,0.0f),radius,height),hints));
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geode->addDrawable(new osg::ShapeDrawable(new osg::Cylinder(osg::Vec3(6.0f,0.0f,0.0f),radius,height),hints));
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geode->addDrawable(new osg::ShapeDrawable(new osg::Capsule(osg::Vec3(8.0f,0.0f,0.0f),radius,height),hints));
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osg::HeightField* grid = new osg::HeightField;
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grid->allocateGrid(38,39);
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@ -58,10 +59,10 @@ osg::Geode* createShapes()
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osg::ConvexHull* mesh = new osg::ConvexHull;
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osg::Vec3Array* vertices = new osg::Vec3Array(4);
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(*vertices)[0].set(7.0+0.0f,-1.0f+2.0f,-1.0f+0.0f);
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(*vertices)[1].set(7.0+1.0f,-1.0f+0.0f,-1.0f+0.0f);
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(*vertices)[2].set(7.0+2.0f,-1.0f+2.0f,-1.0f+0.0f);
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(*vertices)[3].set(7.0+1.0f,-1.0f+1.0f,-1.0f+2.0f);
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(*vertices)[0].set(9.0+0.0f,-1.0f+2.0f,-1.0f+0.0f);
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(*vertices)[1].set(9.0+1.0f,-1.0f+0.0f,-1.0f+0.0f);
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(*vertices)[2].set(9.0+2.0f,-1.0f+2.0f,-1.0f+0.0f);
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(*vertices)[3].set(9.0+1.0f,-1.0f+1.0f,-1.0f+2.0f);
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osg::UByteArray* indices = new osg::UByteArray(12);
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(*indices)[0]=0;
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(*indices)[1]=2;
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@ -90,6 +90,7 @@ class Sphere;
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class Box;
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class Cone;
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class Cylinder;
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class Capsule;
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class InfinitePlane;
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class TriangleMesh;
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@ -108,6 +109,7 @@ class ShapeVisitor
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virtual void apply(Box&) {}
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virtual void apply(Cone&) {}
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virtual void apply(Cylinder&) {}
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virtual void apply(Capsule&) {}
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virtual void apply(InfinitePlane&) {}
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virtual void apply(TriangleMesh&) {}
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@ -127,6 +129,7 @@ class ConstShapeVisitor
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virtual void apply(const Box&) {}
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virtual void apply(const Cone&) {}
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virtual void apply(const Cylinder&) {}
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virtual void apply(const Capsule&) {}
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virtual void apply(const InfinitePlane&) {}
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virtual void apply(const TriangleMesh&) {}
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@ -350,6 +353,63 @@ class Cylinder : public Shape
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Quat _rotation;
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};
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class Capsule : public Shape
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{
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public:
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Capsule():
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_center(0.0f,0.0f,0.0f),
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_radius(1.0f),
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_height(1.0f) {}
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Capsule(const osg::Vec3& center,float radius,float height):
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_center(center),
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_radius(radius),
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_height(height) {}
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Capsule(const Capsule& capsule,const CopyOp& copyop=CopyOp::SHALLOW_COPY):
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Shape(capsule,copyop),
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_center(capsule._center),
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_radius(capsule._radius),
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_height(capsule._height),
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_rotation(capsule._rotation) {}
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META_Shape(osg, Capsule);
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inline bool valid() const { return _radius>=0.0f; }
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inline void set(const Vec3& center,float radius, float height)
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{
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_center = center;
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_radius = radius;
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_height = height;
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}
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inline void setCenter(const Vec3& center) { _center = center; }
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inline const Vec3& getCenter() const { return _center; }
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inline void setRadius(float radius) { _radius = radius; }
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inline float getRadius() const { return _radius; }
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inline void setHeight(float height) { _height = height; }
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inline float getHeight() const { return _height; }
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inline void setRotation(const Quat& quat) { _rotation = quat; }
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inline const Quat& getRotation() const { return _rotation; }
