Point WalkNavigationTool::projectToFloor(const Point& p)
{
/* Project the given point onto the floor plane along the up direction: */
const Vector& normal=getFloorPlane().getNormal();
Scalar lambda=(getFloorPlane().getOffset()-p*normal)/(getUpDirection()*normal);
return p+getUpDirection()*lambda;
}
GLMotif::WidgetArranger::Transformation UIManagerSpherical::calcTopLevelTransformInternal(GLMotif::Widget* topLevelWidget,const Point& hotSpot) const
{
/* Project the given hot spot onto the sphere: */
Vector d=hotSpot-sphere.getCenter();
Scalar dLen=d.mag();
if(dLen==Scalar(0))
{
d=getForwardDirection();
dLen=d.mag();
}
Scalar r=sphere.getRadius();
if(alignSecant)
{
/* Adjust the projection radius such that the widget is halfway in and out of the sphere: */
const GLMotif::Box& exterior=topLevelWidget->getExterior();
Scalar widgetSize=Scalar(Math::sqr(exterior.size[0])+Math::sqr(exterior.size[1]));
r=Math::sqrt(Math::sqr(r)-widgetSize*Scalar(0.25));
}
Point sphereHotSpot=sphere.getCenter()+d*(r/dLen);
/* Calculate the widget transformation: */
Vector x=d^getUpDirection();
if(x.mag()==Scalar(0))
x=getForwardDirection()^getUpDirection();
Vector y=x^d;
Transformation result(sphereHotSpot-Point::origin,Rotation::fromBaseVectors(x,y),Scalar(1));
/* Align the widget's hot spot with the given hot spot: */
GLMotif::Vector widgetHotSpot=topLevelWidget->calcHotSpot();
result*=Transformation::translate(-Transformation::Vector(widgetHotSpot.getXyzw()));
result.renormalize();
return result;
}
TrackerState SixAxisTransformToolFactory::Configuration::getHomePosition(void) const
{
if(homePosition.isSpecified())
{
/* Return the configured home position: */
return homePosition.getValue();
}
else
{
/* Calculate the home position from current display center and environment orientation: */
Vector x=getForwardDirection()^getUpDirection();
Vector y=getUpDirection()^x;
return TrackerState(getDisplayCenter()-Point::origin,Rotation::fromBaseVectors(x,y));
}
}
void LookAtTransformationElement::calcMatrix(Matrix &result) const
{
MatrixLookAt(result,
getEyePosition(),
getLookAtPosition(),
getUpDirection() );
}
void HelicopterNavigationTool::buttonCallback(int,int buttonIndex,InputDevice::ButtonCallbackData* cbData)
{
/* Process based on which button was pressed: */
if(buttonIndex==0)
{
if(cbData->newButtonState)
{
/* Act depending on this tool's current state: */
if(isActive())
{
/* Go back to original transformation: */
NavTransform nav=pre;
nav*=NavTransform::translateToOriginFrom(currentPosition);
nav*=post;
setNavigationTransformation(nav);
/* Deactivate this tool: */
deactivate();
}
else
{
/* Try activating this tool: */
if(activate())
{
/* Initialize the navigation: */
Vector x=Geometry::cross(getForwardDirection(),getUpDirection());
Vector y=Geometry::cross(getUpDirection(),x);
pre=NavTransform::translateFromOriginTo(getMainViewer()->getHeadPosition());
pre*=NavTransform::rotate(Rotation::fromBaseVectors(x,y));
post=Geometry::invert(pre);
post*=getNavigationTransformation();
currentPosition=Point::origin;
currentOrientation=Rotation::identity;
currentVelocity=Vector::zero;
lastFrameTime=getApplicationTime();
}
}
}
}
else
{
/* Store the new state of the button: */
buttons[buttonIndex-1]=cbData->newButtonState;
}
}
void UIManagerSpherical::projectDevice(InputDevice* device) const
{
/* Get the device's ray: */
Ray ray=device->getRay();
/* Check if the line defined by the device's ray intersects the sphere: */
