source: flair-src/trunk/lib/FlairSimulator/src/Model_impl.cpp@ 103

Last change on this file since 103 was 70, checked in by Sanahuja Guillaume, 8 years ago

simu cameras
File size: 9.3 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2013/03/25
6// filename: Model_impl.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: classe definissant un modele a simuler
14//
15/*********************************************************************/
16
17#include "Model.h"
18#include "Model_impl.h"
19#include "Simulator.h"
20#include "TabWidget.h"
21#include "Tab.h"
22#include "DoubleSpinBox.h"
23#include "Vector3DSpinBox.h"
24#include "SpinBox.h"
25#include "CheckBox.h"
26#include "cvmatrix.h"
27#include "Euler.h"
28#include <math.h>
29
30#ifdef GL
31#include "ConditionVariable.h"
32#include "Gui.h"
33#include "Gui_impl.h"
34#include <ISceneManager.h>
35#include <ISceneNodeAnimatorCollisionResponse.h>
36#include <IMetaTriangleSelector.h>
37#include <IVideoDriver.h>
38#include <ICameraSceneNode.h>
39#include "FollowMeCamera.h"
40
41using namespace irr;
42using namespace video;
43using namespace scene;
44using namespace core;
45using namespace io;
46#endif
47
48using namespace flair::core;
49using namespace flair::gui;
50using namespace flair::simulator;
51
52#ifdef GL
53Model_impl::Model_impl(Model *self, std::string name,
54 ISceneManager *scenemanager, vrpn_Connection_IP *vrpn)
55 : ISceneNode(scenemanager->getRootSceneNode(), scenemanager, -1),
56 Thread(self, name, 50), vrpn_Tracker(name.c_str(), vrpn)
57
58#else
59Model_impl::Model_impl(Model *self, std::string name, vrpn_Connection_IP *vrpn)
60 : Thread(self, name, 50), vrpn_Tracker(name.c_str(), vrpn)
61#endif
62{
63 this->self = self;
64
65#ifdef GL
66 // for sync with gui
67 cond = new ConditionVariable(this, name);
68 sync_count = 0;
69
70 // collisions
71 collision_mutex = new Mutex(this);
72 collision_occured = false;
73
74 // selector for collisions
75 selector = getSceneManager()->createTriangleSelectorFromBoundingBox(this);
76 setTriangleSelector(selector);
77 meta_selector = getSceneManager()->createMetaTriangleSelector();
78
79 anim = getSceneManager()->createCollisionResponseAnimator(
80 meta_selector, this, vector3df(1, 1, 1), vector3df(0, 0, 0),
81 vector3df(0, 0, 0));
82 addAnimator(anim);
83
84 // camera
85 camera = new FollowMeCamera(this,name);
86
87 position_init = false;
88#endif
89
90 // init user interface
91 Tab *tab = new Tab(getSimulator()->GetTabWidget(), ObjectName());
92 tabwidget = new TabWidget(tab->NewRow(), "tabs");
93 Tab *sampl = new Tab(tabwidget, "sampling");
94 dT = new DoubleSpinBox(sampl->NewRow(), "Tech (s):", 0.001, 1, 0.001, 3);
95 Tab *layout = new Tab(tabwidget, "optitrack");
96 enable_opti = new CheckBox(layout->NewRow(), "enabled");
97 Tab *init = new Tab(tabwidget, "init");
98 pos_init = new Vector3DSpinBox(init->NewRow(), "position", -50, 50, 1);
99 yaw_init = new SpinBox(init->NewRow(), "yaw (deg):", -180, 180, 10);
100
101 // modele
102 states_mutex = new Mutex(this);
103 self->state[0].Pos = pos_init->Value();
104 self->state[0].Vel.x = 0;
105 self->state[0].Vel.y = 0;
106 self->state[0].Vel.z = 0;
107 self->state[0].Quat = ComputeInitRotation(Quaternion(1, 0, 0, 0));
108 self->state[0].W.x = 0;
109 self->state[0].W.y = 0;
110 self->state[0].W.z = 0;
111
112 self->state[-1] = self->state[0];
