void RigidBody::external_set_position(Eigen::Vector3d setting_vec)
{
position(0) = setting_vec(0);
position(1) = setting_vec(1);
position(2) = setting_vec(2);
updateInternalState();
}
void RigidBody::sim_step(double dt)
{
odeint::integrate(boost::ref(*this), internalState, 0.0, dt, dt);
position(0) = internalState[0];
position(1) = internalState[1];
position(2) = internalState[2];
velocity(0) = internalState[3];
velocity(1) = internalState[4];
velocity(2) = internalState[5];
attitude.x() = internalState[6];
attitude.y() = internalState[7];
attitude.z() = internalState[8];
attitude.w() = internalState[9];
attitude.normalize();
angularVelocity(0) = internalState[10];
angularVelocity(1) = internalState[11];
angularVelocity(2) = internalState[12];
updateInternalState();
ticks += 1;
}
float OsmAnd::AtlasMapRenderer_OpenGL::getScaledTileSizeOnScreen()
{
InternalState internalState;
bool ok = updateInternalState(&internalState, state);
return getReferenceTileSizeOnScreen(state) * internalState.tileScaleFactor;
}
void ButtonBase::onCaptureLost(WindowEventArgs& e)
{
// Default processing
Window::onCaptureLost(e);
d_pushed = false;
updateInternalState(MouseCursor::getSingleton().getPosition());
requestRedraw();
// event was handled by us.
e.handled = true;
}
//----------------------------------------------------------------------------//
void ButtonBase::setPushedState(const bool pushed)
{
d_pushed = pushed;
if (!pushed)
updateInternalState(getUnprojectedPosition(
getGUIContext().getCursor().getPosition()));
else
d_hovering = true;
invalidate();
}
/*************************************************************************
Handler for when mouse capture is lost
*************************************************************************/
void MenuItem::onCaptureLost(WindowEventArgs& e)
{
// Default processing
ItemEntry::onCaptureLost(e);
d_pushed = false;
updateInternalState(getUnprojectedPosition(
getGUIContext().getMouseCursor().getPosition()));
invalidate();
// event was handled by us.
++e.handled;
}
void ButtonBase::onMouseMove(MouseEventArgs& e)
{
// this is needed to discover whether mouse is in the widget area or not.
// The same thing used to be done each frame in the rendering method,
// but in this version the rendering method may not be called every frame
// so we must discover the internal widget state here - which is actually
// more efficient anyway.
// base class processing
Window::onMouseMove(e);
updateInternalState(e.position);
e.handled = true;
}
void ButtonBase::onMouseButtonDown(MouseEventArgs& e)
{
// default processing
Window::onMouseButtonDown(e);
if (e.button == LeftButton)
{
if (captureInput())
{
d_pushed = true;
updateInternalState(e.position);
requestRedraw();
}
// event was handled by us.
e.handled = true;
}
}
/*************************************************************************
Handler for cursor press hold events
*************************************************************************/
void ButtonBase::onCursorPressHold(CursorInputEventArgs& e)
{
// default processing
Window::onCursorPressHold(e);
if (e.source == CIS_Left)
{
if (captureInput())
{
d_pushed = true;
updateInternalState(e.position);
invalidate();
}
// event was handled by us.
++e.handled;
}
}
void FalagardActionButton::onMouseButtonDown(MouseEventArgs& e)
{
// FalagardButton::onMouseButtonDown(e);下面就是pushbutton中的部分
// default processing
Window::onMouseButtonDown(e);
if (e.button == LeftButton || e.button == RightButton)
{
if (captureInput())
{
d_pushed = true;
updateInternalState(e.position);
requestRedraw();
}
// event was handled by us.
e.handled = true;
}
/////////////////////////////////////////////////////////
if (e.button == LeftButton && isDraggingEnabled())
{
if(!d_dragging)
{
// get position of mouse as co-ordinates local to this window.
