/*
* Copyright 1993, 1994, 1995, Silicon Graphics, Inc.
* ALL RIGHTS RESERVED
*
* This source code ("Source Code") was originally derived from a
* code base owned by Silicon Graphics, Inc. ("SGI")
*
* LICENSE: SGI grants the user ("Licensee") permission to reproduce,
* distribute, and create derivative works from this Source Code,
* provided that: (1) the user reproduces this entire notice within
* both source and binary format redistributions and any accompanying
* materials such as documentation in printed or electronic format;
* (2) the Source Code is not to be used, or ported or modified for
* use, except in conjunction with OpenGL Performer; and (3) the
* names of Silicon Graphics, Inc. and SGI may not be used in any
* advertising or publicity relating to the Source Code without the
* prior written permission of SGI. No further license or permission
* may be inferred or deemed or construed to exist with regard to the
* Source Code or the code base of which it forms a part. All rights
* not expressly granted are reserved.
*
* This Source Code is provided to Licensee AS IS, without any
* warranty of any kind, either express, implied, or statutory,
* including, but not limited to, any warranty that the Source Code
* will conform to specifications, any implied warranties of
* merchantability, fitness for a particular purpose, and freedom
* from infringement, and any warranty that the documentation will
* conform to the program, or any warranty that the Source Code will
* be error free.
*
* IN NO EVENT WILL SGI BE LIABLE FOR ANY DAMAGES, INCLUDING, BUT NOT
* LIMITED TO DIRECT, INDIRECT, SPECIAL OR CONSEQUENTIAL DAMAGES,
* ARISING OUT OF, RESULTING FROM, OR IN ANY WAY CONNECTED WITH THE
* SOURCE CODE, WHETHER OR NOT BASED UPON WARRANTY, CONTRACT, TORT OR
* OTHERWISE, WHETHER OR NOT INJURY WAS SUSTAINED BY PERSONS OR
* PROPERTY OR OTHERWISE, AND WHETHER OR NOT LOSS WAS SUSTAINED FROM,
* OR AROSE OUT OF USE OR RESULTS FROM USE OF, OR LACK OF ABILITY TO
* USE, THE SOURCE CODE.
*
* Contact information: Silicon Graphics, Inc.,
* 1600 Amphitheatre Pkwy, Mountain View, CA 94043,
* or: http://www.sgi.com
*/
/*
* file: pfiSpheric.C
* ----------------------
*
* pfiSpheric motion model class routines
*
* $Revision: 1.1 $
* $Date: 2000/11/21 21:39:35 $
*
*/
#include <math.h>
#include <stdlib.h>
#include <Performer/prmath.h>
#define _PFI_XFORMER_C_
#include <Performer/pfui.h>
#include <Performer/pfui/pfiInputXform.h>
#include <Performer/pfui/pfiSpheric.h>
typedef struct
{
short numChildren;
short hasIn;
int children[PFIXSPH_MAX_CHILDREN];
int parent;
float minRadius, maxRadius;
float farMinAround, farMaxAround;
float nearMinAround, nearMaxAround;
float farMinTilt, farMaxTilt;
float nearMinTilt, nearMaxTilt;
float farMinRoll, farMaxRoll;
float nearMinRoll, nearMaxRoll;
pfVec3 center;
float inRadius[PFIXSPH_MAX_CHILDREN], outRadius;
float inAround[PFIXSPH_MAX_CHILDREN], outAround;
float inTilt[PFIXSPH_MAX_CHILDREN], outTilt;
float farMaxLinearVelocity, farMaxAngularVelocity;
float farMaxRollVelocity;
float nearMaxLinearVelocity, nearMaxAngularVelocity;
float nearMaxRollVelocity;
} PathInfo;
/******************************************************************************
* Spheric Xformer Routines
******************************************************************************
*/
pfType *pfiInputXformSpheric::classType = NULL;
float pfiInputXformSpheric::getParameter(int param) {
switch(param) {
case PFIXSPH_RADIUS:
return radius;
case PFIXSPH_MIN_RADIUS:
return minRadius;
case PFIXSPH_MAX_RADIUS:
return maxRadius;
case PFIXSPH_AROUND:
return around;
case PFIXSPH_NEAR_MIN_AROUND:
return nearMinAround;
case PFIXSPH_NEAR_MAX_AROUND:
return nearMaxAround;
case PFIXSPH_FAR_MIN_AROUND:
return farMinAround;
case PFIXSPH_FAR_MAX_AROUND:
return farMaxAround;
case PFIXSPH_TILT:
return tilt;
case PFIXSPH_NEAR_MIN_TILT:
return nearMinTilt;
