[10] | 1 | // %flair:license{
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[15] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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[10] | 4 | // %flair:license}
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[8] | 5 | // created: 2013/03/25
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| 6 | // filename: Model_impl.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: classe definissant un modele a simuler
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| 14 | //
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| 15 | /*********************************************************************/
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| 16 |
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| 17 | #include "Model.h"
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| 18 | #include "Model_impl.h"
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| 19 | #include "Simulator.h"
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| 20 | #include "TabWidget.h"
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| 21 | #include "Tab.h"
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| 22 | #include "DoubleSpinBox.h"
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| 23 | #include "Vector3DSpinBox.h"
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| 24 | #include "SpinBox.h"
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| 25 | #include "CheckBox.h"
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| 26 | #include "cvmatrix.h"
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| 27 | #include "Euler.h"
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| 28 | #include <math.h>
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| 29 |
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| 30 | #ifdef GL
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| 31 | #include "ConditionVariable.h"
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| 32 | #include "Gui.h"
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| 33 | #include "Gui_impl.h"
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| 34 | #include <ISceneManager.h>
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| 35 | #include <ISceneNodeAnimatorCollisionResponse.h>
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| 36 | #include <IMetaTriangleSelector.h>
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| 37 | #include <IVideoDriver.h>
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| 38 | #include <ICameraSceneNode.h>
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| 39 | #include "AnimPoursuite.h"
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| 40 | using namespace irr;
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| 41 | using namespace video;
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| 42 | using namespace scene;
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| 43 | using namespace core;
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| 44 | using namespace io;
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| 45 | #endif
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| 46 |
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| 47 | using namespace flair::core;
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| 48 | using namespace flair::gui;
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| 49 | using namespace flair::simulator;
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| 50 |
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[15] | 51 | #ifdef GL
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| 52 | Model_impl::Model_impl(Model *self, std::string name,
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| 53 | ISceneManager *scenemanager, vrpn_Connection_IP *vrpn)
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| 54 | : ISceneNode(scenemanager->getRootSceneNode(), scenemanager, -1),
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| 55 | Thread(self, name, 50), vrpn_Tracker(name.c_str(), vrpn)
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[8] | 56 |
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| 57 | #else
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[15] | 58 | Model_impl::Model_impl(Model *self, std::string name, vrpn_Connection_IP *vrpn)
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| 59 | : Thread(self, name, 50), vrpn_Tracker(name.c_str(), vrpn)
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| 60 | #endif
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[8] | 61 | {
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[15] | 62 | this->self = self;
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[8] | 63 |
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| 64 | #ifdef GL
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[15] | 65 | // for sync with gui
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| 66 | cond = new ConditionVariable(this, name);
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| 67 | sync_count = 0;
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[8] | 68 |
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[15] | 69 | // collisions
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| 70 | collision_mutex = new Mutex(this);
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| 71 | collision_occured = false;
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[8] | 72 |
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[15] | 73 | // selector for collisions
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| 74 | selector = getSceneManager()->createTriangleSelectorFromBoundingBox(this);
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| 75 | setTriangleSelector(selector);
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| 76 | meta_selector = getSceneManager()->createMetaTriangleSelector();
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[8] | 77 |
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[15] | 78 | anim = getSceneManager()->createCollisionResponseAnimator(
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| 79 | meta_selector, this, vector3df(1, 1, 1), vector3df(0, 0, 0),
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| 80 | vector3df(0, 0, 0));
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| 81 | addAnimator(anim);
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[8] | 82 |
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[15] | 83 | // camera
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| 84 | camera = getSceneManager()->addCameraSceneNode();
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| 85 | camera->setAspectRatio(
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| 86 | getGui()->getAspectRatio()); // on force a cause du view port
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| 87 | camera->setUpVector(vector3df(0, 0, 1));
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[8] | 88 |
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[15] | 89 | animator = new AnimPoursuite(this);
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| 90 | camera->addAnimator(animator);
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| 91 | camera->setFarValue(8000);
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[8] | 92 |
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[15] | 93 | position_init = false;
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[8] | 94 | #endif
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| 95 |
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[15] | 96 | // init user interface
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| 97 | Tab *tab = new Tab(getSimulator()->GetTabWidget(), ObjectName());
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| 98 | tabwidget = new TabWidget(tab->NewRow(), "tabs");
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| 99 | Tab *sampl = new Tab(tabwidget, "sampling");
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| 100 | dT = new DoubleSpinBox(sampl->NewRow(), "Tech (s):", 0.001, 1, 0.001, 3);
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| 101 | Tab *layout = new Tab(tabwidget, "optitrack");
