예제 #1
0
//////////////////////////////////////////////////////////////////////////
// update
//virtual
void ScnAnimationTreeTrackNode::update( BcF32 Tick )
{
	// Interpolate poses.
	interpolatePose();

	// Advance time.
	Time_ += Tick * Speed_;
}
TEST_F(OsgCylinderRepresentationRenderTests, MovingCylinderTest)
{
	/// Add the two cylinder representation to the view element
	std::shared_ptr<CylinderRepresentation> cylinderRepresentation1 =
		std::make_shared<OsgCylinderRepresentation>("cylinder representation 1");
	viewElement->addComponent(cylinderRepresentation1);
	std::shared_ptr<CylinderRepresentation> cylinderRepresentation2 =
		std::make_shared<OsgCylinderRepresentation>("cylinder representation 2");
	viewElement->addComponent(cylinderRepresentation2);

	/// Run the thread
	runtime->start();
	EXPECT_TRUE(graphicsManager->isInitialized());
	boost::this_thread::sleep(boost::posix_time::milliseconds(1000));

	enum SetterType {SetterTypeIndividual,
					 SetterTypeTogether,
					 SetterTypeVector2d,
					 // Add more setter types above this line.
					 BoxSetterTypeCount};
	int setterType = 0;

	Vector2d cylinder1Size, cylinder2Size;

	/// Initial and final position (X, Y, Z) of cylinder 1
	Vector3d startPosition1(-0.1, 0.0, -0.2), finalPosition1(0.1, 0.0, -0.2);
	/// Initial size (radius, height) and final size of cylinder 1
	Vector2d startSize1(0.001, 0.011), finalSize1(0.01, 0.02);
	/// Initial angles (X, Y, Z) and final of the cylinder 1
	Vector3d startAngles1(0.0, 0.0, 0.0), finalAngles1(-M_PI_4, -M_PI_4, -M_PI_4);

	/// Initial and final position (X, Y, Z) cylinder 2
	Vector3d startPosition2(0.0, -0.1, -0.2), finalPosition2(0.0, 0.1, -0.2);
	/// Initial and final size (radius, height) of cylinder 2
	Vector2d startSize2(0.001, 0.011), finalSize2(0.01, 0.02);
	/// Initial and final angles (X, Y, Z) of the cylinder 2
	Vector3d startAngles2(-M_PI_2, -M_PI_2, -M_PI_2), finalAngles2(M_PI, M_PI, M_PI);

	/// Number of times to step the cylinder position and radius from start to end.
	/// This number of steps will be done in 1 second.
	int numSteps = 100;
	for (int i = 0; i < numSteps; ++i)
	{
		/// Calculate t in [0.0, 1.0]
		double t = static_cast<double>(i) / numSteps;
		/// Interpolate position and radius
		cylinderRepresentation1->setLocalPose(
			interpolatePose(startAngles1, finalAngles1, startPosition1, finalPosition1, t));
		cylinderRepresentation2->setLocalPose(
			interpolatePose(startAngles2, finalAngles2, startPosition1, finalPosition2, t));

		if(setterType == static_cast<int>(SetterTypeIndividual))
		{
			cylinderRepresentation1->setRadius(interpolate(startSize1.x(), finalSize1.x(), t));
			cylinderRepresentation1->setHeight(interpolate(startSize1.y(), finalSize1.y(), t));

			cylinderRepresentation2->setRadius(interpolate(startSize2.x(), finalSize2.x(), t));
			cylinderRepresentation2->setHeight(interpolate(startSize2.y(), finalSize2.y(), t));
		}
		else if(setterType == static_cast<int>(SetterTypeTogether))
		{
			cylinderRepresentation1->setSize(interpolate(startSize1.x(), finalSize1.x(), t),
interpolate(startSize1.y(), finalSize1.y(), t));

			cylinderRepresentation2->setSize(interpolate(startSize2.x(), finalSize2.x(), t),
interpolate(startSize2.y(), finalSize2.y(), t));
		}
		else if(setterType == static_cast<int>(SetterTypeVector2d))
		{
			cylinder1Size.x() = interpolate(startSize1.x(), finalSize1.x(), t);
			cylinder1Size.y() = interpolate(startSize1.y(), finalSize1.y(), t);
			cylinderRepresentation1->setSize(cylinder1Size);

			cylinder2Size.x() = interpolate(startSize2.x(), finalSize2.x(), t);
			cylinder2Size.y() = interpolate(startSize2.y(), finalSize2.y(), t);
			cylinderRepresentation2->setSize(cylinder2Size);
		}
		setterType = (setterType + 1) % BoxSetterTypeCount;
		/// The total number of steps should complete in 1 second
		boost::this_thread::sleep(boost::posix_time::milliseconds(1000 / numSteps));
	}
}
TEST_F(OsgBoxRepresentationRenderTests, MovingBoxesTest)
{
	/// Initial and final position (X, Y, Z) of box 1
	Vector3d startPosition1(-0.1, 0.0, -0.2), finalPosition1(0.1, 0.0, -0.2);
	/// Initial angles (X, Y, Z) and final of the cylinder 1
	Vector3d startAngles1(0.0, 0.0, 0.0), finalAngles1(-M_PI_4, -M_PI_4, -M_PI_4);
	/// Initial box 1 sizeX;
	double startSizeX1 = 0.001;
	/// Final box 1 sizeX;
	double endSizeX1 = 0.01;
	/// Initial box 1 sizeY;
	double startSizeY1 = 0.011;
	/// Final box 1 sizeY;
	double endSizeY1 = 0.02;
	/// Initial box 1 sizeZ;
	double startSizeZ1 = 0.021;
	/// Final box 1 sizeZ;
	double endSizeZ1 = 0.03;