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inline Matrix getRotationMatrix() const { return Matrix(_rotation); }
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bool zeroRotation() const { return _rotation.zeroRotation(); }
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protected:
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virtual ~Capsule() {}
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Vec3 _center;
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float _radius;
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float _height;
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Quat _rotation;
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};
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class InfinitePlane : public Shape, public Plane
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{
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public:
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@ -46,6 +46,7 @@ class DrawShapeVisitor : public ConstShapeVisitor
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virtual void apply(const Box&);
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virtual void apply(const Cone&);
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virtual void apply(const Cylinder&);
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virtual void apply(const Capsule&);
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virtual void apply(const InfinitePlane&);
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virtual void apply(const TriangleMesh&);
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@ -56,12 +57,223 @@ class DrawShapeVisitor : public ConstShapeVisitor
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State& _state;
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const TessellationHints* _hints;
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protected:
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enum SphereHalf { SphereTopHalf, SphereBottomHalf };
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// helpers for apply( Cylinder | Sphere | Capsule )
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void drawCylinderBody(unsigned int numSegments, float radius, float height);
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void drawHalfSphere(unsigned int numSegments, unsigned int numRows, float radius, SphereHalf which, float zOffset = 0.0f);
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};
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void DrawShapeVisitor::drawCylinderBody(unsigned int numSegments, float radius, float height)
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{
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const float angleDelta = 2.0f*osg::PI/(float)numSegments;
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const float texCoordDelta = 1.0f/(float)numSegments;
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const float r = radius;
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const float h = height;
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float basez = -h*0.5f;
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float topz = h*0.5f;
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float angle = 0.0f;
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float texCoord = 0.0f;
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bool drawFrontFace = _hints ? _hints->getCreateFrontFace() : true;
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bool drawBackFace = _hints ? _hints->getCreateBackFace() : false;
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// The only difference between the font & back face loops is that the
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// normals are inverted and the order of the vertex pairs is reversed.
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// The code is mostly duplicated in order to hoist the back/front face
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// test out of the loop for efficiency
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glBegin(GL_QUAD_STRIP);
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if (drawFrontFace) {
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for(unsigned int bodyi=0;
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bodyi<numSegments;
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++bodyi,angle+=angleDelta,texCoord+=texCoordDelta)
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{
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float c = cosf(angle);
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float s = sinf(angle);
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glNormal3f(c,s,0.0f);
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glTexCoord2f(texCoord,1.0f);
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glVertex3f(c*r,s*r,topz);
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glTexCoord2f(texCoord,0.0f);
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glVertex3f(c*r,s*r,basez);
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}
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// do last point by hand to ensure no round off errors.
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glNormal3f(1.0f,0.0f,0.0f);
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glTexCoord2f(1.0f,1.0f);
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glVertex3f(r,0.0f,topz);
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glTexCoord2f(1.0f,0.0f);
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glVertex3f(r,0.0f,basez);
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}
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if (drawBackFace) {
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for(unsigned int bodyi=0;
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bodyi<numSegments;
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++bodyi,angle+=angleDelta,texCoord+=texCoordDelta)
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{
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float c = cosf(angle);
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float s = sinf(angle);
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glNormal3f(-c,-s,0.0f);
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glTexCoord2f(texCoord,0.0f);
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glVertex3f(c*r,s*r,basez);
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glTexCoord2f(texCoord,1.0f);
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glVertex3f(c*r,s*r,topz);
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}
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// do last point by hand to ensure no round off errors.
