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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 1.2  2006/07/14 12:23:34  martius
    00028  *   selforg becomes HEAD
    00029  *
    00030  *   Revision 1.1.2.12  2006/06/29 16:35:56  robot3
    00031  *   includes cleared up
    00032  *
    00033  *   Revision 1.1.2.11  2006/05/29 20:00:33  robot3
    00034  *   added pos1 (center on agent) and end (move behind agent)
    00035  *
    00036  *   Revision 1.1.2.10  2006/03/19 13:32:12  robot3
    00037  *   race mode now works
    00038  *
    00039  *   Revision 1.1.2.9  2006/03/08 13:19:13  robot3
    00040  *   basic modifications, follow mode now works
    00041  *
    00042  *   Revision 1.1.2.8  2006/03/06 16:57:01  robot3
    00043  *   -more stable version
    00044  *   -code optimized
    00045  *   -some static variables used by all cameramanipulators
    00046  *
    00047  *   Revision 1.1.2.7  2006/03/05 15:02:24  robot3
    00048  *   camera moves now smooth
    00049  *
    00050  *   Revision 1.1.2.6  2006/03/04 15:04:33  robot3
    00051  *   cameramanipulator is now updated with every draw intervall
    00052  *
    00053  *   Revision 1.1.2.5  2006/03/03 12:08:50  robot3
    00054  *   preparations made for new cameramanipulators
    00055  *
    00056  *   Revision 1.1.2.4  2006/02/01 10:24:34  robot3
    00057  *   new camera manipulator added
    00058  *
    00059  *   Revision 1.1.2.3  2005/12/29 12:56:12  martius
    00060  *   setHome
    00061  *
    00062  *   Revision 1.1.2.2  2005/12/15 17:03:42  martius
    00063  *   cameramanupulator setPose is working
    00064  *   joints have setter and getter parameters
    00065  *   Primitives are not longer inherited from OSGPrimitive, moreover
    00066  *   they aggregate them
    00067  *
    00068  *   Revision 1.1.2.1  2005/12/09 16:56:21  martius
    00069  *   camera is working now
    00070  *
    00071  *   Revision 1.1.2.1  2005/12/06 17:38:21  martius
    00072  *   *** empty log message ***
    00073  *
    00074  *                                                                 *
    00075  ***************************************************************************/
    00076 #ifndef __CAMERAMANIPULATOR_H
    00077 #define __CAMERAMANIPULATOR_H
    00078
    00079 #include "osgforwarddecl.h"
    00080 #include <osgGA/MatrixManipulator>
    00081 #include "odeagent.h"
    00082 #include "globaldata.h"
    00083
    00084 namespace lpzrobots {
    00085
    00086   /**
    00087      CameraManipulator is a MatrixManipulator which provides Flying simulator-like
    00088      updating of the camera position & orientation.
    00089      Left mouse button: Pan and tilt
    00090      Right mouse button: forward and sideways
    00091      Middle mouse button: up and sideways
    00092   */
    00093
    00094   class CameraManipulator : public osgGA::MatrixManipulator
    00095     {
    00096     public:
    00097
    00098       CameraManipulator(osg::Node* node, GlobalData& global);
    00099
    00100
    00101       /** returns the classname of the manipulator
    00102           it's NECCESSARY to define this funtion, otherwise
    00103           the new manipulator WON'T WORK! (but ask me not why)
    00104       */
    00105       virtual const char* className() const { return "Default Camera"; }
    00106
    00107       /** set the position of the matrix manipulator using a 4x4 Matrix.*/
    00108       virtual void setByMatrix(const osg::Matrixd& matrix);
    00109
    00110       /** set the position of the matrix manipulator using a 4x4 Matrix.*/
    00111       virtual void setByInverseMatrix(const osg::Matrixd& matrix) {
    00112         setByMatrix(osg::Matrixd::inverse(matrix));
    00113       }
    00114
    00115       /** get the position of the manipulator as 4x4 Matrix.*/
    00116       virtual osg::Matrixd getMatrix() const;
    00117
    00118       /** get the position of the manipulator as a inverse matrix of the manipulator,
    00119           typically used as a model view matrix.*/
    00120       virtual osg::Matrixd getInverseMatrix() const;
    00121
    00122
    00123       /**
    00124        * is called every time the draw is updated. computes the
    00125        * movement of the camera, which is a difference between
    00126        * the desired pos and view and the actual pos and view.
