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merge with feature/planetradius for boundingSphere

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This commit is contained in:
Jonathan Bosson
2017-04-13 16:56:55 -06:00
parent c682c0f6b1
commit 99c5956588
3 changed files with 18 additions and 33 deletions
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2
modules/touch/ext/levmarq.cpp
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@@ -155,7 +155,7 @@ int levmarq(int npar, double *par, int ny, double *y, double *dysq,
delete[] delta;
delete[] newpar;
return (it==nit);
return it;
}

3
modules/touch/include/TouchInteraction.h
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@@ -45,7 +45,6 @@
#endif
#include <list>
#include <functional>
#define ROT 0
#define PINCH 1
@@ -88,8 +87,6 @@ struct FunctionData {
double aspectRatio;
double* measurements;
int nDOF;
//std::function<glm::dvec3(glm::dvec2 vec, Camera* cam, SceneGraphNode* node, double aspectRatio)> toScreen;
//std::function<glm::dvec2(glm::dvec3 vec, Camera* cam, SceneGraphNode* node, double aspectRatio)> toSurface;
};
using Point = std::pair<int, TUIO::TuioPoint>;

46
modules/touch/src/TouchInteraction.cpp
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@@ -81,8 +81,8 @@ TouchInteraction::TouchInteraction()
TouchInteraction::~TouchInteraction() { }
void TouchInteraction::update(const std::vector<TuioCursor>& list, std::vector<Point>& lastProcessed) {
if (_directTouchMode) { // should just be a function call
if (_directTouchMode && _selected.size() > 0) { // should just be a function call
// Returns the new value of screen point measurements[x] according to the transform M(par)
auto func = [](double* par, int x, void* fdata) { // par is the 6DOF vector , x the id of the measurements measurements[x], fdata additional data needed by the function
auto toSurface = [](int x, FunctionData* ptr) {
@@ -102,7 +102,7 @@ void TouchInteraction::update(const std::vector<TuioCursor>& list, std::vector<P
double yCo = -2 * (screenPoint.y - 0.5); // normalized -1 to 1 coordinates on screen
glm::dvec3 raytrace = glm::normalize(ptr->camera->rotationQuaternion() * glm::dvec3(xCo, yCo, -3.2596558));
glm::dvec3 camToSelectable = ptr->node->worldPosition() - camPos;
double boundingSphere = ptr->node->boundingSphere().lengthd();
double boundingSphere = ptr->node->boundingSphere();
double d = glm::dot(raytrace, camToSelectable);
double root = boundingSphere * boundingSphere - glm::dot(camToSelectable, camToSelectable) + d * d;
if (root > 0) // two intersection points (take the closest one)
@@ -162,7 +162,7 @@ void TouchInteraction::update(const std::vector<TuioCursor>& list, std::vector<P
double yCo = -2 * (screenPoint.y - 0.5); // normalized -1 to 1 coordinates on screen
glm::dvec3 raytrace = glm::normalize(ptr->camera->rotationQuaternion() * glm::dvec3(xCo, yCo, -3.2596558));
glm::dvec3 camToSelectable = ptr->node->worldPosition() - camPos;
double boundingSphere = ptr->node->boundingSphere().lengthd();
double boundingSphere = ptr->node->boundingSphere();
double d = glm::dot(raytrace, camToSelectable);
double root = boundingSphere * boundingSphere - glm::dot(camToSelectable, camToSelectable) + d * d;
if (root > 0) // two intersection points (take the closest one)
@@ -233,7 +233,6 @@ void TouchInteraction::update(const std::vector<TuioCursor>& list, std::vector<P
}
};
const int nCoord = _selected.size() * 2;
int nDOF = std::min(nCoord, 6);
double* par = new double[nDOF];
@@ -257,7 +256,14 @@ void TouchInteraction::update(const std::vector<TuioCursor>& list, std::vector<P
