OpenSpace/modules/autonavigation/path.cpp

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 * OpenSpace                                                                             *
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#include <modules/autonavigation/path.h>

#include <modules/autonavigation/autonavigationmodule.h>
#include <modules/autonavigation/helperfunctions.h>
#include <modules/autonavigation/pathcurve.h>
#include <modules/autonavigation/rotationinterpolator.h>
#include <modules/autonavigation/speedfunction.h>
#include <modules/autonavigation/curves/avoidcollisioncurve.h>
#include <modules/autonavigation/curves/zoomoutoverviewcurve.h>
#include <openspace/engine/globals.h>
#include <openspace/engine/moduleengine.h>
#include <openspace/scene/scenegraphnode.h>
#include <ghoul/logging/logmanager.h>

namespace {
    constexpr const char* _loggerCat = "Path";
    const double Epsilon = 1E-7;
} // namespace

namespace openspace::autonavigation {

Path::Path(Waypoint start, Waypoint end, CurveType type,
           std::optional<double> duration)
    : _start(start), _end(end), _curveType(type)
{
    initializePath();

    if (duration.has_value()) {
        _duration = duration.value();
    }
    else {
        _duration = std::log(pathLength());

        auto module = global::moduleEngine->module<AutoNavigationModule>();
        _duration /= module->AutoNavigationHandler().speedScale();
    }
}

void Path::setStartPoint(Waypoint cs) {
    _start = std::move(cs);
    initializePath();
    // TODO later: maybe recompute duration as well...
}

const Waypoint Path::startPoint() const { return _start; }

const Waypoint Path::endPoint() const { return _end; }

const double Path::duration() const { return _duration; }

const double Path::pathLength() const { return _curve->length(); }

const std::vector<glm::dvec3> Path::controlPoints() const {
    return _curve->points();
}

CameraPose Path::traversePath(double dt) {
    if (!_curve || !_rotationInterpolator || !_speedFunction) {
        // TODO: handle better (abort path somehow)
        return _start.pose;
    }

    AutoNavigationModule* module = global::moduleEngine->module<AutoNavigationModule>();
    AutoNavigationHandler& handler = module->AutoNavigationHandler();
    const int nSteps = handler.integrationResolutionPerFrame();

    double displacement = helpers::simpsonsRule(
        _progressedTime,
        _progressedTime + dt,
        nSteps,
        [this](double t) { return speedAtTime(t); }
    );

    _progressedTime += dt;
    _traveledDistance += displacement;

    return interpolatedPose(_traveledDistance);
}

std::string Path::currentAnchor() const {
    bool pastHalfway = (_traveledDistance / pathLength()) > 0.5;
    return (pastHalfway) ? _end.nodeDetails.identifier : _start.nodeDetails.identifier;
}

bool Path::hasReachedEnd() const {
    return (_traveledDistance / pathLength()) >= 1.0;
}

double Path::speedAtTime(double time) const {
    return _speedFunction->scaledValue(time, _duration, pathLength());
}

CameraPose Path::interpolatedPose(double distance) const {
    double u = distance / pathLength();
    CameraPose cs;
    cs.position = _curve->positionAt(u);
    cs.rotation = _rotationInterpolator->interpolate(u);
    return cs;
}

void Path::initializePath() {
    _curve.reset();

    switch (_curveType)
    {
    case CurveType::AvoidCollision:
        _curve = std::make_unique<AvoidCollisionCurve>(_start, _end);
        _rotationInterpolator = std::make_unique<EasedSlerpInterpolator>(
            _start.rotation(),
            _end.rotation()
        );
        _speedFunction = std::make_unique<QuinticDampenedSpeed>();
        break;

    case CurveType::Linear:
        _curve = std::make_unique<LinearCurve>(_start, _end);
        _rotationInterpolator = std::make_unique<EasedSlerpInterpolator>(
            _start.rotation(),
            _end.rotation()
        );
        _speedFunction = std::make_unique<QuinticDampenedSpeed>();
        break;

    case CurveType::ZoomOutOverview:
        _curve = std::make_unique<ZoomOutOverviewCurve>(_start, _end);
        _rotationInterpolator = std::make_unique<LookAtInterpolator>(
            _start.rotation(),
            _end.rotation(),
            _start.node()->worldPosition(),
            _end.node()->worldPosition(),
            _curve.get()
        );
        _speedFunction = std::make_unique<QuinticDampenedSpeed>();
        break;

    default:
        LERROR("Could not create curve. Type does not exist!");
        return;
    }

    if (!_curve || !_rotationInterpolator || !_speedFunction) {
        LERROR("Curve type has not been properly initialized.");
        return;
    }
}

} // namespace openspace::autonavigation