Point localPos = (getMetricsMode() == Relative) ?
relativeToAbsolute(screenToWindow(e.position)) :
screenToWindow(e.position);
// store drag point for possible sizing or moving operation.
d_dragPoint = localPos;
d_leftMouseDown = true;
}
e.handled = true;
}
if (e.button == RightButton && isDraggingEnabled())
{
e.handled = true;
}
}
RigidBody::RigidBody()
{
ticks = 0;
/* following data is obtained from shaojie simulator */
mass = 0.74;
double Ixx = 2.64e-3, Iyy = 2.64e-3, Izz = 4.96e-3;
inertia = Eigen::Vector3d(Ixx, Iyy, Izz).asDiagonal();
position = Eigen::Vector3d::Zero();
velocity = Eigen::Vector3d::Zero();
//acceleration = Eigen::Vector3d::Zero();
force = Eigen::Vector3d::Zero();
attitude = Eigen::Quaterniond(Eigen::Matrix3d::Identity());
angularVelocity = Eigen::Vector3d::Zero();
torque = Eigen::Vector3d::Zero();
updateInternalState();
}
bool OsmAnd::AtlasMapRenderer_OpenGL::getLocationFromScreenPoint( const PointI& screenPoint, PointI64& location )
{
InternalState internalState;
bool ok = updateInternalState(&internalState, state);
if(!ok)
return false;
glm::vec4 viewport(
state.viewport.left,
state.windowSize.y - state.viewport.bottom,
state.viewport.width(),
state.viewport.height());
const auto nearInWorld = glm::unProject(glm::vec3(screenPoint.x, state.windowSize.y - screenPoint.y, 0.0f), internalState.mCameraView, internalState.mPerspectiveProjection, viewport);
const auto farInWorld = glm::unProject(glm::vec3(screenPoint.x, state.windowSize.y - screenPoint.y, 1.0f), internalState.mCameraView, internalState.mPerspectiveProjection, viewport);
const auto rayD = glm::normalize(farInWorld - nearInWorld);
const glm::vec3 planeN(0.0f, 1.0f, 0.0f);
const glm::vec3 planeO(0.0f, 0.0f, 0.0f);
float distance;
const auto intersects = Utilities_OpenGL_Common::rayIntersectPlane(planeN, planeO, rayD, nearInWorld, distance);
if(!intersects)
return false;
auto intersection = nearInWorld + distance*rayD;
intersection /= static_cast<float>(TileSize3D);
double x = intersection.x + internalState.targetInTileOffsetN.x;
double y = intersection.z + internalState.targetInTileOffsetN.y;
const auto zoomDiff = ZoomLevel::MaxZoomLevel - state.zoomBase;
const auto tileSize31 = (1u << zoomDiff);
x *= tileSize31;
y *= tileSize31;
location.x = static_cast<int64_t>(x) + (internalState.targetTileId.x << zoomDiff);
location.y = static_cast<int64_t>(y) + (internalState.targetTileId.y << zoomDiff);
return true;
}
/*************************************************************************
Handler for mouse button pressed events
*************************************************************************/
void MenuItem::onMouseButtonDown(MouseEventArgs& e)
{
// default processing
ItemEntry::onMouseButtonDown(e);
if (e.button == LeftButton)
{
d_popupWasClosed = false;
if (captureInput())
{
d_pushed = true;
updateInternalState(e.position);
d_popupWasClosed = !togglePopupMenu();
invalidate();
}
// event was handled by us.
++e.handled;
}
}
void FalagardCheckButton::onMouseButtonDown(MouseEventArgs& e)
{
PushButton::onMouseButtonDown(e);
if (e.button == LeftButton)
{
if (captureInput())
{
if( d_nCheckMode == 1 )
{
if( d_bIsSelected ) // 如果已经被选中了
return;
}
d_pushed = true;
d_bIsSelected = !d_bIsSelected;
updateInternalState(e.position);
requestRedraw();
}
// event was handled by us.
e.handled = true;
}
}
