void SoXipDicomExaminer::adjustCamera( SoGLRenderAction* action, const SbMatrix& model )
{
SbVec3f imageAxis[3];
imageAxis[0] = model[0];
imageAxis[1] = model[1];
imageAxis[1].negate();
imageAxis[2] = imageAxis[0].cross( imageAxis[1] );
float width = imageAxis[0].length();
float height = imageAxis[1].length();
SbRotation rotation = SbRotation( SbVec3f(0, 0, -1), -imageAxis[2] );
getCamera()->orientation.setValue( rotation );
SbMatrix orientationMatrix;
orientationMatrix = getCamera()->orientation.getValue();
tiltCamera( SbRotation( orientationMatrix[1], imageAxis[1] ) );
getCamera()->viewAll( mImage, mViewport );
getCamera()->height = ( width > height ? width : height ) / viewAllScale.getValue();
const float d = 2.0;
SbVec3f imageCenter = model[3] + imageAxis[0] / d - imageAxis[1] / d;
float focalDistance = (getCamera()->position.getValue() - imageCenter).length();
SbVec3f diff = (getCamera()->position.getValue() - imageCenter) / focalDistance;
getCamera()->position.setValue( imageCenter );
getCamera()->focalDistance.setValue( 0 );
getCamera()->nearDistance.setValue( -1 );
getCamera()->farDistance.setValue( 1. );
//getCamera()->nearDistance.setValue( -0.1 );
//getCamera()->farDistance.setValue( 0.1 );
}
void
vpSimulator::moveInternalCamera(vpHomogeneousMatrix &cMf)
{
SbMatrix matrix;
SbRotation rotCam;
SbMatrix rotX;
rotX.setRotate (SbRotation (SbVec3f(1.0f, 0.0f, 0.0f), (float)M_PI));
for(unsigned int i=0;i<4;i++)
for(unsigned int j=0;j<4;j++)
matrix[(int)j][(int)i]=(float)cMf[i][j];
matrix= matrix.inverse();
matrix.multLeft (rotX);
rotCam.setValue(matrix);
internalCamera->ref() ;
internalCamera->orientation.setValue(rotCam);
internalCamera->position.setValue(matrix[3][0],matrix[3][1],matrix[3][2]);
internalCamera->unref() ;
rotX.setRotate (SbRotation (SbVec3f(-1.0f, 0.0f, 0.0f), (float)M_PI));
matrix.multLeft (rotX);
rotCam.setValue(matrix);
internalCameraPosition->ref() ;
internalCameraPosition->rotation.setValue(rotCam);
internalCameraPosition->translation.setValue(matrix[3][0],matrix[3][1],matrix[3][2]);
internalCameraPosition->unref() ;
}
// Update the dragger based on the skeleton.
void IvJointDragger::UpdateDragger()
{
ItemPtr selectedItem = GetSelectedItem();
if( !selectedItem ) {
return;
}
KinBodyItemPtr pbody = boost::dynamic_pointer_cast<KinBodyItem>(selectedItem);
if( !pbody ) {
return;
}
vector<dReal> vjoints;
pbody->GetDOFValues(vjoints);
if( _jointtype == KinBody::JointSpherical ) {
Vector vaxis(vjoints[_dofindex+0],vjoints[_dofindex+1],vjoints[_dofindex+2]);
dReal fang = RaveSqrt(vaxis.lengthsqr3())-_jointoffset;
_trackball->rotation = SbRotation(fang > 0 ? SbVec3f(vaxis.x/fang,vaxis.y/fang,vaxis.z/fang) : SbVec3f(1,0,0), fang);
}
else {
float fang = vjoints[_dofindex]-_jointoffset;
if( _jointtype == KinBody::JointSlider ) {
if( _vupper[0] > _vlower[0] ) {
fang = (fang-_vlower[0])/(_vupper[0]-_vlower[0]);
}
else {
fang = 0;
}
}
_trackball->rotation = SbRotation(SbVec3f(1,0,0), fang);
}
}
////////////////////////////////////////////////////////////////////////
//
// Description:
// Rotate the rotateDiscDragger based on mouse motion.
//
// Use: private
//
void
SoRotateDiscDragger::drag()
//
////////////////////////////////////////////////////////////////////////
{
// Set up the projector space and view.
// Working space is space at end of motion matrix.
planeProj->setViewVolume( getViewVolume() );
planeProj->setWorkingSpace( getLocalToWorldMatrix() );
// Get newHitPt and startHitPt in workspace.
SbVec3f newHitPt
= planeProj->project( getNormalizedLocaterPosition());
SbVec3f startHitPt = getLocalStartingPoint();
// Find the amount of rotation
SbVec3f oldVec = startHitPt;
SbVec3f newVec = newHitPt;
// Remove the part of these vectors that is parallel to the normal
oldVec -= SbVec3f( 0, 0, oldVec[2] );
newVec -= SbVec3f( 0, 0, newVec[2] );
// deltaRot is how much we rotated since the mouse button went down.
SbRotation deltaRot = SbRotation( oldVec, newVec );
// Append this to the startMotionMatrix, which we saved at the beginning
// of the drag, to find the current motion matrix.
setMotionMatrix(
appendRotation( getStartMotionMatrix(), deltaRot, SbVec3f(0,0,0)));
}
/*! \param upVec
* \param dir
* \return orientation
*/
SbRotation kCamera::calcOrientation(const SbVec3f upVec, const SbVec3f dir)
{
// from comp.graphics.api.inventor ... "Setting SoCamera orientation"
SbVec3f z = -dir;
SbVec3f y = upVec;
z.normalize();
y.normalize();
SbVec3f x = y.cross(z);
// recompute y to create a valid coordinate system
y = z.cross(x);
// create a rotation matrix
SbMatrix rot = SbMatrix::identity();
rot[0][0] = x[0];
rot[0][1] = x[1];
rot[0][2] = x[2];
rot[1][0] = y[0];
rot[1][1] = y[1];
rot[1][2] = y[2];
rot[2][0] = z[0];
rot[2][1] = z[1];
rot[2][2] = z[2];
// convert matrix into rotation
return SbRotation(rot);
}
void
SoSFRotation::setValue(float q0, float q1, float q2, float q3) // The 4 floats
//
////////////////////////////////////////////////////////////////////////
{
setValue(SbRotation(q0, q1, q2, q3));
}
void
vpSimulator::getExternalCameraPosition(vpHomogeneousMatrix &cMf)
{
/* SoCamera *camera ;
camera = this->externalView->getCamera() ;*/
SoSFVec3f position = externalCamera->position ;
// get the rotation
SoSFRotation orientation = externalCamera->orientation;
SbVec3f axis ; float angle ;
orientation.getValue(axis,angle) ;
SbRotation rotation(axis,angle) ;
// get the translation
SbVec3f t ;
t = position.getValue() ;
SbMatrix matrix ;
matrix.setRotate(rotation) ;
vpHomogeneousMatrix fMc ;
SbMatrix rotX;
rotX.setRotate (SbRotation (SbVec3f(1.0f, 0.0f, 0.0f), (float)M_PI));
matrix.multLeft (rotX);
for(unsigned int i=0;i<4;i++)
for(unsigned int j=0;j<4;j++)
fMc[j][i]=matrix[(int)i][(int)j];
fMc[0][3] = t[0] ;
fMc[1][3] = t[1] ;
fMc[2][3] = t[2] ;
cMf = fMc.inverse() ;
}
void
SoSFRotation::setValue(const float q[4]) // Array of values
//
////////////////////////////////////////////////////////////////////////
{
setValue(SbRotation(q));
}
// the MAIN function
int main(int argc, char ** argv)
{
Widget mainWindow = SoXt::init(argv[0]);
if (mainWindow == NULL) exit(1);
SoSeparator *root;
root = new SoSeparator;
root->ref();
player.camera = new SoPerspectiveCamera;
root->addChild(player.camera);
root->addChild(createScene()) ;
//player.camera->viewAll(root, myRenderArea->getViewportRegion());
player.camera->position=SbVec3f(0, 5, 20);
player.camera->orientation=SbRotation(-0.1, 0, 0, 1);
player.camera->nearDistance=1;
player.camera->farDistance=150;
player.camera->heightAngle=0.5;
//view the whole scene
// initialize scenemanager instance
SoXtRenderArea *myRenderArea = new SoXtRenderArea(mainWindow);
myRenderArea->setSceneGraph(root);
myRenderArea->setTitle("Bouncing Ball");
myRenderArea->show();
SoXt::show(mainWindow);
SoXt::mainLoop();
return 0;
}
////////////////////////////////////////////////////////////////////////
//
// Constructor
//
SoMotion3Event::SoMotion3Event()
//
////////////////////////////////////////////////////////////////////////
{
translation = SbVec3f(0, 0, 0);
rotation = SbRotation(SbVec3f(1, 0, 0), 0);
}
void TTracker::SetEngineOutputRotation(SbRotation rotation)
{
SO_ENGINE_OUTPUT( outputTranslation, SoSFVec3f, setValue( SbVec3f( 0.0, 0.0, 0.0 ) ) );
