[31] | 1 | /* -*-c++-*- osgVisual - Copyright (C) 2009-2010 Torben Dannhauer |
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| 2 | * |
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| 3 | * This library is based on OpenSceneGraph, open source and may be redistributed and/or modified under |
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| 4 | * the terms of the OpenSceneGraph Public License (OSGPL) version 0.0 or |
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| 5 | * (at your option) any later version. The full license is in LICENSE file |
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| 6 | * included with this distribution, and on the openscenegraph.org website. |
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| 7 | * |
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| 8 | * osgVisual requires for some proprietary modules a license from the correspondig manufacturer. |
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| 9 | * You have to aquire licenses for all used proprietary modules. |
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| 10 | * |
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| 11 | * This library is distributed in the hope that it will be useful, |
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| 12 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 13 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 14 | * OpenSceneGraph Public License for more details. |
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| 15 | */ |
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| 16 | |
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| 17 | #include <visual_object.h> |
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| 18 | |
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| 19 | using namespace osgVisual; |
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| 20 | |
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| 21 | visual_object::visual_object( osg::CoordinateSystemNode* sceneRoot_, std::string nodeName_) |
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| 22 | { |
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| 23 | // Add this node to Scenegraph |
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| 24 | sceneRoot_->addChild( this ); |
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| 25 | |
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| 26 | // Set Nodename for further identification |
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| 27 | this->setName( nodeName_ ); |
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| 28 | |
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| 29 | // Set callback. |
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| 30 | /** \todo: welcher update ist der richtige? voraussichtlich event.) */ |
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| 31 | //this->setUpdateCallback( new visual_objectPositionCallback() ); |
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| 32 | this->setEventCallback( new visual_objectPositionCallback() ); |
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| 33 | |
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| 34 | // Init Position and Attitude |
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| 35 | lat = 0; |
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| 36 | lon = 0; |
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| 37 | alt = 0; |
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| 38 | |
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| 39 | azimuthAngle_psi = 0; |
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| 40 | pitchAngle_theta = 0; |
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| 41 | bankAngle_phi = 0; |
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| 42 | |
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| 43 | geometry_offset_rotation.makeRotate( 0.0, 1.0, 1.0, 1.0 ); |
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| 44 | |
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[205] | 45 | // Init Scale factor |
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[31] | 46 | scaleX = 1.0; |
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| 47 | scaleY = 1.0; |
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| 48 | scaleZ = 1.0; |
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| 49 | |
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| 50 | // Init cameraOffset |
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| 51 | cameraTranslationOffset.makeTranslate( osg::Vec3d(0.0, 0.0, 0.0) ); // Trans: (y, x, -z_down) |
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| 52 | cameraRotationOffset.makeRotate( osg::DegreesToRadians( 90.0 ), osg::Vec3(1, 0, 0) ); // Rot: (-y, +x , -z) |
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| 53 | |
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| 54 | // Geometrynode hinzufügen |
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| 55 | geometry = new osg::Group(); |
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| 56 | this->addChild( geometry ); |
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| 57 | |
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| 58 | // Labelnode hinzufügen |
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| 59 | labels = new osg::Geode(); |
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| 60 | this->addChild( labels ); |
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| 61 | } |
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| 62 | |
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| 63 | visual_object::~visual_object() |
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| 64 | { |
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| 65 | |
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| 66 | } |
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| 67 | |
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[202] | 68 | visual_object* visual_object::createNodeFromXMLConfig(osg::CoordinateSystemNode* sceneRoot_, xmlNode* a_node) |
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| 69 | { |
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[203] | 70 | if(a_node == NULL) |
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| 71 | return NULL; |
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| 72 | |
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| 73 | OSG_NOTIFY( osg::ALWAYS ) << __FUNCTION__ << "Try to creating a new Model.." << std::endl; |
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[202] | 74 | //osg::ref<visual_object> object = new visual_object( root, nodeName); |
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| 75 | |
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[205] | 76 | std::string objectname="", filename="", label=""; |
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| 77 | bool dynamic = false; |