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glNormal3f(-1.0f,0.0f,0.0f);
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glTexCoord2f(1.0f,0.0f);
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glVertex3f(r,0.0f,basez);
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glTexCoord2f(1.0f,1.0f);
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glVertex3f(r,0.0f,topz);
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}
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glEnd();
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}
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void DrawShapeVisitor::drawHalfSphere(unsigned int numSegments, unsigned int numRows, float radius, SphereHalf which, float zOffset)
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{
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float lDelta = osg::PI/(float)numRows;
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float vDelta = 1.0f/(float)numRows;
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bool top = (which==SphereTopHalf);
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bool drawFrontFace = _hints ? _hints->getCreateFrontFace() : true;
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bool drawBackFace = _hints ? _hints->getCreateBackFace() : false;
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float angleDelta = osg::PI*2.0f/(float)numSegments;
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float texCoordHorzDelta = 1.0f/(float)numSegments;
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float lBase=-osg::PI*0.5f + (top?(lDelta*(numRows/2)):0.0f);
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float rBase=(top?(cosf(lBase)*radius):0.0f);
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float zBase=(top?(sinf(lBase)*radius):-radius);
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float vBase=(top?(vDelta*(numRows/2)):0.0f);
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float nzBase=(top?(sinf(lBase)):-1.0f);
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float nRatioBase=(top?(cosf(lBase)):0.0f);
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unsigned int rowbegin = top?numRows/2:0;
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unsigned int rowend = top?numRows:numRows/2;
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for(unsigned int rowi=rowbegin; rowi<rowend; ++rowi)
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{
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float lTop = lBase+lDelta;
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float rTop = cosf(lTop)*radius;
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float zTop = sinf(lTop)*radius;
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float vTop = vBase+vDelta;
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float nzTop= sinf(lTop);
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float nRatioTop= cosf(lTop);
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glBegin(GL_QUAD_STRIP);
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float angle = 0.0f;
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float texCoord = 0.0f;
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// The only difference between the font & back face loops is that the
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// normals are inverted and the order of the vertex pairs is reversed.
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// The code is mostly duplicated in order to hoist the back/front face
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// test out of the loop for efficiency
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if (drawFrontFace) {
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for(unsigned int topi=0; topi<numSegments;
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++topi,angle+=angleDelta,texCoord+=texCoordHorzDelta)
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{
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float c = cosf(angle);
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float s = sinf(angle);
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glNormal3f(c*nRatioTop,s*nRatioTop,nzTop);
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glTexCoord2f(texCoord,vTop);
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glVertex3f(c*rTop,s*rTop,zTop+zOffset);
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glNormal3f(c*nRatioBase,s*nRatioBase,nzBase);
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glTexCoord2f(texCoord,vBase);
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glVertex3f(c*rBase,s*rBase,zBase+zOffset);
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}
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// do last point by hand to ensure no round off errors.
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glNormal3f(nRatioTop,0.0f,nzTop);
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glTexCoord2f(1.0f,vTop);
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glVertex3f(rTop,0.0f,zTop+zOffset);
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glNormal3f(nRatioBase,0.0f,nzBase);
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glTexCoord2f(1.0f,vBase);
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glVertex3f(rBase,0.0f,zBase+zOffset);
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}
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if (drawBackFace) {
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for(unsigned int topi=0; topi<numSegments;
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++topi,angle+=angleDelta,texCoord+=texCoordHorzDelta)
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{
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float c = cosf(angle);
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float s = sinf(angle);
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glNormal3f(-c*nRatioBase,-s*nRatioBase,-nzBase);
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glTexCoord2f(texCoord,vBase);
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glVertex3f(c*rBase,s*rBase,zBase+zOffset);
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glNormal3f(-c*nRatioTop,-s*nRatioTop,-nzTop);
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glTexCoord2f(texCoord,vTop);
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glVertex3f(c*rTop,s*rTop,zTop+zOffset);
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}
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// do last point by hand to ensure no round off errors.
