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- added a spring, yeah
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@vwaurich @adeas31
vwaurich authored and adeas31 committed Sep 30, 2016
1 parent 09c2920 commit a144be8
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Showing 3 changed files with 213 additions and 4 deletions.
176 changes: 176 additions & 0 deletions OMEdit/OMEditGUI/Animation/ExtraShapes.cpp
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Expand Up @@ -130,3 +130,179 @@ Pipecylinder::Pipecylinder(float rI, float rO, float l) :
this->addPrimitiveSet(basePlane);
}
}

osg::Vec3f Spring::normalize(osg::Vec3f vec) {
float abs = absoluteVector(vec);
return osg::Vec3f(vec[0]/abs, vec[1] / abs, vec[2] / abs);
}

osg::Vec3f Spring::getNormal(osg::Vec3f vec, float length) {
osg::Vec3f vecN = normalize(vec);
osg::Vec3f vecN_Abs = osg::Vec3f(std::abs(vecN[0]), std::abs(vecN[1]), std::abs(vecN[2]));

//Get max value in vec
float maxVal = std::fmaxf(std::fmaxf(vecN_Abs[0], vecN_Abs[1] ), vecN_Abs[2]);
int imax = 0;
if (vecN_Abs[0] == maxVal)
imax = 0;
else if (vecN_Abs[1] == maxVal)
imax = 1;
else
imax = 2;

int rest[2] = {0,0};

switch (imax) {
case(0) : rest[0] = 1; rest[1] = 2 ; break;
case(1) : rest[0] = 0; rest[1] = 2 ; break;
case(2) : rest[0] = 0; rest[1] = 1 ; break;
}
//calc a normal vector
osg::Vec3f n = osg::Vec3f(0, 0, 0);
n[rest[0]] = 1;
n[rest[1]] = 1;
n[imax] = -(vecN[rest[0]] + vecN[rest[1]]) / vecN[imax];
n = normalize(n);
n[0] = n[0] * length;
n[1] = n[1] * length;
n[2] = n[2] * length;
return n;
}

float Spring::absoluteVector(osg::Vec3f vec)
{
return std::sqrt(std::pow(vec[0], 2) + std::pow(vec[1], 2) + std::pow(vec[2], 2));
}

float Spring::angleBetweenVectors(osg::Vec3f vec1, osg::Vec3f vec2)
{
float scalarProduct = vec1[0] * vec2[0] + vec1[1] * vec2[1] + vec1[2] * vec2[2];
return (std::acos(scalarProduct/(absoluteVector(vec1)*absoluteVector(vec2)))/* / M_PI * 180*/);
}

osg::Vec3f Spring::rotateX(osg::Vec3f vec, float phi)
{
return osg::Vec3f( vec[0],
vec[1] * std::cos(phi) - vec[2] * std::sin(phi),
vec[1] * std::sin(phi) + vec[2] * std::cos(phi));
}

osg::Vec3f Spring::rotateY(osg::Vec3f vec, float phi)
{
return osg::Vec3f( vec[2] * std::sin(phi) + vec[0] * std::cos(phi),
vec[1],
vec[2] * std::cos(phi) - vec[0] * std::sin(phi));
}

osg::Vec3f Spring::rotateZ(osg::Vec3f vec, float phi)
{
return osg::Vec3f( vec[0] * std::cos(phi) - vec[1] * std::sin(phi),
vec[0] * std::sin(phi) + vec[1] * std::cos(phi),
vec[2]);
}

osg::Vec3f Spring::rotateArbitraryAxes_expensive(osg::Vec3f vec, osg::Vec3f axes, float phi)
{
//this is how I would do it by hand. Check out rotateArbitraryAxes, thats the shortest formula.
//There is also still something wrong in here
osg::Vec3f axesN = normalize(axes);
osg::Vec3f aux = vec;
//angle between vec and x, rotate in xz-plane
float phiX = angleBetweenVectors(axesN, osg::Vec3f(1, 0, 0));
aux = rotateX(aux, phiX);
//angle between vec and x, rotate in z axes
float phiY = angleBetweenVectors(axesN, osg::Vec3f(0, 1, 0));
aux = rotateY(aux, phiY);
// rotate around z
aux = rotateZ(aux, phi);
// and reverse
aux = rotateY(aux, -phiY);
aux = rotateX(aux, -phiX);
return aux;
}