    00127        */
    00128       /*
    00129         virtual void computeMovement();*/
    00130
    00131       virtual void setNode(osg::Node*);
    00132
    00133       virtual const osg::Node* getNode() const;
    00134
    00135       virtual osg::Node* getNode();
    00136
    00137       /// set the home position of the camera. (and place it there)
    00138       virtual void setHome(const osg::Vec3& eye, const osg::Vec3& view);
    00139
    00140       /// place the camera at its home position
    00141       virtual void home(const osgGA::GUIEventAdapter& ea,osgGA::GUIActionAdapter& us);
    00142
    00143       virtual void init(const osgGA::GUIEventAdapter& ea,osgGA::GUIActionAdapter& us);
    00144
    00145       virtual bool handle(const osgGA::GUIEventAdapter& ea,osgGA::GUIActionAdapter& us);
    00146
    00147       /** Get the keyboard and mouse usage of this manipulator.*/
    00148       virtual void getUsage(osg::ApplicationUsage& usage) const;
    00149
    00150       /** updates the camera module at every drawstep
    00151           should be called from the simulation loop
    00152       */
    00153       virtual void update();
    00154
    00155     protected:
    00156
    00157       virtual ~CameraManipulator();
    00158
    00159       /** Reset the internal GUIEvent stack.*/
    00160       virtual void flushMouseEventStack();
    00161       /** Add the current mouse GUIEvent to internal stack.*/
    00162       virtual void addMouseEvent(const osgGA::GUIEventAdapter& ea);
    00163
    00164       virtual void computeMatrix();
    00165
    00166       /** For the give mouse movement calculate the movement of the camera.
    00167           Return true is camera has moved and a redraw is required.*/
    00168       virtual bool calcMovement();
    00169
    00170       // Internal event stack comprising last three mouse events.
    00171       osg::ref_ptr<const osgGA::GUIEventAdapter> event_old;
    00172       osg::ref_ptr<const osgGA::GUIEventAdapter> event;
    00173
    00174       osg::ref_ptr<osg::Node> node;
    00175
    00176       float modelScale;
    00177       osg::Matrixd  pose;  // complete pose (updated by computeMatrix()
    00178
    00179       static osg::Vec3   eye;      // position of the camera
    00180       static osg::Vec3   view;     // view angles in degree (pan, tilt, yaw)
    00181       static osg::Vec3   home_eye;  // home position of the camera
    00182       static osg::Vec3   home_view; // home view angles in degree (pan, tilt, yaw)
    00183       static bool home_externally_set;
    00184
    00185       static osg::Vec3   desiredEye;      // desired position of the camera
    00186       static osg::Vec3   desiredView;     // desired view angles in degree (pan, tilt, yaw)
    00187
    00188       static OdeAgent* watchingAgent; // the robot which is actually watched
    00189       static bool watchingAgentDefined;
    00190
    00191       static Position oldPositionOfAgent; // because the return of getSpeed() seems not to be useful
    00192       static bool oldPositionOfAgentDefined;
    00193
    00194       GlobalData& globalData; // the global environment variables
    00195
    00196
    00197       double degreeSmoothness; // smoothness factor for the view
    00198       double lengthSmoothness; // smoothness factor for the eye
    00199       double degreeAccuracy; // accuracy factor for the view-smoothness
    00200       double lengthAccuracy; // accuracy factor for the eye-smoothness
    00201
    00202
    00203       /** This manages the robots, switching between them and so on
    00204           Is normally called from handle(...)
    00205       */
    00206       virtual void manageAgents(const int& fkey);
    00207
    00208
    00209       /** This handles robot movements, so that the camera movemenent is right affected.
    00210           should normally be overwritten by new cameramanipulator
    00211       */
    00212       virtual void calcMovementByAgent();
    00213
    00214
    00215       /** Sets the right view and eye if the robot has changed.
    00216           Is called from manageRobots();
    00217           should be overwritten by new cameramanipulator (if needed)
    00218       */
    00219       virtual void setHomeViewByAgent();
    00220       virtual void setHomeEyeByAgent();
    00221
    00222
    00223       /** moves behind the robot which is actually watched
    00224        */
    00225       virtual void moveBehindAgent();
    00226
    00227       /** centers on the robot which is actually watched
    00228        */
    00229       virtual void centerOnAgent();
    00230
    00231       static int i;
    00232
    00233
    00234     };
    00235
    00236 }
    00237
    00238 #endif