113 self->state[-2] = self->state[0];
114
115 cvmatrix_descriptor *desc = new cvmatrix_descriptor(13, 1);
116 desc->SetElementName(0, 0, "q0");
117 desc->SetElementName(1, 0, "q1");
118 desc->SetElementName(2, 0, "q2");
119 desc->SetElementName(3, 0, "q3");
120 desc->SetElementName(4, 0, "x");
121 desc->SetElementName(5, 0, "y");
122 desc->SetElementName(6, 0, "z");
123 desc->SetElementName(7, 0, "wx");
124 desc->SetElementName(8, 0, "wy");
125 desc->SetElementName(9, 0, "wz");
126 desc->SetElementName(10, 0, "vx");
127 desc->SetElementName(11, 0, "vy");
128 desc->SetElementName(12, 0, "vz");
129 output = new cvmatrix(this, desc, floatType, "state");
130
131 self->AddDataToLog(output);
132}
133
134Model_impl::~Model_impl() {
135 SafeStop();
136 Join();
137#ifdef GL
138 remove(); // remove ISceneNode
139#endif
140}
141
142Quaternion Model_impl::ComputeInitRotation(Quaternion quat_in) {
143 Quaternion yaw_rot_quat;
144 Euler yaw_rot_euler(0, 0, Euler::ToRadian(yaw_init->Value()));
145 yaw_rot_euler.ToQuaternion(yaw_rot_quat);
146 return yaw_rot_quat * quat_in;
147}
148
149void Model_impl::mainloop(void) {
150 if (enable_opti->Value() == false)
151 return;
152 vrpn_gettimeofday(&_timestamp, NULL);
153 vrpn_Tracker::timestamp = _timestamp;
154
155 // change to vrpn reference
156 states_mutex->GetMutex();
157 Quaternion quat = getSimulator()->ToVRPNReference(self->state[0].Quat);
158 Vector3D position = getSimulator()->ToVRPNReference(self->state[0].Pos);
159 states_mutex->ReleaseMutex();
160
161 pos[0] = position.x;
162 pos[1] = position.y;
163 pos[2] = position.z;
164 // warning: d_quat is defined as (qx,qy,qz,qw), which is different from
165 // flair::core::Quaternion
166 d_quat[0] = quat.q1;
167 d_quat[1] = quat.q2;
168 d_quat[2] = quat.q3;
169 d_quat[3] = quat.q0;
170
171 char msgbuf[1000];
172
173 d_sensor = 0;
174
175 int len = vrpn_Tracker::encode_to(msgbuf);
176
177 if (d_connection->pack_message(len, _timestamp, position_m_id, d_sender_id,
178 msgbuf, vrpn_CONNECTION_LOW_LATENCY)) {
179 fprintf(stderr, "can't write message: tossing\n");
180 }
181
182 server_mainloop();
183}
184
185#ifdef GL
186ITriangleSelector *Model_impl::TriangleSelector(void) { return selector; }
187
188IMetaTriangleSelector *Model_impl::MetaTriangleSelector(void) {
189 return meta_selector;
190}
191
192void Model_impl::UpdatePos(void) {
193 vector3df nodePosition;
194 Quaternion nodeOrientation;
195 Euler euler;
196
197 states_mutex->GetMutex();
198 nodePosition = ToIrrlichtCoordinates(self->state[0].Pos);
199 nodeOrientation = ToIrrlichtOrientation(self->state[0].Quat);
200 states_mutex->ReleaseMutex();
201
202 setPosition(nodePosition);
203
204 nodeOrientation.ToEuler(euler);
205 ISceneNode::setRotation(Euler::ToDegree(1) *
206 vector3df(euler.roll, euler.pitch, euler.yaw));
207
208 if (position_init == false) {
209 anim->setTargetNode(this); // a faire pour se teleporter sans les collisions
210 position_init = true;
211 }
212
213 self->AnimateModel();
214}
215
216void Model_impl::CheckCollision(void) {
217 // TODO: setEllipsoidRadius should be called in Model::setScale
218 // but we need to call recalculateBoundingBox
219 anim->setEllipsoidRadius(getTransformedBoundingBox().getExtent());
220
221 if (anim->collisionOccurred() == true) {
222 vector3df pos;
223 vector3df pos_rel;
224 vector3df nodePosition;
