Mugic Plugin changes

calit2/Mugic/CMakeLists.txt

@@ -20,6 +20,8 @@ SET(PLUGIN_HEADERS
     shapes/LineShape.h
     shapes/RectangleShape.h
     shapes/TextShape.h
+    shapes/CubeShape.h
+    shapes/ModelShape.h
 )
 
 ADD_LIBRARY(${LIB_NAME}
@@ -41,6 +43,8 @@ ADD_LIBRARY(${LIB_NAME}
     shapes/LineShape.cpp
     shapes/RectangleShape.cpp
     shapes/TextShape.cpp
+    shapes/CubeShape.cpp
+    shapes/ModelShape.cpp
 )
 
 FIND_PACKAGE(ZMQ REQUIRED)

calit2/Mugic/CommandParser.cpp

@@ -7,6 +7,12 @@
 #include "shapes/LineShape.h"
 #include "shapes/RectangleShape.h"
 #include "shapes/TextShape.h"
+#include "shapes/CubeShape.h"
+#include "shapes/ModelShape.h"
+#include "shapes/CapsuleShape.h"
+#include "shapes/SphereShape.h"
+#include "shapes/ConeShape.h"
+#include "shapes/CylinderShape.h"
 
 #include <iostream>
 #include <sstream>
@@ -26,6 +32,12 @@ CommandParser::CommandParser(ThreadQueue<std::string>* queue, MainNode* root) :
     _shapeDefinitions["line"] = new Factory<LineShape>();
     _shapeDefinitions["rectangle"] = new Factory<RectangleShape>();
     _shapeDefinitions["text"] = new Factory<TextShape>();
+    _shapeDefinitions["cube"] = new Factory<CubeShape>();
+    _shapeDefinitions["capsule"] = new Factory<CapsuleShape>();
+    _shapeDefinitions["sphere"] = new Factory<SphereShape>();
+    _shapeDefinitions["cone"] = new Factory<ConeShape>();
+    _shapeDefinitions["cylinder"] = new Factory<CylinderShape>();
+    _shapeDefinitions["model"] = new Factory<ModelShape>();
 
     // init mutex 
     _mutex.lock();
@@ -88,6 +100,41 @@ void CommandParser::parseCommand(std::string command)
             _shapes[elementName]->update(command);
         }
    }
+
+   //command to rotate an object
+   else if( commandType.compare("rotate") == 0 )
+   {
+	//extract key and look up shape in map
+	if( _shapes.find(elementName) != _shapes.end() )
+	{
+		//call rotation
+		rotate(elementName, command);
+	}
+   }
+
+   //command to scale an object
+   else if( commandType.compare("scale") == 0 )
+   {
+	//extract key and look up shape in map
+	if( _shapes.find(elementName) != _shapes.end() )
+	{
+		//call scaling
+		scale(elementName, command);
+	}
+   }
+
+   //command to translate an object
+   else if( commandType.compare("translate") == 0 )
+   {
+	//extract key and look up shape in map
+	if( _shapes.find(elementName) != _shapes.end() )
+	{
+		//call translation
+		translate(elementName, command);
+	}
+   }
+
+   //command to delete all objects
    else if( commandType.compare("delete") == 0)
    {
        if(elementName.compare("all") == 0)
@@ -99,6 +146,26 @@ void CommandParser::parseCommand(std::string command)
             remove(elementName);
        }
    }
+
+   //reading in model files
+   else if( commandType.compare("model") == 0)
+   {
+
+	//create a new object if it doesn't exist or override old one
+	remove(elementName);
+
+	//create basic shape that holds the node
+	ModelShape* newShape = new ModelShape(command, elementName);
+
+	//take the node within the new shape and add it to scenegraph
+	osg::MatrixTransform* matrix = new osg::MatrixTransform();
+	matrix->addChild(newShape->getModelNode());
+	_root->addElement(matrix);
+
+	//get name from object, add to table
+	_shapes[newShape->BasicShape::getName()] = newShape; 
+   }
+
 /*
    else if( commandType.compare("var") == 0 && !elementName.empty()) // check for variable
    {
@@ -121,7 +188,12 @@ void CommandParser::parseCommand(std::string command)
             osg::Geode* geode = new osg::Geode();
             geode->setDataVariance(osg::Object::DYNAMIC);
             geode->addDrawable(newShape->asDrawable());
-            _root->addElement(geode);
+	    //_root->addElement(geode);
+
+	    //add in MatrixTransform for manipulations
+	    osg::MatrixTransform* matrix = new osg::MatrixTransform();
+	    matrix->addChild(geode);
+            _root->addElement(matrix);
 
