source: flair-src/trunk/lib/FlairSimulator/src/Model_impl.cpp@ 186

Last change on this file since 186 was 186, checked in by Sanahuja Guillaume, 7 years ago

maj imu
File size: 9.9 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 "Simulator_impl.h"
21#include "TabWidget.h"
22#include "Tab.h"
23#include "DoubleSpinBox.h"
24#include "Vector3DSpinBox.h"
25#include "SpinBox.h"
26#include "CheckBox.h"
27#include "cvmatrix.h"
28#include "Euler.h"
29#include <math.h>
30
31#ifdef GL
32#include "ConditionVariable.h"
33#include "Gui.h"
34#include "Gui_impl.h"
35#include <ISceneManager.h>
36#include <ISceneNodeAnimatorCollisionResponse.h>
37#include <IMetaTriangleSelector.h>
38#include <IVideoDriver.h>
39#include <ICameraSceneNode.h>
40#include "FollowMeCamera.h"
41
42using namespace irr;
43using namespace video;
44using namespace scene;
45using namespace core;
46using namespace io;
47#endif
48
49using namespace flair::core;
50using namespace flair::gui;
51using namespace flair::simulator;
52
53#ifdef GL
54Model_impl::Model_impl(Model *self, std::string name,uint32_t modelId)
55 : ISceneNode(getGui()->getSceneManager()->getRootSceneNode(), getGui()->getSceneManager(), -1),
56 Thread(self, name, 50), vrpn_Tracker(name.c_str(), getSimulator()->pimpl_)
57
58#else
59Model_impl::Model_impl(Model *self, std::string name,uint32_t modelId)
60 : Thread(self, name, 50), vrpn_Tracker(name.c_str(), getSimulator()->pimpl_)
61#endif
62{
63 this->self = self;
64 this->modelId=modelId;
65
66#ifdef GL
67 // for sync with gui
68 cond = new ConditionVariable(this, name);
69 sync_count = 0;
70
71 // collisions
72 collision_mutex = new Mutex(this);
73 collision_occured = false;
74
75 // selector for collisions
76 selector = getSceneManager()->createTriangleSelectorFromBoundingBox(this);
77 setTriangleSelector(selector);
78 meta_selector = getSceneManager()->createMetaTriangleSelector();
79
80 anim = getSceneManager()->createCollisionResponseAnimator(
81 meta_selector, this, vector3df(1, 1, 1), vector3df(0, 0, 0),
82 vector3df(0, 0, 0));
83 addAnimator(anim);
84
85 // camera
86 camera = new FollowMeCamera(this,name);
87
88 position_init = false;
89#endif
90
91 // init user interface
92 Tab *tab = new Tab(getSimulator()->GetTabWidget(), ObjectName());
93 tabwidget = new TabWidget(tab->NewRow(), "tabs");
94 Tab *sampl = new Tab(tabwidget, "sampling");
95 dT = new DoubleSpinBox(sampl->NewRow(), "Tech (s):", 0.001, 1, 0.001, 3);
96 Tab *layout = new Tab(tabwidget, "optitrack");
97 enable_opti = new CheckBox(layout->NewRow(), "enabled");
98 Tab *init = new Tab(tabwidget, "init");
99 pos_init = new Vector3DSpinBox(init->NewRow(), "position", -50, 50, 1);
100 yaw_init = new SpinBox(init->NewRow(), "yaw (deg):", -180, 180, 10);
101
102 // modele
103 states_mutex = new Mutex(this);
104 self->state[0].Pos = pos_init->Value();
105 self->state[0].Vel.x = 0;
106 self->state[0].Vel.y = 0;
107 self->state[0].Vel.z = 0;
108 self->state[0].Quat = ComputeInitRotation(Quaternion(1, 0, 0, 0));
109 self->state[0].W.x = 0;
110 self->state[0].W.y = 0;
111 self->state[0].W.z = 0;
112
113 self->state[-1] = self->state[0];
114 self->state[-2] = self->state[0];
115
116 cvmatrix_descriptor *desc = new cvmatrix_descriptor(19, 1);
117 desc->SetElementName(0, 0, "q0");
118 desc->SetElementName(1, 0, "q1");
119 desc->SetElementName(2, 0, "q2");
120 desc->SetElementName(3, 0, "q3");
121 desc->SetElementName(4, 0, "x");
122 desc->SetElementName(5, 0, "y");
123 desc->SetElementName(6, 0, "z");