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| 78 | double lat=0.0, lon=0.0, alt=0.0, rot_x=0.0, rot_y=0.0, rot_z=0.0; |
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| 79 | double cam_trans_x=0.0, cam_trans_y=0.0, cam_trans_z=0.0, cam_rot_x=0.0, cam_rot_y=0.0, cam_rot_z=0.0; |
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| 80 | double geometry_rot_x=0.0, geometry_rot_y=0.0, geometry_rot_z=0.0; |
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| 81 | double geometry_scale_x=1.0, geometry_scale_y=1.0, geometry_scale_z=1.0; |
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| 82 | osg::ref_ptr<osgVisual::object_updater> updater = NULL; |
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[202] | 83 | |
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[205] | 84 | osgVisual::visual_object* object = new osgVisual::visual_object( sceneRoot_, objectname ); |
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| 85 | object->lat = lat; |
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| 86 | object->lon = lon; |
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| 87 | object->alt = alt; |
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| 88 | object->azimuthAngle_psi = rot_x; |
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| 89 | object->pitchAngle_theta = rot_y; |
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| 90 | object->bankAngle_phi = rot_z; |
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| 91 | if(label!="") |
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| 92 | object->addLabel("XML_defined_label", label); |
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| 93 | if(dynamic) |
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| 94 | { |
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| 95 | updater = new osgVisual::object_updater(object); |
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| 96 | } |
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| 97 | object->setCameraOffset( cam_trans_x, cam_trans_y, cam_trans_z, cam_rot_x, cam_rot_y, cam_rot_z); |
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| 98 | if(filename!="") |
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| 99 | { |
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| 100 | object->loadGeometry( filename ); |
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| 101 | object->setGeometryOffset( geometry_rot_x, geometry_rot_y, geometry_rot_z ); |
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| 102 | object->setScale( geometry_scale_x, geometry_scale_y, geometry_scale_z ); |
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| 103 | } |
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[202] | 104 | |
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[205] | 105 | if(updater.valid()) |
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| 106 | object->addUpdater( updater ); |
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| 107 | |
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| 108 | /* |
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| 109 | - updater [optional]: Channels to use for position and attitude update |
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| 110 | |
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| 111 | <updater> |
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| 112 | <translation-slots>todo</translation-slots> |
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| 113 | </updater> |
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| 114 | */ |
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| 115 | |
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[203] | 116 | OSG_NOTIFY( osg::ALWAYS ) << "Done." << std::endl; |
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[205] | 117 | return object; |
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[202] | 118 | } |
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| 119 | |
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[31] | 120 | void visual_object::setNewPositionAttitude( double lat_, double lon_, double alt_, double azimuthAngle_psi_, double pitchAngle_theta_, double bankAngle_phi_ ) |
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| 121 | { |
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| 122 | lat = lat_; |
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| 123 | lon = lon_; |
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| 124 | alt = alt_; |
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| 125 | |
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| 126 | azimuthAngle_psi = azimuthAngle_psi_; |
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| 127 | pitchAngle_theta = pitchAngle_theta_; |
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| 128 | bankAngle_phi = bankAngle_phi_; |
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| 129 | } |
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| 130 | |
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| 131 | void visual_object::setNewPosition( double lat_, double lon_, double alt_ ) |
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| 132 | { |
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| 133 | lat = lat_; |
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| 134 | lon = lon_; |
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| 135 | alt = alt_; |
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| 136 | } |
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| 137 | |
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| 138 | void visual_object::setNewAttitude( double azimuthAngle_psi_, double pitchAngle_theta_, double bankAngle_phi_ ) |
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| 139 | { |
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| 140 | azimuthAngle_psi = azimuthAngle_psi_; |
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| 141 | pitchAngle_theta = pitchAngle_theta_; |
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| 142 | bankAngle_phi = bankAngle_phi_; |
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| 143 | } |
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| 144 | |
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| 145 | void visual_object::setGeometryOffset( double rotX_, double rotY_, double rotZ_ ) |
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| 146 | { |
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| 147 | geometry_offset_rotation.makeRotate( rotX_, osg::Vec3f(1.0, 0.0, 0.0), |
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| 148 | rotY_, osg::Vec3f(0.0, 1.0, 0.0), |
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| 149 | rotZ_, osg::Vec3f(0.0, 0.0, 1.0) ); |
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| 150 | } |
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| 151 | |
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| 152 | void visual_object::setScale( double scale_ ) |
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| 153 | { |