Scalar d2=Geometry::sqr(ray.getDirection());
Vector oc=ray.getOrigin()-sphere.getCenter();
Scalar ph=(oc*ray.getDirection());
Scalar det=Math::sqr(ph)-(Geometry::sqr(oc)-Math::sqr(sphere.getRadius()))*d2;
Scalar lambda(0);
Point devicePos;
Vector y;
if(det>=Scalar(0))
{
/* Calculate the point where the line exits the sphere: */
det=Math::sqrt(det);
lambda=(-ph+det)/d2; // Second intersection
devicePos=ray(lambda);
y=devicePos-sphere.getCenter();
}
else
{
/* Project the device's position onto the sphere: */
y=device->getPosition()-sphere.getCenter();
Scalar yLen=y.mag();
if(yLen==Scalar(0))
{
y=getForwardDirection();
yLen=y.mag();
}
devicePos=sphere.getCenter()+y*(sphere.getRadius()/yLen);
}
/* Calculate a device orientation such that the y axis is normal to the sphere and points outwards: */
Vector x=y^getUpDirection();
if(x.mag()==Scalar(0))
x=getForwardDirection()^getUpDirection();
/* Set the device transformation: */
device->setTransformation(TrackerState(devicePos-Point::origin,Rotation::fromBaseVectors(x,y)));
/* Update the device's ray: */
device->setDeviceRay(device->getTransformation().inverseTransform(ray.getDirection()),-lambda);
}
void PhysicalPlayer::applyTurning(double amount) {
if(!onGround) return;
rigidBody->activate();
double constant = GET_SETTING("physics.constant.turn", 1.0);
double centripetalConstant
= GET_SETTING("physics.constant.centripetal", 1.0);
//double leanConstant = GET_SETTING("physics.constant.lean", 1.0);
Math::Matrix matrix = getTransformation();
Math::Point forwardAxis = matrix * Math::Point(0.0, 0.0, 1.0, 0.0);
Math::Point centripetalAxis = matrix * Math::Point(-1.0, 0.0, 0.0, 0.0);
forwardAxis.normalize();
centripetalAxis.normalize();
double speed = getLinearVelocity().length();
#if 0
// turn in the opposite direction when travelling backwards
if (getLinearVelocity().dotProduct(forwardAxis) < 0) {
speed = -speed;
}
#endif
double speedFactor = GET_SETTING("physics.turning.speedfactor", 0.5);
double speedThreshhold = GET_SETTING("physics.turning.speedthreshhold", 15.0);
double falloffFactor = GET_SETTING("physics.turning.fallofffactor", 0.25);
double turning_factor = GET_SETTING("physics.turning.constant", 1.0);
if (speed <= speedThreshhold) {
turning_factor += sqrt(speed/speedThreshhold)*(speed*speedFactor);
}
else {
turning_factor += (speedThreshhold*speedFactor)*(1.0/(1.0+(speed-speedThreshhold)*falloffFactor));
}
// turn in the opposite direction when travelling backwards
if (getLinearVelocity().dotProduct(forwardAxis) < 0) {
turning_factor = -turning_factor;
}
if(getSliding()) {
centripetalConstant *= GET_SETTING("physics.slipstate.centripetalfactor", 1.0);
constant *= GET_SETTING("physics.slipstate.turnfactor", 1.0);
}
applyForce(centripetalAxis * centripetalConstant * turning_factor * amount);
applyTorque(-getUpDirection() * constant * turning_factor * amount);
// twist the car in response to a sharp turn
//applyTorque(getFrontDirection() * leanConstant * turning_factor * amount);
updatePhysicalInfo();
}
ONTransform UIManagerSpherical::calcUITransform(const Point& point) const
{
/* Project the given point onto the sphere: */
Vector d=point-sphere.getCenter();
Scalar dLen=d.mag();
if(dLen==Scalar(0))
{
d=getForwardDirection();
dLen=d.mag();
}
Point spherePoint=sphere.getCenter()+d*(sphere.getRadius()/dLen);
/* Calculate the UI transformation: */
Vector x=d^getUpDirection();