SO_ENGINE_OUTPUT( outputRotation, SoSFRotation, setValue( rotation ) );
SO_ENGINE_OUTPUT( outputScaleFactor, SoSFVec3f, setValue( SbVec3f( 1.0, 1.0, 1.0 ) ) );
SO_ENGINE_OUTPUT( outputScaleOrientation, SoSFRotation, setValue( SbRotation() ) );
SO_ENGINE_OUTPUT( outputCenter, SoSFVec3f, setValue( SbVec3f( 0.0, 0.0, 0.0 ) ) );
}
void
SbMatrix::setTransform(const SbVec3f &translation,
const SbRotation &rotation,
const SbVec3f &scaleFactor,
const SbRotation &scaleOrientation,
const SbVec3f ¢er)
{
#define TRANSLATE(vec) m.setTranslate(vec), multLeft(m)
#define ROTATE(rot) rot.getValue(m), multLeft(m)
SbMatrix m;
makeIdentity();
if (translation != SbVec3f(0,0,0))
TRANSLATE(translation);
if (center != SbVec3f(0,0,0))
TRANSLATE(center);
if (rotation != SbRotation(0,0,0,1))
ROTATE(rotation);
if (scaleFactor != SbVec3f(1,1,1)) {
SbRotation so = scaleOrientation;
if (so != SbRotation(0,0,0,1))
ROTATE(so);
m.setScale(scaleFactor);
multLeft(m);
if (so != SbRotation(0,0,0,1)) {
so.invert();
ROTATE(so);
}
}
if (center != SbVec3f(0,0,0))
TRANSLATE(-center);
#undef TRANSLATE
#undef ROTATE
}
bool Load_camera_settings::
init( std::string& parameters, GsTL_project* proj,
Error_messages_handler* errors ) {
std::vector< std::string > params =
String_Op::decompose_string( parameters, Actions::separator,
Actions::unique );
if( params.size() != 1 ) {
errors->report( "load_camera_settings filename" );
return false;
}
SmartPtr<Named_interface> view_ni =
Root::instance()->interface( projectViews_manager + "/main_view" );
Oinv_view* view = dynamic_cast<Oinv_view*>( view_ni.raw_ptr() );
if( !view ) {
return false;
}
SoCamera* camera = view->get_render_area()->getCamera();
if( !camera ) return false;
std::ifstream in( params[0].c_str() );
if( !in ) {
std::ostringstream message;
message << "Can't open file " << params[0];
errors->report( message.str() );
return false;
}
float x,y,z;
in >> x >> y >> z;
camera->position.setValue( SbVec3f(x,y,z) );
float r1,r2,r3,r4;
in >> r1 >> r2 >> r3 >> r4;
camera->orientation.setValue( SbRotation(r1,r2,r3,r4) );
float val;
in >> val;
camera->aspectRatio = val;
in >> val;
camera->nearDistance = val;
in >> val;
camera->farDistance = val;
in >> val;
camera->focalDistance = val;
in.close();
return true;
}
void TranslateRadialDragger::
orientFeedbackGeometry(
const SbVec3f &localDir)
{
// By default, feedback geometry aligns with the x axis.
// Rotate so that it points in the given direction.
SbRotation rotXToDir = SbRotation(SbVec3f(1, 0, 0), localDir);
// Give this rotation to the "feedbackRotate" part.
SoRotation *myPart = SO_GET_ANY_PART(this, "feedbackRotate", SoRotation);
myPart->rotation.setValue(rotXToDir);
}
/*!
Given a list of candidate grasps, \a grList , this creates a new grasp
representation for each one. These representations can be seen
in the grasp visualization window.
*/
void
grasp_tester::visualizePlannedGrasps(std::list<plannedGrasp *> grList)
{
std::list <plannedGrasp *>::iterator gl_it;
SbMatrix mat1;
SbMatrix mat2;
SbVec3f pos, approach, thumb;
grasp_representation *gRep;
for (gl_it = grList.begin(); gl_it != grList.end(); gl_it++) {
pos.setValue((*gl_it)->get_graspDirection().get_point().x(),
(*gl_it)->get_graspDirection().get_point().y(),
(*gl_it)->get_graspDirection().get_point().z());
approach.setValue((*gl_it)->get_graspDirection().get_dir().x(),
(*gl_it)->get_graspDirection().get_dir().y(),
(*gl_it)->get_graspDirection().get_dir().z());
thumb.setValue((*gl_it)->get_fixedFingerDirection().x(),
(*gl_it)->get_fixedFingerDirection().y(),
(*gl_it)->get_fixedFingerDirection().z());
/* visualize */
mat1.setTransform(pos, SbRotation(SbVec3f(0., 1., 0.), approach),
SbVec3f(1., 1., 1.));
mat2.setTransform(pos, SbRotation(SbVec3f(0., 1., 0.), thumb),
SbVec3f(1., 1., 1.));
gRep = new grasp_representation(mat1, mat2, glRoot);
(*gl_it)->set_graspRepresentation(gRep);
}
return;
}
/*!
\DRAGGER_CONSTRUCTOR
\NODEKIT_PRE_DIAGRAM
\verbatim
CLASS SoRotateSphericalDragger
-->"this"
"callbackList"
"topSeparator"
"motionMatrix"
"geomSeparator"
--> "rotatorSwitch"
--> "rotator"
--> "rotatorActive"
--> "feedbackSwitch"
--> "feedback"
--> "feedbackActive"
\endverbatim
\NODEKIT_POST_DIAGRAM
\NODEKIT_PRE_TABLE
\verbatim
CLASS SoRotateSphericalDragger
PVT "this", SoRotateSphericalDragger ---
"callbackList", SoNodeKitListPart [ SoCallback, SoEventCallback ]
PVT "topSeparator", SoSeparator ---
PVT "motionMatrix", SoMatrixTransform ---
PVT "geomSeparator", SoSeparator ---
PVT "rotatorSwitch", SoSwitch ---
"rotator", SoSeparator ---
"rotatorActive", SoSeparator ---
PVT "feedbackSwitch", SoSwitch ---
"feedback", SoSeparator ---
"feedbackActive", SoSeparator ---
\endverbatim
\NODEKIT_POST_TABLE
*/
SoRotateSphericalDragger::SoRotateSphericalDragger(void)
{
SO_KIT_INTERNAL_CONSTRUCTOR(SoRotateSphericalDragger);
SO_KIT_ADD_CATALOG_ENTRY(rotatorSwitch, SoSwitch, TRUE, geomSeparator, feedbackSwitch, FALSE);
SO_KIT_ADD_CATALOG_ENTRY(rotator, SoSeparator, TRUE, rotatorSwitch, rotatorActive, TRUE);
SO_KIT_ADD_CATALOG_ENTRY(rotatorActive, SoSeparator, TRUE, rotatorSwitch, "", TRUE);
SO_KIT_ADD_CATALOG_ENTRY(feedbackSwitch, SoSwitch, TRUE, geomSeparator, "", FALSE);
SO_KIT_ADD_CATALOG_ENTRY(feedback, SoSeparator, TRUE, feedbackSwitch, feedbackActive, TRUE);
SO_KIT_ADD_CATALOG_ENTRY(feedbackActive, SoSeparator, TRUE, feedbackSwitch, "", TRUE);
if (SO_KIT_IS_FIRST_INSTANCE()) {
SoInteractionKit::readDefaultParts("rotateSphericalDragger.iv",
ROTATESPHERICALDRAGGER_draggergeometry,
static_cast<int>(strlen(ROTATESPHERICALDRAGGER_draggergeometry)));
}
SO_KIT_ADD_FIELD(rotation, (SbRotation(SbVec3f(0.0f, 0.0f, 1.0f), 0.0f)));
SO_KIT_INIT_INSTANCE();
// initialize default parts
this->setPartAsDefault("rotator", "rotateSphericalRotator");
this->setPartAsDefault("rotatorActive", "rotateSphericalRotatorActive");
this->setPartAsDefault("feedback", "rotateSphericalFeedback");
this->setPartAsDefault("feedbackActive", "rotateSphericalFeedbackActive");
// initialize swich values
SoSwitch *sw;
sw = SO_GET_ANY_PART(this, "rotatorSwitch", SoSwitch);
SoInteractionKit::setSwitchValue(sw, 0);
sw = SO_GET_ANY_PART(this, "feedbackSwitch", SoSwitch);
SoInteractionKit::setSwitchValue(sw, 0);
// setup projector
this->sphereProj = new SbSpherePlaneProjector();
this->userProj = FALSE;
this->addStartCallback(SoRotateSphericalDragger::startCB);
this->addMotionCallback(SoRotateSphericalDragger::motionCB);
this->addFinishCallback(SoRotateSphericalDragger::doneCB);
this->addValueChangedCallback(SoRotateSphericalDragger::valueChangedCB);
this->fieldSensor = new SoFieldSensor(SoRotateSphericalDragger::fieldSensorCB, this);
this->fieldSensor->setPriority(0);
this->setUpConnections(TRUE, TRUE);
}
void SoXipDicomExaminer::tiltCamera( const SbRotation& rot )
{
SbMatrix m;
m = getCamera()->orientation.getValue();
SbVec3f camy;
rot.multVec( SbVec3f( m[1][0], m[1][1], m[1][2] ), camy );
m[1][0] = camy[0];
m[1][1] = camy[1];
m[1][2] = camy[2];
SbVec3f camx;
rot.multVec( SbVec3f( m[0][0], m[0][1], m[0][2] ), camx );
m[0][0] = camx[0];
m[0][1] = camx[1];
m[0][2] = camx[2];
getCamera()->orientation.setValue( SbRotation(m) );
}
virtual void apply(SoNode* node)
{
if (!headlightRot) {
SoSearchAction sa;