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| 102 | enable_opti = new CheckBox(layout->NewRow(), "enabled");
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| 103 | Tab *init = new Tab(tabwidget, "init");
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| 104 | pos_init = new Vector3DSpinBox(init->NewRow(), "position", -50, 50, 1);
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| 105 | yaw_init = new SpinBox(init->NewRow(), "yaw (deg):", -180, 180, 10);
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[8] | 106 |
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[15] | 107 | // modele
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| 108 | states_mutex = new Mutex(this);
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| 109 | self->state[0].Pos = pos_init->Value();
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| 110 | self->state[0].Vel.x = 0;
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| 111 | self->state[0].Vel.y = 0;
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| 112 | self->state[0].Vel.z = 0;
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| 113 | self->state[0].Quat = ComputeInitRotation(Quaternion(1, 0, 0, 0));
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| 114 | self->state[0].W.x = 0;
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| 115 | self->state[0].W.y = 0;
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| 116 | self->state[0].W.z = 0;
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[8] | 117 |
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[15] | 118 | self->state[-1] = self->state[0];
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| 119 | self->state[-2] = self->state[0];
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[8] | 120 |
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[15] | 121 | cvmatrix_descriptor *desc = new cvmatrix_descriptor(13, 1);
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| 122 | desc->SetElementName(0, 0, "q0");
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| 123 | desc->SetElementName(1, 0, "q1");
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| 124 | desc->SetElementName(2, 0, "q2");
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| 125 | desc->SetElementName(3, 0, "q3");
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| 126 | desc->SetElementName(4, 0, "x");
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| 127 | desc->SetElementName(5, 0, "y");
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| 128 | desc->SetElementName(6, 0, "z");
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| 129 | desc->SetElementName(7, 0, "wx");
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| 130 | desc->SetElementName(8, 0, "wy");
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| 131 | desc->SetElementName(9, 0, "wz");
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| 132 | desc->SetElementName(10, 0, "vx");
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| 133 | desc->SetElementName(11, 0, "vy");
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| 134 | desc->SetElementName(12, 0, "vz");
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| 135 | output = new cvmatrix(this, desc, floatType, "state");
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[8] | 136 |
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[15] | 137 | self->AddDataToLog(output);
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[8] | 138 | }
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| 139 |
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[15] | 140 | Model_impl::~Model_impl() {
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| 141 | SafeStop();
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| 142 | Join();
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[8] | 143 | #ifdef GL
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[15] | 144 | remove(); // remove ISceneNode
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[8] | 145 | #endif
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| 146 | }
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| 147 |
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| 148 | Quaternion Model_impl::ComputeInitRotation(Quaternion quat_in) {
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[15] | 149 | Quaternion yaw_rot_quat;
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| 150 | Euler yaw_rot_euler(0, 0, Euler::ToRadian(yaw_init->Value()));
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| 151 | yaw_rot_euler.ToQuaternion(yaw_rot_quat);
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| 152 | return yaw_rot_quat * quat_in;
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[8] | 153 | }
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| 154 |
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[15] | 155 | void Model_impl::mainloop(void) {
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| 156 | if (enable_opti->Value() == false)
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| 157 | return;
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| 158 | vrpn_gettimeofday(&_timestamp, NULL);
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| 159 | vrpn_Tracker::timestamp = _timestamp;
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[8] | 160 |
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[15] | 161 | // change to vrpn reference
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| 162 | states_mutex->GetMutex();
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| 163 | Quaternion quat = getSimulator()->ToVRPNReference(self->state[0].Quat);
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| 164 | Vector3D position = getSimulator()->ToVRPNReference(self->state[0].Pos);
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| 165 | states_mutex->ReleaseMutex();
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[8] | 166 |
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[15] | 167 | pos[0] = position.x;
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| 168 | pos[1] = position.y;
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| 169 | pos[2] = position.z;
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| 170 | // warning: d_quat is defined as (qx,qy,qz,qw), which is different from
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| 171 | // flair::core::Quaternion
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| 172 | d_quat[0] = quat.q1;
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| 173 | d_quat[1] = quat.q2;
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| 174 | d_quat[2] = quat.q3;
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| 175 | d_quat[3] = quat.q0;
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[8] | 176 |
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[15] | 177 | char msgbuf[1000];
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[8] | 178 |
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[15] | 179 | d_sensor = 0;
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[8] | 180 |
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[15] | 181 | int len = vrpn_Tracker::encode_to(msgbuf);
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[8] | 182 |
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[15] | 183 | if (d_connection->pack_message(len, _timestamp, position_m_id, d_sender_id,
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| 184 | msgbuf, vrpn_CONNECTION_LOW_LATENCY)) {
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| 185 | fprintf(stderr, "can't write message: tossing\n");
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| 186 | }
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[8] | 187 |
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[15] | 188 | server_mainloop();
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[8] | 189 | }
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| 190 |
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| 191 | #ifdef GL
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[15] | 192 | ITriangleSelector *Model_impl::TriangleSelector(void) { return selector; }