if(x.mag()==Scalar(0))
x=getForwardDirection()^getUpDirection();
Vector y=x^d;
return ONTransform(spherePoint-Point::origin,Rotation::fromBaseVectors(x,y));
}
void gpp::CameraComponent::move(const gep::vec3& delta)
{
gep::vec3 pos =m_transform.getWorldPosition();
pos += getUpDirection() * delta.z;
pos += getRightDirection() * delta.x;
pos += getViewDirection() * delta.y;
m_pCamera->setPosition(pos);
m_transform.setPosition(pos);
}
WalkNavigationToolFactory::WalkNavigationToolFactory(ToolManager& toolManager)
:ToolFactory("WalkNavigationTool",toolManager),
centerOnActivation(false),
centerPoint(getDisplayCenter()),
moveSpeed(getDisplaySize()),
innerRadius(getDisplaySize()*Scalar(0.5)),outerRadius(getDisplaySize()*Scalar(0.75)),
centerViewDirection(getForwardDirection()),
rotateSpeed(Math::rad(Scalar(120))),
innerAngle(Math::rad(Scalar(30))),outerAngle(Math::rad(Scalar(120))),
drawMovementCircles(true),
movementCircleColor(0.0f,1.0f,0.0f)
{
/* Initialize tool layout: */
layout.setNumButtons(1);
/* Insert class into class hierarchy: */
ToolFactory* navigationToolFactory=toolManager.loadClass("NavigationTool");
navigationToolFactory->addChildClass(this);
addParentClass(navigationToolFactory);
/* Load class settings: */
Misc::ConfigurationFileSection cfs=toolManager.getToolClassSection(getClassName());
centerOnActivation=cfs.retrieveValue<bool>("./centerOnActivation",centerOnActivation);
centerPoint=cfs.retrieveValue<Point>("./centerPoint",centerPoint);
centerPoint=getFloorPlane().project(centerPoint);
moveSpeed=cfs.retrieveValue<Scalar>("./moveSpeed",moveSpeed);
innerRadius=cfs.retrieveValue<Scalar>("./innerRadius",innerRadius);
outerRadius=cfs.retrieveValue<Scalar>("./outerRadius",outerRadius);
centerViewDirection=cfs.retrieveValue<Vector>("./centerViewDirection",centerViewDirection);
centerViewDirection-=getUpDirection()*((centerViewDirection*getUpDirection())/Geometry::sqr(getUpDirection()));
centerViewDirection.normalize();
rotateSpeed=Math::rad(cfs.retrieveValue<Scalar>("./rotateSpeed",Math::deg(rotateSpeed)));
innerAngle=Math::rad(cfs.retrieveValue<Scalar>("./innerAngle",Math::deg(innerAngle)));
outerAngle=Math::rad(cfs.retrieveValue<Scalar>("./outerAngle",Math::deg(outerAngle)));
drawMovementCircles=cfs.retrieveValue<bool>("./drawMovementCircles",drawMovementCircles);
movementCircleColor=cfs.retrieveValue<Color>("./movementCircleColor",movementCircleColor);
/* Set tool class' factory pointer: */
WalkNavigationTool::factory=this;
}
void ComeHitherNavigationTool::buttonCallback(int,int,InputDevice::ButtonCallbackData* cbData)
{
if(cbData->newButtonState) // Button has just been pressed
{
if(isActive()) // Tool is already active
{
/* Snap to the target transformation immediately: */
setNavigationTransformation(targetNav);
/* Deactivate this tool: */
deactivate();
}
else // Tool is not yet active
{
/* Try activating this tool: */
if(activate())
{
/* Get the start navigation transformation: */
startNav=getNavigationTransformation();
startTime=getApplicationTime();
/* Get the target transformation: */
NavTransform device=getDeviceTransformation(0);
device.leftMultiply(getInverseNavigationTransformation());
Point center=device.getOrigin();
Vector forward=device.getDirection(1);
Vector up=device.getDirection(2);
/* Compute the navigation transformation for the target transformation: */
targetNav=NavTransform::identity;
targetNav*=NavTransform::translateFromOriginTo(getDisplayCenter());
