source: flair-src/trunk/lib/FlairSimulator/src/Model_impl.cpp @ 361

Last change on this file since 361 was 361, checked in by Sanahuja Guillaume, 17 months ago

add ball for Julio

File size: 10.0 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 "Matrix.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, 99), 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, 99), 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  MatrixDescriptor *desc = new MatrixDescriptor(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 Matrix(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  struct timeval _timestamp;
161 
162  if (enable_opti->Value() == false)
163    return;
164  vrpn_gettimeofday(&_timestamp, NULL);
165 
166  // change to vrpn reference
167  states_mutex->GetMutex();
168  Quaternion quat = getSimulator()->ToVRPNReference(self->state[0].Quat);
169  Vector3D<double> position = getSimulator()->ToVRPNReference(self->state[0].Pos);
170  states_mutex->ReleaseMutex();
171
172  pos[0] = position.x;
173  pos[1] = position.y;
174  pos[2] = position.z;
175  // warning: d_quat is defined as (qx,qy,qz,qw), which is different from
176  // flair::core::Quaternion
177  d_quat[0] = quat.q1;
178  d_quat[1] = quat.q2;
179  d_quat[2] = quat.q3;
180  d_quat[3] = quat.q0;
181
182  char msgbuf[1000];
183
184  d_sensor = 0;
185
186  int len = vrpn_Tracker::encode_to(msgbuf);
187
188  if (d_connection->pack_message(len, _timestamp, position_m_id, d_sender_id,
189                                 msgbuf, vrpn_CONNECTION_LOW_LATENCY)) {
190    fprintf(stderr, "can't write message: tossing\n");
191  }
192
193  server_mainloop();
194}
195
196#ifdef GL
197ITriangleSelector *Model_impl::TriangleSelector(void) { return selector; }
198
199IMetaTriangleSelector *Model_impl::MetaTriangleSelector(void) {
200  return meta_selector;
201}
202
203void Model_impl::UpdatePos(void) {
204  vector3df nodePosition;
205  Quaternion nodeOrientation;
206  Euler euler;
207
208  states_mutex->GetMutex();
209//self->state[0].Pos.x=0;
210//self->state[0].Pos.y=0;
211  nodePosition = ToIrrlichtCoordinates(self->state[0].Pos);
212  nodeOrientation = ToIrrlichtOrientation(self->state[0].Quat);
213  states_mutex->ReleaseMutex();
214
215  setPosition(nodePosition);
216
217  nodeOrientation.ToEuler(euler);
218  ISceneNode::setRotation(Euler::ToDegree(1) * vector3df(euler.roll,euler.pitch, euler.yaw));
219
220  if (position_init == false) {
221    anim->setTargetNode(this); // a faire pour se teleporter sans les collisions
222    position_init = true;
223  }
224
225  self->AnimateModel();
226}
227
228void Model_impl::CheckCollision(void) {
229  // TODO: setEllipsoidRadius should be called in Model::setScale
230  // but we need to call recalculateBoundingBox
231  anim->setEllipsoidRadius(getTransformedBoundingBox().getExtent());
232
233  if (anim->collisionOccurred() == true) {
234    vector3df pos;
235    vector3df pos_rel;
236    vector3df nodePosition;
237    pos = anim->getCollisionPoint();
238    nodePosition = getPosition();
239    pos_rel = pos - nodePosition;
240    // printf("collision %f %f %f\n",pos.X,pos.Y,pos.Z);
241    // printf("object %f %f %f\n",nodePosition.X,nodePosition.Y,nodePosition.Z);
242    // printf("rel %f %f %f\n",pos_rel.X,pos_rel.Z,pos_rel.Y);
243
244    collision_mutex->GetMutex();
245    collision_occured = true;
246    collision_point = ToSimulatorCoordinates(nodePosition);
247    collision_mutex->ReleaseMutex();