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| 154 | scaleX = scale_; |
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| 155 | scaleY = scale_; |
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| 156 | scaleZ = scale_; |
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| 157 | } |
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| 158 | |
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| 159 | void visual_object::setScale( double scaleX_, double scaleY_, double scaleZ_ ) |
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| 160 | { |
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| 161 | scaleX = scaleX_; |
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| 162 | scaleY = scaleY_; |
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| 163 | scaleZ = scaleZ_; |
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| 164 | } |
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| 165 | |
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| 166 | bool visual_object::loadGeometry(std::string filename_) |
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| 167 | { |
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| 168 | // Check if file exists |
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| 169 | if( !osgDB::fileExists(filename_) ) |
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| 170 | { |
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| 171 | OSG_NOTIFY(osg::FATAL) << "Error: Model not loaded. File '" << filename_ << "' does not exist." << std::endl; |
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| 172 | } |
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| 173 | |
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| 174 | osg::ref_ptr<osg::Node> tmpModel = osgDB::readNodeFile( filename_ ); |
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| 175 | |
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| 176 | if( tmpModel.valid() ) |
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| 177 | { |
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| 178 | // remove old geometry |
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| 179 | geometry->removeChildren(0, geometry->getNumChildren()); |
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| 180 | |
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| 181 | // add new geometry |
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| 182 | geometry->addChild( tmpModel.get() ); |
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| 183 | return true; |
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| 184 | } |
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| 185 | else |
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| 186 | { |
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| 187 | std::cout <<": No model loaded: " << filename_ << std::endl; |
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| 188 | return false; |
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| 189 | } |
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| 190 | } |
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| 191 | |
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| 192 | bool visual_object::setGeometry(osg::Node* geometry_) |
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| 193 | { |
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| 194 | // remove old geometry |
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| 195 | geometry->removeChildren(0, geometry->getNumChildren()); |
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| 196 | |
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| 197 | // add new geometry |
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| 198 | geometry->addChild( geometry_ ); |
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| 199 | |
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| 200 | return true; |
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| 201 | } |
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| 202 | |
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| 203 | void visual_object::unsetGeometry() |
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| 204 | { |
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| 205 | // remove old geometry |
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| 206 | geometry->removeChildren(0, geometry->getNumChildren()); |
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| 207 | } |
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| 208 | |
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| 209 | void visual_object::addUpdater( object_updater* updater_ ) |
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| 210 | { |
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| 211 | if ( updater.valid() ) |
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| 212 | updater->addUpdater( updater_ ); |
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| 213 | else |
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| 214 | updater = updater_; |
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| 215 | } |
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| 216 | |
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| 217 | void visual_object::clearAllUpdater() |
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| 218 | { |
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| 219 | // release only first updater. Because smartpointer: Will be deleted if not referenced. |
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| 220 | if ( updater.valid() ) |
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| 221 | updater = NULL; |
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| 222 | } |
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| 223 | |
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| 224 | std::vector<object_updater*> visual_object::getUpdaterList() |
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| 225 | { |
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| 226 | // iterate through updater and add all pointer. |
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| 227 | std::vector<object_updater*> updaterList; |
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| 228 | osg::ref_ptr<object_updater> tmpUpdater = updater; |
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| 229 | |
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| 230 | while (tmpUpdater.valid()) |
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| 231 | { |
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| 232 | updaterList.push_back( tmpUpdater ); |
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| 233 | tmpUpdater = tmpUpdater->getPointer(); |
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| 234 | } |
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| 235 | |
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| 236 | // return list |
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| 237 | return updaterList; |