124 desc->SetElementName(7, 0, "wx");
125 desc->SetElementName(8, 0, "wy");
126 desc->SetElementName(9, 0, "wz");
127 desc->SetElementName(10, 0, "vx");
128 desc->SetElementName(11, 0, "vy");
129 desc->SetElementName(12, 0, "vz");
130 desc->SetElementName(13, 0, "ax");
131 desc->SetElementName(14, 0, "ay");
132 desc->SetElementName(15, 0, "az");
133 desc->SetElementName(16, 0, "mx");
134 desc->SetElementName(17, 0, "my");
135 desc->SetElementName(18, 0, "mz");
136 output = new cvmatrix(this, desc, floatType, "state");
137 delete desc;
138
139 self->AddDataToLog(output);
140
141 getSimulator()->pimpl_->models.push_back(self);
142}
143
144Model_impl::~Model_impl() {
145 SafeStop();
146 Join();
147#ifdef GL
148 remove(); // remove ISceneNode
149#endif
150}
151
152Quaternion Model_impl::ComputeInitRotation(Quaternion quat_in) {
153 Quaternion yaw_rot_quat;
154 Euler yaw_rot_euler(0, 0, Euler::ToRadian(yaw_init->Value()));
155 yaw_rot_euler.ToQuaternion(yaw_rot_quat);
156 return yaw_rot_quat * quat_in;
157}
158
159void Model_impl::mainloop(void) {
160 if (enable_opti->Value() == false)
161 return;
162 vrpn_gettimeofday(&_timestamp, NULL);
163 vrpn_Tracker::timestamp = _timestamp;
164
165 // change to vrpn reference
166 states_mutex->GetMutex();
167 Quaternion quat = getSimulator()->ToVRPNReference(self->state[0].Quat);
168 Vector3D<double> position = getSimulator()->ToVRPNReference(self->state[0].Pos);
169 states_mutex->ReleaseMutex();
170
171 pos[0] = position.x;
172 pos[1] = position.y;
173 pos[2] = position.z;
174 // warning: d_quat is defined as (qx,qy,qz,qw), which is different from
175 // flair::core::Quaternion
176 d_quat[0] = quat.q1;
177 d_quat[1] = quat.q2;
178 d_quat[2] = quat.q3;
179 d_quat[3] = quat.q0;
180
181 char msgbuf[1000];
182
183 d_sensor = 0;
184
185 int len = vrpn_Tracker::encode_to(msgbuf);
186
187 if (d_connection->pack_message(len, _timestamp, position_m_id, d_sender_id,
188 msgbuf, vrpn_CONNECTION_LOW_LATENCY)) {
189 fprintf(stderr, "can't write message: tossing\n");
190 }
191
192 server_mainloop();
193}
194
195#ifdef GL
196ITriangleSelector *Model_impl::TriangleSelector(void) { return selector; }
197
198IMetaTriangleSelector *Model_impl::MetaTriangleSelector(void) {
199 return meta_selector;
200}
201
202void Model_impl::UpdatePos(void) {
203 vector3df nodePosition;
204 Quaternion nodeOrientation;
205 Euler euler;
206
207 states_mutex->GetMutex();
208//self->state[0].Pos.x=0;
209//self->state[0].Pos.y=0;
210 nodePosition = ToIrrlichtCoordinates(self->state[0].Pos);
211 nodeOrientation = ToIrrlichtOrientation(self->state[0].Quat);
212 states_mutex->ReleaseMutex();
213
214 setPosition(nodePosition);
215
216 nodeOrientation.ToEuler(euler);
217 ISceneNode::setRotation(Euler::ToDegree(1) * vector3df(euler.roll,euler.pitch, euler.yaw));
218
219 if (position_init == false) {
220 anim->setTargetNode(this); // a faire pour se teleporter sans les collisions
221 position_init = true;
222 }
223
224 self->AnimateModel();
225}
226
227void Model_impl::CheckCollision(void) {
228 // TODO: setEllipsoidRadius should be called in Model::setScale
229 // but we need to call recalculateBoundingBox
230 anim->setEllipsoidRadius(getTransformedBoundingBox().getExtent());
231
232 if (anim->collisionOccurred() == true) {
233 vector3df pos;
234 vector3df pos_rel;
235 vector3df nodePosition;
236 pos = anim->getCollisionPoint();
237 nodePosition = getPosition();
238 pos_rel = pos - nodePosition;