225 pos = anim->getCollisionPoint();
226 nodePosition = getPosition();
227 pos_rel = pos - nodePosition;
228 // printf("collision %f %f %f\n",pos.X,pos.Y,pos.Z);
229 // printf("drone %f %f %f\n",nodePosition.X,nodePosition.Y,nodePosition.Z);
230 // printf("rel %f %f %f\n",pos_rel.X,pos_rel.Z,pos_rel.Y);
231
232 collision_mutex->GetMutex();
233 collision_occured = true;
234 collision_point = ToSimulatorCoordinates(nodePosition);
235 collision_mutex->ReleaseMutex();
236 }
237}
238
239void Model_impl::CollisionHandler(void) {
240 collision_mutex->GetMutex();
241 if (collision_occured == true) {
242 collision_occured = false;
243 states_mutex->GetMutex();
244 self->state[0].Pos = collision_point;
245 self->state[-1].Pos = self->state[0].Pos;
246 self->state[-2].Pos = self->state[0].Pos;
247 states_mutex->ReleaseMutex();
248 }
249 collision_mutex->ReleaseMutex();
250}
251
252void Model_impl::OnRegisterSceneNode(void) {
253 if (IsVisible)
254 SceneManager->registerNodeForRendering(this);
255
256 ISceneNode::OnRegisterSceneNode();
257}
258
259void Model_impl::render(void) {
260 IVideoDriver *driver = SceneManager->getVideoDriver();
261 driver->setTransform(ETS_WORLD, AbsoluteTransformation);
262}
263
264// le premier arrive attend l'autre
265void Model_impl::SynchronizationPoint() {
266 cond->GetMutex();
267 sync_count++;
268
269 if (sync_count < 2) {
270 cond->CondWait();
271 } else {
272 cond->CondSignal();
273 }
274
275 cond->ReleaseMutex();
276}
277#endif // GL
278
279void Model_impl::Run(void) {
280 // Ask Xenomai to warn us upon switches to secondary mode.
281 WarnUponSwitches(true);
282
283#ifdef GL
284 // synchronize with gui
285 SynchronizationPoint();
286#endif
287
288 SetPeriodMS(dT->Value() * 1000.);
289
290 while (!ToBeStopped()) {
291 if (dT->ValueChanged())
292 SetPeriodMS(dT->Value() * 1000.);
293 WaitPeriod();
294
295#ifdef GL
296 CollisionHandler();
297#endif
298 states_mutex->GetMutex();
299 self->CalcModel();
300
301 output->GetMutex();
302 output->SetValueNoMutex(0, 0, self->state[0].Quat.q0);
303 output->SetValueNoMutex(1, 0, self->state[0].Quat.q1);
304 output->SetValueNoMutex(2, 0, self->state[0].Quat.q2);
305 output->SetValueNoMutex(3, 0, self->state[0].Quat.q3);
306 output->SetValueNoMutex(4, 0, self->state[0].Pos.x);
307 output->SetValueNoMutex(5, 0, self->state[0].Pos.y);
308 output->SetValueNoMutex(6, 0, self->state[0].Pos.z);
309 output->SetValueNoMutex(7, 0, self->state[0].W.x);
310 output->SetValueNoMutex(8, 0, self->state[0].W.y);
311 output->SetValueNoMutex(9, 0, self->state[0].W.z);
312 output->SetValueNoMutex(10, 0, self->state[0].Vel.x);
313 output->SetValueNoMutex(11, 0, self->state[0].Vel.y);
314 output->SetValueNoMutex(12, 0, self->state[0].Vel.z);
315 output->ReleaseMutex();
316 output->SetDataTime(GetTime());
317
318 self->state.Update();
319
320 if (pos_init->ValueChanged() || yaw_init->ValueChanged()) {
321 self->state[-1].Quat = ComputeInitRotation(Quaternion(1, 0, 0, 0));
322 self->state[-2].Quat = ComputeInitRotation(Quaternion(1, 0, 0, 0));
323 self->state[-1].Pos = pos_init->Value();
324 self->state[-2].Pos = self->state[-1].Pos;
325#ifdef GL
326 position_init = false;
327#endif
328 }
329
330 states_mutex->ReleaseMutex();
331
332 self->ProcessUpdate(output);
333 }
334
335 WarnUponSwitches(false);
336}
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