sa.setNode(viewer->getHeadlight());
sa.apply(viewer->getSceneRoot());
SoFullPath* fullPath = (SoFullPath*) sa.getPath();
if (fullPath) {
SoGroup *group = (SoGroup*) fullPath->getNodeFromTail(1);
headlightRot = (SoRotation*) group->getChild(0);
if (!headlightRot->isOfType(SoRotation::getClassTypeId()))
headlightRot = 0;
}
}
const SbViewportRegion vpr = getViewportRegion();
const SbVec2s & size = vpr.getViewportSizePixels();
const int width = size[0];
const int height = size[1];
const int vpsize = width / 2;
SoCamera * camera = viewer->getCamera();
const SbVec3f position = camera->position.getValue();
const SbRotation orientation = camera->orientation.getValue();
const float nearplane = camera->nearDistance.getValue();
const float farplane = camera->farDistance.getValue();
camera->enableNotify(false);
// Front View
rotateCamera(SbRotation(SbVec3f(0,0,1), M_PI));
SbViewportRegion vp;
vp.setViewportPixels(SbVec2s(0, height-width/2), SbVec2s(width, width/2) );
setViewportRegion(vp);
SoGLRenderAction::apply(node);
// Left View
SbRotation r1(SbVec3f(0,0,1), -M_PI/2);
rotateCamera(r1*SbRotation(SbVec3f(0,1,0), -M_PI/2));
vp.setViewportPixels(SbVec2s(0, height-width), SbVec2s(width/2, width) );
setViewportRegion(vp);
SoGLRenderAction::apply(node);
// Right View
rotateCamera(SbRotation(SbVec3f(0,1,0), -M_PI));
vp.setViewportPixels(SbVec2s(width/2, height-width), SbVec2s(width/2, width) );
setViewportRegion(vp);
SoGLRenderAction::apply(node);
setViewportRegion(vpr);
camera->position = position;
camera->orientation = orientation;
camera->enableNotify(true);
// Restore original viewport region
setViewportRegion(vpr);
}
void InnerDisc::rotateTo(const SbVec3f &to)
{
rot->rotation = SbRotation(SbVec3f(0, 0, 1), to);
}
IvJointDragger::IvJointDragger(QtCoinViewerPtr viewer, ItemPtr pItem, int iSelectedLink, float draggerScale, int iJointIndex, bool bHilitJoint) : IvDragger(viewer, pItem, draggerScale)
{
KinBodyItemPtr pbody = boost::dynamic_pointer_cast<KinBodyItem>(pItem);
BOOST_ASSERT( !!pItem );
_trackball = NULL;
_draggerRoot = NULL;
if( !pbody || !pbody->GetBody() ) {
return;
}
if((iSelectedLink < 0)||(iSelectedLink >= (int)pbody->GetBody()->GetLinks().size())) {
return;
}
if((iJointIndex < 0)||(iJointIndex >= (int)pbody->GetBody()->GetJoints().size())) {
return;
}
_iSelectedLink = iSelectedLink;
_iJointIndex = iJointIndex;
KinBody::JointConstPtr pjoint = pbody->GetBody()->GetJoints().at(iJointIndex);
_jointtype = pjoint->GetType();
_dofindex = pjoint->GetDOFIndex();
_jointname = pjoint->GetName();
_jointoffset = 0; //pjoint->GetOffset();
pjoint->GetLimits(_vlower,_vupper);
_pLinkNode = pbody->GetIvLink(iSelectedLink);
if( _pLinkNode == NULL ) {
RAVELOG_WARN("no link is selected\n");
return;
}
Transform tlink = pbody->GetBody()->GetLinks().at(iSelectedLink)->GetTransform();
// create a root node for the dragger nodes
_draggerRoot = new SoSeparator;
SoTransform* draggertrans = new SoTransform();
_pLinkNode->insertChild(_draggerRoot, 1); // insert right after transform
// add a new material to change the color of the nodes being dragged
_bHilitJoint = bHilitJoint;
if (_bHilitJoint) {
_material = new SoMaterial;
_material->set("diffuseColor 0.8 0.6 0.2");
_material->setOverride(true);
_pLinkNode->insertChild(_material, 1);
}
Vector vaxes[3];
for(int i = 0; i < pjoint->GetDOF(); ++i) {
vaxes[i] = tlink.inverse().rotate(pjoint->GetAxis(i));
}
// need to make sure the rotation is pointed towards the joint axis
Vector vnorm = Vector(1,0,0).cross(vaxes[0]);
dReal fsinang = RaveSqrt(vnorm.lengthsqr3());
if( fsinang > 0.0001f ) {
vnorm /= fsinang;
}
else vnorm = Vector(1,0,0);
Vector vtrans = tlink.inverse()*pjoint->GetAnchor();
draggertrans->translation.setValue(vtrans.x, vtrans.y, vtrans.z);
draggertrans->rotation = SbRotation(SbVec3f(vnorm.x, vnorm.y, vnorm.z), atan2f(fsinang,vaxes[0].x));
_draggerRoot->addChild(draggertrans);
// construct an Inventor trackball dragger
float scale = _scale;
_trackball = new SoTrackballDragger;
AABB ab;
_GetBounds(_pLinkNode, ab);
_trackball->scaleFactor.setValue(ab.extents.x * scale, ab.extents.y * scale, ab.extents.z * scale);
_trackball->setAnimationEnabled(false);
_draggerRoot->addChild(_trackball);
// get the material nodes that govern the color of the dragger and
// note the dragger's normal color
const char* rotators[3] = { "XRotator", "YRotator", "ZRotator" };
const char* rotatorsActive[3] = { "XRotatorActive", "YRotatorActive", "ZRotatorActive" };
// enable or disable each axis
for (int i = 0; i < 3; i++) {
if (i < pjoint->GetDOF()) {
SoSeparator *s = (SoSeparator *)_trackball->getPart(rotators[i], false);
_draggerMaterial[i] = (SoMaterial *) s->getChild(0);
_normalColor = _draggerMaterial[i]->diffuseColor[0];
}
else {
// disable the rotator on this axis
_trackball->setPart(rotators[i], NULL);
_trackball->setPart(rotatorsActive[i], NULL);
_draggerMaterial[i] = NULL;
}
}
// add a motion callback handler for the dragger
_trackball->addMotionCallback(_MotionHandler, this);
UpdateDragger();
}
void SoXipImageAttributes::evaluate()
{
SoXipDataImage *imgData = image.getValue();
if (imgData)
{
SbXipImage *img = imgData->get();
if (img)
{
SO_ENGINE_OUTPUT(modelMatrix, SoSFMatrix, setValue(img->getModelMatrix()));
SO_ENGINE_OUTPUT(bitsStored, SoSFShort, setValue(img->getBitsStored()));
SO_ENGINE_OUTPUT(width, SoSFShort, setValue(img->getDimStored()[0]));
SO_ENGINE_OUTPUT(height, SoSFShort, setValue(img->getDimStored()[1]));
SO_ENGINE_OUTPUT(depth, SoSFShort, setValue(img->getDimStored()[2]));
SbMatrix modelMat = img->getModelMatrix();
SbVec3f t, s;
SbRotation r, so;
modelMat.getTransform(t, r, s, so);
modelMat.multVecMatrix(SbVec3f(0.5, 0.5, 0.5), t);
// scale MPR model matrix always to max. individual dimension by default
float maxScale = s[0] > s[1] ? s[0] : s[1] > s[2] ? s[1] : s[2];
// modelMat.setTransform(t, r, SbVec3f(maxScale, maxScale, maxScale), so);
// when using get/setTransform, the rotation is derived from normal vector
// but for gantry tilt, we need to compute normal from row and column vector
SbVec3f rot[3];
rot[0] = SbVec3f(modelMat[0][0], modelMat[0][1], modelMat[0][2]);
rot[1] = SbVec3f(modelMat[1][0], modelMat[1][1], modelMat[1][2]);
rot[2] = rot[0].cross(rot[1]);
rot[0].normalize();
rot[1].normalize();
rot[2].normalize();
rot[0] *= maxScale;
rot[1] *= maxScale;
rot[2] *= maxScale;
modelMat = SbMatrix(
rot[0][0], rot[0][1], rot[0][2], 0,
rot[1][0], rot[1][1], rot[1][2], 0,
rot[2][0], rot[2][1], rot[2][2], 0,
t[0], t[1], t[2], 1);
// update engine outputs
SbMatrix tmp = SbMatrix::identity();
// flip default viewing direction
tmp.setRotate(SbRotation(SbVec3f(1, 0, 0), M_PI));
SbMatrix defOrient = tmp * modelMat;
// adjust so plane falls onto original plane
defOrient.getTransform(t, r, s, so);
SbVec3f object;
modelMat = img->getModelMatrix();
modelMat.inverse().multVecMatrix(t, object);
object[0] = int(object[0] * img->getDimStored()[0] + 0.5);
object[1] = int(object[1] * img->getDimStored()[1] + 0.5);
object[2] = int(object[2] * img->getDimStored()[2] + 0.5);
object[0] /= img->getDimStored()[0];
object[1] /= img->getDimStored()[1];
object[2] /= img->getDimStored()[2];
modelMat.multVecMatrix(object, t);