targetNav*=NavTransform::rotate(Rotation::fromBaseVectors(Geometry::cross(getForwardDirection(),getUpDirection()),getForwardDirection()));
targetNav*=NavTransform::scale(startNav.getScaling());
targetNav*=NavTransform::rotate(Geometry::invert(Rotation::fromBaseVectors(Geometry::cross(forward,up),forward)));
targetNav*=NavTransform::translateToOriginFrom(center);
/* Compute the linear and angular velocities for the movement: */
NavTransform delta=startNav;
delta.doInvert();
delta.leftMultiply(targetNav);
Vector linearDist=delta.getTranslation();
double linearMag=Geometry::mag(linearDist);
Vector angularDist=delta.getRotation().getScaledAxis();
double angularMag=Geometry::mag(angularDist);
if(linearMag<=factory->linearSnapThreshold&&angularMag<=factory->angularSnapThreshold)
{
/* Snap to the target transformation immediately: */
setNavigationTransformation(targetNav);
/* Deactivate this tool: */
deactivate();
}
else
{
/* Compute the total transition time: */
double transitionTime=linearMag/factory->maxLinearVelocity;
if(transitionTime<angularMag/factory->maxAngularVelocity)
transitionTime=angularMag/factory->maxAngularVelocity;
endTime=startTime+transitionTime;
/* Compute the effective linear and angular velocities: */
linearVelocity=linearDist/Scalar(transitionTime);
angularVelocity=angularDist/Scalar(transitionTime);
}
}
}
}
}
void SceneGraphViewer::display(GLContextData& contextData) const
{
/* Save OpenGL state: */
glPushAttrib(GL_ENABLE_BIT|GL_LIGHTING_BIT|GL_TEXTURE_BIT);
/* Go to navigational coordinates: */
glPushMatrix();
glLoadIdentity();
glMultMatrix(getDisplayState(contextData).modelviewNavigational);
/* Create a render state to traverse the scene graph: */
SceneGraph::GLRenderState renderState(contextData,getHeadPosition(),getNavigationTransformation().inverseTransform(getUpDirection()));
/* Traverse the scene graph: */
root->glRenderAction(renderState);
/* Restore OpenGL state: */
glPopMatrix();
glPopAttrib();
}
void ViewpointFileNavigationTool::buttonCallback(int,InputDevice::ButtonCallbackData* cbData)
{
if(cbData->newButtonState) // Activation button has just been pressed
{
#if 0
/* Set the next saved viewpoint if the tool can be activated: */
if(!viewpoints.empty()&&activate())
{
/* Compute the appropriate navigation transformation from the next viewpoint: */
const Viewpoint& v=viewpoints[nextViewpointIndex];
NavTransform nav=NavTransform::identity;
nav*=NavTransform::translateFromOriginTo(getDisplayCenter());
nav*=NavTransform::rotate(Rotation::fromBaseVectors(Geometry::cross(getForwardDirection(),getUpDirection()),getForwardDirection()));
nav*=NavTransform::scale(getDisplaySize()/Math::exp(v.size)); // Scales are interpolated logarithmically
nav*=NavTransform::rotate(Geometry::invert(Rotation::fromBaseVectors(Geometry::cross(v.forward,v.up),v.forward)));
nav*=NavTransform::translateToOriginFrom(v.center);
/* Set the viewpoint: */
setNavigationTransformation(nav);
/* Go to the next viewpoint: */
++nextViewpointIndex;
if(nextViewpointIndex==viewpoints.size())
nextViewpointIndex=0U;
/* Deactivate the tool: */
deactivate();
}
#else
/* Start animating the viewpoint if there are spline segments and the tool can be activated: */
if(!splines.empty())
{
if(paused&&activate())
{
/* Unpause the animation: */
paused=false;
parameter-=Scalar(getFrameTime())*speed;
}
else if(isActive())
{
/* Pause the animation: */
paused=true;