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[8] | 193 |
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[15] | 194 | IMetaTriangleSelector *Model_impl::MetaTriangleSelector(void) {
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| 195 | return meta_selector;
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[8] | 196 | }
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| 197 |
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[15] | 198 | void Model_impl::UpdatePos(void) {
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| 199 | vector3df nodePosition;
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| 200 | Quaternion nodeOrientation;
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| 201 | Euler euler;
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[8] | 202 |
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[15] | 203 | states_mutex->GetMutex();
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| 204 | nodePosition = ToIrrlichtCoordinates(self->state[0].Pos);
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| 205 | nodeOrientation = ToIrrlichtOrientation(self->state[0].Quat);
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| 206 | states_mutex->ReleaseMutex();
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[8] | 207 |
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[15] | 208 | setPosition(nodePosition);
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[8] | 209 |
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[15] | 210 | nodeOrientation.ToEuler(euler);
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| 211 | ISceneNode::setRotation(Euler::ToDegree(1) *
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| 212 | vector3df(euler.roll, euler.pitch, euler.yaw));
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[8] | 213 |
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[15] | 214 | if (position_init == false) {
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| 215 | anim->setTargetNode(this); // a faire pour se teleporter sans les collisions
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| 216 | position_init = true;
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| 217 | }
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[8] | 218 |
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[15] | 219 | self->AnimateModel();
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[8] | 220 | }
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| 221 |
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[15] | 222 | void Model_impl::CheckCollision(void) {
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| 223 | // TODO: setEllipsoidRadius should be called in Model::setScale
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| 224 | // but we need to call recalculateBoundingBox
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| 225 | anim->setEllipsoidRadius(getTransformedBoundingBox().getExtent());
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[8] | 226 |
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[15] | 227 | if (anim->collisionOccurred() == true) {
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| 228 | vector3df pos;
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| 229 | vector3df pos_rel;
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| 230 | vector3df nodePosition;
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| 231 | pos = anim->getCollisionPoint();
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| 232 | nodePosition = getPosition();
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| 233 | pos_rel = pos - nodePosition;
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| 234 | // printf("collision %f %f %f\n",pos.X,pos.Y,pos.Z);
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| 235 | // printf("drone %f %f %f\n",nodePosition.X,nodePosition.Y,nodePosition.Z);
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| 236 | // printf("rel %f %f %f\n",pos_rel.X,pos_rel.Z,pos_rel.Y);
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[8] | 237 |
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| 238 | collision_mutex->GetMutex();
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[15] | 239 | collision_occured = true;
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| 240 | collision_point = ToSimulatorCoordinates(nodePosition);
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[8] | 241 | collision_mutex->ReleaseMutex();
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[15] | 242 | }
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[8] | 243 | }
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[15] | 244 |
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| 245 | void Model_impl::CollisionHandler(void) {
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| 246 | collision_mutex->GetMutex();
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| 247 | if (collision_occured == true) {
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| 248 | collision_occured = false;
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| 249 | states_mutex->GetMutex();
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| 250 | self->state[0].Pos = collision_point;
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| 251 | self->state[-1].Pos = self->state[0].Pos;
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| 252 | self->state[-2].Pos = self->state[0].Pos;
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| 253 | states_mutex->ReleaseMutex();
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| 254 | }
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| 255 | collision_mutex->ReleaseMutex();
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[8] | 256 | }
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| 257 |
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[15] | 258 | void Model_impl::OnRegisterSceneNode(void) {
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| 259 | if (IsVisible)
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| 260 | SceneManager->registerNodeForRendering(this);
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[8] | 261 |
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[15] | 262 | ISceneNode::OnRegisterSceneNode();
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| 263 | }
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[8] | 264 |
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[15] | 265 | void Model_impl::render(void) {
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| 266 | IVideoDriver *driver = SceneManager->getVideoDriver();
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| 267 | driver->setTransform(ETS_WORLD, AbsoluteTransformation);
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[8] | 268 | }
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| 269 |
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[15] | 270 | // le premier arrive attend l'autre
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| 271 | void Model_impl::SynchronizationPoint() {
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| 272 | cond->GetMutex();
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| 273 | sync_count++;
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[8] | 274 |
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[15] | 275 | if (sync_count < 2) {
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| 276 | cond->CondWait();
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| 277 | } else {
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| 278 | cond->CondSignal();
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| 279 | }
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| 280 |
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| 281 | cond->ReleaseMutex();
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| 282 | }
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| 283 | #endif // GL
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| 284 |
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| 285 | void Model_impl::Run(void) {
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| 286 | // Ask Xenomai to warn us upon switches to secondary mode.
