Robot Simulator of the Robotics Group for Self-Organization of Control: cameramanipulator.h Source File

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# cameramanipulator.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *    frankguettler@gmx.de                                                 *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  ***************************************************************************
    00023  *                                                                         *
    00024  *  Camera Manipulation by mouse and keyboard                              *
    00025  *                                                                         *
    00026  *   $Log: cameramanipulator.h,v $
    00027  *   Revision 1.7  2009/07/30 11:52:52  guettler
    00028  *   new CameraHandle replacing static variables in the CameraManipulators
    00029  *
    00030  *   Revision 1.6  2009/07/01 08:55:22  guettler
    00031  *   new method which checks if agent is defined and in global list,
    00032  *   if not, use the first agent of global list
    00033  *   --> all camera manipulators fixed
    00034  *
    00035  *   Revision 1.5  2009/01/20 22:41:19  martius
    00036  *   manipulation of agents with the mouse implemented ( a dream... )
    00037  *
    00038  *   Revision 1.4  2009/01/20 20:13:28  martius
    00039  *   preparation for manipulation of agents done
    00040  *
    00041  *   Revision 1.3  2007/07/03 13:15:17  martius
    00042  *   odehandle.h in cpp files included
    00043  *
    00044  *   Revision 1.2  2006/07/14 12:23:34  martius
    00045  *   selforg becomes HEAD
    00046  *
    00047  *   Revision 1.1.2.12  2006/06/29 16:35:56  robot3
    00048  *   includes cleared up
    00049  *
    00050  *   Revision 1.1.2.11  2006/05/29 20:00:33  robot3
    00051  *   added pos1 (center on agent) and end (move behind agent)
    00052  *
    00053  *   Revision 1.1.2.10  2006/03/19 13:32:12  robot3
    00054  *   race mode now works
    00055  *
    00056  *   Revision 1.1.2.9  2006/03/08 13:19:13  robot3
    00057  *   basic modifications, follow mode now works
    00058  *
    00059  *   Revision 1.1.2.8  2006/03/06 16:57:01  robot3
    00060  *   -more stable version
    00061  *   -code optimized
    00062  *   -some static variables used by all cameramanipulators
    00063  *
    00064  *   Revision 1.1.2.7  2006/03/05 15:02:24  robot3
    00065  *   camera moves now smooth
    00066  *
    00067  *   Revision 1.1.2.6  2006/03/04 15:04:33  robot3
    00068  *   cameramanipulator is now updated with every draw intervall
    00069  *
    00070  *   Revision 1.1.2.5  2006/03/03 12:08:50  robot3
    00071  *   preparations made for new cameramanipulators
    00072  *
    00073  *   Revision 1.1.2.4  2006/02/01 10:24:34  robot3
    00074  *   new camera manipulator added
    00075  *
    00076  *   Revision 1.1.2.3  2005/12/29 12:56:12  martius
    00077  *   setHome
    00078  *
    00079  *   Revision 1.1.2.2  2005/12/15 17:03:42  martius
    00080  *   cameramanupulator setPose is working
    00081  *   joints have setter and getter parameters
    00082  *   Primitives are not longer inherited from OSGPrimitive, moreover
    00083  *   they aggregate them
    00084  *
    00085  *   Revision 1.1.2.1  2005/12/09 16:56:21  martius
    00086  *   camera is working now
    00087  *
    00088  *   Revision 1.1.2.1  2005/12/06 17:38:21  martius
    00089  *   *** empty log message ***
    00090  *
    00091  *                                                                 *
    00092  ***************************************************************************/
    00093 #ifndef __CAMERAMANIPULATOR_H
    00094 #define __CAMERAMANIPULATOR_H
    00095
    00096 #include "osgforwarddecl.h"
    00097 #include <osgGA/MatrixManipulator>
    00098 #include "globaldata.h"
    00099 #include <selforg/position.h>
    00100 #include "camerahandle.h"
    00101
    00102 namespace lpzrobots {
    00103   // forward declaration
    00104   class OSGPrimitive;
    00105
    00106   /**
    00107      CameraManipulator is a MatrixManipulator which provides a flying camera
    00108      updating of the camera position & orientation.
    00109      Left mouse button: Pan and tilt
    00110      Right mouse button: forward and sideways
    00111      Middle mouse button: up and sideways
    00112
    00113      It also enables to manipulate agents with forces
    00114   */
    00115   class CameraManipulator : public osgGA::MatrixManipulator
    00116     {
    00117     public:
    00118
    00119       CameraManipulator(osg::Node* node, GlobalData& global, CameraHandle& cameraHandle);
    00120
    00121
    00122       /** returns the classname of the manipulator
    00123           it's NECCESSARY to define this funtion, otherwise
    00124           the new manipulator WON'T WORK! (but ask me not why)
    00125       */
    00126       virtual const char* className() const { return "Default Camera"; }
    00127
    00128       /** set the position of the matrix manipulator using a 4x4 Matrix.*/
    00129       virtual void setByMatrix(const osg::Matrixd& matrix);
    00130
    00131       /** set the position of the matrix manipulator using a 4x4 Matrix.*/
    00132       virtual void setByInverseMatrix(const osg::Matrixd& matrix) {
    00133         setByMatrix(osg::Matrixd::inverse(matrix));
    00134       }
    00135
    00136       /** get the position of the manipulator as 4x4 Matrix.*/
    00137       virtual osg::Matrixd getMatrix() const;
    00138
    00139       /** get the position of the manipulator as a inverse matrix of the manipulator,
    00140           typically used as a model view matrix.*/
    00141       virtual osg::Matrixd getInverseMatrix() const;
    00142
    00143
    00144       /**
    00145        * is called every time the draw is updated. computes the
    00146        * movement of the camera, which is a difference between
    00147        * the desired pos and view and the actual pos and view.