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| 238 | } |
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| 239 | |
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| 240 | void visual_object::visual_objectPositionCallback::operator()(osg::Node* node, osg::NodeVisitor* nv) |
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| 241 | { |
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| 242 | visual_object* object = dynamic_cast<visual_object*>(node); |
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| 243 | if ( !object ) |
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| 244 | { |
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| 245 | OSG_NOTIFY(osg::FATAL) << "ERROR : No object found. Unable to apply this callback!" << std::endl; |
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| 246 | return; |
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| 247 | } |
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| 248 | |
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| 249 | // execute preUpdater to get new data of this object. |
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| 250 | if ( object->updater.valid() ) |
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| 251 | object->updater->preUpdate(object); |
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| 252 | |
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| 253 | // Nodepath from this node to absolute parent (if no endnode specified) |
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| 254 | osg::NodePath nodePath = nv->getNodePath(); |
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| 255 | |
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| 256 | // If Nodepath != empty, then mt = last element of node path |
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| 257 | osg::MatrixTransform* mt = nodePath.empty() ? 0 : dynamic_cast<osg::MatrixTransform*>(nodePath.back()); |
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| 258 | if (mt) |
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| 259 | { |
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| 260 | osg::CoordinateSystemNode* csn = 0; |
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| 261 | |
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| 262 | // find coordinate system node from our parental chain: traverse chain and try to convert every node to a csn. |
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| 263 | unsigned int i; |
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| 264 | for(i=0; i<nodePath.size() && csn==0; ++i) // "&& csn" means: exit loop if csn found |
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| 265 | { |
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| 266 | csn = dynamic_cast<osg::CoordinateSystemNode*>(nodePath[i]); // dynamic_cast returns 0 if dynamic_cast fails. |
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| 267 | } |
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| 268 | |
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| 269 | // Wenn csn gefunden: |
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| 270 | if (csn) |
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| 271 | { |
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| 272 | // Ellipsoidmodel erfragen |
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| 273 | osg::EllipsoidModel* ellipsoid = csn->getEllipsoidModel(); |
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| 274 | if (ellipsoid) |
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| 275 | { |
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| 276 | osg::Matrix inheritedMatrix; |
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| 277 | |
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| 278 | // durch den _restlichen_ Nodepath durchgehen und alle anfallenden Transformationen durchführen. |
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| 279 | for(i+=1; i<nodePath.size()-1; ++i) |
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| 280 | { |
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| 281 | osg::Transform* transform = nodePath[i]->asTransform(); // Versuchen, den Node zu einer Transformation zu konvertieren |
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| 282 | |
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| 283 | // wenn Node wirklich Trafo, dann die Tranformationsmatrix von Nodekoordinaten nach Global auf inheritedMatrix draufschlagen. |
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| 284 | if (transform) transform->computeLocalToWorldMatrix(inheritedMatrix, nv); |
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| 285 | } |
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| 286 | |
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| 287 | osg::Matrixd matrix(inheritedMatrix); |
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| 288 | |
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| 289 | // Set position |
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| 290 | ellipsoid->computeLocalToWorldTransformFromLatLongHeight(object->lat, object->lon, object->alt, matrix); |
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| 291 | |
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| 292 | // Set Upvector for position |
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| 293 | double X,Y,Z; |
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| 294 | util::calculateXYZAtWGS84Coordinate(object->lat, object->lon, object->alt, csn, X, Y, Z ); |
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| 295 | object->upVector = ellipsoid->computeLocalUpVector(X,Y,Z); |
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| 296 | |
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| 297 | // Set scale |
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| 298 | osg::Matrixd scaleMatrix; |
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| 299 | scaleMatrix.makeScale( object->scaleX, object->scaleY, object->scaleZ ); |
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| 300 | matrix.preMult( scaleMatrix ); |
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| 301 | |
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| 302 | // Set rotation |
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| 303 | // rotation von links ranmultiplizieren, entspricht: matrix = rotation * matrix. Da rotation ein Quat ist, wäre die direkte Multiplikation nur über Umwege machbar. |
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| 304 | // Rotate Object to Attitude. |
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| 305 | osg::Matrixd rotationMatrix; |
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| 306 | // Move Model by Azimuth |
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| 307 | rotationMatrix.makeRotate( -object->azimuthAngle_psi, osg::Vec3d(0.0, 0.0, 1.0) ); |