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| 287 | WarnUponSwitches(true);
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| 288 |
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[8] | 289 | #ifdef GL
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[15] | 290 | // synchronize with gui
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| 291 | SynchronizationPoint();
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[8] | 292 | #endif
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| 293 |
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[15] | 294 | SetPeriodMS(dT->Value() * 1000.);
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[8] | 295 |
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[15] | 296 | while (!ToBeStopped()) {
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| 297 | if (dT->ValueChanged())
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| 298 | SetPeriodMS(dT->Value() * 1000.);
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| 299 | WaitPeriod();
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[8] | 300 |
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| 301 | #ifdef GL
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[15] | 302 | CollisionHandler();
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[8] | 303 | #endif
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[15] | 304 | states_mutex->GetMutex();
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| 305 | self->CalcModel();
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[8] | 306 |
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[15] | 307 | output->GetMutex();
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| 308 | output->SetValueNoMutex(0, 0, self->state[0].Quat.q0);
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| 309 | output->SetValueNoMutex(1, 0, self->state[0].Quat.q1);
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| 310 | output->SetValueNoMutex(2, 0, self->state[0].Quat.q2);
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| 311 | output->SetValueNoMutex(3, 0, self->state[0].Quat.q3);
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| 312 | output->SetValueNoMutex(4, 0, self->state[0].Pos.x);
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| 313 | output->SetValueNoMutex(5, 0, self->state[0].Pos.y);
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| 314 | output->SetValueNoMutex(6, 0, self->state[0].Pos.z);
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| 315 | output->SetValueNoMutex(7, 0, self->state[0].W.x);
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| 316 | output->SetValueNoMutex(8, 0, self->state[0].W.y);
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| 317 | output->SetValueNoMutex(9, 0, self->state[0].W.z);
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| 318 | output->SetValueNoMutex(10, 0, self->state[0].Vel.x);
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| 319 | output->SetValueNoMutex(11, 0, self->state[0].Vel.y);
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| 320 | output->SetValueNoMutex(12, 0, self->state[0].Vel.z);
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| 321 | output->ReleaseMutex();
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| 322 | output->SetDataTime(GetTime());
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[8] | 323 |
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[15] | 324 | self->state.Update();
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[8] | 325 |
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[15] | 326 | if (pos_init->ValueChanged() || yaw_init->ValueChanged()) {
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| 327 | self->state[-1].Quat = ComputeInitRotation(Quaternion(1, 0, 0, 0));
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| 328 | self->state[-2].Quat = ComputeInitRotation(Quaternion(1, 0, 0, 0));
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| 329 | self->state[-1].Pos = pos_init->Value();
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| 330 | self->state[-2].Pos = self->state[-1].Pos;
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[8] | 331 | #ifdef GL
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[15] | 332 | position_init = false;
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[8] | 333 | #endif
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[15] | 334 | }
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[8] | 335 |
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[15] | 336 | states_mutex->ReleaseMutex();
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[8] | 337 |
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[15] | 338 | self->ProcessUpdate(output);
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| 339 | }
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[8] | 340 |
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[15] | 341 | WarnUponSwitches(false);
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[8] | 342 | }
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