Ejemplo n.º 1
0
void TransformWidget::Drag(int dx,int dy,Camera::Viewport& viewport)
{
  dragX += dx;
  dragY += dy;
  Ray3D r;
  viewport.getClickSource(dragX,dragY,r.source);
  viewport.getClickVector(dragX,dragY,r.direction);
  if(hoverItem < 0) return;
  else if(hoverItem == 0) {
    Vector3 v;
    viewport.getMovementVectorAtDistance(dx,dy,clickDistance,v);
    T.t += v;
  }
  else if(hoverItem <= 3) { //translation
    Line3D axisLine;
    axisLine.source = clickPos;
    axisLine.direction = Vector3(T.R.col(hoverItem-1));
    Real t,u;
    axisLine.closestPoint(r,t,u);
    T.t = clickTransform.t + axisLine.direction*t;
  }
  else {
    Plane3D ringPlane;
    Vector3 axis;
    if(hoverItem <= 6) axis = Vector3(clickTransform.R.col(hoverItem-4));
    else axis = clickAxis;
    Vector3 x,y;
    GetCanonicalBasis(axis,x,y);
    //find rotation to minimize distance from clicked pos to drag ray
    Real cx = x.dot(clickPos - T.t);
    Real cy = y.dot(clickPos - T.t);
    ringPlane.setPointNormal(T.t,axis);
    Real t;
    bool res=ringPlane.intersectsRay(r,&t);
    //odd... no intersection
    if(res==false) return;
    Vector3 raypos = r.source + t*r.direction - T.t;
    Real rx = x.dot(raypos);
    Real ry = y.dot(raypos);
    if(Sqr(rx) + Sqr(ry) < 1e-5) return;
    Real theta = AngleDiff(Atan2(ry,rx),Atan2(cy,cx));
    AngleAxisRotation aa;
    aa.axis = axis;
    aa.angle = theta;
    QuaternionRotation qR,qT,qRes;
    qR.setAngleAxis(aa);
    qT.setMatrix(clickTransform.R);
    qRes.mul(qR,qT);
    qRes.getMatrix(T.R);
  }
  Refresh();
}
Ejemplo n.º 2
0
void RobotLinkPoseWidget::Drag(int dx,int dy,Camera::Viewport& viewport)
{
    if(affectedDriver < 0) return;
    robot->UpdateConfig(poseConfig);
    //this is for rotational joints
    Real shift = dy*0.02;
    //for prismatic joints, use the distance in space
    if(robot->drivers[affectedDriver].linkIndices.size()==1) {
        int link = robot->drivers[affectedDriver].linkIndices[0];
        if(robot->links[link].type == RobotLink3D::Prismatic) {
            Vector3 pt = robot->links[link].T_World.t;
            float x,y,d;
            viewport.project(pt,x,y,d);
            Vector3 v;
            viewport.getMovementVectorAtDistance(0,dy,d,v);
            shift = -Sign(Real(dy))*v.norm();
        }
    }

    Real val = Clamp(robot->GetDriverValue(affectedDriver)+shift,robot->drivers[affectedDriver].qmin,robot->drivers[affectedDriver].qmax);
    robot->SetDriverValue(affectedDriver,val);
    poseConfig = robot->q;
    Refresh();
}
Ejemplo n.º 3
0
void WorldDragWidget::Drag(int dx,int dy,Camera::Viewport& viewport)
{
  Vector3 v;
  viewport.getMovementVectorAtDistance(dx,dy,hoverDistance,v);
  dragPt += v;
}