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Do some initial cleanup

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This commit is contained in:
Emma Broman
2020-09-25 16:11:56 +02:00
parent d79d77f7e5
commit 04130fe68a
19 changed files with 145 additions and 134 deletions
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modules/autonavigation/autonavigationhandler.cpp
+38 -25
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@@ -115,9 +115,9 @@ AutoNavigationHandler::AutoNavigationHandler()
, _defaultStopBehavior(DefaultStopBehaviorInfo, properties::OptionProperty::DisplayType::Dropdown)
, _applyStopBehaviorWhenIdle(ApplyStopBehaviorWhenIdleInfo, false)
, _relevantNodeTags(RelevantNodeTagsInfo)
, _defaultPositionOffsetAngle(DefaultPositionOffsetAngleInfo, 30.0f, -90.0f, 90.0f)
, _defaultPositionOffsetAngle(DefaultPositionOffsetAngleInfo, 30.f, -90.f, 90.f)
, _nrSimulationSteps(NumberSimulationStepsInfo, 5, 2 , 10)
, _speedScale(SpeedScaleInfo, 1.0f, 0.01f, 2.0f)
, _speedScale(SpeedScaleInfo, 1.f, 0.01f, 2.f)
{
addPropertySubOwner(_atNodeNavigator);
@@ -125,7 +125,7 @@ AutoNavigationHandler::AutoNavigationHandler()
{ CurveType::AvoidCollision, "AvoidCollision" },
{ CurveType::Bezier3, "Bezier3" },
{ CurveType::Linear, "Linear" },
{ CurveType::ZoomOutOverview, "ZoomOutOverview"}
{ CurveType::ZoomOutOverview, "ZoomOutOverview"}
});
addProperty(_defaultCurveOption);
@@ -166,7 +166,7 @@ const SceneGraphNode* AutoNavigationHandler::anchor() const {
bool AutoNavigationHandler::hasFinished() const {
unsigned int lastIndex = (unsigned int)_pathSegments.size() - 1;
return _currentSegmentIndex > lastIndex;
return _currentSegmentIndex > lastIndex;
}
const std::vector<SceneGraphNode*>& AutoNavigationHandler::relevantNodes() const {
@@ -188,7 +188,9 @@ void AutoNavigationHandler::updateCamera(double deltaTime) {
// for testing, apply at node behavior when idle
if (_applyStopBehaviorWhenIdle) {
if (_atNodeNavigator.behavior() != _defaultStopBehavior.value()) {
_atNodeNavigator.setBehavior(AtNodeNavigator::Behavior(_defaultStopBehavior.value()));
_atNodeNavigator.setBehavior(
AtNodeNavigator::Behavior(_defaultStopBehavior.value())
);
}
_atNodeNavigator.updateCamera(deltaTime);
}
@@ -246,7 +248,7 @@ void AutoNavigationHandler::createPath(PathSpecification& spec) {
if (spec.stopAtTargetsSpecified()) {
_stopAtTargetsPerDefault = spec.stopAtTargets();
LINFO("Property for stop at targets per default was overridden by path specification.");
LINFO("Property for stop at targets per default was overridden by path specification.");
}
const int nrInstructions = (int)spec.instructions()->size();
@@ -289,7 +291,7 @@ void AutoNavigationHandler::startPath() {
}
ghoul_assert(
_stops.size() == (_pathSegments.size() - 1),
_stops.size() == (_pathSegments.size() - 1),
"Must have exactly one stop entry between every segment."
);
@@ -393,7 +395,7 @@ std::vector<glm::dvec3> AutoNavigationHandler::getCurveViewDirections(int nPerSe
glm::dquat orientation = p->interpolatedPose(u).rotation;
glm::dvec3 direction = glm::normalize(orientation * glm::dvec3(0.0, 0.0, -1.0));
viewDirections.push_back(direction);
}
}
glm::dquat orientation = p->interpolatedPose(1.0).rotation;
glm::dvec3 direction = glm::normalize(orientation * glm::dvec3(0.0, 0.0, -1.0));
viewDirections.push_back(direction);
@@ -463,7 +465,7 @@ void AutoNavigationHandler::pauseAtTarget(int i) {
bool hasDuration = _activeStop->duration.has_value();
std::string infoString = hasDuration ?
std::string infoString = hasDuration ?