defOrient.setTransform(t, r, s, so);
SO_ENGINE_OUTPUT(defaultOrientation, SoSFMatrix, setValue(defOrient));
SbMatrix ortho1, ortho2, ortho3;
int which = XipGeomUtils::orthoOrientations(defOrient, ortho1, ortho2, ortho3);
SO_ENGINE_OUTPUT(orthoScanOrientation, SoSFShort, setValue(which));
SO_ENGINE_OUTPUT(orthoOrientation1, SoSFMatrix, setValue(ortho1));
SO_ENGINE_OUTPUT(orthoOrientation2, SoSFMatrix, setValue(ortho2));
SO_ENGINE_OUTPUT(orthoOrientation3, SoSFMatrix, setValue(ortho3));
defOrient.getTransform(t, r, s, so);
SO_ENGINE_OUTPUT(defaultCenter, SoSFVec3f, setValue(t));
return;
}
}
SO_ENGINE_OUTPUT(modelMatrix, SoSFMatrix, setValue(SbMatrix::identity()));
SO_ENGINE_OUTPUT(bitsStored, SoSFShort, setValue(0));
SO_ENGINE_OUTPUT(width, SoSFShort, setValue(0));
SO_ENGINE_OUTPUT(height, SoSFShort, setValue(0));
SO_ENGINE_OUTPUT(depth, SoSFShort, setValue(0));
SbMatrix rot1, rot2;
SO_ENGINE_OUTPUT(defaultOrientation, SoSFMatrix, setValue(SbMatrix::identity()));
SO_ENGINE_OUTPUT(orthoScanOrientation, SoSFShort, setValue(0));
SO_ENGINE_OUTPUT(orthoOrientation1, SoSFMatrix, setValue(SbMatrix::identity()));
rot1.setRotate(SbRotation(SbVec3f(1, 0, 0), -M_PI / 2.f));
SO_ENGINE_OUTPUT(orthoOrientation2, SoSFMatrix, setValue(rot1));
rot2.setRotate(SbRotation(SbVec3f(0, 1, 0), M_PI / 2.f));
SO_ENGINE_OUTPUT(orthoOrientation3, SoSFMatrix, setValue(rot2 * rot1));
SO_ENGINE_OUTPUT(defaultCenter, SoSFVec3f, setValue(SbVec3f(0.5, 0.5, 0.5)));
}
////////////////////////////////////////////////////////////////////////
//
// Description:
// Constructor
//
SoDragPointDragger::SoDragPointDragger()
//
////////////////////////////////////////////////////////////////////////
{
SO_KIT_CONSTRUCTOR(SoDragPointDragger);
isBuiltIn = TRUE;
SO_KIT_ADD_CATALOG_ENTRY(noRotSep, SoSeparator, FALSE,
topSeparator, geomSeparator,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(xTranslatorSwitch, SoSwitch, FALSE,
noRotSep,\x0,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(xTranslator, SoTranslate1Dragger, TRUE,
xTranslatorSwitch,\x0,TRUE);
SO_KIT_ADD_CATALOG_ENTRY(xyTranslatorSwitch, SoSwitch, FALSE,
noRotSep,\x0,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(xyTranslator, SoTranslate2Dragger, TRUE,
xyTranslatorSwitch,\x0,TRUE);
SO_KIT_ADD_CATALOG_ENTRY(rotXSep, SoSeparator, FALSE,
topSeparator, geomSeparator,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(rotX, SoRotation, TRUE,
rotXSep,\x0,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(xzTranslatorSwitch, SoSwitch, FALSE,
rotXSep,\x0,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(xzTranslator, SoTranslate2Dragger, TRUE,
xzTranslatorSwitch,\x0,TRUE);
SO_KIT_ADD_CATALOG_ENTRY(rotYSep, SoSeparator, FALSE,
topSeparator, geomSeparator,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(rotY, SoRotation, TRUE,
rotYSep,\x0,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(zTranslatorSwitch, SoSwitch, FALSE,
rotYSep,\x0,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(zTranslator, SoTranslate1Dragger, TRUE,
zTranslatorSwitch,\x0,TRUE);
SO_KIT_ADD_CATALOG_ENTRY(yzTranslatorSwitch, SoSwitch, FALSE,
rotYSep,\x0,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(yzTranslator, SoTranslate2Dragger, TRUE,
yzTranslatorSwitch,\x0,TRUE);
SO_KIT_ADD_CATALOG_ENTRY(rotZSep, SoSeparator, FALSE,
topSeparator, geomSeparator,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(rotZ, SoRotation, TRUE,
rotZSep,\x0,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(yTranslatorSwitch, SoSwitch, FALSE,
rotZSep,\x0,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(yTranslator, SoTranslate1Dragger, TRUE,
yTranslatorSwitch,\x0,TRUE);
SO_KIT_ADD_CATALOG_ENTRY(xFeedbackSwitch, SoSwitch, FALSE,
topSeparator, geomSeparator,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(xFeedbackSep, SoSeparator, FALSE,
xFeedbackSwitch,\x0,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(xFeedbackTranslation, SoTranslation, FALSE,
xFeedbackSep,\x0,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(xFeedback, SoSeparator, TRUE,
xFeedbackSep,\x0,TRUE);
SO_KIT_ADD_CATALOG_ENTRY(yFeedbackSwitch, SoSwitch, FALSE,
topSeparator, geomSeparator,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(yFeedbackSep, SoSeparator, FALSE,
yFeedbackSwitch,\x0,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(yFeedbackTranslation, SoTranslation, FALSE,
yFeedbackSep,\x0,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(yFeedback, SoSeparator, TRUE,
yFeedbackSep,\x0,TRUE);
SO_KIT_ADD_CATALOG_ENTRY(zFeedbackSwitch, SoSwitch, FALSE,
topSeparator, geomSeparator,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(zFeedbackSep, SoSeparator, FALSE,
zFeedbackSwitch,\x0,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(zFeedbackTranslation, SoTranslation, FALSE,
zFeedbackSep,\x0,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(zFeedback, SoSeparator, TRUE,
zFeedbackSep,\x0,TRUE);
SO_KIT_ADD_CATALOG_ENTRY(planeFeedbackSep, SoSeparator, FALSE,
topSeparator, geomSeparator,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(planeFeedbackTranslation, SoTranslation, FALSE,
planeFeedbackSep,\x0,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(planeFeedbackSwitch, SoSwitch, FALSE,
planeFeedbackSep,\x0,FALSE);
SO_KIT_ADD_CATALOG_ENTRY(yzFeedback, SoSeparator, TRUE,
planeFeedbackSwitch,\x0,TRUE);
SO_KIT_ADD_CATALOG_ENTRY(xzFeedback, SoSeparator, TRUE,
planeFeedbackSwitch,\x0,TRUE);
SO_KIT_ADD_CATALOG_ENTRY(xyFeedback, SoSeparator, TRUE,
planeFeedbackSwitch,\x0,TRUE);
// read geometry for shared parts
if (SO_KIT_IS_FIRST_INSTANCE())
readDefaultParts("dragPointDragger.iv",geomBuffer,sizeof(geomBuffer) );
// The field that reflects where the dragger has been translated to
SO_KIT_ADD_FIELD(translation, (0.0, 0.0, 0.0));
SO_KIT_INIT_INSTANCE();
// Cached values to make updating the feedback geometry more efficient
oldXAxisNode = NULL;
oldYAxisNode = NULL;
oldZAxisNode = NULL;
//******************
// Set up the parts.
//******************
// Set up the rotations to orient the draggers correctly.
SoRotation *myRotX = new SoRotation;
SoRotation *myRotY = new SoRotation;
SoRotation *myRotZ = new SoRotation;
myRotX->rotation = SbRotation( SbVec3f(1,0,0), 1.57079 );
myRotY->rotation = SbRotation( SbVec3f(0,1,0), 1.57079 );
myRotZ->rotation = SbRotation( SbVec3f(0,0,1), 1.57079 );
setAnyPartAsDefault("rotX", myRotX );
setAnyPartAsDefault("rotY", myRotY );
setAnyPartAsDefault("rotZ", myRotZ );
// CREATE THE CHILD DRAGGERS.
// Create the translate1Draggers...
SoTranslate1Dragger *myXTrans, *myYTrans, *myZTrans;
myXTrans = SO_GET_ANY_PART(this,"xTranslator",SoTranslate1Dragger);
myYTrans = SO_GET_ANY_PART(this,"yTranslator",SoTranslate1Dragger);
myZTrans = SO_GET_ANY_PART(this,"zTranslator",SoTranslate1Dragger);
// Create the translate2Draggers...
SoTranslate2Dragger *myYZTrans, *myXZTrans, *myXYTrans;
myYZTrans = SO_GET_ANY_PART(this,"yzTranslator",SoTranslate2Dragger);
myXZTrans = SO_GET_ANY_PART(this,"xzTranslator",SoTranslate2Dragger);
myXYTrans = SO_GET_ANY_PART(this,"xyTranslator",SoTranslate2Dragger);
//******************
// The feedback parts jump around as the limit box changes. That is, they
// stay fixed in space while the dragger moves around.