FunctionData fData = { _camera, _selected.at(0).node, res.x / res.y, screenPoints, nDOF };
void* dataPtr = reinterpret_cast<void*>(&fData);
levmarq_init(&_lmstat);
bool success = levmarq(nDOF, par, nCoord, screenPoints, squaredError, func, grad, dataPtr, &_lmstat); // finds best transform values and stores them in par
bool nIterations = levmarq(nDOF, par, nCoord, screenPoints, squaredError, func, grad, dataPtr, &_lmstat); // finds best transform values and stores them in par
std::ostringstream os;
for (int i = 0; i < nDOF; ++i) {
os << par[i] << ", ";
}
std::cout << "Levmarq success after " << nIterations << ", Print par[nDOF]: " << os.str() << "\n";
// cleanup
delete[] screenPoints;
@@ -302,7 +308,7 @@ void TouchInteraction::trace(const std::vector<TuioCursor>& list) {
glm::dvec3 raytrace = glm::normalize(cursorInWorldSpace);
int id = c.getSessionID();
for (SceneGraphNode* node : selectableNodes) {
double boundingSphere = node->boundingSphere().lengthd();
double boundingSphere = node->boundingSphere();
glm::dvec3 camToSelectable = node->worldPosition() - camPos;
double dist = length(glm::cross(cursorInWorldSpace, camToSelectable)) / glm::length(cursorInWorldSpace) - boundingSphere;
if (dist <= 0.0) {
@@ -333,24 +339,6 @@ void TouchInteraction::trace(const std::vector<TuioCursor>& list) {
}
}
/*
Direct-touch:
1, we have the touched position on the surface in spherical coordinates
2, we get new input on new pos
3, move camera so _selected.coordinates == new pos, cant overwrite _selected then
Paper:
position in screen-space: p = s(x,q) = h(PM(q)x)
h = combinedViewMatrix
P = projectionmatrix
M(q) = parameterized matrix by the vector q which maps x into worldspace, most likely the product of several matrices which are
parameterized by the transform values (e.g., rotation, scaling, translation, etc.)
x = position in modelview
minimize error E = sum( ||s(xi,q)-pi||^2 ) (distance between last point p and current x in screen-space)
q is the rotation/translation that is done on the object to match the equation. How do we translate that to camera rot/trans?
*/
//debugging
for (auto it : newSelected) {
std::cout << it.node->name() << " hit with cursor " << it.id << ". Surface Coordinates: " << glm::to_string(it.coordinates) << "\n";
@@ -481,13 +469,13 @@ void TouchInteraction::accelerate(const std::vector<TuioCursor>& list, const std
_vel.localRot = _sensitivity.localRot * glm::dvec2(-angleX, -angleY);
}
else { // should zoom in to current _selected.coordinates position
double dist = glm::distance(_camera->positionVec3(), _camera->focusPositionVec3()) - _focusNode->boundingSphere().lengthd();
double startDecline = _focusNode->boundingSphere().lengthd() / (0.15 * _projectionScaleFactor);
double dist = glm::distance(_camera->positionVec3(), _camera->focusPositionVec3()) - _focusNode->boundingSphere();
double startDecline = _focusNode->boundingSphere() / (0.15 * _projectionScaleFactor);
double factor = 2.0;
if (dist < startDecline) {
factor = 1.0 + std::pow(dist / startDecline, 2);
}
double response = _focusNode->boundingSphere().lengthd() / (factor * _currentRadius * _projectionScaleFactor);
double response = _focusNode->boundingSphere() / (factor * _currentRadius * _projectionScaleFactor);
_vel.zoom = _sensitivity.zoom * response;
}
@@ -517,7 +505,7 @@ void TouchInteraction::step(double dt) {
dquat localCamRot = inverse(globalCamRot) * _camera->rotationQuaternion();
double boundingSphere = _focusNode->boundingSphere().lengthd();
double boundingSphere = _focusNode->boundingSphere();
double minHeightAboveBoundingSphere = 1;
dvec3 centerToBoundingSphere;