239 // printf("collision %f %f %f\n",pos.X,pos.Y,pos.Z);
240 // printf("drone %f %f %f\n",nodePosition.X,nodePosition.Y,nodePosition.Z);
241 // printf("rel %f %f %f\n",pos_rel.X,pos_rel.Z,pos_rel.Y);
242
243 collision_mutex->GetMutex();
244 collision_occured = true;
245 collision_point = ToSimulatorCoordinates(nodePosition);
246 collision_mutex->ReleaseMutex();
247 }
248}
249
250void Model_impl::CollisionHandler(void) {
251 collision_mutex->GetMutex();
252 if (collision_occured == true) {
253 collision_occured = false;
254 states_mutex->GetMutex();
255 self->state[0].Pos = collision_point;
256 self->state[-1].Pos = self->state[0].Pos;
257 self->state[-2].Pos = self->state[0].Pos;
258 states_mutex->ReleaseMutex();
259 }
260 collision_mutex->ReleaseMutex();
261}
262
263void Model_impl::OnRegisterSceneNode(void) {
264 if (IsVisible)
265 SceneManager->registerNodeForRendering(this);
266
267 ISceneNode::OnRegisterSceneNode();
268}
269
270void Model_impl::render(void) {
271 IVideoDriver *driver = SceneManager->getVideoDriver();
272 driver->setTransform(ETS_WORLD, AbsoluteTransformation);
273}
274
275// le premier arrive attend l'autre
276void Model_impl::SynchronizationPoint() {
277 cond->GetMutex();
278 sync_count++;
279
280 if (sync_count < 2) {
281 cond->CondWait();
282 } else {
283 cond->CondSignal();
284 }
285
286 cond->ReleaseMutex();
287}
288#endif // GL
289
290void Model_impl::Run(void) {
291 // Ask Xenomai to warn us upon switches to secondary mode.
292 WarnUponSwitches(true);
293
294#ifdef GL
295 // synchronize with gui
296 SynchronizationPoint();
297#endif
298
299 SetPeriodMS(dT->Value() * 1000.);
300
301 while (!ToBeStopped()) {
302 if (dT->ValueChanged())
303 SetPeriodMS(dT->Value() * 1000.);
304 WaitPeriod();
305
306#ifdef GL
307 CollisionHandler();
308#endif
309 states_mutex->GetMutex();
310 self->CalcModel();
311
312 output->GetMutex();
313 output->SetValueNoMutex(0, 0, self->state[0].Quat.q0);
314 output->SetValueNoMutex(1, 0, self->state[0].Quat.q1);
315 output->SetValueNoMutex(2, 0, self->state[0].Quat.q2);
316 output->SetValueNoMutex(3, 0, self->state[0].Quat.q3);
317 output->SetValueNoMutex(4, 0, self->state[0].Pos.x);
318 output->SetValueNoMutex(5, 0, self->state[0].Pos.y);
319 output->SetValueNoMutex(6, 0, self->state[0].Pos.z);
320 output->SetValueNoMutex(7, 0, self->state[0].W.x);
321 output->SetValueNoMutex(8, 0, self->state[0].W.y);
322 output->SetValueNoMutex(9, 0, self->state[0].W.z);
323 output->SetValueNoMutex(10, 0, self->state[0].Vel.x);
324 output->SetValueNoMutex(11, 0, self->state[0].Vel.y);
325 output->SetValueNoMutex(12, 0, self->state[0].Vel.z);
326 //todo: put acc and mag
327 output->SetValueNoMutex(13, 0, 0);
328 output->SetValueNoMutex(14, 0, 0);
329 output->SetValueNoMutex(15, 0, 0);
330 output->SetValueNoMutex(16, 0, 0);
331 output->SetValueNoMutex(17, 0, 0);
332 output->SetValueNoMutex(18, 0, 0);
333 output->ReleaseMutex();
334 output->SetDataTime(GetTime());
335
336 self->state.Update();
337
338 if (pos_init->ValueChanged() || yaw_init->ValueChanged()) {
339 self->state[-1].Quat = ComputeInitRotation(Quaternion(1, 0, 0, 0));
340 self->state[-2].Quat = ComputeInitRotation(Quaternion(1, 0, 0, 0));
341 self->state[-1].Pos = pos_init->Value();
342 self->state[-2].Pos = self->state[-1].Pos;
343#ifdef GL
344 position_init = false;
345#endif
346 }
347
348 states_mutex->ReleaseMutex();
349
350 self->ProcessUpdate(output);
351 }
352
353 WarnUponSwitches(false);
354}
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