    00148        */
    00149       /*
    00150         virtual void computeMovement();*/
    00151
    00152       virtual void setNode(osg::Node*);
    00153
    00154       virtual const osg::Node* getNode() const;
    00155
    00156       virtual osg::Node* getNode();
    00157
    00158       /// set the home position of the camera. (and place it there)
    00159       virtual void setHome(const osg::Vec3& eye, const osg::Vec3& view);
    00160
    00161       /// place the camera at its home position
    00162       virtual void home(const osgGA::GUIEventAdapter& ea,osgGA::GUIActionAdapter& us);
    00163
    00164       virtual void init(const osgGA::GUIEventAdapter& ea,osgGA::GUIActionAdapter& us);
    00165
    00166       virtual bool handle(const osgGA::GUIEventAdapter& ea,osgGA::GUIActionAdapter& us);
    00167
    00168       /** Get the keyboard and mouse usage of this manipulator.*/
    00169       virtual void getUsage(osg::ApplicationUsage& usage) const;
    00170
    00171       /** updates the camera module at every drawstep
    00172           should be called from the simulation loop
    00173       */
    00174       virtual void update();
    00175
    00176       /** manipulate agent if Manipulation is active
    00177           (should be called every simulation step)
    00178       */
    00179       virtual void manipulateAgent( OsgHandle& osgHandle);
    00180
    00181     protected:
    00182
    00183       virtual ~CameraManipulator();
    00184
    00185       /** Reset the internal GUIEvent stack.*/
    00186       virtual void flushMouseEventStack();
    00187       /** Add the current mouse GUIEvent to internal stack.*/
    00188       virtual void addMouseEvent(const osgGA::GUIEventAdapter& ea);
    00189
    00190       virtual void computeMatrix();
    00191
    00192       /** For the give mouse movement calculate the movement of the camera.
    00193           Return true is camera has moved and a redraw is required.*/
    00194       virtual bool calcMovement();
    00195
    00196       /**
    00197        * Checks if an agent is selected and if this agent is available.
    00198        * This agent must be listed in the global agent list.
    00199        * @return true if defined, otherwise false
    00200        */
    00201       virtual bool isWatchingAgentDefined();
    00202
    00203       // Internal event stack comprising last three mouse events.
    00204       osg::ref_ptr<const osgGA::GUIEventAdapter> event_old;
    00205       osg::ref_ptr<const osgGA::GUIEventAdapter> event;
    00206
    00207       osg::ref_ptr<osg::Node> node;
    00208
    00209       float modelScale;
    00210       osg::Matrixd  pose;  // complete pose (updated by computeMatrix()
    00211
    00212       CameraHandle& camHandle;
    00213
    00214       GlobalData& globalData; // the global environment variables
    00215
    00216
    00217       double degreeSmoothness; // smoothness factor for the view
    00218       double lengthSmoothness; // smoothness factor for the eye
    00219       double degreeAccuracy; // accuracy factor for the view-smoothness
    00220       double lengthAccuracy; // accuracy factor for the eye-smoothness
    00221
    00222
    00223       /** This manages the robots, switching between them and so on
    00224           Is normally called from handle(...)
    00225       */
    00226       virtual void manageAgents(const int& fkey);
    00227
    00228
    00229       /** This handles robot movements, so that the camera movemenent is right affected.
    00230           should normally be overwritten by new cameramanipulator
    00231       */
    00232       virtual void calcMovementByAgent();
    00233
    00234
    00235       /** Sets the right view and eye if the robot has changed.
    00236           Is called from manageRobots();
    00237           should be overwritten by new cameramanipulator (if needed)
    00238       */
    00239       virtual void setHomeViewByAgent();
    00240       virtual void setHomeEyeByAgent();
    00241
    00242
    00243       /** moves behind the robot which is actually watched
    00244        */
    00245       virtual void moveBehindAgent();
    00246
    00247       /** centers on the robot which is actually watched
    00248        */
    00249       virtual void centerOnAgent();
    00250
    00251       /** manipulates Agent by forces. The given points are screen coords (-1 to 1) normalized.
    00252       */
    00253       virtual void calcManipulationPoint(float x, float y);
    00254
    00255     };
    00256
    00257 }
    00258
    00259 #endif