248  }
249}
250
251void Model_impl::CollisionHandler(void) {
252  collision_mutex->GetMutex();
253  if (collision_occured == true) {
254    collision_occured = false;
255    states_mutex->GetMutex();
256    self->state[0].Pos = collision_point;
257    self->state[-1].Pos = self->state[0].Pos;
258    self->state[-2].Pos = self->state[0].Pos;
259    self->state[0].Vel=0;
260    self->state[-1].Vel=0;
261    self->state[-2].Vel=0;
262    states_mutex->ReleaseMutex();
263  }
264  collision_mutex->ReleaseMutex();
265}
266
267void Model_impl::OnRegisterSceneNode(void) {
268  if (IsVisible)
269    SceneManager->registerNodeForRendering(this);
270
271  ISceneNode::OnRegisterSceneNode();
272}
273
274void Model_impl::render(void) {
275  IVideoDriver *driver = SceneManager->getVideoDriver();
276  driver->setTransform(ETS_WORLD, AbsoluteTransformation);
277}
278
279// le premier arrive attend l'autre
280void Model_impl::SynchronizationPoint() {
281  cond->GetMutex();
282  sync_count++;
283
284  if (sync_count < 2) {
285    cond->CondWait();
286  } else {
287    cond->CondSignal();
288  }
289
290  cond->ReleaseMutex();
291}
292#endif // GL
293
294void Model_impl::Run(void) {
295  // Ask Xenomai to warn us upon switches to secondary mode.
296  WarnUponSwitches(true);
297
298#ifdef GL
299  // synchronize with gui
300  SynchronizationPoint();
301#endif
302
303  SetPeriodMS(dT->Value() * 1000.);
304
305  while (!ToBeStopped()) {
306    if (dT->ValueChanged())
307      SetPeriodMS(dT->Value() * 1000.);
308    WaitPeriod();
309
310#ifdef GL
311    CollisionHandler();
312#endif
313    states_mutex->GetMutex();
314    self->CalcModel();
315
316    output->GetMutex();
317    output->SetValueNoMutex(0, 0, self->state[0].Quat.q0);
318    output->SetValueNoMutex(1, 0, self->state[0].Quat.q1);
319    output->SetValueNoMutex(2, 0, self->state[0].Quat.q2);
320    output->SetValueNoMutex(3, 0, self->state[0].Quat.q3);
321    output->SetValueNoMutex(4, 0, self->state[0].Pos.x);
322    output->SetValueNoMutex(5, 0, self->state[0].Pos.y);
323    output->SetValueNoMutex(6, 0, self->state[0].Pos.z);
324    output->SetValueNoMutex(7, 0, self->state[0].W.x);
325    output->SetValueNoMutex(8, 0, self->state[0].W.y);
326    output->SetValueNoMutex(9, 0, self->state[0].W.z);
327    output->SetValueNoMutex(10, 0, self->state[0].Vel.x);
328    output->SetValueNoMutex(11, 0, self->state[0].Vel.y);
329    output->SetValueNoMutex(12, 0, self->state[0].Vel.z);
330    //todo: put acc and mag
331    output->SetValueNoMutex(13, 0, 0);
332    output->SetValueNoMutex(14, 0, 0);
333    output->SetValueNoMutex(15, 0, 0);
334    output->SetValueNoMutex(16, 0, 0);
335    output->SetValueNoMutex(17, 0, 0);
336    output->SetValueNoMutex(18, 0, 0);
337    output->ReleaseMutex();
338    output->SetDataTime(GetTime());
339
340    self->state.Update();
341
342    if (pos_init->ValueChanged() || yaw_init->ValueChanged()) {
343      self->state[-1].Quat = ComputeInitRotation(Quaternion(1, 0, 0, 0));
344      self->state[-2].Quat = ComputeInitRotation(Quaternion(1, 0, 0, 0));
345      self->state[-1].Pos = pos_init->Value();
346      self->state[-2].Pos = self->state[-1].Pos;
347#ifdef GL
348      position_init = false;
349#endif
350    }
351
352    states_mutex->ReleaseMutex();
353
354    self->ProcessUpdate(output);
355  }
356
357  WarnUponSwitches(false);
358}
Note: See TracBrowser for help on using the repository browser.