// However, they jump to a new location when the dragger nears the edge.
// These parts a separate translation node, since they move differently
// than the dragger itself.
//******************
//******************
// The feedback parts jump around as the limit box changes. That is, they
// stay fixed in space while the dragger moves around.
// However, they jump to a new location when the dragger nears the edge.
// These parts a separate translation node, since they move differently
// than the dragger itself.
//
// Only one plane or one axis is shown at a time, depending on which
// translator has initiated the dragging.
//******************
setPartAsDefault("xFeedback", "dragPointXFeedback");
setPartAsDefault("yFeedback", "dragPointYFeedback");
setPartAsDefault("zFeedback", "dragPointZFeedback");
setPartAsDefault("yzFeedback", "dragPointYZFeedback");
setPartAsDefault("xzFeedback", "dragPointXZFeedback");
setPartAsDefault("xyFeedback", "dragPointXYFeedback");
//********************
// initialize state, limitbox, gesture variables
//********************
// To begin with, only the yTranslator and xzTranslators are turned on.
// You can switch between pairs of line/plane draggers by hitting the
// CONTROL key
setSwitchValue(xTranslatorSwitch.getValue(), SO_SWITCH_NONE );
setSwitchValue(yTranslatorSwitch.getValue(), 0 );
setSwitchValue(zTranslatorSwitch.getValue(), SO_SWITCH_NONE );
setSwitchValue(yzTranslatorSwitch.getValue(), SO_SWITCH_NONE );
setSwitchValue(xzTranslatorSwitch.getValue(), 0 );
setSwitchValue(xyTranslatorSwitch.getValue(), SO_SWITCH_NONE );
// ??? Would be cool to be able to choose a free
// axis, rotate it around to whatever direction, maybe even
// have it snap to things in the scene, then constrain
// dragging to that line.
// Start off inactive
currentDragger = NULL;
// The state of the modifier keys
shftDown = FALSE;
// Need to initialize since checkBoxLimits will look at it...
startLocalHitPt.setValue(0,0,0);
// The jump axes will jump when the edit point gets within
// 10% of their ends
jumpLimit = .1;
// makes the offsetWorkLimit box
limitBox.makeEmpty();
updateLimitBoxAndFeedback();
// These will be called by the child draggers after they call
// their own callbacks...
addStartCallback( &SoDragPointDragger::startCB );
addMotionCallback( &SoDragPointDragger::motionCB );
addFinishCallback( &SoDragPointDragger::finishCB );
// When modify keys are released, we need to turn off any constraints.
addOtherEventCallback( &SoDragPointDragger::metaKeyChangeCB );
// Updates the translation field when the motionMatrix is set.
addValueChangedCallback( &SoDragPointDragger::valueChangedCB );
// Updates the motionMatrix when the translation field is set.
fieldSensor = new SoFieldSensor( &SoDragPointDragger::fieldSensorCB, this);
fieldSensor->setPriority( 0 );
setUpConnections( TRUE, TRUE );
}
/*!
\DRAGGER_CONSTRUCTOR
\NODEKIT_PRE_DIAGRAM
\verbatim
CLASS SoCenterballDragger
-->"this"
"callbackList"
"topSeparator"
"motionMatrix"
--> "translateToCenter"
--> "surroundScale"
--> "antiSquish"
--> "lightModel"
"geomSeparator"
--> "XAxisSwitch"
--> "XAxis"
--> "YAxisSwitch"
--> "YAxis"
--> "ZAxisSwitch"
--> "ZAxis"
--> "rotator"
--> "YRotator"
--> "ZCenterChanger"
--> "rotX90"
--> "ZRotator"
--> "YCenterChanger"
--> "rotY90"
--> "XCenterChanger"
--> "rot2X90"
--> "XRotator"
\endverbatim
\NODEKIT_POST_DIAGRAM
\NODEKIT_PRE_TABLE
\verbatim
CLASS SoCenterballDragger
PVT "this", SoCenterballDragger ---
"callbackList", SoNodeKitListPart [ SoCallback, SoEventCallback ]
PVT "topSeparator", SoSeparator ---
PVT "motionMatrix", SoMatrixTransform ---
"translateToCenter", SoMatrixTransform ---
"surroundScale", SoSurroundScale ---
"antiSquish", SoAntiSquish ---
"lightModel", SoLightModel ---
PVT "geomSeparator", SoSeparator ---
"rotator", SoRotateSphericalDragger ---
"YRotator", SoRotateCylindricalDragger ---
"ZCenterChanger", SoTranslate2Dragger ---
PVT "rotX90", SoRotation ---
"ZRotator", SoRotateCylindricalDragger ---
"YCenterChanger", SoTranslate2Dragger ---
PVT "rotY90", SoRotation ---
"XCenterChanger", SoTranslate2Dragger ---
PVT "rot2X90", SoRotation ---
PVT "XAxisSwitch", SoSwitch ---
"XAxis", SoSeparator ---
PVT "YAxisSwitch", SoSwitch ---
"YAxis", SoSeparator ---
PVT "ZAxisSwitch", SoSwitch ---
"ZAxis", SoSeparator ---
"XRotator", SoRotateCylindricalDragger ---
\endverbatim
\NODEKIT_POST_TABLE
*/
SoCenterballDragger::SoCenterballDragger(void)
{
SO_KIT_INTERNAL_CONSTRUCTOR(SoCenterballDragger);
SO_KIT_ADD_CATALOG_ENTRY(XAxis, SoSeparator, TRUE, XAxisSwitch, "", TRUE);
SO_KIT_ADD_CATALOG_ENTRY(XAxisSwitch, SoSwitch, TRUE, geomSeparator, YAxisSwitch, FALSE);
SO_KIT_ADD_CATALOG_ENTRY(XCenterChanger, SoTranslate2Dragger, TRUE, topSeparator, rot2X90, TRUE);
SO_KIT_ADD_CATALOG_ENTRY(XRotator, SoRotateCylindricalDragger, TRUE, topSeparator, "", TRUE);
SO_KIT_ADD_CATALOG_ENTRY(YAxis, SoSeparator, TRUE, YAxisSwitch, "", TRUE);
SO_KIT_ADD_CATALOG_ENTRY(YAxisSwitch, SoSwitch, TRUE, geomSeparator, ZAxisSwitch, FALSE);
SO_KIT_ADD_CATALOG_ENTRY(YCenterChanger, SoTranslate2Dragger, TRUE, topSeparator, rotY90, TRUE);
SO_KIT_ADD_CATALOG_ENTRY(YRotator, SoRotateCylindricalDragger, TRUE, topSeparator, ZCenterChanger, TRUE);
SO_KIT_ADD_CATALOG_ENTRY(ZAxis, SoSeparator, TRUE, ZAxisSwitch, "", TRUE);
SO_KIT_ADD_CATALOG_ENTRY(ZAxisSwitch, SoSwitch, TRUE, geomSeparator, "", FALSE);
SO_KIT_ADD_CATALOG_ENTRY(ZCenterChanger, SoTranslate2Dragger, TRUE, topSeparator, rotX90, TRUE);
SO_KIT_ADD_CATALOG_ENTRY(ZRotator, SoRotateCylindricalDragger, TRUE, topSeparator, YCenterChanger, TRUE);
SO_KIT_ADD_CATALOG_ENTRY(antiSquish, SoAntiSquish, FALSE, topSeparator, lightModel, TRUE);
SO_KIT_ADD_CATALOG_ENTRY(lightModel, SoLightModel, TRUE, topSeparator, geomSeparator, TRUE);
SO_KIT_ADD_CATALOG_ENTRY(rot2X90, SoRotation, TRUE, topSeparator, XRotator, FALSE);