case PFIXSPH_NEAR_MAX_TILT:
return nearMaxTilt;
case PFIXSPH_FAR_MIN_TILT:
return farMinTilt;
case PFIXSPH_FAR_MAX_TILT:
return farMaxTilt;
case PFIXSPH_ROLL:
return roll;
case PFIXSPH_NEAR_MIN_ROLL:
return nearMinRoll;
case PFIXSPH_NEAR_MAX_ROLL:
return nearMaxRoll;
case PFIXSPH_FAR_MIN_ROLL:
return farMinRoll;
case PFIXSPH_FAR_MAX_ROLL:
return farMaxRoll;
case PFIXSPH_NEAR_MAX_LINEAR_VELOCITY:
return nearMaxLinearVelocity;
case PFIXSPH_NEAR_MAX_ANGULAR_VELOCITY:
return nearMaxAngularVelocity;
case PFIXSPH_NEAR_MAX_ROLL_VELOCITY:
return nearMaxRollVelocity;
case PFIXSPH_FAR_MAX_LINEAR_VELOCITY:
return farMaxLinearVelocity;
case PFIXSPH_FAR_MAX_ANGULAR_VELOCITY:
return farMaxAngularVelocity;
case PFIXSPH_FAR_MAX_ROLL_VELOCITY:
return farMaxRollVelocity;
case PFIXSPH_CENTER_X:
return center[PF_X];
case PFIXSPH_CENTER_Y:
return center[PF_Y];
case PFIXSPH_CENTER_Z:
return center[PF_Z];
case PFIXSPH_INT_NUM_CHILDREN:
return (float) numChildren;
case PFIXSPH_INT_AT_RADIUS:
return (float) atRadius;
case PFIXSPH_INT_AT_AROUND:
return (float) atAround;
case PFIXSPH_INT_AT_TILT:
return (float) atTilt;
case PFIXSPH_INT_CHILD_NUM:
return (float) childNum;
case PFIXSPH_OUT_RADIUS:
return outRadius;
case PFIXSPH_IN_RADIUS_0:
case PFIXSPH_IN_RADIUS_1:
return inRadius[param - PFIXSPH_IN_RADIUS_0];
case PFIXSPH_OUT_AROUND:
return outAround;
case PFIXSPH_IN_AROUND_0:
case PFIXSPH_IN_AROUND_1:
return inAround[param - PFIXSPH_IN_AROUND_0];
case PFIXSPH_OUT_TILT:
return outTilt;
case PFIXSPH_IN_TILT_0:
case PFIXSPH_IN_TILT_1:
return inTilt[param - PFIXSPH_IN_TILT_0];
default:
pfNotify(PFNFY_WARN,PFNFY_USAGE, "unknown parameter - "
"pfiInputXformSpheric::getParameter(%i)", param);
} // switch
// XXX - is there a way to return NaN ??
return 0.0f;
} // pfiInputXformSpheric::getParameter
void pfiInputXformSpheric::setParameter(int param, float num) {
switch(param) {
case PFIXSPH_RADIUS:
radius = num;
break;
case PFIXSPH_MIN_RADIUS:
minRadius = num;
break;
case PFIXSPH_MAX_RADIUS:
maxRadius = num;
break;
case PFIXSPH_AROUND:
around = num;
break;
case PFIXSPH_NEAR_MIN_AROUND:
nearMinAround = num;
break;
case PFIXSPH_NEAR_MAX_AROUND:
nearMaxAround = num;
break;
case PFIXSPH_FAR_MIN_AROUND:
farMinAround = num;
break;
case PFIXSPH_FAR_MAX_AROUND:
farMaxAround = num;
break;
case PFIXSPH_TILT:
tilt = num;
break;
case PFIXSPH_NEAR_MIN_TILT:
nearMinTilt = num;
break;
case PFIXSPH_NEAR_MAX_TILT:
nearMaxTilt = num;
break;
case PFIXSPH_FAR_MIN_TILT:
farMinTilt = num;
break;
case PFIXSPH_FAR_MAX_TILT:
farMaxTilt = num;
break;
case PFIXSPH_ROLL:
roll = num;
break;
case PFIXSPH_NEAR_MIN_ROLL:
nearMinRoll = num;
break;
case PFIXSPH_NEAR_MAX_ROLL:
nearMaxRoll = num;
break;
case PFIXSPH_FAR_MIN_ROLL:
farMinRoll = num;
break;
case PFIXSPH_FAR_MAX_ROLL:
farMaxRoll = num;
break;
case PFIXSPH_NEAR_MAX_LINEAR_VELOCITY:
nearMaxLinearVelocity = num;
break;
case PFIXSPH_NEAR_MAX_ANGULAR_VELOCITY:
nearMaxAngularVelocity = num;
break;
case PFIXSPH_NEAR_MAX_ROLL_VELOCITY:
nearMaxRollVelocity = num;
break;
case PFIXSPH_FAR_MAX_LINEAR_VELOCITY:
farMaxLinearVelocity = num;
break;
case PFIXSPH_FAR_MAX_ANGULAR_VELOCITY:
farMaxAngularVelocity = num;
break;
case PFIXSPH_FAR_MAX_ROLL_VELOCITY:
farMaxRollVelocity = num;
break;
case PFIXSPH_CENTER_X:
center[PF_X] = num;
break;
case PFIXSPH_CENTER_Y:
center[PF_Y] = num;
break;
case PFIXSPH_CENTER_Z:
center[PF_Z] = num;
break;
case PFIXSPH_INT_NUM_CHILDREN:
numChildren = (int) num;
break;
case PFIXSPH_INT_AT_RADIUS:
atRadius = (int) num;
break;
case PFIXSPH_INT_AT_AROUND:
atAround = (int) num;
break;
case PFIXSPH_INT_AT_TILT:
atTilt = (int) num;
break;
case PFIXSPH_INT_CHILD_NUM:
childNum = (int) childNum;
break;
case PFIXSPH_OUT_RADIUS:
outRadius = num;
break;
case PFIXSPH_IN_RADIUS_0:
case PFIXSPH_IN_RADIUS_1:
inRadius[param - PFIXSPH_IN_RADIUS_0] = num;
hasIn = TRUE;
break;
case PFIXSPH_OUT_AROUND:
outAround = num;
break;
case PFIXSPH_IN_AROUND_0:
case PFIXSPH_IN_AROUND_1:
inAround[param - PFIXSPH_IN_AROUND_0] = num;
hasIn = TRUE;
break;
case PFIXSPH_OUT_TILT:
outTilt = num;
break;
case PFIXSPH_IN_TILT_0:
case PFIXSPH_IN_TILT_1:
inTilt[param - PFIXSPH_IN_TILT_0] = num;
hasIn = TRUE;
break;
default:
pfNotify(PFNFY_WARN,PFNFY_USAGE, "unknown parameter - "
"pfiInputXformSpheric::setParameter(%i)", param);
} // switch
} // pfiInputXformSpheric::setParameter
void
pfiInputXformSpheric::init()
{
if (classType == NULL)
{
pfiInputXform::init();
classType =
new pfType(pfiInputXformTravel::getClassType(), "pfiInputXformSpheric");
}
}
pfiInputXformSpheric::pfiInputXformSpheric(void)
{
setType(classType);
xTracking = FALSE;
radius = 200.0f;
minRadius = 0.0f;
maxRadius = 100.0f;
around = 0.0f;
nearMinAround = -180.0f;
nearMaxAround = 180.0f;
farMinAround = -180.0f;
farMaxAround = 180.0f;
tilt = 0.0f;
nearMinTilt = -180.0f;
nearMaxTilt = 180.0f;
farMinTilt = -180.0f;
farMaxTilt = 180.0f;
roll = 0.0f;
nearMinRoll = -180.0f;
nearMaxRoll = 180.0f;
farMinRoll = -180.0f;
farMaxRoll = 180.0f;
nearMaxLinearVelocity = 30.0f;
nearMaxAngularVelocity = 30.0f;
nearMaxRollVelocity = 30.0f;
farMaxLinearVelocity = 30.0f;
farMaxAngularVelocity = 30.0f;
farMaxRollVelocity = 30.0f;
pathList = new pfList;
numChildren = 0;
hasIn = FALSE;
int i;
for(i = 0; i < PFIXSPH_MAX_CHILDREN; i++)
inRadius[i] = 0.0f;
outRadius = 10.0f;
for(i = 0; i < PFIXSPH_MAX_CHILDREN; i++)
inAround[i] = 180.0f;
outAround = 0.0f;
for(i = 0; i < PFIXSPH_MAX_CHILDREN; i++)
inTilt[i] = 0.0f;
outTilt = 30.0f;
// set up some path stuff
numWorlds = -1;
currentWorld = -1;
}
void
pfiInputXformSpheric::_setBSphere(pfSphere* _sphere)
{
xDBSphere = *_sphere;
xDBSize = 2.0f * xDBSphere.radius;
xDBSizeLg = logf(xDBSize);
if (!(xUserSetMask & _PFIX_USET_RESET_POS)) // -- If user did not specify reset_pos -- //
{
PFCOPY_VEC3(xMotionCoord.startPos.xyz, xDBSphere.center);
xMotionCoord.startPos.xyz[1] -= xDBSize*1.5f;
xMotionCoord.startPos.xyz[2] += xDBSphere.radius*0.5f;
PFSET_VEC3(xMotionCoord.startPos.hpr, 0.0f, 0.0f, 0.0f);
}
if (!(xUserSetMask & _PFIX_USET_START_MOTION))
{
xMotionCoord.startAccel = xMotionCoord.accel = PF_MAX2(5.0f, xDBSize*0.006f);
}
if (!(xUserSetMask & _PFIX_USET_MOTION_LIMITS))
{
xMotionCoord.maxSpeed = PF_MAX2(200.0f, xDBSize*5.0f);
if (xMotionCoord.minSpeed < 0.0f)
xMotionCoord.minSpeed = -xMotionCoord.maxSpeed;
xMotionCoord.maxAccel = xDBSize*2.0f;
if (xMotionCoord.minAccel < 0.0f)
xMotionCoord.minAccel = -xMotionCoord.maxAccel;
}
if (!(xUserSetMask & _PFIX_USET_SPHERIC_LIMITS)) // If users have not set spheric props
{
// --- Should set up all global spheric params
minRadius = 1.01f * xDBSphere.radius;
maxRadius = 10.0f * xDBSphere.radius;
radius = (minRadius + maxRadius)/2.0f;
//
// Values that seemed all right to me at the time...
// Choose minRadius to correspond to the data available (or make it 0).
// maxLinearVelocity is always 1/20 HAT per update (i.e. per frame?)
// maxAngularVelocity is always the same as maxLinearVelocity
// (i.e. can achieve same max airspeed) when you're at the equator.
// -DH
//
static float _PFI_SPHERIC_MIN_RADIUS = -1;
static float _PFI_SPHERIC_MAX_RADIUS = -1;
if (_PFI_SPHERIC_MIN_RADIUS == -1)
{
char *e;
e = getenv("_PFI_SPHERIC_MIN_RADIUS");
_PFI_SPHERIC_MIN_RADIUS = (e ? atof(e) : 1.001f);
e = getenv("_PFI_SPHERIC_MAX_RADIUS");
_PFI_SPHERIC_MAX_RADIUS = (e ? atof(e) : 8.0f);
/*
pfNotify(PFNFY_INTERNAL_DEBUG, PFNFY_PRINT,
"_PFI_SPHERIC_MIN_RADIUS = %f times sphere radius",
_PFI_SPHERIC_MIN_RADIUS);
pfNotify(PFNFY_INTERNAL_DEBUG, PFNFY_PRINT,
"_PFI_SPHERIC_MAX_RADIUS = %f times sphere radius",
_PFI_SPHERIC_MAX_RADIUS);
*/
}
hasIn = FALSE;
minRadius = _PFI_SPHERIC_MIN_RADIUS * xDBSphere.radius;
maxRadius = _PFI_SPHERIC_MAX_RADIUS * xDBSphere.radius;
radius = (minRadius + maxRadius)/2.0f; // XXX ??? clobber prev value?