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| 308 | matrix.preMult(rotationMatrix); |
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| 309 | // Move Model by Pitch |
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| 310 | rotationMatrix.makeRotate( object->pitchAngle_theta, osg::Vec3d(1.0, 0.0, 0.0) ); |
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| 311 | matrix.preMult(rotationMatrix); |
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| 312 | // Move Model by Bank |
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| 313 | rotationMatrix.makeRotate( object->bankAngle_phi, osg::Vec3d(0.0, 1.0, 0.0) ); |
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| 314 | matrix.preMult(rotationMatrix); |
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| 315 | |
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| 316 | // Also update camera matrix (without geometry offset, because camera is interested in the objects matrix, not in the model's matrix.) |
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| 317 | object->cameraMatrix = matrix; |
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| 318 | /** \todo : Clean up camera matrix management: try to solve it with a single matrix. (each frame two matrix mults less) */ |
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| 319 | // dont know, why this rotation is necessary - maybe manipulator and node MatrixTransform interpret a matrix in different way? |
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| 320 | object->cameraMatrix.preMult( object->cameraTranslationOffset ); |
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| 321 | object->cameraMatrix.preMult( object->cameraRotationOffset ); |
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| 322 | |
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| 323 | |
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| 324 | // Set geometry correction |
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| 325 | matrix.preMultRotate( object->geometry_offset_rotation ); |
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| 326 | |
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[36] | 327 | // Set cumulated object matrix as the matrix of this matrix transform |
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[31] | 328 | mt->setMatrix(matrix); |
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| 329 | } |
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| 330 | } |
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| 331 | } |
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| 332 | |
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| 333 | // Call any nested callbacks. |
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| 334 | traverse(node,nv); |
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| 335 | |
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| 336 | // If SLAVE: execute postUpdater to pass new data of this object to dataIO. |
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| 337 | if( visual_dataIO::getInstance()->isSlave() ) |
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| 338 | { |
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| 339 | if ( object->updater.valid() ) |
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| 340 | object->updater->postUpdate(object); |
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| 341 | } |
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| 342 | |
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| 343 | } // Callbackfunction [ Operater() ] END |
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| 344 | |
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| 345 | void visual_object::setCameraOffsetTranslation( double x_, double y_, double z_) |
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| 346 | { |
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| 347 | cameraTranslationOffset.makeTranslate( osg::Vec3d(x_, y_, z_) ); // Trans: (rechts davon, longitudinal, vertikal) |
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| 348 | } |
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| 349 | |
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| 350 | void visual_object::setCameraOffset(double x_, double y_, double z_, double rotX_, double rotY_, double rotZ_) |
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| 351 | { |
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| 352 | setCameraOffsetTranslation( x_, y_, z_); |
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| 353 | setCameraOffsetRotation( rotX_, rotY_, rotZ_); |
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| 354 | } |
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| 355 | |
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| 356 | void visual_object::setCameraOffsetRotation(double rotX_, double rotY_, double rotZ_) |
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| 357 | { |
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| 358 | osg::Matrix tmp; |
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| 359 | cameraRotationOffset.makeRotate( osg::DegreesToRadians( 90.0 ), osg::Vec3(1, 0, 0) ); |
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| 360 | tmp.makeRotate( -rotZ_, osg::Vec3d(0.0, 1.0, 0.0) ); |
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| 361 | cameraRotationOffset.preMult(tmp); |
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| 362 | tmp.makeRotate( rotY_, osg::Vec3d(1.0, 0.0, 0.0) ); |
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| 363 | cameraRotationOffset.preMult(tmp); |
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| 364 | tmp.makeRotate( -rotX_, osg::Vec3d(0.0, 0.0, 1.0) ); |
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| 365 | cameraRotationOffset.preMult(tmp); |
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| 366 | } |
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| 367 | |
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| 368 | void visual_object::clearLabels() |
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| 369 | { |
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| 370 | labels->removeDrawables(0, labels->getNumDrawables()); |
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| 371 | } |
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| 372 | |
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| 373 | void visual_object::addLabel(std::string idString_, std::string label_, osg::Vec4 color_, osg::Vec3 offset_) |
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| 374 | { |
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| 375 | osg::ref_ptr<osgText::Text> text = new osgText::Text(); |
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| 376 | |
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| 377 | text->setName(idString_); |
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| 378 | text->setText(label_); |
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| 379 | text->setColor(color_); |