deactivate();
}
else if(activate())
{
/* Animate from the beginning: */
paused=false;
parameter=splines.front().t[0]-Scalar(getFrameTime())*speed;
if(positionSlider!=0)
positionSlider->setValue(parameter);
}
}
#endif
}
}
bool ViewpointFileNavigationTool::navigate(Scalar parameter)
{
/* Find the spline segment containing the given parameter: */
int l=0;
int r=splines.size();
while(r-l>1)
{
int m=(l+r)>>1;
if(parameter>=splines[m].t[0])
l=m;
else
r=m;
}
const SplineSegment& s=splines[l];
if(parameter>=s.t[0]&¶meter<=s.t[1])
{
/* Evaluate the spline segment at the current time: */
Scalar t=(parameter-s.t[0])/(s.t[1]-s.t[0]);
ControlPoint cp[6];
for(int i=0;i<3;++i)
interpolate(s.p[i],s.p[i+1],t,cp[i]);
for(int i=0;i<2;++i)
interpolate(cp[i],cp[i+1],t,cp[3+i]);
interpolate(cp[3],cp[4],t,cp[5]);
/* Compute the appropriate navigation transformation from the next viewpoint: */
NavTransform nav=NavTransform::identity;
nav*=NavTransform::translateFromOriginTo(getDisplayCenter());
nav*=NavTransform::rotate(Rotation::fromBaseVectors(Geometry::cross(getForwardDirection(),getUpDirection()),getForwardDirection()));
nav*=NavTransform::scale(getDisplaySize()/Math::exp(cp[5].size)); // Scales are interpolated logarithmically
nav*=NavTransform::rotate(Geometry::invert(Rotation::fromBaseVectors(Geometry::cross(cp[5].forward,cp[5].up),cp[5].forward)));
nav*=NavTransform::translateToOriginFrom(cp[5].center);
if(isActive())
{
/* Set the viewpoint: */
setNavigationTransformation(nav);
}
else if(activate())
{
/* Set the viewpoint: */
setNavigationTransformation(nav);
/* Deactivate again: */
deactivate();
}
nextViewpointIndex=l+1;
return true;
}
else
{
/* Stop animating; spline is over: */
nextViewpointIndex=0;
return false;
}
}
void ViewpointFileNavigationTool::readViewpointFile(const char* fileName)
{
try
{
/* Open the viewpoint file: */
Misc::File viewpointFile(fileName,"rt");
if(Misc::hasCaseExtension(fileName,".views"))
{
/* Load all viewpoint keyframes from the file: */
Scalar time(0);
while(true)
{
/* Read the next viewpoint: */
Scalar timeInterval;
ControlPoint v;
if(fscanf(viewpointFile.getFilePtr(),"%lf (%lf, %lf, %lf) %lf (%lf, %lf, %lf) (%lf, %lf, %lf)\n",&timeInterval,&v.center[0],&v.center[1],&v.center[2],&v.size,&v.forward[0],&v.forward[1],&v.forward[2],&v.up[0],&v.up[1],&v.up[2])!=11)
break;
/* Store the viewpoint: */
time+=timeInterval;
times.push_back(time);
v.size=Math::log(v.size); // Sizes are interpolated logarithmically
viewpoints.push_back(v);
}
if(viewpoints.size()>1)
{
/* Create a big matrix to solve the C^2 spline problem: */
unsigned int n=viewpoints.size()-1;
Math::Matrix A(4*n,4*n,0.0);
Math::Matrix b(4*n,10,0.0);
A(0,0)=1.0;
writeControlPoint(viewpoints[0],b,0);
double dt1=double(times[1])-double(times[0]);
#if 1
/* Zero velocity at start: */
A(1,0)=-3.0/dt1;
A(1,1)=3.0/dt1;
#else
/* Zero acceleration at start: */
A(1,0)=6.0/Math::sqr(dt1);
A(1,1)=-12.0/Math::sqr(dt1);
A(1,2)=6.0/Math::sqr(dt1);
#endif
for(unsigned int i=1;i<n;++i)
{
double dt0=double(times[i])-double(times[i-1]);
double dt1=double(times[i+1])-double(times[i]);
A(i*4-2,i*4-3)=6.0/Math::sqr(dt0);
A(i*4-2,i*4-2)=-12.0/Math::sqr(dt0);
A(i*4-2,i*4-1)=6.0/Math::sqr(dt0);
A(i*4-2,i*4+0)=-6.0/Math::sqr(dt1);
A(i*4-2,i*4+1)=12.0/Math::sqr(dt1);
A(i*4-2,i*4+2)=-6.0/Math::sqr(dt1);
A(i*4-1,i*4-2)=-3.0/dt0;
A(i*4-1,i*4-1)=3.0/dt0;
A(i*4-1,i*4+0)=3/dt1;
A(i*4-1,i*4+1)=-3/dt1;
A(i*4+0,i*4-1)=1.0;