	/// Initial and final position (X, Y, Z) box 2
	Vector3d startPosition2(0.0, -0.1, -0.2), finalPosition2(0.0, 0.1, -0.2);
	/// Initial and final angles (X, Y, Z) of the box 2
	Vector3d startAngles2(-M_PI_2, -M_PI_2, -M_PI_2), finalAngles2(M_PI, M_PI, M_PI);
	/// Initial box 2 sizeX;
	double startSizeX2 = 0.001;
	/// Final box 2 sizeX;
	double endSizeX2 = 0.01;
	/// Initial box 2 sizeX;
	double startSizeY2 = 0.011;
	/// Final box 2 sizeX;
	double endSizeY2 = 0.02;
	/// Initial box 2 sizeX;
	double startSizeZ2 = 0.021;
	/// Final box 2 sizeX;
	double endSizeZ2 = 0.03;
	/// Initial box 2 angleX;




	/// Number of times to step the box position and radius from start to end.
	/// This number of steps will be done in 1 second.
	int numSteps = 100;

	std::shared_ptr<Scene> scene = runtime->getScene();

	auto sceneElement = std::make_shared<SurgSim::Framework::BasicSceneElement>("Box 1");
	auto boxRepresentation1 = std::make_shared<OsgBoxRepresentation>("Graphics");
	sceneElement->addComponent(boxRepresentation1);
	scene->addSceneElement(sceneElement);

	sceneElement = std::make_shared<SurgSim::Framework::BasicSceneElement>("Box 2");
	auto boxRepresentation2 = std::make_shared<OsgBoxRepresentation>("Graphics");
	sceneElement->addComponent(boxRepresentation2);
	scene->addSceneElement(sceneElement);

	/// Run the thread
	runtime->start();
	EXPECT_TRUE(graphicsManager->isInitialized());
	boost::this_thread::sleep(boost::posix_time::milliseconds(1000));

	enum BoxSetterType {BoxSetterTypeIndividual,
						BoxSetterTypeTogether,
						BoxSetterTypeVector3d,
						// Add more setter types above this line.
						BoxSetterTypeCount
					   };
	int boxSetterType = 0;
	Vector3d box1Size, box2Size;

	for (int i = 0; i < numSteps; ++i)
	{
		/// Calculate t in [0.0, 1.0]
		double t = static_cast<double>(i) / numSteps;
		/// Interpolate position and orientation
		boxRepresentation1->getSceneElement()->setPose(
			interpolatePose(startAngles1, finalAngles1, startPosition1, finalPosition1, t));
		boxRepresentation2->getSceneElement()->setPose(
			interpolatePose(startAngles2, finalAngles2, startPosition1, finalPosition2, t));

		if (boxSetterType == static_cast<int>(BoxSetterTypeIndividual))
		{
			boxRepresentation1->setSizeX((1 - t) * startSizeX1 + t * endSizeX1);
			boxRepresentation1->setSizeY((1 - t) * startSizeY1 + t * endSizeY1);
			boxRepresentation1->setSizeZ((1 - t) * startSizeZ1 + t * endSizeZ1);

			boxRepresentation2->setSizeX((1 - t) * startSizeX2 + t * endSizeX2);
			boxRepresentation2->setSizeY((1 - t) * startSizeY2 + t * endSizeY2);
			boxRepresentation2->setSizeZ((1 - t) * startSizeZ2 + t * endSizeZ2);
		}
		else if (boxSetterType == static_cast<int>(BoxSetterTypeTogether))
		{
			boxRepresentation1->setSizeXYZ((1 - t) * startSizeX1 + t * endSizeX1,
										   (1 - t) * startSizeY1 + t * endSizeY1,
										   (1 - t) * startSizeZ1 + t * endSizeZ1);

			boxRepresentation2->setSizeXYZ((1 - t) * startSizeX2 + t * endSizeX2,
										   (1 - t) * startSizeY2 + t * endSizeY2,
										   (1 - t) * startSizeZ2 + t * endSizeZ2);
		}
		else if (boxSetterType == static_cast<int>(BoxSetterTypeVector3d))
		{
			box1Size.x() = (1 - t) * startSizeX1 + t * endSizeX1;
			box1Size.y() = (1 - t) * startSizeY1 + t * endSizeY1;
			box1Size.z() = (1 - t) * startSizeZ1 + t * endSizeZ1;
			boxRepresentation1->setSize(box1Size);

			box2Size.x() = (1 - t) * startSizeX2 + t * endSizeX2;
			box2Size.y() = (1 - t) * startSizeY2 + t * endSizeY2;
			box2Size.z() = (1 - t) * startSizeZ2 + t * endSizeZ2;
			boxRepresentation2->setSize(box2Size);
		}
		boxSetterType = (boxSetterType + 1) % BoxSetterTypeCount;
		/// The total number of steps should complete in 1 second
		boost::this_thread::sleep(boost::posix_time::milliseconds(1000 / numSteps));
	}

	runtime->stop();
}