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| 380 | text->setFont("fonts/arial.ttf"); |
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| 381 | text->setCharacterSizeMode(osgText::Text::OBJECT_COORDS_WITH_MAXIMUM_SCREEN_SIZE_CAPPED_BY_FONT_HEIGHT); |
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| 382 | text->setAutoRotateToScreen(true); |
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| 383 | text->setPosition(offset_); |
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| 384 | |
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| 385 | text->getOrCreateStateSet()->setMode(GL_DEPTH_TEST,osg::StateAttribute::OFF); |
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| 386 | labels->addDrawable( text ); |
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| 387 | } |
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| 388 | |
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| 389 | bool visual_object::removeLabel(std::string idString_) |
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| 390 | { |
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| 391 | osg::Node* labelToRemove = util::findNamedNode(idString_, this); |
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| 392 | |
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| 393 | if(labelToRemove) |
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| 394 | { |
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| 395 | removeChild( labelToRemove ); |
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| 396 | return true; |
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| 397 | } |
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| 398 | else |
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| 399 | return false; |
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| 400 | } |
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| 401 | |
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| 402 | bool visual_object::updateLabelText(std::string idString_, std::string label_) |
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| 403 | { |
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| 404 | osg::Node* labelToUpdate = util::findNamedNode(idString_, this); |
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| 405 | |
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| 406 | if(labelToUpdate) |
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| 407 | { |
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| 408 | osgText::Text* text = dynamic_cast<osgText::Text*>(labelToUpdate); |
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| 409 | if(text) |
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| 410 | { |
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| 411 | text->setText(label_); |
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| 412 | return true; |
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| 413 | } |
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| 414 | return false; |
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| 415 | } |
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| 416 | return false; |
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| 417 | } |
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| 418 | |
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| 419 | osgText::Text* visual_object::getLabel(std::string idString_) |
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| 420 | { |
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| 421 | osg::Node* labelToFind = util::findNamedNode(idString_, this); |
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| 422 | |
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| 423 | if(labelToFind) |
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| 424 | { |
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| 425 | osgText::Text* text = dynamic_cast<osgText::Text*>(labelToFind); |
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| 426 | if(text) |
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| 427 | return text; |
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| 428 | } |
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| 429 | return NULL; |
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| 430 | |
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| 431 | } |
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| 432 | |
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| 433 | bool visual_object::setDrawLabelAsOverlay(std::string idString_, bool drawAsOverlay) |
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| 434 | { |
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| 435 | osg::Node* labelToFind = util::findNamedNode(idString_, this); |
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| 436 | |
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| 437 | if(labelToFind) |
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| 438 | { |
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| 439 | if (drawAsOverlay) |
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| 440 | labelToFind->getOrCreateStateSet()->setMode(GL_DEPTH_TEST,osg::StateAttribute::OFF); |
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| 441 | else |
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| 442 | labelToFind->getOrCreateStateSet()->setMode(GL_DEPTH_TEST,osg::StateAttribute::ON); |
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| 443 | return true; |
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| 444 | } |
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| 445 | else |
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| 446 | return false; |
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| 447 | } |
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| 448 | |
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| 449 | bool visual_object::getDrawLabelAsOverlay(std::string idString_) |
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| 450 | { |
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| 451 | osg::Node* labelToFind = util::findNamedNode(idString_, this); |
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| 452 | |
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| 453 | if(labelToFind) |
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| 454 | { |
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| 455 | if(labelToFind->getOrCreateStateSet()->getMode(GL_DEPTH_TEST) == osg::StateAttribute::OFF) |
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| 456 | return false; |
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| 457 | else |
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| 458 | return true; |
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| 459 | } |
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| 460 | return false; |
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| 461 | } |
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