nearMaxLinearVelocity = (minRadius - xDBSphere.radius) / 20;
farMaxLinearVelocity = (maxRadius - xDBSphere.radius) / 20;
nearMaxAngularVelocity = nearMaxLinearVelocity/xDBSphere.radius * 180/M_PI;
farMaxAngularVelocity = farMaxLinearVelocity/xDBSphere.radius * 180/M_PI;
}
}
// PURPOSE: Makes parameters valid for current location
// Use if coord suddenly jumps or changes. (Reposition, collision, etc.)
void pfiInputXformSpheric::recalc(void)
{
float sinAround, cosAround;
float sinTilt, cosTilt;
// reset postion - generate radius, around, tilt - recalculate hpr...
pfVec3 vec3 = xMotionCoord.pos.xyz;
vec3 -= center;
radius = vec3.length();
tilt = pfArcSin(xMotionCoord.pos.xyz[PF_Z] /
radius);
pfSinCos(tilt, &sinTilt, &cosTilt);
around = pfArcSin(xMotionCoord.pos.xyz[PF_Y] /
(cosTilt * radius));
roll = 0.0f;
/* generate position and orientation */
pfSinCos(around, &sinAround, &cosAround);
pfSinCos(tilt, &sinTilt, &cosTilt);
xMotionCoord.pos.xyz[PF_X] = cosAround * cosTilt * radius;
xMotionCoord.pos.xyz[PF_Y] = sinAround * cosTilt * radius;
xMotionCoord.pos.xyz[PF_Z] = sinTilt * radius;
xMotionCoord.pos.hpr[PF_H] = around + 90.0f;
xMotionCoord.pos.hpr[PF_P] = -tilt;
xMotionCoord.pos.hpr[PF_R] = roll;
xMotionCoord.makeMat();
}
// PURPOSE: This actually calculates the new Coord
void pfiInputXformSpheric::generateLocation(void)
{
float sinAround, cosAround;
float sinTilt, cosTilt;
/* generate position and orientation */
pfSinCos(around, &sinAround, &cosAround);
pfSinCos(tilt, &sinTilt, &cosTilt);
xMotionCoord.pos.xyz[PF_X] = cosAround * cosTilt * radius;
xMotionCoord.pos.xyz[PF_Y] = sinAround * cosTilt * radius;
xMotionCoord.pos.xyz[PF_Z] = sinTilt * radius;
xMotionCoord.pos.xyz += center;
xMotionCoord.pos.hpr[PF_H] = around + 90.0f;
xMotionCoord.pos.hpr[PF_P] = -tilt;
xMotionCoord.pos.hpr[PF_R] = roll;
xMotionCoord.makeMat();
}
void
pfiInputXformSpheric::resetPosition(void)
{
radius = outRadius;
around = outTilt;
tilt = outTilt;
xMotionCoord.prevPos = xMotionCoord.pos;
generateLocation();
}
void
pfiInputXformSpheric::setMode(int _mode, int _val)
{
switch(_mode)
{
case PFIXSPH_MODE_MOTION:
if (xMotionMode == _val)
return;
if (!xInMotion)
xMotionCoord.speed = xMotionCoord.startSpeed;
xMotionMode = _val;
break;
case PFIXSPH_MODE_MOTION_MOD:
xMotionMod = _val;
break;
case PFIXSPH_MODE_AUTO:
xAuto = _val;
break;
default:
pfNotify(PFNFY_WARN,PFNFY_USAGE,
"pfiInputXformSpheric::setMode() - unknown mode %d", _mode);
break;
}
}
int
pfiInputXformSpheric::getMode(int _mode) const
{
switch(_mode)
{
case PFIXSPH_MODE_MOTION:
return xMotionMode;
case PFIXSPH_MODE_MOTION_MOD:
return xMotionMod;
case PFIXSPH_MODE_AUTO:
return xAuto;
default:
pfNotify(PFNFY_WARN,PFNFY_USAGE,
"pfi2DInputXformSpheric::getMode() - unknown mode %d", _mode);
return -1;
}
}
void pfiInputXformSpheric::setWorld(int worldNumber, int in_or_out) {
if ((worldNumber > numWorlds) || (worldNumber < 0))
return;
#if 0
if (worldNumber == (numWorlds)+1)
worldNumber = 0;
else if (worldNumber == -1)
worldNumber = numWorlds;
#endif
PathInfo *current = (PathInfo *) pathList->get(worldNumber);
if (current == NULL) {
// pfNotify(PFNFY_WARN, PFNFY_PRINT, "setWorld called with out of bounds world number %i\n", worldNumber);
return;
}
// if (in_or_out == PFIXSPH_PATH_OUT)
// pfNotify(PFNFY_INFO, PFNFY_PRINT, "setWorld %i OUT", worldNumber);
// else
// pfNotify(PFNFY_INFO, PFNFY_PRINT, "setWorld %i IN", worldNumber);
int prevWorldNumber = currentWorld;
currentWorld = worldNumber;
if (in_or_out == PFIXSPH_PATH_OUT) {
radius = current->outRadius;
around = current->outAround;
tilt = current->outTilt;
}
else {
int childNum = 0;
int i;
for(i = 1; i < current->numChildren; i++)
if (current->children[i] == prevWorldNumber)
childNum = i;
radius = current->inRadius[childNum];
around = current->inAround[childNum];
tilt = current->inTilt[childNum];
}
minRadius = current->minRadius;
maxRadius = current->maxRadius;
nearMinAround = current->nearMinAround;
nearMaxAround = current->nearMaxAround;
farMinAround = current->farMinAround;
farMaxAround = current->farMaxAround;
nearMinTilt = current->nearMinTilt;
nearMaxTilt = current->nearMaxTilt;
farMinTilt = current->farMinTilt;
