From 8b6eb924c06956d6b3f1b3d3dd36244709e79f7d Mon Sep 17 00:00:00 2001
From: Alexis Girault <alexis.girault@kitware.com>
Date: Wed, 18 May 2016 10:26:49 -0400
Subject: [PATCH] ENH: Init controllers offsets on simulation start
1) for camera controller, setup offsets in initModule
based on the camera transform
2) for object controller, setup offset in sceneManager
initModule based on the object colliding geometry transform
This API allows the user to only worry about the geometries
and camera transforms, and let the controllers auto-init based
on that information when the simulation starts only.
---
Base/Scene/Camera/imstkCamera.cpp | 14 +-------------
Base/Scene/Camera/imstkCamera.h | 2 +-
Base/Scene/Controllers/imstkCameraController.cpp | 15 ++++++++++++++-
Base/Scene/Object/imstkVirtualCouplingObject.cpp | 7 +++++++
Base/Scene/Object/imstkVirtualCouplingObject.h | 8 ++++++++
Base/SimulationManager/imstkSceneManager.cpp | 9 +++++++++
Examples/Sandbox/main.cpp | 9 ++++-----
7 files changed, 44 insertions(+), 20 deletions(-)
diff --git a/Base/Scene/Camera/imstkCamera.cpp b/Base/Scene/Camera/imstkCamera.cpp
index e14191ba..d52bfc24 100644
--- a/Base/Scene/Camera/imstkCamera.cpp
+++ b/Base/Scene/Camera/imstkCamera.cpp
@@ -105,7 +105,7 @@ Camera::getController() const
return m_cameraController;
}
-std::shared_ptr<CameraController>
+void
Camera::setupController(std::shared_ptr<DeviceClient> deviceClient, double scaling)
{
if(m_cameraController == nullptr)
@@ -114,17 +114,5 @@ Camera::setupController(std::shared_ptr<DeviceClient> deviceClient, double scali
}
m_cameraController->setDeviceClient(deviceClient);
m_cameraController->setTranslationScaling(scaling);
- m_cameraController->setTranslationOffset(m_position);
-
- auto viewNormal = (m_position - m_focalPoint).normalized();
- auto viewSide = m_viewUp.cross(viewNormal).normalized();
- m_viewUp = viewNormal.cross(viewSide);
- Mat3d rot;
- rot.col(0) = viewSide;
- rot.col(1) = m_viewUp;
- rot.col(2) = viewNormal;
- m_cameraController->setRotationOffset(Quatd(rot));
-
- return m_cameraController;
}
}
diff --git a/Base/Scene/Camera/imstkCamera.h b/Base/Scene/Camera/imstkCamera.h
index 9f95cebc..24286b52 100644
--- a/Base/Scene/Camera/imstkCamera.h
+++ b/Base/Scene/Camera/imstkCamera.h
@@ -61,7 +61,7 @@ public:
void setViewAngle(const double& angle);
std::shared_ptr<CameraController> getController() const;
- std::shared_ptr<CameraController> setupController(std::shared_ptr<DeviceClient> deviceClient, double scaling = 1.0);
+ void setupController(std::shared_ptr<DeviceClient> deviceClient, double scaling = 1.0);
protected:
diff --git a/Base/Scene/Controllers/imstkCameraController.cpp b/Base/Scene/Controllers/imstkCameraController.cpp
index d994f79d..498d96ab 100644
--- a/Base/Scene/Controllers/imstkCameraController.cpp
+++ b/Base/Scene/Controllers/imstkCameraController.cpp
@@ -30,7 +30,20 @@ namespace imstk {
void
CameraController::initModule()
{
-
+ auto pos = m_camera.getPosition();
+ auto viewUp = m_camera.getViewUp();
+ auto focus = m_camera.getFocalPoint();
+
+ m_translationOffset = pos;
+
+ auto viewNormal = (pos - focus).normalized();
+ auto viewSide = viewUp.cross(viewNormal).normalized();
+ viewUp = viewNormal.cross(viewSide);
+ Mat3d rot;