writeControlPoint(viewpoints[i],b,i*4+0);
A(i*4+1,i*4+0)=1.0;
writeControlPoint(viewpoints[i],b,i*4+1);
}
double dtn=double(times[n])-double(times[n-1]);
#if 1
/* Zero velocity at end: */
A(n*4-2,n*4-2)=-3.0/dtn;
A(n*4-2,n*4-1)=3.0/dtn;
#else
/* Zero acceleration at end: */
A(n*4-2,n*4-3)=6.0/Math::sqr(dtn);
A(n*4-2,n*4-2)=-12.0/Math::sqr(dtn);
A(n*4-2,n*4-1)=6.0/Math::sqr(dtn);
#endif
A(n*4-1,n*4-1)=1.0;
writeControlPoint(viewpoints[n],b,n*4-1);
/* Solve the system of equations: */
Math::Matrix x=b/A;
/* Create the spline segment list: */
for(unsigned int i=0;i<n;++i)
{
SplineSegment s;
for(int j=0;j<2;++j)
s.t[j]=times[i+j];
for(int cp=0;cp<4;++cp)
{
for(int j=0;j<3;++j)
s.p[cp].center[j]=x(i*4+cp,j);
s.p[cp].size=x(i*4+cp,3);
for(int j=0;j<3;++j)
s.p[cp].forward[j]=x(i*4+cp,4+j);
for(int j=0;j<3;++j)
s.p[cp].up[j]=x(i*4+cp,7+j);
}
splines.push_back(s);
}
}
}
else if(Misc::hasCaseExtension(fileName,".curve"))
{
/* Load all spline segments from the file: */
while(true)
{
SplineSegment s;
if(splines.empty())
{
/* Read the first control point: */
ControlPoint cp;
if(fscanf(viewpointFile.getFilePtr(),"(%lf, %lf, %lf) %lf (%lf, %lf, %lf) (%lf, %lf, %lf)\n",&cp.center[0],&cp.center[1],&cp.center[2],&cp.size,&cp.forward[0],&cp.forward[1],&cp.forward[2],&cp.up[0],&cp.up[1],&cp.up[2])!=10)
break;
cp.size=Math::log(cp.size); // Sizes are interpolated logarithmically
viewpoints.push_back(cp);
times.push_back(Scalar(0));
s.t[0]=Scalar(0);
s.p[0]=cp;
}
else
{
/* Copy the last control point from the previous segment: */
s.t[0]=splines.back().t[1];
s.p[0]=splines.back().p[3];
}
/* Read the segment's parameter interval: */
double pi;
if(fscanf(viewpointFile.getFilePtr(),"%lf\n",&pi)!=1)
break;
s.t[1]=s.t[0]+Scalar(pi);
/* Read the intermediate control points: */
ControlPoint m0;
if(fscanf(viewpointFile.getFilePtr(),"(%lf, %lf, %lf) %lf (%lf, %lf, %lf) (%lf, %lf, %lf)\n",&m0.center[0],&m0.center[1],&m0.center[2],&m0.size,&m0.forward[0],&m0.forward[1],&m0.forward[2],&m0.up[0],&m0.up[1],&m0.up[2])!=10)
break;
m0.size=Math::log(m0.size); // Sizes are interpolated logarithmically
s.p[1]=m0;
ControlPoint m1;
if(fscanf(viewpointFile.getFilePtr(),"(%lf, %lf, %lf) %lf (%lf, %lf, %lf) (%lf, %lf, %lf)\n",&m1.center[0],&m1.center[1],&m1.center[2],&m1.size,&m1.forward[0],&m1.forward[1],&m1.forward[2],&m1.up[0],&m1.up[1],&m1.up[2])!=10)
break;
m1.size=Math::log(m1.size); // Sizes are interpolated logarithmically
s.p[2]=m1;
/* Read the last control point: */
ControlPoint cp;
if(fscanf(viewpointFile.getFilePtr(),"(%lf, %lf, %lf) %lf (%lf, %lf, %lf) (%lf, %lf, %lf)\n",&cp.center[0],&cp.center[1],&cp.center[2],&cp.size,&cp.forward[0],&cp.forward[1],&cp.forward[2],&cp.up[0],&cp.up[1],&cp.up[2])!=10)
break;
cp.size=Math::log(cp.size); // Sizes are interpolated logarithmically
viewpoints.push_back(cp);
times.push_back(s.t[1]);
s.p[3]=cp;
/* Save the spline segment: */
splines.push_back(s);
}
}
else
{
/* Display an error message: */
std::string message="Curve file ";
message.append(fileName);
message.append(" has unrecognized extension \"");
message.append(Misc::getExtension(fileName));
message.push_back('"');
showErrorMessage("Curve File Animation",message.c_str());
}
}
catch(std::runtime_error err)
{
/* Display an error message: */
std::string message="Could not read curve file ";
message.append(fileName);
message.append(" due to exception ");
message.append(err.what());