farMaxTilt = current->farMaxTilt;
nearMinRoll = current->nearMinRoll;
nearMaxRoll = current->nearMaxRoll;
farMinRoll = current->farMinRoll;
farMaxRoll = current->farMaxRoll;
center = current->center;
numChildren = current->numChildren;
hasIn = current->hasIn;
int i;
for(i = 0; i < PFIXSPH_MAX_CHILDREN; i++)
inRadius[i] = current->inRadius[i];
outRadius = current->outRadius;
for(i = 0; i < PFIXSPH_MAX_CHILDREN; i++)
inAround[i] = current->inAround[i];
outAround = current->outAround;
for(i = 0; i < PFIXSPH_MAX_CHILDREN; i++)
inTilt[i] = current->inTilt[i];
outTilt = current->outTilt;
nearMaxLinearVelocity = current->nearMaxLinearVelocity;
nearMaxAngularVelocity = current->nearMaxAngularVelocity;
nearMaxRollVelocity = current->nearMaxRollVelocity;
farMaxLinearVelocity = current->farMaxLinearVelocity;
farMaxAngularVelocity = current->farMaxAngularVelocity;
farMaxRollVelocity = current->farMaxRollVelocity;
generateLocation();
xMotionCoord.prevPos = xMotionCoord.pos;
xMotionCoord.startPos = xMotionCoord.pos;
// ViewState->xformer->xMotionCoord.pos = xMotionCoord.pos;
// // Pass data here to draw process - in main.C
// if (current->blend) {
// for (chani=0; chani < ViewState->numChans; chani++) {
// pd[chani]->transitioning = 1;
// ViewState->chan[chani]->passChanData();
// }
// }
// else if (pd[0]->transitioning == 1) { // just changed back
// for (chani=0; chani < ViewState->numChans; chani++) {
// pd[chani]->transitioning = 0;
// ViewState->chan[chani]->passChanData();
// }
// }
generateLocation();
xMotionCoord.prevPos = xMotionCoord.pos;
xMotionCoord.startPos = xMotionCoord.pos;
} // setWorld
void pfiInputXformSpheric::readPathFile(char *filename) {
int i, j;
FILE *fp;
char str[80];
char tag[80];
float fnum;
int inum;
PathInfo *current = NULL;
int localNumWorlds = -1;
int lines = 0;
if (!(fp = fopen(filename, "r"))) {
pfNotify(PFNFY_WARN, PFNFY_PRINT,
"spheric readPathFile couldn't open %s.\n", filename);
return;
}
pfNotify(PFNFY_INFO, PFNFY_PRINT,
"spheric readPathFile reading %s...\n", filename);
while (!feof(fp)) {
fscanf(fp, "%[^\n]", str);
fscanf(fp, "\n");
lines++;
sscanf(str, "%s %f", tag, &fnum);
inum = (int) fnum;
if (tag[0] == '#')
/* comment - do nothing */ ;
else if (strcmp(tag, "world") == 0) {
if (current != NULL)
pathList->set(localNumWorlds, current);
localNumWorlds++;
if (localNumWorlds != inum) {
pfNotify(PFNFY_WARN, PFNFY_PRINT, "World order in file must start "
"at 0 and go up by one each world...");
pfExit();
}
current = (PathInfo *) pathList->get(localNumWorlds);
if (current == NULL)
current = (PathInfo *) pfMalloc( sizeof(PathInfo),
pfGetSharedArena() );
int i;
current->numChildren = 0;
current->hasIn = FALSE;
for (i = 0; i < PFIXSPH_MAX_CHILDREN; i++)
current->children[i] = -1;
current->parent = -1;
current->minRadius = 0.0f;
current->maxRadius = 5000.0f;
current->nearMinAround = -180.0f;
current->nearMaxAround = 180.0f;
current->farMinAround = -180.0f;
current->farMaxAround = 180.0f;
current->nearMinTilt = -180.0f;
current->nearMaxTilt = 180.0f;
current->farMinTilt = -180.0f;
current->farMaxTilt = 180.0f;
current->nearMinRoll = -180.0f;
current->nearMaxRoll = 180.0f;
current->farMinRoll = -180.0f;
current->farMaxRoll = 180.0f;
current->center.set(0.0f, 0.0f, 0.0f);
for (i = 0; i < PFIXSPH_MAX_CHILDREN; i++)
current->inRadius[i] = 20.0f;
current->outRadius = 5000.0f;
for (i = 0; i < PFIXSPH_MAX_CHILDREN; i++)
current->inAround[i] = 0.0f;
current->outAround = 0.0f;
for (i = 0; i < PFIXSPH_MAX_CHILDREN; i++)
current->inTilt[i] = 0.0f;
current->outTilt = 0.0f;
current->nearMaxLinearVelocity = 1.0f;
current->nearMaxAngularVelocity = 30.0f;
current->nearMaxRollVelocity = 30.0f;
current->farMaxLinearVelocity = 1.0f;
current->farMaxAngularVelocity = 30.0f;
current->farMaxRollVelocity = 30.0f;
}
else if (current == NULL) {
pfNotify(PFNFY_FATAL, PFNFY_PRINT,
"First tag in paths must be <world>\n");
pfExit();
}
else if (strcmp(tag, "child") == 0) {
if (current->numChildren == PFIXSPH_MAX_CHILDREN)
pfNotify(PFNFY_WARN, PFNFY_PRINT, "Too many children (MAX %i)",
PFIXSPH_MAX_CHILDREN);
else {
current->children[current->numChildren] = inum;
current->numChildren++;
}
}
else if (strcmp(tag, "minRadius") == 0)