fmt::format("{} seconds", _activeStop->duration.value()) : "until continued";
LINFO(fmt::format("Paused path at target {} / {} ({})",
@@ -501,7 +503,8 @@ void AutoNavigationHandler::addSegment(Instruction* ins, int index) {
}
else {
LWARNING(fmt::format(
"No path segment was created from instruction {}. No waypoints could be created.",
"No path segment was created from instruction {}. "
"No waypoints could be created.",
index
));
return;
@@ -513,9 +516,9 @@ void AutoNavigationHandler::addSegment(Instruction* ins, int index) {
}
_pathSegments.push_back(std::make_unique<PathSegment>(
lastWayPoint(),
lastWayPoint(),
waypointToAdd,
CurveType(curveType),
CurveType(curveType),
ins->duration
));
}
@@ -532,7 +535,7 @@ void AutoNavigationHandler::addStopDetails(const Instruction* ins) {
stopEntry.duration = ins->stopDuration;
std::string anchorIdentifier = lastWayPoint().nodeDetails.identifier;
stopEntry.behavior = AtNodeNavigator::Behavior(_defaultStopBehavior.value());
stopEntry.behavior = AtNodeNavigator::Behavior(_defaultStopBehavior.value());
if (ins->stopBehavior.has_value()) {
std::string behaviorString = ins->stopBehavior.value();
@@ -544,8 +547,8 @@ void AutoNavigationHandler::addStopDetails(const Instruction* ins) {
using Option = properties::OptionProperty::Option;
std::vector<Option> options = _defaultStopBehavior.options();
std::vector<Option>::iterator foundIt = std::find_if(
options.begin(),
options.end(),
options.begin(),
options.end(),
[&](Option& o) { return o.description == behaviorString; }
);
@@ -569,7 +572,7 @@ SceneGraphNode* AutoNavigationHandler::findNodeNearTarget(const SceneGraphNode*
glm::dvec3 nodePosition = node->worldPosition();
std::string nodeId = node->identifier();
const float proximityRadiusFactor = 3.0f;
const float proximityRadiusFactor = 3.f;
for (SceneGraphNode* n : _relevantNodes) {
if (n->identifier() == nodeId)
@@ -580,19 +583,19 @@ SceneGraphNode* AutoNavigationHandler::findNodeNearTarget(const SceneGraphNode*
glm::dvec3 positionModelCoords = invModelTransform * glm::dvec4(nodePosition, 1.0);
bool isClose = helpers::isPointInsideSphere(
positionModelCoords,
glm::dvec3(0.0, 0.0, 0.0),
positionModelCoords,
glm::dvec3(0.0, 0.0, 0.0),
proximityRadius
);
if (isClose)
if (isClose)
return n;
}
return nullptr;
}
// OBS! The desired default waypoint may vary between curve types.
// OBS! The desired default waypoint may vary between curve types.
// TODO: let the curves update the default position if no exact position is required
Waypoint AutoNavigationHandler::computeDefaultWaypoint(const TargetNodeInstruction* ins) {
SceneGraphNode* targetNode = sceneGraphNode(ins->nodeIdentifier);
@@ -610,7 +613,7 @@ Waypoint AutoNavigationHandler::computeDefaultWaypoint(const TargetNodeInstructi
// If the node is close to another node in the scene, make sure that the
// position is set to minimize risk of collision
stepDirection = glm::normalize(nodePos - closeNode->worldPosition());
}
}
else {
// Go to a point that is being lit up by the sun, slightly offsetted from sun direction
glm::dvec3 sunPos = glm::dvec3(0.0, 0.0, 0.0);
@@ -618,7 +621,7 @@ Waypoint AutoNavigationHandler::computeDefaultWaypoint(const TargetNodeInstructi
glm::dvec3 targetToPrev = prevPos - nodePos;
glm::dvec3 targetToSun = sunPos - nodePos;
glm::dvec3 axis = glm::normalize(glm::cross(targetToPrev, targetToSun));
const double angle = (double)glm::radians((-1.0f)*_defaultPositionOffsetAngle);
const double angle = (double)glm::radians((-1.f)*_defaultPositionOffsetAngle);
glm::dquat offsetRotation = angleAxis(angle, axis);
stepDirection = glm::normalize(offsetRotation * targetToSun);
@@ -647,12 +650,17 @@ std::vector<SceneGraphNode*> AutoNavigationHandler::findRelevantNodes() {
const std::vector<std::string> relevantTags = _relevantNodeTags;
if (allNodes.empty() || relevantTags.empty())
if (allNodes.empty() || relevantTags.empty())
return std::vector<SceneGraphNode*>{};
auto isRelevant = [&](const SceneGraphNode* node) {
const std::vector<std::string> tags = node->tags();
auto result = std::find_first_of(relevantTags.begin(), relevantTags.end(), tags.begin(), tags.end());
auto result = std::find_first_of(
relevantTags.begin(),
relevantTags.end(),
tags.begin(),
tags.end()
);
// does not match any tags => not interesting
if (result == relevantTags.end()) {
@@ -663,7 +671,12 @@ std::vector<SceneGraphNode*> AutoNavigationHandler::findRelevantNodes() {
};
std::vector<SceneGraphNode*> resultingNodes{};
std::copy_if(allNodes.begin(), allNodes.end(), std::back_inserter(resultingNodes), isRelevant);
std::copy_if(
allNodes.begin(),
allNodes.end(),
std::back_inserter(resultingNodes),
isRelevant
);
return resultingNodes;
}