OpenSpace/modules/autonavigation/pathsegment.cpp

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

#include <modules/autonavigation/helperfunctions.h>
#include <modules/autonavigation/pathcurves.h>
#include <openspace/engine/globals.h>
#include <openspace/interaction/navigationhandler.h>
#include <openspace/query/query.h>
#include <openspace/scene/scenegraphnode.h>
#include <openspace/util/camera.h>
#include <ghoul/logging/logmanager.h>

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

namespace openspace::autonavigation {

PathSegment::PathSegment(
    CameraState start, CameraState end, double startTime, CurveType type)
    : _start(start), _end(end), _startTime(startTime), _curveType(type)
{
    initCurve();

    // TODO: compute default duration based on curve length 
    // Also, when compensatng for simulation time later we need to make a guess for 
    // the duration, based on the current position of the target. 
    _duration = 5;
}

void PathSegment::setStart(CameraState cs) {
    _start = std::move(cs);
    initCurve();
    // TODO later: maybe recompute duration as well...
}

void PathSegment::setDuration(double d) {
    _duration = d;
}

const CameraState PathSegment::start() const { return _start; }

const CameraState PathSegment::end() const { return _end; }

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

const double PathSegment::startTime() const { return _startTime; }

const glm::vec3 PathSegment::getPositionAt(double t) const {
    t = easingfunctions::cubicEaseInOut(t);
    return _curve->valueAt(t);    
}

const glm::dquat PathSegment::getRotationAt(double t) const {
    double tRot = helpers::shiftAndScale(t, 0.1, 0.9);
    tRot = easingfunctions::cubicEaseInOut(tRot);

    switch (_curveType) {
    case CurveType::Linear2:
        return getLookAtRotation(
            tRot, 
            getPositionAt(t), 
            global::navigationHandler.camera()->lookUpVectorWorldSpace()
        );
        break;
    default:
        return glm::slerp(_start.rotation, _end.rotation, tRot);
    }
}

const glm::dquat PathSegment::getLookAtRotation(
    double t, glm::dvec3 currentPos, glm::dvec3 up) const 
{
    glm::dvec3 startLookAtPos = sceneGraphNode(_start.referenceNode)->worldPosition();
    glm::dvec3 endLookAtPos = sceneGraphNode(_end.referenceNode)->worldPosition();
    glm::dvec3 lookAtPos = interpolation::linear(t, startLookAtPos, endLookAtPos);

    glm::dmat4 lookAtMat = glm::lookAt(
        currentPos,
        lookAtPos, 
        up
    );

    return glm::normalize(glm::inverse(glm::quat_cast(lookAtMat)));
}

// Initialise the curve, based on the start, end state and curve type
void PathSegment::initCurve() {
    // in case there already is a curve object, reset the pointer. 
    _curve.reset();

    switch (_curveType) {
    case CurveType::Bezier:
        _curve = std::make_shared<BezierCurve>(_start, _end);
        break;
    case CurveType::Bezier2:
        _curve = std::make_shared<Bezier2Curve>(_start, _end);
        break;
    case CurveType::Bezier3:
        _curve = std::make_shared<Bezier3Curve>(_start, _end);
        break;
    case CurveType::Linear:
        _curve = std::make_shared<LinearCurve>(_start, _end);
        break;
    case CurveType::Linear2:
        _curve = std::make_shared<Linear2Curve>(_start, _end);
        break;
    case CurveType::Pause:
        _curve = std::make_shared<PauseCurve>(_start);
        break;
    default:
        LERROR("Could not create curve. Type does not exist!");
        return;
    }

    _length = _curve->arcLength();
    //LINFO(fmt::format("Curve length: {}", _length));
}

} // namespace openspace::autonavigation