current->minRadius = fnum;
else if (strcmp(tag, "maxRadius") == 0)
current->maxRadius = fnum;
else if (strcmp(tag, "nearMinAround") == 0)
current->nearMinAround = fnum;
else if (strcmp(tag, "nearMaxAround") == 0)
current->nearMaxAround = fnum;
else if (strcmp(tag, "farMinAround") == 0)
current->farMinAround = fnum;
else if (strcmp(tag, "farMaxAround") == 0)
current->farMaxAround = fnum;
else if (strcmp(tag, "nearMinTilt") == 0)
current->nearMinTilt = fnum;
else if (strcmp(tag, "nearMaxTilt") == 0)
current->nearMaxTilt = fnum;
else if (strcmp(tag, "farMinTilt") == 0)
current->farMinTilt = fnum;
else if (strcmp(tag, "farMaxTilt") == 0)
current->farMaxTilt = fnum;
else if (strcmp(tag, "nearMinRoll") == 0)
current->nearMinRoll = fnum;
else if (strcmp(tag, "farMinRoll") == 0)
current->farMinRoll = fnum;
else if (strcmp(tag, "nearMaxRoll") == 0)
current->nearMaxRoll = fnum;
else if (strcmp(tag, "farMaxRoll") == 0)
current->farMaxRoll = fnum;
else if (strcmp(tag, "center") == 0)
sscanf(str, "%s %f %f %f", tag, ¤t->center[PF_X],
¤t->center[PF_Y], ¤t->center[PF_Z]);
else if (strcmp(tag, "inRadius") == 0) {
current->inRadius[0] = fnum;
current->hasIn = TRUE;
}
else if (strcmp(tag, "inRadius1") == 0) {
current->inRadius[1] = fnum;
current->hasIn = TRUE;
}
else if (strcmp(tag, "outRadius") == 0)
current->outRadius = fnum;
else if (strcmp(tag, "inAround") == 0) {
current->inAround[0] = fnum;
current->hasIn = TRUE;
}
else if (strcmp(tag, "inAround1") == 0) {
current->inAround[1] = fnum;
current->hasIn = TRUE;
}
else if (strcmp(tag, "outAround") == 0)
current->outAround = fnum;
else if (strcmp(tag, "inTilt") == 0) {
current->inTilt[0] = fnum;
current->hasIn = TRUE;
}
else if (strcmp(tag, "inTilt1") == 0) {
current->inTilt[1] = fnum;
current->hasIn = TRUE;
}
else if (strcmp(tag, "outTilt") == 0)
current->outTilt = fnum;
else if (strcmp(tag, "nearMaxLinearVelocity") == 0)
current->nearMaxLinearVelocity = fnum;
else if (strcmp(tag, "farMaxLinearVelocity") == 0)
current->farMaxLinearVelocity = fnum;
else if (strcmp(tag, "nearMaxAngularVelocity") == 0)
current->nearMaxAngularVelocity = fnum;
else if (strcmp(tag, "farMaxAngularVelocity") == 0)
current->farMaxAngularVelocity = fnum;
else if (strcmp(tag, "nearMaxRollVelocity") == 0)
current->nearMaxRollVelocity = fnum;
else if (strcmp(tag, "farMaxRollVelocity") == 0)
current->farMaxRollVelocity = fnum;
else
pfNotify(PFNFY_WARN, PFNFY_PRINT,
"Unknown tag <%s> in paths on line %i.", tag, lines);
}
fclose(fp);
if (current != NULL)
pathList->set(localNumWorlds, current);
numWorlds = localNumWorlds;
// manage tree stuff
for(i = 0; i <= (numWorlds); i++) {
current = (PathInfo *) pathList->get(i);
if (current == NULL) {
pfNotify(PFNFY_WARN, PFNFY_PRINT, "pathList[%i] returned NULL\n", i);
pfExit();
}
for(j = 0; j < current->numChildren; j++) {
PathInfo *child = (PathInfo *) pathList->get(current->children[j]);
if (child == NULL) {
pfNotify(PFNFY_WARN, PFNFY_PRINT, "pathList[%i] returned NULL\n",
j);
pfExit();
}
child->parent = i;
}
}
// can't go backwards from the root
current = (PathInfo *) pathList->get(0);
current->parent = -1;
pfNotify(PFNFY_NOTICE, PFNFY_PRINT, "Done reading paths");
} // readPathFile
void pfiInputXformSpheric::printPathStuff(void) {
pfNotify(PFNFY_NOTICE, PFNFY_PRINT, "Path stuff **********************\n");
pfNotify(PFNFY_NOTICE, PFNFY_MORE, "numWorlds = %i\n", numWorlds);
pfNotify(PFNFY_NOTICE, PFNFY_MORE, "currentWorld = %i\n", currentWorld);
pfNotify(PFNFY_NOTICE, PFNFY_MORE, "center = %.12f %.12f %.12f\n", center[PF_X],
center[PF_Y], center[PF_Z]);
pfNotify(PFNFY_NOTICE, PFNFY_MORE, "radius = %.12f\n", radius);
pfNotify(PFNFY_NOTICE, PFNFY_MORE, "around = %.12f\n", around);
pfNotify(PFNFY_NOTICE, PFNFY_MORE, "tilt = %.12f\n", tilt);
pfNotify(PFNFY_NOTICE, PFNFY_MORE, "roll = %.12f\n", roll);
pfNotify(PFNFY_NOTICE, PFNFY_MORE, "min/max radius = %.12f / %.12f\n",
minRadius, maxRadius);
pfNotify(PFNFY_NOTICE, PFNFY_MORE, "far min/max around = %.12f / %.12f\n",
farMinAround, farMaxAround);
pfNotify(PFNFY_NOTICE, PFNFY_MORE, "near min/max around = %.12f / %.12f\n",
nearMinAround, nearMaxAround);
pfNotify(PFNFY_NOTICE, PFNFY_MORE, "far min/max tilt = %.12f / %.12f\n",