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glNormal3f(-nRatioBase,0.0f,-nzBase);
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glTexCoord2f(1.0f,vBase);
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glVertex3f(rBase,0.0f,zBase+zOffset);
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glNormal3f(-nRatioTop,0.0f,-nzTop);
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glTexCoord2f(1.0f,vTop);
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glVertex3f(rTop,0.0f,zTop+zOffset);
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}
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glEnd();
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lBase=lTop;
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rBase=rTop;
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zBase=zTop;
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vBase=vTop;
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nzBase=nzTop;
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nRatioBase=nRatioTop;
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}
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}
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void DrawShapeVisitor::apply(const Sphere& sphere)
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{
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glPushMatrix();
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glTranslatef(sphere.getCenter().x(),sphere.getCenter().y(),sphere.getCenter().z());
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@ -496,6 +708,11 @@ void DrawShapeVisitor::apply(const Cylinder& cylinder)
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numSegments = MIN_NUM_SEGMENTS;
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}
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// cylinder body
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if (createBody)
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drawCylinderBody(numSegments, cylinder.getRadius(), cylinder.getHeight());
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float angleDelta = 2.0f*osg::PI/(float)numSegments;
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float texCoordDelta = 1.0f/(float)numSegments;
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@ -508,38 +725,6 @@ void DrawShapeVisitor::apply(const Cylinder& cylinder)
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float angle = 0.0f;
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float texCoord = 0.0f;
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// cylinder body
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if (createBody) {
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glBegin(GL_QUAD_STRIP);
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for(unsigned int bodyi=0;
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bodyi<numSegments;
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++bodyi,angle+=angleDelta,texCoord+=texCoordDelta)
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{
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float c = cosf(angle);
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float s = sinf(angle);
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glNormal3f(c,s,0.0f);
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glTexCoord2f(texCoord,1.0f);
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glVertex3f(c*r,s*r,topz);
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glTexCoord2f(texCoord,0.0f);
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glVertex3f(c*r,s*r,basez);
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}
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// do last point by hand to ensure no round off errors.
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glNormal3f(1.0f,0.0f,0.0f);
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glTexCoord2f(1.0f,1.0f);
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glVertex3f(r,0.0f,topz);
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glTexCoord2f(1.0f,0.0f);
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glVertex3f(r,0.0f,basez);
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glEnd();
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}
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// cylinder top
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if (createTop) {
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glBegin(GL_TRIANGLE_FAN);
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@ -597,6 +782,51 @@ void DrawShapeVisitor::apply(const Cylinder& cylinder)
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glPopMatrix();
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}
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void DrawShapeVisitor::apply(const Capsule& capsule)
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{
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glPushMatrix();
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glTranslatef(capsule.getCenter().x(),capsule.getCenter().y(),capsule.getCenter().z());
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if (!capsule.zeroRotation())
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{
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Matrix rotation(capsule.getRotationMatrix());
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glMultMatrix(rotation.ptr());
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}
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// evaluate hints
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bool createBody = (_hints ? _hints->getCreateBody() : true);
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bool createTop = (_hints ? _hints->getCreateTop() : true);
