OpenSpace/modules/autonavigation/rotationinterpolator.cpp

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

#include <modules/autonavigation/helperfunctions.h>
#include <modules/autonavigation/waypoint.h>
#include <ghoul/logging/logmanager.h>

namespace {
    constexpr const char* _loggerCat = "RotationInterpolator";
} // namespace

namespace openspace::autonavigation {

RotationInterpolator::RotationInterpolator(const glm::dquat start, const glm::dquat end)
    : _start(start), _end(end)
{}

EasedSlerpInterpolator::EasedSlerpInterpolator(glm::dquat start, glm::dquat end)
    : RotationInterpolator(start, end)
{}

glm::dquat EasedSlerpInterpolator::interpolate(double u) {
    double uScaled = helpers::shiftAndScale(u, 0.1, 0.9);
    uScaled = ghoul::cubicEaseInOut(uScaled);
    return glm::slerp(_start, _end, uScaled);
}

LookAtInterpolator::LookAtInterpolator(glm::dquat start, glm::dquat end, 
                                       glm::dvec3 startLookAtPos, 
                                       glm::dvec3 endLookAtPos, 
                                       PathCurve* path)
    : RotationInterpolator(start, end),
    _startLookAtPos(startLookAtPos), 
    _endLookAtPos(endLookAtPos), 
    _path(path)
{}

// Look at start node until tStart, then turn to look at end node from tEnd.
// OBS! Does not care about actual end and start value!!
glm::dquat LookAtInterpolator::interpolate(double u) {
    double tStart = 0.15;
    double tEnd = 0.7;
    double uNew = helpers::shiftAndScale(u, tStart, tEnd);
    uNew = ghoul::cubicEaseInOut(uNew);

    glm::dvec3 lookAtPos = interpolation::linear(uNew, _startLookAtPos, _endLookAtPos);
    glm::dvec3 startUpVec = _start * glm::dvec3(0.0, 1.0, 0.0);

    return helpers::getLookAtQuaternion(_path->positionAt(u), lookAtPos, startUpVec);
}

PiecewiseLookAtInterpolator::PiecewiseLookAtInterpolator(glm::dquat start, glm::dquat end, 
                                                         glm::dvec3 startTargetPos, 
                                                         glm::dvec3 endTargetPos, 
                                                         PathCurve* path)
    : RotationInterpolator(start, end),
    _startTargetPos(startTargetPos),
    _endTargetPos(endTargetPos),
    _path(path)
{}

// Interpolate between a number of keyframes for orientation using SLERP
glm::dquat PiecewiseLookAtInterpolator::interpolate(double u) {
    ghoul_assert(_curve, "Rotation interpolation requires access to curve positions.");

    // breakpoints for subintervals
    const double u1 = 0.3;
    const double u2 = 0.8; // TODO: these should probably be based on distance

    glm::dvec3 startUpVec = _start * glm::dvec3(0.0, 1.0, 0.0);
    glm::dvec3 endUpVec = _end * glm::dvec3(0.0, 1.0, 0.0);

    glm::dquat lookAtStartQ = helpers::getLookAtQuaternion(
        _path->positionAt(u1), 
        _startTargetPos, 
        startUpVec
    );

    glm::dquat lookAtEndQ = helpers::getLookAtQuaternion(
        _path->positionAt(u2), 
        _endTargetPos, 
        endUpVec
    );

    std::vector<std::pair<glm::dquat, double>> keyframes{
        {_start, 0.0},
        {lookAtStartQ, u1},
        {lookAtEndQ, u2},
        {_end, 1.0}
    };

    // Find the current segment and compute interpolation
    glm::dquat result;
    for (int i = 0; i < keyframes.size() - 1; ++i) {
        double ui = keyframes[i].second;
        double uNext = keyframes[i + 1].second;
        if (u <= uNext) {
            double uScaled = (u - ui) / (uNext - ui);
            uScaled = ghoul::quadraticEaseInOut(uScaled);
            result = glm::slerp(keyframes[i].first, keyframes[i + 1].first, uScaled);
            break;
        }
    }

    return result;
}

} // namespace openspace::autonavigation