farMinTilt, farMaxTilt);
pfNotify(PFNFY_NOTICE, PFNFY_MORE, "near min/max tilt = %.12f / %.12f\n",
nearMinTilt, nearMaxTilt);
pfNotify(PFNFY_NOTICE, PFNFY_MORE, "far min/max roll = %.12f / %.12f\n",
farMinRoll, farMaxRoll);
pfNotify(PFNFY_NOTICE, PFNFY_MORE, "near min/max roll = %.12f / %.12f\n",
nearMinRoll, nearMaxRoll);
pfNotify(PFNFY_NOTICE, PFNFY_MORE,
"far/near max linear velocity = %.12f / %.12f\n",
farMaxLinearVelocity, nearMaxLinearVelocity);
pfNotify(PFNFY_NOTICE, PFNFY_MORE,
"far/near max angular velocity = %.12f / %.12f\n",
farMaxAngularVelocity, nearMaxAngularVelocity);
pfNotify(PFNFY_NOTICE, PFNFY_MORE,
"far/near max roll velocity = %.12f / %.12f\n",
farMaxRollVelocity, nearMaxRollVelocity);
// cerr << "xMotionCoord.pos.xyz = "
// << xMotionCoord.pos.xyz[PF_X] << ", "
// << xMotionCoord.pos.xyz[PF_Y] << ", "
// << xMotionCoord.pos.xyz[PF_Z] << "\n";
}
int
pfiUpdate2DIXformSpheric(pfiInputXform *_ix, pfiInputCoord *_ic, void *)
{
pfiInputXformSpheric *_spheric = (pfiInputXformSpheric *)_ix;
if (_spheric->xUpdateMode != PFI_CB_CONT)
return _spheric->xUpdateMode;
if (_spheric->xMotionMode == PFIXSPH_MOTION_STOP)
{
_spheric->stop();
_spheric->xTracking = FALSE;
}
else if (_spheric->xInMotion)
return _spheric->doUpdate(_ic);
return PFI_CB_CONT;
}
pfiInputXformSpheric *
pfiCreate2DIXformSpheric(void *arena)
{
pfiInputXformSpheric *spheric;
spheric = new(arena) pfiInputXformSpheric;
spheric->setInputCoordPtr(new(arena) pfi2DInputCoord);
spheric->setUpdateFunc(pfiUpdate2DIXformSpheric, NULL);
return spheric;
}
int pfiInputXformSpheric::doUpdate(pfiInputCoord *_ic) {
pfi2DInputCoord *_icoord = (pfi2DInputCoord *)_ic;
float x, y;
/* Apply quadratic-scaling to create deadened center */
x = 0.5f - _icoord->getCoord(PF_X);
x *= PF_ABS(x)*4.0f;
y = 0.5f - _icoord->getCoord(PF_Y);
y *= PF_ABS(y)*4.0f;
// x and y should be between -1 and 1
if (y > 1.0f)
y = 1.0f;
else if (y < -1.0f)
y = -1.0;
if (x > 1.0f)
x = 1.0f;
else if (x < -1.0f)
x = -1.0f;
// pfNotify(PFNFY_NOTICE, PFNFY_PRINT, "x = %f, y = %f", x, y);
float percentage = (radius - minRadius) /
(maxRadius - minRadius);
// a(c) + b(1-c) == ac + b - bc == (a-b)*c + b
float maxAround = (farMaxAround - nearMaxAround) *
percentage + nearMaxAround;
float minAround = (farMinAround - nearMinAround) *
percentage + nearMinAround;
float maxTilt = (farMaxTilt - nearMaxTilt) *
percentage + nearMaxTilt;
float minTilt = (farMinTilt - nearMinTilt) *
percentage + nearMinTilt;
float maxLinearVelocity =
(farMaxLinearVelocity - nearMaxLinearVelocity) *
percentage + nearMaxLinearVelocity;
float maxAngularVelocity =
(farMaxAngularVelocity -
nearMaxAngularVelocity) *
percentage + nearMaxAngularVelocity;
if (xMotionMod & PFIXSPH_MOTION_MOD_SPIN)
{
float maxRoll = (farMaxRoll - nearMaxRoll) *
percentage + nearMaxRoll;
float minRoll = (farMinRoll - nearMinRoll) *
percentage + nearMinRoll;
float maxRollVelocity =
(farMaxRollVelocity - nearMaxRollVelocity) *
percentage + nearMaxRollVelocity;
roll += x * maxRollVelocity;
if (roll >= 180.0f)
roll -= 360.0f;
else if (roll <= -180.0f)
roll += 360.0f;
if (roll >= maxRoll)
roll = maxRoll;
else if (roll <= minRoll)
roll = minRoll;
}
else {
roll = 0.0f;
}
switch(xMotionMode)
{
case PFIXSPH_MOTION_INOUT:
radius += y * maxLinearVelocity;
if (radius >= maxRadius)
radius = maxRadius;
else if (radius <= minRadius)
radius = minRadius;
// stay inside the shrinking lines
if (around >= maxAround)
around = maxAround;
else if (around <= minAround)
around = minAround;
if (tilt >= maxTilt)
tilt = maxTilt;
else if (tilt <= minTilt)
tilt = minTilt;
generateLocation();
break;
case PFIXSPH_MOTION_AROUND:
around += x * maxAngularVelocity;
tilt += y * maxAngularVelocity;
if (around >= 180.0f)
around -= 360.0f;
else if (around <= -180.0f)
around += 360.0f;
if (around >= maxAround)
around = maxAround;
else if (around <= minAround)
around = minAround;
if (tilt >= 180.0f)
tilt -= 360.0f;
else if (tilt <= -180.0f)
tilt += 360.0f;
if (tilt >= maxTilt)
tilt = maxTilt;
else if (tilt <= minTilt)
tilt = minTilt;
generateLocation();
break;
case PFIXSPH_MOTION_TRACK_INOUT: // --- Goto area of interest --- //
// don't go to an area of interest if there isn't one...