osg::Vec3f Spring::rotateArbitraryAxes(osg::Vec3f vec, osg::Vec3f axes, float phi)
{
osg::Vec3f axesN = normalize(axes);
float M1_1 = (1 - std::cos(phi)) * axesN[0] * axesN[0] + std::cos(phi) * 1 + std::sin(phi) * 0;
float M1_2 = (1 - std::cos(phi)) * axesN[0] * axesN[1] + std::cos(phi) * 0 + std::sin(phi) * (-axesN[2]);
float M1_3 = (1 - std::cos(phi)) * axesN[0] * axesN[2] + std::cos(phi) * 0 + std::sin(phi) * (axesN[1]);
float M2_1 = (1 - std::cos(phi)) * axesN[0] * axesN[1] + std::cos(phi) * 0 + std::sin(phi) * (axesN[2]);
float M2_2 = (1 - std::cos(phi)) * axesN[1] * axesN[1] + std::cos(phi) * 1 + std::sin(phi) * 0;
float M2_3 = (1 - std::cos(phi)) * axesN[1] * axesN[2] + std::cos(phi) * 0 + std::sin(phi) * (-axesN[0]);
float M3_1 = (1 - std::cos(phi)) * axesN[0] * axesN[2] + std::cos(phi) * 0 + std::sin(phi) * (-axesN[1]);
float M3_2 = (1 - std::cos(phi)) * axesN[1] * axesN[2] + std::cos(phi) * 0 + std::sin(phi) * (axesN[0]);
float M3_3 = (1 - std::cos(phi)) * axesN[2] * axesN[2] + std::cos(phi) * 1 + std::sin(phi) * 0;
return osg::Vec3f(M1_1*vec[0]+ M1_2*vec[1]+ M1_3*vec[2], M2_1*vec[0] + M2_2*vec[1] + M2_3*vec[2], M3_1*vec[0] + M3_2*vec[1] + M3_3*vec[2]);
}




Spring::Spring(float r, float rCoil, float nWindings, float l) :
osg::Geometry()
{
float R = r;
float L = l;
float RCOIL = rCoil;
float NWIND = nWindings;

const int ELEMENTS_WINDING = 10;
const int ELEMENTS_CONTOUR = 6;

this->getPrimitiveSetList().clear();

//the inner line points
int numSegments = (ELEMENTS_WINDING * NWIND) + 1;
splineVertices = new osg::Vec3Array(numSegments);

for (int segIdx = 0; segIdx < numSegments; segIdx++)
{
float x = std::sin(2 * M_PI / ELEMENTS_WINDING * segIdx) * R;
float y = std::cos(2 * M_PI / ELEMENTS_WINDING * segIdx) * R;
float z = L / numSegments * segIdx;
(*splineVertices)[segIdx].set(osg::Vec3(x,y,z));
}

//the outer points for the facettes
int numVertices = (numSegments + 1)*ELEMENTS_CONTOUR;
outerVertices = new osg::Vec3Array(numVertices);
osg::Vec3f normal;
osg::Vec3f v1;
osg::Vec3f v2;
int vertIdx = 0;
for (int i = 0; i < numSegments-1; i++)
{
v1 = splineVertices->at(i);
v2 = splineVertices->at(i + 1);
normal = osg::Vec3f(v2[0] - v1[0], v2[1] - v1[1], v2[2] - v1[2]);
osg::Vec3f vec0 = normal;
normal = getNormal(normal, RCOIL);
for (int i1 = 0; i1 < ELEMENTS_CONTOUR; i1++)
{
float angle = M_PI * 2 / ELEMENTS_CONTOUR * i1;
osg::Vec3f a1 = rotateArbitraryAxes(normal, vec0, angle);
(*outerVertices)[vertIdx].set(osg::Vec3f((v1[0] + a1[0]), (v1[1] + a1[1]), (v1[2] + a1[2])));
vertIdx++;
}
}

// pass the created vertex array to the points geometry object.
this->setVertexArray(outerVertices);

