OpenSpace/modules/autonavigation/instruction.cpp

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 * OpenSpace                                                                             *
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 * Copyright (c) 2014-2019                                                               *
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#include <modules/autonavigation/instruction.h>

#include <openspace/documentation/verifier.h>
#include <openspace/engine/globals.h>
#include <openspace/interaction/navigationhandler.h>
#include <openspace/scene/scenegraphnode.h>
#include <openspace/query/query.h>
#include <openspace/util/camera.h>
#include <ghoul/logging/logmanager.h>

namespace {
    constexpr const char* _loggerCat = "PathInstruction";

    constexpr const char* KeyDuration = "Duration";
    constexpr const char* KeyStopAtTarget = "StopAtTarget";
    constexpr const char* KeyStopDetails = "StopDetails";
    constexpr const char* KeyBehavior = "Behavior";

    constexpr const char* KeyTarget = "Target";
    constexpr const char* KeyPosition = "Position";
    constexpr const char* KeyHeight = "Height";

    constexpr const char* KeyNavigationState = "NavigationState";
} // namespace

namespace openspace::autonavigation {

Instruction::Instruction(const ghoul::Dictionary& dictionary) {
    if (dictionary.hasValue<double>(KeyDuration)) {
        duration = dictionary.value<double>(KeyDuration);
    }

    // TODO: include info about pauses/stops
    if (dictionary.hasValue<bool>(KeyStopAtTarget)) {
        stopAtTarget = dictionary.value<bool>(KeyStopAtTarget);
    }

    if (dictionary.hasValue<ghoul::Dictionary>(KeyStopDetails)) {
        ghoul::Dictionary stopDictionary = 
            dictionary.value<ghoul::Dictionary>(KeyStopDetails);

        if (stopDictionary.hasValue<double>(KeyDuration)) {
            stopDuration = stopDictionary.value<double>(KeyDuration);
        }

        if (stopDictionary.hasValue<std::string>(KeyBehavior)) {
            stopBehavior = stopDictionary.value<std::string>(KeyBehavior);
        }
    }
}

Instruction::~Instruction() {}

TargetNodeInstruction::TargetNodeInstruction(const ghoul::Dictionary& dictionary) 
    : Instruction(dictionary)
{
    if (!dictionary.hasValue<std::string>(KeyTarget)) {
        throw ghoul::RuntimeError(
            "A camera path instruction requires a target node, to go to or use as reference frame."
        );
    }

    nodeIdentifier = dictionary.value<std::string>(KeyTarget);

    if (!sceneGraphNode(nodeIdentifier)) {
        throw ghoul::RuntimeError(fmt::format("Could not find target node '{}'", nodeIdentifier));
    }

    if (dictionary.hasValue<glm::dvec3>(KeyPosition)) {
        position = dictionary.value<glm::dvec3>(KeyPosition);
    }

    if (dictionary.hasValue<double>(KeyHeight)) {
        height = dictionary.value<double>(KeyHeight);
    }
}

std::vector<Waypoint> TargetNodeInstruction::getWaypoints() const {
    const SceneGraphNode* targetNode = sceneGraphNode(nodeIdentifier);
    if (!targetNode) {
        LERROR(fmt::format("Could not find target node '{}'", nodeIdentifier));
        return std::vector<Waypoint>();
    }

    glm::dvec3 targetPos;
    if (position.has_value()) {
        // note that the anchor and reference frame is our targetnode. 
        // The position in instruction is given is relative coordinates.
        targetPos = targetNode->worldPosition() +
            targetNode->worldRotationMatrix() * position.value();

        Camera* camera = global::navigationHandler.camera();

        glm::dmat4 lookAtMat = glm::lookAt(
            targetPos,
            targetNode->worldPosition(),
            camera->lookUpVectorWorldSpace()
        );

        glm::dquat targetRot = glm::normalize(glm::inverse(glm::quat_cast(lookAtMat)));

        Waypoint wp{ targetPos, targetRot, nodeIdentifier };
        return std::vector<Waypoint>({ wp });
    }

    return std::vector<Waypoint>();
}

NavigationStateInstruction::NavigationStateInstruction(
    const ghoul::Dictionary& dictionary): Instruction(dictionary)
{
    if (dictionary.hasValue<ghoul::Dictionary>(KeyNavigationState)) {
        auto navStateDict = dictionary.value<ghoul::Dictionary>(KeyNavigationState);

        openspace::documentation::testSpecificationAndThrow(
            NavigationState::Documentation(),
            navStateDict,
            "NavigationState"
        );

        navigationState = NavigationState(navStateDict);
    }
}

std::vector<Waypoint> NavigationStateInstruction::getWaypoints() const {
    Waypoint wp{ navigationState };
    return std::vector<Waypoint>({ wp });
}

} // namespace openspace::autonavigation