void QModelNode::activate()
{
float minX, minY, minZ, maxX, maxY, maxZ;
h3dGetNodeAABB(m_hordeID, &minX, &minY, &minZ, &maxX, &maxY, &maxZ);
unsigned int cameraID = HordeSceneEditor::instance()->glContext()->activeCam();
float leftPlane = h3dGetNodeParamF(cameraID, H3DCamera::LeftPlaneF, 0 );
float rightPlane = h3dGetNodeParamF(cameraID, H3DCamera::RightPlaneF, 0);
float bottomPlane = h3dGetNodeParamF(cameraID, H3DCamera::BottomPlaneF, 0);
float topPlane = h3dGetNodeParamF(cameraID, H3DCamera::TopPlaneF, 0);
float nearPlane = h3dGetNodeParamF(cameraID, H3DCamera::NearPlaneF, 0);
const float* camera = 0;
H3DNode parentNode = h3dGetNodeParent(cameraID);
h3dGetNodeTransMats(parentNode, 0, &camera);
if ( !camera ) return;
/**
* (maxX - minX) = width of the bounding box
* rightPlane / (rightPlane - leftPlane) = right fraction of the viewing frustum
*/
float offsetX = (maxX - minX) * rightPlane / (rightPlane - leftPlane);
float offsetY = (maxY - minY) * topPlane / (topPlane - bottomPlane);
QMatrix4f newCamTrans = QMatrix4f::TransMat(maxX - offsetX, maxY - offsetY, maxZ);
newCamTrans.translate(0, 0, qMax(nearPlane * offsetX / rightPlane, nearPlane * offsetY / topPlane));
h3dSetNodeTransMat(cameraID, (QMatrix4f(camera).inverted() * newCamTrans).x);
}
void QSceneNode::setPosition(const QVec3f& position)
{
if (signalsBlocked())
{
const float* mat = 0;
h3dGetNodeTransMats(m_hordeID, &mat, 0);
// Normally this should never be occure, but in case of an invalid camera this may happen
if (mat == 0) return;
const_cast<float*>(mat)[12] = roundIt( position.X, 5 );
const_cast<float*>(mat)[13] = roundIt( position.Y, 5 );
const_cast<float*>(mat)[14] = roundIt( position.Z, 5 );
h3dSetNodeTransMat(m_hordeID, mat);
m_xmlNode.setAttribute("tx", QString::number( position.X, 'f', 5 ) );
m_xmlNode.setAttribute("ty", QString::number( position.Y, 'f', 5 ));
m_xmlNode.setAttribute("tz", QString::number( position.Z, 'f', 5 ));
}
else if (position != QSceneNode::position())
{
static const QString undoText = tr("Set Position");
if (m_model->undoStack()->undoText() == undoText)
m_model->undoStack()->push(new QXmlNodePropertyCommand(undoText, this, "Position", QVariant::fromValue(position), -1));
else
m_model->undoStack()->push(new QXmlNodePropertyCommand(undoText, this, "Position", QVariant::fromValue(position), TransformationID));
}
}
static void updateModelCB(Model model, float* mat)
{
H3DNodeModel nm;
nm.m = model;
# ifdef DEBUG_UPDATES
LOG("Updating node %d: [%.3f %.3f %.3f %.3f] [%.3f %.3f %.3f %.3f] [%.3f %.3f %.3f %.3f] [%.3f %.3f %.3f %.3f]", nm.n,
mat[0], mat[1], mat[2], mat[3],
mat[4], mat[5], mat[6], mat[7],
mat[8], mat[9], mat[10], mat[11],
mat[12], mat[13], mat[14], mat[15]
);
# endif // DEBUG_UPDATES
h3dSetNodeTransMat(nm.n, mat);
} // end updateModelCB
void SceneGraphComponent::sendTransformation()
{
if (m_hordeID > 0)
{
// printf("Inside send Transformation with hID: %d\n", m_hordeID);
const float* parentMat = 0;
// since the event transformation is absolute we have to create a relative transformation matrix for Horde3D
h3dGetNodeTransMats(h3dGetNodeParent(m_hordeID), 0, &parentMat);
if (parentMat) h3dSetNodeTransMat(m_hordeID, (Matrix4f(parentMat).inverted() * Matrix4f(m_transformation)).x);
else printf("no parent MAT\n");
// ensure reset of Horde3D transformation flag since we have updated it from the GameEngine and such don't need to be informed
// when calling SceneGraphComponent::update() (note that the node transformed flag will be set again if someone else will update
// the transformation from outside, so this way of avoiding unnecessary updates should be safe)
h3dCheckNodeTransFlag( m_hordeID, true );
//printf("SceneGraphComponent::setTransformation\n\t %.3f, %.3f, %.3f\n", transformation[12], transformation[13], transformation[14]);
m_visibilityFlag = 0;
}
}
void QSceneNode::setRelTrans( const QMatrix4f& relTrans)
{
// Does not update the XML representation
h3dSetNodeTransMat(m_hordeID, relTrans.x);
}
bool Gaze::computeHeadRotation( Horde3D::Vec3f *out_axis, float *out_angleRad)
{
//Saving the current eye transformation
Horde3D::Vec3f p,r,s;
m_leye->update();
Horde3D::Matrix4f eyeTransf( m_leye->getRelTransf()->x );
eyeTransf.decompose( p, r, s );
//Computing the head pitch
// Allow (-10 , +10) values for head_picth
// where -10 means a higher angle for the "pointing joint" therefor a "less arrogant" gaze
// and +10 means a lower angle for the "point joint" therefor a "more arrogant" gaze
if(m_headpitch > 10) m_headpitch = 10;
else if(m_headpitch < -10) m_headpitch = -10;
m_headpitch = (m_headpitch > 0) ?