SO_KIT_ADD_CATALOG_ENTRY(rotX90, SoRotation, TRUE, topSeparator, ZRotator, FALSE);
SO_KIT_ADD_CATALOG_ENTRY(rotY90, SoRotation, TRUE, topSeparator, XCenterChanger, FALSE);
SO_KIT_ADD_CATALOG_ENTRY(rotator, SoRotateSphericalDragger, TRUE, topSeparator, YRotator, TRUE);
SO_KIT_ADD_CATALOG_ENTRY(surroundScale, SoSurroundScale, TRUE, topSeparator, antiSquish, TRUE);
SO_KIT_ADD_CATALOG_ENTRY(translateToCenter, SoMatrixTransform, TRUE, topSeparator, surroundScale, TRUE);
if (SO_KIT_IS_FIRST_INSTANCE()) {
SoInteractionKit::readDefaultParts("centerballDragger.iv",
CENTERBALLDRAGGER_draggergeometry,
static_cast<int>(strlen(CENTERBALLDRAGGER_draggergeometry)));
}
SO_KIT_ADD_FIELD(rotation, (SbRotation(SbVec3f(0.0f, 0.0f, 1.0f), 0.0f)));
SO_KIT_ADD_FIELD(center, (0.0f, 0.0f, 0.0f));
SO_KIT_INIT_INSTANCE();
// create subdraggers
SO_GET_ANY_PART(this, "XCenterChanger", SoTranslate2Dragger);
SO_GET_ANY_PART(this, "YCenterChanger", SoTranslate2Dragger);
SO_GET_ANY_PART(this, "ZCenterChanger", SoTranslate2Dragger);
SO_GET_ANY_PART(this, "XRotator", SoRotateCylindricalDragger);
SO_GET_ANY_PART(this, "YRotator", SoRotateCylindricalDragger);
SO_GET_ANY_PART(this, "ZRotator", SoRotateCylindricalDragger);
SO_GET_ANY_PART(this, "rotator", SoRotateSphericalDragger);
// create default parts
this->setPartAsDefault("XAxis", "centerballXAxis");
this->setPartAsDefault("YAxis", "centerballYAxis");
this->setPartAsDefault("ZAxis", "centerballZAxis");
// initialize some nodes
SoRotation *rot;
rot = SO_GET_ANY_PART(this, "rot2X90", SoRotation);
rot->rotation = SbRotation(SbVec3f(1.0f, 0.0f, 0.0f), (static_cast<float>(M_PI))*0.5f);
rot = SO_GET_ANY_PART(this, "rotX90", SoRotation);
rot->rotation = SbRotation(SbVec3f(1.0f, 0.0f, 0.0f), (static_cast<float>(M_PI))*0.5f);
rot = SO_GET_ANY_PART(this, "rotY90", SoRotation);
rot->rotation = SbRotation(SbVec3f(0.0f, 1.0f, 0.0f), (static_cast<float>(M_PI))*0.5f);
// reset default flags for parts we set to a default value
this->rot2X90.setDefault(TRUE);
this->rotX90.setDefault(TRUE);
this->rotY90.setDefault(TRUE);
SoAntiSquish *squish = SO_GET_ANY_PART(this, "antiSquish", SoAntiSquish);
squish->sizing = SoAntiSquish::LONGEST_DIAGONAL;
squish->recalcAlways = FALSE;
SoMatrixTransform *mt = SO_GET_ANY_PART(this, "translateToCenter", SoMatrixTransform);
mt->matrix = SbMatrix::identity();
this->addValueChangedCallback(SoCenterballDragger::valueChangedCB);
this->rotFieldSensor = new SoFieldSensor(SoCenterballDragger::fieldSensorCB, this);
this->centerFieldSensor = new SoFieldSensor(SoCenterballDragger::fieldSensorCB, this);
this->setUpConnections(TRUE, TRUE);
}
int offscreenbuffersize; SbBool hadSceneCamera; SbBool hasSceneChanged; // FIXME: this will not work on all platforms/compilers static SbRotation ROT_NEG_X; static SbRotation ROT_POS_X; static SbRotation ROT_NEG_Y; static SbRotation ROT_POS_Y; static SbRotation ROT_NEG_Z; static SbRotation ROT_POS_Z; }; SbRotation SoSceneTextureCubeMapP::ROT_NEG_X = SbRotation(SbVec3f(0,1,0), (float) (M_PI/2.0f)) * SbRotation(SbVec3f(1,0,0), (float) M_PI); SbRotation SoSceneTextureCubeMapP::ROT_POS_X = SbRotation(SbVec3f(0,1,0), (float) (M_PI/-2.0f)) * SbRotation(SbVec3f(1,0,0), (float) M_PI); SbRotation SoSceneTextureCubeMapP::ROT_NEG_Y = SbRotation(SbVec3f(1,0,0), (float) (M_PI / -2.0f)); SbRotation SoSceneTextureCubeMapP::ROT_POS_Y = SbRotation(SbVec3f(1,0,0), (float) (M_PI / 2.0f)); SbRotation SoSceneTextureCubeMapP::ROT_NEG_Z = SbRotation(SbVec3f(0,1,0), 0.0f) * SbRotation(SbVec3f(0,0,1), (float) M_PI); SbRotation SoSceneTextureCubeMapP::ROT_POS_Z = SbRotation(SbVec3f(0,1,0), (float) M_PI) * SbRotation(SbVec3f(0,0,1), (float) M_PI);
void
SoSFRotation::setValue(const SbVec3f &axis, // The axis
float angle) // The angle (in radians)
{
setValue(SbRotation(axis, angle));
}
void
SoBuiltinFieldConverter::doConversion(SoField *outField)
//
////////////////////////////////////////////////////////////////////////
{
// Various variables needed by the conversion cases:
int i;
SbMatrix matrix;
SbString string;
// Combine inType/outType into one integer.
switch (inType*MAXFIELDS + outType) {
#define CASE(typeIn,typeOut) case typeIn*MAXFIELDS+typeOut
// This macro is for converting the single/multi fields into their
// corresponding multi/single value fields.
// In normal code, it looks like:
// Single to Multi:
// SoMField->setValue(SoSField->getValue())
// Multi so Single:
// if (MField->getNum() > 0) SoSField->setValue(SoMField[0])
#define CONV1(type) \
CASE(SO__CONCAT(SF,type),SO__CONCAT(MF,type)): \
((SO__CONCAT(SoMF,type) *)outField)->setValue( \
((SO__CONCAT(SoSF,type) *)input)->getValue()); \
break; \
CASE(SO__CONCAT(MF,type),SO__CONCAT(SF,type)): \
if (((SoMField *)input)->getNum() > 0) \
((SO__CONCAT(SoSF,type) *)outField)->setValue( \
(*(SO__CONCAT(SoMF,type) *)input)[0]); \
break
// Cases for all the field types:
CONV1(BitMask);
CONV1(Bool);
CONV1(Color);
CONV1(Enum);
CONV1(Float);
CONV1(Int32);
CONV1(Matrix);
CONV1(Name);
CONV1(Node);
CONV1(Path);
CONV1(Plane);
CONV1(Rotation);
CONV1(Short);
CONV1(String);
CONV1(Time);
CONV1(UInt32);
CONV1(UShort);
CONV1(Vec2f);
CONV1(Vec3f);
CONV1(Vec4f);
#undef CONV1
//
// Conversions to/from a string for all field types. The eight cases
// are:
// Single to/from Single string:
// Single to/from Multiple string:
// Multi to/from Single string:
// input->get(string); outField->set(string);
// Multi to/from Multi string:
// for (i = 0; i < ((SoMField *)input)->getNum(); i++) {
// (SoMField *)input->get1(i, string);
// (SoMField *)outField->set1(i, string);
//
// Note: we must use the SF/MFString->setValue() routines and not just
// plain set() in case there is whitespace in the string, since set()
// takes file format, and in the file format strings with whitespace
// must be quoted.
