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track-to animation: 2dof rotation for slave object.

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Slave objects can now rotate around two axis to always track the
target - even when it is outside the plane perpendicular to the
lock-axis of the root object. This allows for example animating
levers with non-parallel axis of rotation connected with a rod.
This commit is contained in:
Thomas Geymayer 2013-11-08 00:45:24 +01:00
parent d84394efa0
commit 508a5c5f66
1 changed files with 86 additions and 36 deletions
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114
simgear/scene/model/SGTrackToAnimation.cxx
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@ -20,7 +20,7 @@
#include "SGTrackToAnimation.hxx"
#include <simgear/scene/util/OsgMath.hxx>
#include <osg/Transform>
#include <osg/MatrixTransform>
#include <cassert>
/**
@ -122,12 +122,13 @@ class SGTrackToAnimation::UpdateCallback:
public:
UpdateCallback( osg::Group* target,
const SGTrackToAnimation* anim,
SGRotateTransform* slave_tf ):
osg::MatrixTransform* slave_tf ):
_target(target),
_slave_tf(slave_tf),
_root_length(0),
_slave_length(0),
_root_initial_angle(0),
_slave_dof(slave_tf ? anim->getConfig()->getIntValue("slave-dof", 1) : 0),
_condition(anim->getCondition()),
_root_disabled_value(
anim->readOffsetValue("disabled-rotation-deg")
@ -192,10 +193,19 @@ class SGTrackToAnimation::UpdateCallback:
}
_up_axis = _lock_axis ^ _track_axis;
_slave_axis2 = (_target_center - _slave_center) ^ _lock_axis;
_slave_axis2.normalize();
double target_offset = _lock_axis * (_target_center - _node_center);
_slave_initial_angle2 = std::asin(target_offset / _slave_length);
}
virtual void operator()(osg::Node* node, osg::NodeVisitor* nv)
{
if( _root_length <= 0 )
// TODO prevent invalid animation from being added?
return;
SGRotateTransform* tf = static_cast<SGRotateTransform*>(node);
// We need to wait with this initialization steps until the first update
@ -227,30 +237,34 @@ class SGTrackToAnimation::UpdateCallback:
tf->setCenter( toSG(_node_center) );
tf->setAxis( toSG(_lock_axis) );
if( _slave_tf )
{
_slave_tf->setCenter( toSG(_slave_center) );
_slave_tf->setAxis( toSG(_lock_axis) );
}
}
osg::Vec3 target_pos = ( osg::computeLocalToWorld(_target_path)
* osg::computeWorldToLocal(_node_path)
).preMult(_target_center),
dir = target_pos - _node_center;
double root_angle,
slave_angle;
double root_angle = 0,
slave_angle = 0,
slave_angle2 = 0;
if( !_condition || _condition->test() )
{
root_angle = -_root_initial_angle;
slave_angle = -_slave_initial_angle;
if( _root_length > 0 )
{
double dist = dir.length();
osg::Vec3 target_pos = ( osg::computeLocalToWorld(_target_path)
* osg::computeWorldToLocal(_node_path)
).preMult(_target_center),
dir = target_pos - _node_center;
// Ensure direction is perpendicular to lock axis
osg::Vec3 lock_proj = _lock_axis * (_lock_axis * dir);
dir -= lock_proj;
// Track to target
float x = dir * _track_axis,
y = dir * _up_axis;
root_angle += std::atan2(y, x);
// Handle scissor/ik rotation
double dist = dir.length(),
slave_target_dist = 0;
if( dist < _root_length + _slave_length )
{
root_angle += angleFromSSS(_root_length, dist, _slave_length);
@ -258,17 +272,25 @@ class SGTrackToAnimation::UpdateCallback:
if( _slave_tf )
slave_angle += angleFromSSS(_root_length, _slave_length, dist)
- SGMiscd::pi();
if( _slave_dof >= 2 )
slave_target_dist = _slave_length;
}
else if( _slave_dof >= 2 )
{
// If the distance is too large we need to manually calculate the
// distance of the slave to the target, as it is not possible anymore
// to rotate the objects to reach the target.
osg::Vec3 root_dir = target_pos - _node_center;
root_dir.normalize();
osg::Vec3 slave_pos = root_dir * _root_length;
slave_target_dist = (target_pos - slave_pos).length();
}
// Ensure direction is perpendicular to lock axis
float proj = _lock_axis * dir;
if( proj != 0.0 )
dir -= _lock_axis * proj;
float x = dir * _track_axis,
y = dir * _up_axis;
root_angle += std::atan2(y, x);
if( slave_target_dist > 0 )
// Calculate angle to rotate "out of the plane" to point towards the
// target object.
slave_angle2 = std::asin((_lock_axis * lock_proj) / slave_target_dist)
- _slave_initial_angle2;
}
else
{
@ -282,7 +304,32 @@ class SGTrackToAnimation::UpdateCallback:
tf->setAngleRad( root_angle );
if( _slave_tf )
_slave_tf->setAngleRad(slave_angle);
{
osg::Matrix mat_tf;
SGRotateTransform::set_rotation
(
mat_tf,
slave_angle,
SGVec3d(toSG(_slave_center)),
SGVec3d(toSG(_lock_axis))
);
// Slave rotation around second axis
if( slave_angle2 != 0 )
{
osg::Matrix mat_tf2;
SGRotateTransform::set_rotation
(
mat_tf2,
slave_angle2,
SGVec3d(toSG(_slave_center)),
SGVec3d(toSG(_slave_axis2))
);
mat_tf.preMult(mat_tf2);
}
_slave_tf->setMatrix(mat_tf);
}
traverse(node, nv);
}
@ -293,15 +340,18 @@ class SGTrackToAnimation::UpdateCallback:
_target_center,
_lock_axis,
_track_axis,
_up_axis;
_up_axis,
_slave_axis2; ///!< 2nd axis for 2dof slave
osg::Group *_target;
SGRotateTransform *_slave_tf;
osg::MatrixTransform *_slave_tf;
osg::NodePath _node_path,
_target_path;
double _root_length,
_slave_length,
_root_initial_angle,
_slave_initial_angle;
_slave_initial_angle,
_slave_initial_angle2;
int _slave_dof;
SGSharedPtr<SGCondition const> _condition;
SGExpressiond_ref _root_disabled_value,
@ -338,10 +388,10 @@ osg::Group* SGTrackToAnimation::createAnimationGroup(osg::Group& parent)
if( !_target_group )
return 0;
SGRotateTransform* slave_tf = 0;
osg::MatrixTransform* slave_tf = 0;
if( _slave_group )
{
slave_tf = new SGRotateTransform;
slave_tf = new osg::MatrixTransform;
slave_tf->setName("locked-track slave animation");
osg::Group* parent = _slave_group->getParent(0);