mirror/OpenSpace
1
0
Fork 0
mirror of https://github.com/OpenSpace/OpenSpace.git synced 2026-04-24 04:58:59 -05:00
Code Issues Packages Projects Releases Wiki Activity

Prevent rotation from breaking due to precision errors during lookat computation

Browse Source
This commit is contained in:
Emma Broman
2022-11-07 17:33:46 +01:00
parent 1d954cf220
commit 5175418699
1 changed files with 13 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/navigation/path.cpp
+13 -2
View File
@@ -513,6 +513,7 @@ Waypoint computeWaypointFromNodeInfo(const NodeInfo& info, const Waypoint& start
return Waypoint();
}
glm::dvec3 stepDir;
glm::dvec3 targetPos;
if (info.position.has_value()) {
// The position in instruction is given in the targetNode's local coordinates.
@@ -529,7 +530,6 @@ Waypoint computeWaypointFromNodeInfo(const NodeInfo& info, const Waypoint& start
const double height = info.height.value_or(defaultHeight);
const double distanceFromNodeCenter = radius + height;
glm::dvec3 stepDir;
if (type == Path::Type::Linear) {
// If linear path, compute position along line form start to end point
glm::dvec3 endNodePos = targetNode->worldPosition();
@@ -551,7 +551,18 @@ Waypoint computeWaypointFromNodeInfo(const NodeInfo& info, const Waypoint& start
}
// Compute rotation so the camera is looking at the targetted node
const glm::dvec3 lookAtPos = targetNode->worldPosition();
glm::dvec3 lookAtPos = targetNode->worldPosition();
// Check if we can distinguish between targetpos and lookAt pos. Otherwise, move it further away
const glm::dvec3 diff = targetPos - lookAtPos;
double distSquared = glm::dot(diff, diff);
if (std::isnan(distSquared) || distSquared < LengthEpsilon) {
double startToEndDist = glm::length(
startPoint.position() - targetNode->worldPosition()
);
lookAtPos = targetPos - stepDir * 0.1 * startToEndDist;
}
const glm::dquat targetRot = ghoul::lookAtQuaternion(targetPos, lookAtPos, up);
return Waypoint(targetPos, targetRot, info.identifier);