//
#define CONVSTR(type) \
CASE(SO__CONCAT(SF,type),SFString): \
CASE(SO__CONCAT(MF,type),SFString): \
input->get(string); \
((SoSFString *)outField)->setValue(string); \
break; \
CASE(SO__CONCAT(SF,type),MFString): \
input->get(string); \
((SoMFString *)outField)->set1Value(0,string); \
break; \
CASE(SO__CONCAT(MF,type),MFString): \
for (i = 0; i < ((SoMField *)input)->getNum(); i++) { \
((SoMField *)input)->get1(i, string); \
((SoMFString *)outField)->set1Value(i, string); \
} \
break; \
CASE(SFString,SO__CONCAT(SF,type)): \
CASE(MFString,SO__CONCAT(SF,type)): \
CASE(SFString,SO__CONCAT(MF,type)): \
input->get(string); \
outField->set(string.getString()); \
break; \
CASE(MFString,SO__CONCAT(MF,type)): \
for (i = 0; i < ((SoMField *)input)->getNum(); i++) { \
((SoMField *)input)->get1(i, string); \
((SoMField *)outField)->set1(i, string.getString()); \
} \
break
// All types except string:
CONVSTR(BitMask);
CONVSTR(Bool);
CONVSTR(Color);
CONVSTR(Enum);
CONVSTR(Float);
CONVSTR(Int32);
CONVSTR(Matrix);
CONVSTR(Name);
CONVSTR(Node);
CONVSTR(Path);
CONVSTR(Plane);
CONVSTR(Rotation);
CONVSTR(Short);
CONVSTR(UInt32);
CONVSTR(UShort);
CONVSTR(Vec2f);
CONVSTR(Vec3f);
CONVSTR(Vec4f);
#undef CONVSTR
// Special case for time to string; if the time is great enough,
// format as a date:
CASE(SFTime,SFString):
{
SbTime t = ((SoSFTime *)input)->getValue();
if (t.getValue() > 3.15e7) string = t.formatDate();
else string = t.format();
((SoSFString *)outField)->setValue(string);
}
break;
CASE(SFTime,MFString):
{
SbTime t = ((SoSFTime *)input)->getValue();
if (t.getValue() > 3.15e7) string = t.formatDate();
else string = t.format();
((SoMFString *)outField)->set1Value(0, string);
}
break;
CASE(MFTime,SFString):
{
SbTime t = (*((SoMFTime *)input))[0];
if (t.getValue() > 3.15e7) string = t.formatDate();
else string = t.format();
((SoSFString *)outField)->setValue(string);
}
break;
CASE(MFTime,MFString):
{
for (i = 0; i < ((SoMField *)input)->getNum(); i++) {
SbTime t = (*((SoMFTime *)input))[i];
if (t.getValue() > 3.15e7) string = t.formatDate();
else string = t.format();
((SoMFString *)outField)->set1Value(i, string);
}
}
break;
CASE(SFString,SFTime):
CASE(MFString,SFTime):
CASE(SFString,MFTime):
input->get(string);
outField->set(string.getString());
break;
CASE(MFString,MFTime):
for (i = 0; i < ((SoMField *)input)->getNum(); i++) {
((SoMField *)input)->get1(i, string);
((SoMField *)outField)->set1(i, string.getString());
}
break;
// This macro will do most of the conversions, relying on the C++
// built-in type conversions. It does all eight combinations of
// single/multi to single/multi conversions for two types that are
// different. HALF_CONV does the conversions one-way, CONV does them
// both ways:
// Single to single:
// SoSField->setValue(SoSField->getValue());
// Multi to single:
// if (SoMField->getNum() > 0) SoSField->setValue(SoMField[0])
// Single to multi:
// SoMField->setValue(SoSField->getValue())
// Multi to multi:
// for (i = 0; i < SoMField->getNum(); i++) {
// SoMField->set1Value(i, SoMfield[i]);
// }
//
#define HALF_CONV(typeIn,typeOut,valTypeOut) \
CASE(SO__CONCAT(SF,typeIn),SO__CONCAT(SF,typeOut)): \
((SO__CONCAT(SoSF,typeOut) *)outField)->setValue((valTypeOut) \
((SO__CONCAT(SoSF,typeIn) *)input)->getValue()); \
break; \
CASE(SO__CONCAT(MF,typeIn),SO__CONCAT(SF,typeOut)): \
if (((SoMField *)input)->getNum() > 0) \
((SO__CONCAT(SoSF,typeOut) *)outField)->setValue((valTypeOut) \
(*(SO__CONCAT(SoMF,typeIn) *)input)[0]); \
break; \
CASE(SO__CONCAT(SF,typeIn),SO__CONCAT(MF,typeOut)): \
((SO__CONCAT(SoMF,typeOut) *)outField)->setValue((valTypeOut) \
((SO__CONCAT(SoSF,typeIn) *)input)->getValue()); \
break; \
CASE(SO__CONCAT(MF,typeIn),SO__CONCAT(MF,typeOut)): \
for (i = 0; i < ((SoMField *)input)->getNum(); i++) { \
((SO__CONCAT(SoMF,typeOut) *)outField)->set1Value(i, \
(valTypeOut) (*(SO__CONCAT(SoMF,typeIn) *)input)[i]); \
} \
break
#define CONV(type1,valType1,type2,valType2) \
HALF_CONV(type1,type2,valType2); \
HALF_CONV(type2,type1,valType1)
// Simple conversions for most fields:
CONV(Bool,SbBool,Float,float);
CONV(Bool,SbBool,Int32,int32_t);
CONV(Bool,SbBool,Short,short);
CONV(Bool,SbBool,UInt32,uint32_t);
CONV(Bool,SbBool,UShort,unsigned short);
CONV(Color,const SbColor &,Vec3f,const SbVec3f &);
CONV(Float,float,Int32,int32_t);
CONV(Float,float,Short,short);
CONV(Float,float,UInt32,uint32_t);
CONV(Float,float,UShort,unsigned short);
CONV(Int32,int32_t,Short,short);
CONV(Int32,int32_t,UInt32,uint32_t);
CONV(Int32,int32_t,UShort,unsigned short);
CONV(Short,short,UInt32,uint32_t);
CONV(Short,short,UShort,unsigned short);
CONV(UInt32,uint32_t,UShort,unsigned short);
// Some wacky oddball conversions that we have to special-case:
// Float to time can be handled by regular code because SbTime has a
// constructor that takes a float, but time to float needs to be
// special-cased:
HALF_CONV(Float, Time, float);
CASE(SFTime, SFFloat):
((SoSFFloat *)outField)->setValue(
((SoSFTime *)input)->getValue().getValue());
break;
CASE(SFTime, MFFloat):
((SoMFFloat *)outField)->setValue(
((SoSFTime *)input)->getValue().getValue());
break;
CASE(MFTime, SFFloat):
((SoSFFloat *)outField)->setValue(
(*(SoMFTime *)input)[0].getValue());
break;
CASE(MFTime, MFFloat):
for (i = 0; i < ((SoMFTime *)input)->getNum(); i++) {
((SoMFFloat *)outField)->set1Value(i,
(*(SoMFTime *)input)[i].getValue());
}
break;
CASE(SFMatrix, SFRotation):
((SoSFRotation *) outField)->setValue(
SbRotation(((SoSFMatrix *) input)->getValue()));
break;
CASE(SFMatrix, MFRotation):
((SoMFRotation *) outField)->setValue(
SbRotation(((SoSFMatrix *) input)->getValue()));
break;
CASE(MFMatrix, SFRotation):
((SoSFRotation *) outField)->setValue(
SbRotation((* (SoMFMatrix *) input)[0]));
break;
CASE(MFMatrix, MFRotation):
for (i = 0; i < ((SoMFMatrix *)input)->getNum(); i++) {
((SoMFRotation *)outField)->set1Value(i,
SbRotation((* (SoMFMatrix *) input)[i]));
}
break;
CASE(SFRotation, SFMatrix):
matrix.setRotate(((SoSFRotation *)input)->getValue());
((SoSFMatrix *)outField)->setValue(matrix);
break;
CASE(SFRotation, MFMatrix):
matrix.setRotate(((SoSFRotation *)input)->getValue());
((SoSFMatrix *)outField)->setValue(matrix);
break;
CASE(MFRotation, SFMatrix):
matrix.setRotate((*(SoMFRotation *)input)[0]);
((SoSFMatrix *)outField)->setValue(matrix);
break;
CASE(MFRotation, MFMatrix):
for (i = 0; i < ((SoMFRotation *)input)->getNum(); i++) {
matrix.setRotate((*(SoMFRotation *)input)[i]);
((SoMFMatrix *)outField)->set1Value(i, matrix);
}
break;
default:
#ifdef DEBUG
SoDebugError::post("SoBuiltinFieldConverter::doConversion",
"Can't convert type %d to type %d\n",
inType, outType);
#endif
break;
}
}
SoField *
SoBuiltinFieldConverter::getInput(SoType type)
//
////////////////////////////////////////////////////////////////////////
{
input = (SoField *)type.createInstance();
#define DECIDEIN(class,defaultValue) \
(type == SO__CONCAT(So,class)::getClassTypeId()) { \
inType = class; \
((SO__CONCAT(So,class) *)input)->setValue defaultValue ; \
}
if DECIDEIN(MFBitMask,(0))
else if DECIDEIN(MFBool,(FALSE))
else if DECIDEIN(MFColor,(0,0,0))
else if DECIDEIN(MFEnum,(0))
else if DECIDEIN(MFFloat,(0))
else if DECIDEIN(MFInt32,(0))
else if DECIDEIN(MFMatrix,(SbMatrix::identity()))
else if DECIDEIN(MFName,(""))
else if DECIDEIN(MFNode,(NULL))
else if DECIDEIN(MFPath,(NULL))
else if DECIDEIN(MFPlane,(SbPlane(SbVec3f(0,0,0),0)))
else if DECIDEIN(MFRotation,(SbRotation()))
else if DECIDEIN(MFShort,(0))
else if DECIDEIN(MFString,(""))
else if DECIDEIN(MFTime,(SbTime::zero()))
else if DECIDEIN(MFUInt32,(0))
else if DECIDEIN(MFUShort,(0))
else if DECIDEIN(MFVec2f,(0,0))
else if DECIDEIN(MFVec3f,(0,0,0))
else if DECIDEIN(MFVec4f,(0,0,0,0))
else if DECIDEIN(SFBitMask,(0))
else if DECIDEIN(SFBool,(FALSE))
else if DECIDEIN(SFColor,(0,0,0))
else if DECIDEIN(SFEnum,(0))
else if DECIDEIN(SFFloat,(0))
else if DECIDEIN(SFInt32,(0))
else if DECIDEIN(SFMatrix,(SbMatrix::identity()))
else if DECIDEIN(SFName,(""))
else if DECIDEIN(SFNode,(NULL))
else if DECIDEIN(SFPath,(NULL))
else if DECIDEIN(SFPlane,(SbPlane(SbVec3f(0,0,0),0)))
else if DECIDEIN(SFRotation,(SbRotation()))
else if DECIDEIN(SFShort,(0))
else if DECIDEIN(SFString,(""))
else if DECIDEIN(SFTime,(SbTime::zero()))