+ rot.col(0) = viewSide;
+ rot.col(1) = viewUp;
+ rot.col(2) = viewNormal;
+ m_rotationOffset = Quatd(rot);
}
void
diff --git a/Base/Scene/Object/imstkVirtualCouplingObject.cpp b/Base/Scene/Object/imstkVirtualCouplingObject.cpp
index 42c74c9f..10f74892 100644
--- a/Base/Scene/Object/imstkVirtualCouplingObject.cpp
+++ b/Base/Scene/Object/imstkVirtualCouplingObject.cpp
@@ -30,6 +30,13 @@
namespace imstk {
+void
+VirtualCouplingObject::initOffsets()
+{
+ m_translationOffset = m_collidingGeometry->getPosition();
+ m_rotationOffset = m_collidingGeometry->getOrientation();
+}
+
void
VirtualCouplingObject::updateFromDevice()
{
diff --git a/Base/Scene/Object/imstkVirtualCouplingObject.h b/Base/Scene/Object/imstkVirtualCouplingObject.h
index 6b09f152..4cffd085 100644
--- a/Base/Scene/Object/imstkVirtualCouplingObject.h
+++ b/Base/Scene/Object/imstkVirtualCouplingObject.h
@@ -45,6 +45,14 @@ public:
~VirtualCouplingObject() = default;
+ ///
+ /// \brief Initialise offset based on object geometry
+ ///
+ void initOffsets();
+
+ ///
+ /// \brief Update geometries transformations
+ ///
void updateFromDevice();
};
diff --git a/Base/SimulationManager/imstkSceneManager.cpp b/Base/SimulationManager/imstkSceneManager.cpp
index 8fcf18e0..09c39d47 100644
--- a/Base/SimulationManager/imstkSceneManager.cpp
+++ b/Base/SimulationManager/imstkSceneManager.cpp
@@ -42,6 +42,15 @@ SceneManager::initModule()
{
this->startModuleInNewThread(camController);
}
+
+ // Init virtual coupling objects offsets
+ for (auto obj : m_scene->getSceneObjects())
+ {
+ if (auto virtualCoupling = std::dynamic_pointer_cast<VirtualCouplingObject>(obj))
+ {
+ virtualCoupling->initOffsets();
+ }
+ }
}
void
diff --git a/Examples/Sandbox/main.cpp b/Examples/Sandbox/main.cpp
index d1af9b57..3edf3ed4 100644
--- a/Examples/Sandbox/main.cpp
+++ b/Examples/Sandbox/main.cpp
@@ -91,12 +91,11 @@ void testObjectController()
// Sphere
auto sphereGeom = std::make_shared<imstk::Sphere>();
- sphereGeom->setPosition(imstk::UP_VECTOR); //does not matter, need to set offset on object if controlled
+ sphereGeom->setPosition(imstk::UP_VECTOR);
sphereGeom->scale(0.2);
auto sphereObj = std::make_shared<imstk::VirtualCouplingObject>("VirtualSphere", client, 20);
sphereObj->setVisualGeometry(sphereGeom);
sphereObj->setCollidingGeometry(sphereGeom);
- sphereObj->setTranslationOffset(imstk::UP_VECTOR); // this will work though
scene->addSceneObject(sphereObj);
// Update Camera position
@@ -135,9 +134,9 @@ void testCameraController()
cam->setPosition(imstk::Vec3d(8,-8,8));
// Set camera controller
- auto controller = cam->setupController(client, 100);
- //LOG(INFO) << controller->getTranslationOffset(); // should be the same than initial cam position
- //controller->setInversionFlags( (imstk::CameraController::InvertFlag::transX | imstk::CameraController::InvertFlag::transY) );
+ cam->setupController(client, 100);
+ //LOG(INFO) << cam->getController()->getTranslationOffset(); // should be the same than initial cam position
+ //cam->getController()->setInversionFlags( (imstk::CameraController::InvertFlag::transX | imstk::CameraController::InvertFlag::transY) );
// Run
sdk->setCurrentScene("SceneTestDevice");
--
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