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bool createBottom = (_hints ? _hints->getCreateBottom() : true);
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unsigned int numSegments = 40;
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unsigned int numRows = 20;
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if (_hints && _hints->getDetailRatio() != 1.0f) {
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float ratio = _hints->getDetailRatio();
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numSegments = (unsigned int) (numSegments * ratio);
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if (numSegments < MIN_NUM_SEGMENTS)
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numSegments = MIN_NUM_SEGMENTS;
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numRows = (unsigned int) (numRows * ratio);
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if (numRows < MIN_NUM_ROWS)
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numRows = MIN_NUM_ROWS;
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}
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// capsule cylindrical body
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if (createBody)
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drawCylinderBody(numSegments, capsule.getRadius(), capsule.getHeight());
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// capsule top cap
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if (createTop)
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drawHalfSphere(numSegments, numRows, capsule.getRadius(), SphereTopHalf, capsule.getHeight()/2.0f);
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// capsule bottom cap
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if (createBottom)
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drawHalfSphere(numSegments, numRows, capsule.getRadius(), SphereBottomHalf, -capsule.getHeight()/2.0f);
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glPopMatrix();
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}
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void DrawShapeVisitor::apply(const InfinitePlane& plane)
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{
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std::cout << "draw a Plane ("<<plane<<") "<<std::endl;
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@ -814,6 +1044,7 @@ class ComputeBoundShapeVisitor : public ConstShapeVisitor
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virtual void apply(const Box&);
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virtual void apply(const Cone&);
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virtual void apply(const Cylinder&);
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virtual void apply(const Capsule&);
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virtual void apply(const InfinitePlane&);
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virtual void apply(const TriangleMesh&);
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@ -931,6 +1162,43 @@ void ComputeBoundShapeVisitor::apply(const Cylinder& cylinder)
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}
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}
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void ComputeBoundShapeVisitor::apply(const Capsule& capsule)
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||||
{
|
||||
if (capsule.zeroRotation())
|
||||
{
|
||||
Vec3 halfLengths(capsule.getRadius(),capsule.getRadius(),capsule.getHeight()*0.5f + capsule.getRadius());
|
||||
_bb.expandBy(capsule.getCenter()-halfLengths);
|
||||
_bb.expandBy(capsule.getCenter()+halfLengths);
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
float r = capsule.getRadius();
|
||||
float z = capsule.getHeight()*0.5f + capsule.getRadius();
|
||||
|
||||
Vec3 base_1(Vec3(-r,-r,-z));
|
||||
Vec3 base_2(Vec3(r,-r,-z));
|
||||
Vec3 base_3(Vec3(r,r,-z));
|
||||
Vec3 base_4(Vec3(-r,r,-z));
|
||||
|
||||
Vec3 top_1(Vec3(-r,-r,z));
|
||||
Vec3 top_2(Vec3(r,-r,z));
|
||||
Vec3 top_3(Vec3(r,r,z));
|
||||
Vec3 top_4(Vec3(-r,r,z));
|
||||
|
||||
Matrix matrix = capsule.getRotationMatrix();
|
||||
_bb.expandBy(capsule.getCenter()+base_1*matrix);
|
||||
_bb.expandBy(capsule.getCenter()+base_2*matrix);
|
||||
_bb.expandBy(capsule.getCenter()+base_3*matrix);
|
||||
_bb.expandBy(capsule.getCenter()+base_4*matrix);
|
||||
|
||||
_bb.expandBy(capsule.getCenter()+top_1*matrix);
|
||||
_bb.expandBy(capsule.getCenter()+top_2*matrix);
|
||||
_bb.expandBy(capsule.getCenter()+top_3*matrix);
|
||||
_bb.expandBy(capsule.getCenter()+top_4*matrix);
|
||||
}
|
||||
}
|
||||
|
||||
void ComputeBoundShapeVisitor::apply(const InfinitePlane&)
|
||||
{
|
||||
// can't compute the bounding box of an infinite plane!!! :-)
|
||||
@ -1043,6 +1311,7 @@ class PrimitiveShapeVisitor : public ConstShapeVisitor
|
||||
virtual void apply(const Box&);
|
||||
virtual void apply(const Cone&);
|
||||
virtual void apply(const Cylinder&);
|
||||
virtual void apply(const Capsule&);
|
||||
virtual void apply(const InfinitePlane&);
|
||||
|
||||
virtual void apply(const TriangleMesh&);
|
||||
@ -1385,6 +1654,13 @@ void PrimitiveShapeVisitor::apply(const Cylinder& cylinder)
|
||||
_functor.end();
|
||||
}
|
||||
|
||||
void PrimitiveShapeVisitor::apply(const Capsule& /*capsule*/)
|
||||
{
|
||||
#if 0
|
||||
notify(NOTICE)<<"Warning: PrimitiveShapeVisitor doesn't implement apply(Capsule&) (yet)."<<std::endl;
|
||||
#endif
|
||||
}
|
||||
|
||||
void PrimitiveShapeVisitor::apply(const InfinitePlane& plane)
|
||||
{
|
||||
std::cout << "Primitive a Plane ("<<plane<<") "<<std::endl;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user