showErrorMessage("Curve File Animation",message.c_str());
}
if(!splines.empty())
{
/* Start animating from the beginning: */
paused=false;
parameter=splines.front().t[0];
/* Create playback control dialog if requested: */
if(showGui)
createGui();
/* Start animating if requested: */
if(autostart)
activate();
}
else if(!viewpoints.empty()&&activate())
{
/* Go to the first viewpoint: */
const ControlPoint& v=viewpoints[0];
NavTransform nav=NavTransform::identity;
nav*=NavTransform::translateFromOriginTo(getDisplayCenter());
nav*=NavTransform::rotate(Rotation::fromBaseVectors(Geometry::cross(getForwardDirection(),getUpDirection()),getForwardDirection()));
nav*=NavTransform::scale(getDisplaySize()/Math::exp(v.size)); // Scales are interpolated logarithmically
nav*=NavTransform::rotate(Geometry::invert(Rotation::fromBaseVectors(Geometry::cross(v.forward,v.up),v.forward)));
nav*=NavTransform::translateToOriginFrom(v.center);
setNavigationTransformation(nav);
deactivate();
}
}
void WalkNavigationTool::frame(void)
{
/* Act depending on this tool's current state: */
if(isActive())
{
/* Calculate azimuth angle change based on the current viewing direction: */
Vector viewDir=getMainViewer()->getViewDirection();
viewDir-=getUpDirection()*((viewDir*getUpDirection())/Geometry::sqr(getUpDirection()));
Scalar viewDir2=Geometry::sqr(viewDir);
if(viewDir2!=Scalar(0))
{
/* Calculate the rotation speed: */
Scalar viewAngleCos=(viewDir*factory->centerViewDirection)/Math::sqrt(viewDir2);
Scalar viewAngle;
if(viewAngleCos>Scalar(1)-Math::Constants<Scalar>::epsilon)
viewAngle=Scalar(0);
else if(viewAngleCos<Scalar(-1)+Math::Constants<Scalar>::epsilon)
viewAngle=Math::Constants<Scalar>::pi;
else
viewAngle=Math::acos(viewAngleCos);
Scalar rotateSpeed=Scalar(0);
if(viewAngle>=factory->outerAngle)
rotateSpeed=factory->rotateSpeed;
else if(viewAngle>factory->innerAngle)
rotateSpeed=factory->rotateSpeed*(viewAngle-factory->innerAngle)/(factory->outerAngle-factory->innerAngle);
Vector x=factory->centerViewDirection^getUpDirection();
if(viewDir*x<Scalar(0))
rotateSpeed=-rotateSpeed;
/* Update the accumulated rotation angle: */
azimuth+=rotateSpeed*getFrameTime();
if(azimuth<-Math::Constants<Scalar>::pi)
azimuth+=Scalar(2)*Math::Constants<Scalar>::pi;
else if(azimuth>=Math::Constants<Scalar>::pi)
azimuth-=Scalar(2)*Math::Constants<Scalar>::pi;
}
/* Calculate the movement direction and speed: */
Point footPos=projectToFloor(getMainViewer()->getHeadPosition());
Vector moveDir=centerPoint-footPos;
Scalar moveDirLen=moveDir.mag();
Scalar speed=Scalar(0);
if(moveDirLen>=factory->outerRadius)
speed=factory->moveSpeed;
else if(moveDirLen>factory->innerRadius)
speed=factory->moveSpeed*(moveDirLen-factory->innerRadius)/(factory->outerRadius-factory->innerRadius);
moveDir*=speed/moveDirLen;
/* Accumulate the transformation: */
NavTransform::Rotation rot=NavTransform::Rotation::rotateAxis(getUpDirection(),azimuth);
translation+=rot.inverseTransform(moveDir*getFrameTime());
/* Set the navigation transformation: */
NavTransform nav=NavTransform::identity;
nav*=Vrui::NavTransform::translateFromOriginTo(centerPoint);
nav*=Vrui::NavTransform::rotate(rot);
nav*=Vrui::NavTransform::translateToOriginFrom(centerPoint);
nav*=Vrui::NavTransform::translate(translation);
nav*=preScale;
setNavigationTransformation(nav);
if(speed!=Scalar(0))
{
/* Request another frame: */
scheduleUpdate(getApplicationTime()+1.0/125.0);
}
}
}