else if DECIDEIN(SFUInt32,(0))
else if DECIDEIN(SFUShort,(0))
else if DECIDEIN(SFVec2f,(0,0))
else if DECIDEIN(SFVec3f,(0,0,0))
else if DECIDEIN(SFVec4f,(0,0,0,0))
#undef DECIDEIN
#ifdef DEBUG
else {
SoDebugError::post("(internal) SoBuiltinFieldConverter::getInput",
"no input for type '%s'", type.getName().getString());
}
#endif
input->setContainer(this);
myInputData->addField(this, "input", input);
return input;
}
void
SmTextureText2::buildStringQuad(SoAction * action, int idx, SbVec3f & p0, SbVec3f & p1, SbVec3f & p2, SbVec3f & p3)
{
//FIXME: Support multiple strings at one position (multiline text)
SoState * state = action->getState();
const SbString * strings;
const int numstrings = this->getStrings(state, strings);
const SbVec3f * positions;
const int numpositions = this->getPositions(state, positions);
const float * rotations;
const int numrotations = this->getRotations(state, rotations);
const SbVec3f & offset = this->offset.getValue();
Justification halign = static_cast<Justification>(this->justification.getValue());
VerticalJustification valign = static_cast<VerticalJustification>(this->verticalJustification.getValue());
const SbViewVolume & vv = SoViewVolumeElement::get(state);
const SbViewportRegion & vpr = SoViewportRegionElement::get(state);
SbMatrix modelmatrix = SoModelMatrixElement::get(state);
const SmTextureFont::FontImage * font = SmTextureFontElement::get(state);
SbVec2s vpsize = vpr.getViewportSizePixels();
float px = vpsize[0];
float py = vpsize[1];
SbVec3f world, screen;
modelmatrix.multVecMatrix(positions[idx] + offset, world);
vv.projectToScreen(world, screen);
float up, down, left, right;
float width = static_cast<float>(font->stringWidth(strings[idx]));
switch (halign){
case LEFT:
right = width;
left = 0;
break;
case CENTER:
right = width / 2;
left = -right;
break;
case RIGHT:
right = 0.4f;
left = -(width - 0.4f);
break;
}
left /= px;
right /= px;
float ascent = static_cast<float>(font->getAscent());
float descent = static_cast<float>(font->getDescent());
float height = ascent + descent + 1;
switch(valign){
case TOP:
up = 0;
down = -height;
break;
case VCENTER:
up = height / 2;
down = -up;
break;
case BOTTOM://actually BASELINE
up = ascent;
down = -descent;
break;
}
up /= py;
down /= py;
SbMatrix rotation = SbMatrix::identity();
rotation.setRotate(SbRotation(SbVec3f(0, 0, 1), rotations[numrotations > 1 ? idx : 0]));
SbMatrix translation = SbMatrix::identity();
translation.setTranslate(SbVec3f(screen[0], screen[1], 0));
//need to account for viewport aspect ratio as we are working in normalized screen coords:
float aspectx = px >= py ? 1 : py / px;
float aspecty = py >= px ? 1 : px / py;
SbMatrix scale = SbMatrix::identity();
scale.setScale(SbVec3f(aspectx, aspecty, 1));
SbMatrix invScale = scale.inverse();
//screen coords (offsets from text "anchor" point):
SbVec3f offsets[4];
offsets[0] = SbVec3f(left, down, 0);
offsets[1] = SbVec3f(right, down, 0);
offsets[2] = SbVec3f(right, up, 0);
offsets[3] = SbVec3f(left, up, 0);
SbVec2f screenPos[4];
for (int i = 0; i < 4; i++){
SbVec3f & offset = offsets[i];
invScale.multVecMatrix(offset, offset);
rotation.multVecMatrix(offset, offset);
scale.multVecMatrix(offset, offset);
translation.multVecMatrix(offset, offset);
screenPos[i] = SbVec2f(offset[0], offset[1]);
}
float dist = -vv.getPlane(0.0f).getDistance(world);
// find the four screen points in the plane
p0 = vv.getPlanePoint(dist, screenPos[0]);
p1 = vv.getPlanePoint(dist, screenPos[1]);
p2 = vv.getPlanePoint(dist, screenPos[2]);
p3 = vv.getPlanePoint(dist, screenPos[3]);
// transform back to object space
SbMatrix inv = modelmatrix.inverse();
inv.multVecMatrix(p0, p0);
inv.multVecMatrix(p1, p1);
inv.multVecMatrix(p2, p2);
inv.multVecMatrix(p3, p3);
}
void Texture3D(SoSeparator * root)
{
SoDB::createGlobalField("globalVerts", SoMFVec3f::getClassTypeId());
SoDB::createGlobalField("globalTVerts", SoMFVec3f::getClassTypeId());
SoDB::createGlobalField("globalnv", SoMFInt32::getClassTypeId());
SoDB::createGlobalField("planeVerts", SoMFVec3f::getClassTypeId());
SoDB::createGlobalField("planeTVerts", SoMFVec3f::getClassTypeId());
doClipping(SbVec3f(0,0,0), SbRotation());
// SoSeparator * root = new SoSeparator;
// root->ref();
SoComplexity * comp = new SoComplexity;
comp->textureQuality.setValue((float)0.9);
root->addChild(comp);
SoTexture3 * texture = new SoTexture3;
texture->wrapR.setValue(SoTexture3::CLAMP);
texture->wrapS.setValue(SoTexture3::CLAMP);
texture->wrapT.setValue(SoTexture3::CLAMP);
// SbString filenames[64];
// for (int i=0;i<64;i++)
// filenames[i].sprintf("../../../data/pgmvol/slice%02d.raw.pgm",i);
// texture->filenames.setValues(0,64,filenames);
unsigned char * img = generateTexture(256,256,256);
texture->images.setValue(SbVec3s(256,256,256), 1, img);
root->addChild(texture);
SoMaterial * mat = new SoMaterial;
mat->emissiveColor.setValue(1,1,1);
root->addChild(mat);
SoTransformerDragger * dragger = new SoTransformerDragger;
dragger->scaleFactor.setValue(5,5,5);
dragger->addValueChangedCallback(draggerCB, NULL);
root->addChild(dragger);
SoCoordinate3 * clippedCoords = new SoCoordinate3;
clippedCoords->point.connectFrom((SoMFVec3f *)
SoDB::getGlobalField("globalVerts"));
root->addChild(clippedCoords);
SoTextureCoordinate3 * clippedTCoords = new SoTextureCoordinate3;
clippedTCoords->point.connectFrom((SoMFVec3f *)
SoDB::getGlobalField("globalTVerts"));
root->addChild(clippedTCoords);
SoFaceSet * clippedFS = new SoFaceSet;
clippedFS->numVertices.connectFrom((SoMFInt32 *)
SoDB::getGlobalField("globalnv"));
root->addChild(clippedFS);
SoCoordinate3 * planeCoords = new SoCoordinate3;
planeCoords->point.connectFrom((SoMFVec3f *)
SoDB::getGlobalField("planeVerts"));
root->addChild(planeCoords);
SoTextureCoordinate3 * planeTCoords = new SoTextureCoordinate3;
planeTCoords->point.connectFrom((SoMFVec3f *)
SoDB::getGlobalField("planeTVerts"));
root->addChild(planeTCoords);
SoFaceSet * planeFS = new SoFaceSet;
root->addChild(planeFS);
}
SbRotation
SbSphereSectionProjector::getRotation(const SbVec3f &p1, const SbVec3f &p2)
//
////////////////////////////////////////////////////////////////////////
{
SbBool tol1 = isWithinTolerance(p1);
SbBool tol2 = isWithinTolerance(p2);
if (tol1 && tol2) {
// both points in tolerance, rotate about
// sphere center
return SbRotation(
p1 - sphere.getCenter(),
p2 - sphere.getCenter());
}
else if (!tol1 && !tol2) {
// both points out of tolerance, rotate about
// plane point
// Would like to just use this:
SbRotation badRot = SbRotation(p1 - planePoint, p2 - planePoint);
// but fp instablity gives back a goofy axis, so we don't get
// pure roll.
// So we need to snap the axis to be parallel to plane dir
SbVec3f badAxis; float goodAngle;
badRot.getValue(badAxis, goodAngle);
SbVec3f goodAxis;
if (badAxis.dot(planeDir) > 0.0)
goodAxis = planeDir;
else
goodAxis = -planeDir;
SbRotation rollRot(goodAxis, goodAngle);
//Now find rotation in the direction perpendicular to this:
SbVec3f diff1 = p1 - planePoint;
SbVec3f diff2 = p2 - planePoint;
float d = diff2.length() - diff1.length();
// Check for degenerate cases
float theta = d / sphere.getRadius();
if ( fabs(theta) < 0.000001 || fabs(theta) > 1.0 )
return rollRot;
diff1.normalize();
SbVec3f pullAxis = planeDir.cross( diff1 );
pullAxis.normalize();
SbRotation pullRot(pullAxis, getRadialFactor() * theta );
SbRotation totalRot = rollRot * pullRot;
return totalRot;
}
else {
// one point in, one point out, so rotate about
// the center of the sphere from the point on the
// sphere to the intersection of the plane and the
// sphere closest to the point off the sphere
SbLine planeLine;
SbVec3f intersection;
if (tol1) {
planeLine.setValue(planePoint, p2);
}
else {
planeLine.setValue(planePoint, p1);
}
if (! sphere.intersect(planeLine, intersection))
#ifdef DEBUG
SoDebugError::post("SbSphereSectionProjector::getRotation",
"Couldn't intersect plane line with sphere");
#else
/* Do nothing */;
#endif
if (tol1) {
// went off sphere
return SbRotation(
p1 - sphere.getCenter(),
intersection - sphere.getCenter());
}
else {
// came on to sphere
// "Hey cutie. You've got quite a radius..."
return SbRotation(
intersection - sphere.getCenter(),
p2 - sphere.getCenter());
}
}
}