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Improve ZoomOutOverview curve's "zoom out direction"

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This commit is contained in:
Emma Broman
2021-06-14 14:50:09 +02:00
parent dcebdd4806
commit 47aa7a64ae
1 changed files with 28 additions and 15 deletions
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43
modules/autonavigation/curves/zoomoutoverviewcurve.cpp
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@@ -53,34 +53,47 @@ ZoomOutOverviewCurve::ZoomOutOverviewCurve(const Waypoint& start, const Waypoint
const glm::dvec3 startNodePos = start.node()->worldPosition();
const glm::dvec3 endNodePos = end.node()->worldPosition();
const glm::dvec3 startNodeToStartPos = start.position() - startNodePos;
const glm::dvec3 startTangentDir = normalize(startNodeToStartPos);
const glm::dvec3 startTangentDir = normalize(start.position() - startNodePos);
const glm::dvec3 endTangentDir = normalize(end.position() - endNodePos);
// Start by going outwards
_points.push_back(start.position());
_points.push_back(start.position());
_points.push_back(start.position() + startTangentLength * startTangentDir);
const std::string& startNode = start.nodeIdentifier;
const std::string& endNode = end.nodeIdentifier;
// Zoom out
if (startNode != endNode) {
// TODO: set a smarter orthogonal direction, to avoid making a big detour
glm::dvec3 startNodeToEndNode = endNodePos - startNodePos;
glm::dvec3 parallell = glm::proj(startNodeToStartPos, startNodeToEndNode);
glm::dvec3 orthogonal = normalize(startNodeToStartPos - parallell);
if (start.nodeIdentifier != end.nodeIdentifier) {
const glm::dvec3 n1 = startTangentDir;
const glm::dvec3 n2 = endTangentDir;
glm::dvec3 extraKnot = startNodePos + 0.5 * startNodeToEndNode
+ 1.5 * glm::length(startNodeToEndNode) * orthogonal;
// Decide the step direction for the "overview point" based on the directions
// at the start and end of the path, to try to get a nice curve shape
glm::dvec3 goodStepDirection;
if (glm::dot(n1, n2) < 0.0) {
// Facing in different directions => step in direction of the cross product
goodStepDirection = glm::normalize(glm::cross(-n1, n2));
}
else {
goodStepDirection = glm::normalize(n1 + n2);
}
// Find a direction that is orthogonal to the line between the start and end position
const glm::dvec3 startPosToEndPos = end.position() - start.position();
const glm::dvec3 outwardStepVector =
0.5 * glm::length(startPosToEndPos) * goodStepDirection;
const glm::dvec3 projectedVec = glm::proj(outwardStepVector, startPosToEndPos);
const glm::dvec3 orthogonalComponent = outwardStepVector - projectedVec;
const glm::dvec3 stepDirection = glm::normalize(orthogonalComponent);
// Step half-way along the line between the position and then orthogonally
const glm::dvec3 extraKnot = start.position() + 0.5 * startPosToEndPos
+ 1.5 * glm::length(startPosToEndPos) * stepDirection;
_points.push_back(extraKnot);
}
// Closing in on end node
const glm::dvec3 endNodeToEndPos = end.position() - endNodePos;
const glm::dvec3 endTangentDir = normalize(endNodeToEndPos);
_points.push_back(end.position() + endTangentLength * endTangentDir);
_points.push_back(end.position());
_points.push_back(end.position());