if (!hasIn)
return PFI_CB_CONT;
int lastTracking = xTracking;
if (y > 0.0f)
xTracking = PFIXSPH_PATH_OUT;
else
xTracking = PFIXSPH_PATH_IN;
if ((lastTracking == xTracking) &&
(atRadius && atAround && atTilt)) {
PathInfo *current = (PathInfo *) pathList->get(currentWorld);
if (current)
if (xTracking == PFIXSPH_PATH_IN)
setWorld(current->children[childNum], PFIXSPH_PATH_OUT);
else
setWorld(current->parent, PFIXSPH_PATH_IN);
}
float mult;
float rLen[PFIXSPH_MAX_CHILDREN], aLen[PFIXSPH_MAX_CHILDREN],
tLen[PFIXSPH_MAX_CHILDREN];
int i;
if (y > 0.0f) {
for (i = 0; i < PF_MAX2(1,numChildren); i++) {
rLen[i] = outRadius - radius;
aLen[i] = outAround - around;
tLen[i] = outTilt - tilt;
}
}
else {
for (i = 0; i < PF_MAX2(1,numChildren); i++) {
rLen[i] = inRadius[i] - radius;
aLen[i] = inAround[i] - around;
tLen[i] = inTilt[i] - tilt;
}
}
// pick the shortest distance around the circle
// remember: -180 and 180 are the same...
for (i = 0; i < PF_MAX2(1,numChildren); i++) {
if (aLen[i] > 180.0f)
aLen[i] -= 360.0f;
else if (aLen[i] < -180.0f)
aLen[i] += 360.0f;
if (tLen[i] > 180.0f)
tLen[i] -= 360.0f;
else if (tLen[i] < -180.0f)
tLen[i] += 360.0f;
}
float len = aLen[0] * aLen[0] + tLen[0] * tLen[0];
childNum = 0;
for (i = 1; i < numChildren; i++) {
float newlen = aLen[i] * aLen[i] + tLen[i] * tLen[i];
if (newlen < len) {
newlen = len;
childNum = i;
}
}
float scaledRLen =
PF_ABS(rLen[childNum]/maxLinearVelocity);
float scaledALen =
PF_ABS(aLen[childNum]/maxAngularVelocity);
float scaledTLen =
PF_ABS(tLen[childNum]/maxAngularVelocity);
float rStride = PF_ABS(y) * maxLinearVelocity;
float aStride = PF_ABS(y) * maxAngularVelocity;
float tStride = PF_ABS(y) * maxAngularVelocity;
float longLen = scaledRLen;
if (longLen < scaledALen)
longLen = scaledALen;
if (longLen < scaledTLen)
longLen = scaledTLen;
if (longLen > 0.0f) {
mult = scaledRLen/longLen;
if (mult < 1.0f)
rStride *= mult;
mult = scaledALen/longLen;
if (mult < 1.0f)
aStride *= mult;
mult = scaledTLen/longLen;
if (mult < 1.0f)
tStride *= mult;
}
/**** radius ****/
if (PF_ABS(rLen[childNum]) <= rStride) {
atRadius = TRUE;
if (y > 0.0f)
radius = outRadius;
else
radius = inRadius[childNum];
}
else {
atRadius = FALSE;
if (rLen[childNum] > 0.0f)
radius += rStride;
else
radius -= rStride;
}
/**** around ****/
if (PF_ABS(aLen[childNum]) <= aStride) {
atAround = TRUE;
if (y > 0.0f)
around = outAround;
else
around = inAround[childNum];
}
else {
atAround = FALSE;
if (aLen[childNum] > 0.0f)
around += aStride;
else
around -= aStride;
}
/**** tilt ****/
if (PF_ABS(tLen[childNum]) <= tStride) {
atTilt = TRUE;
if (y > 0.0f)
tilt = outTilt;
else
tilt = inTilt[childNum];
}
else {
atTilt = FALSE;
if (tLen[childNum] > 0.0f)
tilt += tStride;
else
tilt -= tStride;
}
xMotionCoord.pos.hpr[PF_R] = roll;
generateLocation();
/**** This works - which means that it currently does nothing with
rotation...
pfQuat quat;
pfMatrix rot;
xMotionCoord.mat.getOrthoQuat(quat);
rot.makeQuat(quat);
\
xMotionCoord.mat.postTrans(rot,
xMotionCoord.pos.xyz[PF_X],
xMotionCoord.pos.xyz[PF_Y],
xMotionCoord.pos.xyz[PF_Z]);
\
xMotionCoord.mat.getOrthoCoord(&xMotionCoord.pos);
****/
break;
}
return PFI_CB_CONT;
} // pfiInputXformSpheric::doUpdate
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