//PLANES
// base plane bottom
osg::DrawElementsUInt* basePlane = new osg::DrawElementsUInt(osg::PrimitiveSet::QUADS, 0);
int numFacettes = ELEMENTS_CONTOUR * (numSegments - 2);
for (int i = 0; i < numFacettes; i++) {
basePlane = new osg::DrawElementsUInt(osg::PrimitiveSet::QUADS, 0);
basePlane->push_back(i);
basePlane->push_back(i + 1);
basePlane->push_back(i + ELEMENTS_CONTOUR);
basePlane->push_back(i + ELEMENTS_CONTOUR-1);
this->addPrimitiveSet(basePlane);
}
//std::cout << "NUM " << outerVertices->size() << std::endl;
//this->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POINTS, 0, outerVertices->size()));
}

19 changes: 19 additions & 0 deletions OMEdit/OMEditGUI/Animation/ExtraShapes.h
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Expand Up @@ -49,5 +49,24 @@ class Pipecylinder : public osg::Geometry
};


class Spring : public osg::Geometry
{
public:
Spring(float r, float rCoil, float nWindings, float l);
~Spring() {};
private:
osg::Vec3f getNormal(osg::Vec3f vec, float length = 1);
osg::Vec3f normalize(osg::Vec3f vec);
osg::Vec3f rotateX(osg::Vec3f vec, float phi);
osg::Vec3f rotateY(osg::Vec3f vec, float phi);
osg::Vec3f rotateZ(osg::Vec3f vec, float phi);
osg::Vec3f rotateArbitraryAxes_expensive(osg::Vec3f vec, osg::Vec3f axes, float phi);
osg::Vec3f rotateArbitraryAxes(osg::Vec3f vec, osg::Vec3f axes, float phi);
float absoluteVector(osg::Vec3f vec);
float angleBetweenVectors(osg::Vec3f vec1, osg::Vec3f vec2);

osg::Vec3Array* outerVertices;
osg::Vec3Array* splineVertices;
};

#endif //end EXTRASHAPES_H
22 changes: 18 additions & 4 deletions OMEdit/OMEditGUI/Animation/Visualizer.cpp
View file
Expand Up @@ -458,10 +458,18 @@ void UpdateVisitor::apply(osg::Geode& node)
//osg::ref_ptr<osg::ShapeDrawable> shapeDraw = dynamic_cast<osg::ShapeDrawable*>(draw.get());
//shapeDraw->setColor(osg::Vec4(visAttr.color,1.0));

if (_shape._type == "pipe")
draw = (new Pipecylinder((_shape._width.exp * _shape._extra.exp )/2 , (_shape._width.exp)/2, _shape._length.exp))->asDrawable();
else if (_shape._type == "pipecylinder")
draw = (new Pipecylinder((_shape._width.exp * _shape._extra.exp )/2 , (_shape._width.exp)/2, _shape._length.exp))->asDrawable();
if (_shape._type == "pipe") {
node.removeDrawable(draw);
draw = (new Pipecylinder((_shape._width.exp * _shape._extra.exp) / 2, (_shape._width.exp) / 2, _shape._length.exp))->asDrawable();
}
else if (_shape._type == "pipecylinder") {
node.removeDrawable(draw);
draw = (new Pipecylinder((_shape._width.exp * _shape._extra.exp) / 2, (_shape._width.exp) / 2, _shape._length.exp))->asDrawable();
}
else if (_shape._type == "spring") {
node.removeDrawable(draw);
draw = (new Spring(_shape._width.exp, _shape._height.exp, _shape._extra.exp, _shape._length.exp))->asDrawable();
}
else if (_shape._type == "cylinder")
draw->setShape(new osg::Cylinder(osg::Vec3f(0.0, 0.0, 0.0), _shape._width.exp / 2.0, _shape._length.exp));
else if (_shape._type == "box")
Expand Down Expand Up @@ -672,6 +680,12 @@ rAndT rotateModelica2OSG(osg::Vec3f r, osg::Vec3f r_shape, osg::Matrix3 T, osg::
res._r = res._r + r;
res._T = Mat3mulMat3(T0, T);
}
else if (type == "spring")
{
res._r = V3mulMat3(r_shape, T);
res._r = res._r + r;
res._T = Mat3mulMat3(T0, T);
}
else
{
r_offset = dirs._lDir * length / 2.0;
Expand Down

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