m_headpitch + (int)((m_headpitch/2)*(m_headpitch/2)) :
m_headpitch - (int)((m_headpitch/2)*(m_headpitch/2));
//We simplify the geometric problem by saying that the head's rotational adjustment is the same as the eye's
//if we position it at the center of the distance between the two eyes
//This, depending on the skeleton, may be inaccurate
//First, we must temporary position the eye in the center of the face,
//clear its rotations and calculate the endPos
//This computation is skeleton specific. Remove comments from desired aproach (TODO: better implementation)
//You MUST also set the DfltEyeRot parameters to correspond to the "looking straight ahead" rotation of the eyes
//** 1. Eyetype: x-axis goes left (or right), y-axis goes up (or down), z-axis comes out of the eye
// Known skeletons:
// - Ritchie (some versions, Bip01-Skeleton used at Human Centered Multimedia, Augsburg University)
//h3dSetNodeTransform( m_leye->getHordeID(),
// 0, p.y, p.z,
// (float)(Config::getParamF(IK_Param::DfltEyeRotX_F) + m_headpitch), Config::getParamF(IK_Param::DfltEyeRotY_F), Config::getParamF(IK_Param::DfltEyeRotZ_F),
// 1, 1, 1);
//** 2. Eyetype: x-axis goes up (or down), y-axis goes left (or right), z-axis comes out of the eye
// Known skeletons:
// - Biergarten Agents (Bip01-Skeleton used at Human Centered Multimedia, Augsburg University)
// - Ritchie (some versions, Bip01-Skeleton used at Human Centered Multimedia, Augsburg University)
h3dSetNodeTransform( m_leye->getHordeID(),
p.x, 0, p.z,
Config::getParamF(IK_Param::DfltEyeRotX_F), (float)(Config::getParamF(IK_Param::DfltEyeRotY_F) + m_headpitch), Config::getParamF(IK_Param::DfltEyeRotZ_F),
1, 1, 1);
//** 3. Eyetype: x-axis comes out of the eye, y-axis goes up (or down), z-axis goes left (or right)
// Known skeletons:
// - Hamster (CAT-Skeleton used at Human Centered Multimedia, Augsburg University)
//h3dSetNodeTransform( m_leye->getHordeID(),
// p.x, p.y, 0,
// Config::getParamF(IK_Param::DfltEyeRotX_F), Config::getParamF(IK_Param::DfltEyeRotY_F), (float)(Config::getParamF(IK_Param::DfltEyeRotZ_F) + m_headpitch),
// 1, 1, 1);
m_aux_leye->update();
Horde3D::Vec3f endPos = m_aux_leye->getAbsTranslation();
//Second, we have to align the eye's coordinate system with the head's coordinate system
//We eliminate all rotations from the eye's coordinate system
h3dSetNodeTransform( m_leye->getHordeID(),
p.x, 0, p.z,
0, 0, 0,
1, 1, 1);
m_leye->update();
//We create the 2 vectors and normalize them
Horde3D::Vec3f targetVec = m_leye->getAbsTransf()->inverted() * m_target;
Horde3D::Vec3f currentVec = m_leye->getAbsTransf()->inverted() * endPos;
targetVec = targetVec.normalized();
currentVec = currentVec.normalized();
//Finally, we reset the transformations
h3dSetNodeTransMat( m_leye->getHordeID(), eyeTransf.x );
//get angle between vectors
float angleCos = targetVec.dot(currentVec);
if(angleCos < 1.0f - Config::getParamF(IK_Param::CCDRotJitterTolerance_F) )
{
*out_angleRad = -acosf(angleCos);
//get vector perpendicular to the plain described by two vectors
*out_axis = targetVec.cross( currentVec );
*out_axis = out_axis->normalized();
return true;
}
return false;
}