             // get name from object created and add to table
             _shapes[newShape->getName()] = newShape;
@@ -137,11 +209,11 @@ void CommandParser::removeAll()
        {
             it = _shapes.begin();
 
-            osg::Geode* geode = NULL;
+            osg::MatrixTransform* mat = NULL;
             // get geode drawable is attached too
-            if( (geode = it->second->getParent()) != NULL)
+            if( (mat = it->second->getMatrixParent()) != NULL)
             {
-                _root->removeElement(geode);
+                _root->removeElement(mat);
             }
 
             // remove old shape from map and scenegraph
@@ -156,11 +228,11 @@ void CommandParser::remove(std::string elementName)
        std::map<std::string, BasicShape* >::iterator it = _shapes.find(elementName);
        if( it != _shapes.end() )
        {
-            osg::Geode* geode = NULL;
+            osg::MatrixTransform* mat = NULL;
             // get geode drawable is attached too
-            if( (geode = it->second->getParent()) != NULL)
+            if( (mat = it->second->getMatrixParent()) != NULL)
             {
-                _root->removeElement(geode);
+                _root->removeElement(mat);
             }
 
             // remove old shape from map and scenegraph
@@ -190,3 +262,206 @@ CommandParser::~CommandParser()
 
 	join();
 }
+
+void CommandParser::rotate(std::string elementName, std::string command)
+{
+
+	std::string value;
+	float head, pitch, roll;
+	osg::MatrixTransform* matNode;
+	BasicShape* geoNode;
+	osg::Matrixd* rotationMat;
+	osg::Matrixd tempMat;
+	osg::Vec3d scaleVec;
+	osg::Vec3d transVec;
+	float degtorad = osg::PI/180.0;
+
+	//find MatrixTransform parent
+	geoNode = _shapes[elementName];
+	matNode = geoNode->getMatrixParent();
+
+	//search for pitch
+	value = getParameter(command, "pitch");
+	if( !value.empty())
+	{
+		//extract value from parameter
+		std::stringstream ss(value);
+		ss >> pitch;
+	}
+	else
+		pitch = 0.0;
+
+	//search for roll
+	value = getParameter(command, "roll");
+	if( !value.empty() )
+	{
+		//extract value from parameter
+		std::stringstream ss(value);
+		ss >> roll;
+	}
+	else
+		roll = 0.0;
+
+	//search for heading
+	value = getParameter(command, "head");
+	if( !value.empty() )
+	{
+		//extract value from parameter
+		std::stringstream ss(value);
+		ss >> head;
+	}
+	else
+		head = 0.0;
+
+	//create new matrix to set
+	rotationMat = new osg::Matrixd();
+	rotationMat->makeRotate(pitch*degtorad, osg::Vec3f(1, 0, 0), roll*degtorad, osg::Vec3f(0, 1, 0), head*degtorad, osg::Vec3f(0, 0, 1));
+	tempMat = matNode->getMatrix();
+
+	scaleVec = tempMat.getScale();
+	transVec = tempMat.getTrans();
+	rotationMat->preMultScale(scaleVec);
+	rotationMat->postMultTranslate(transVec);
+	matNode->setMatrix(*rotationMat);
+
+}
+
+void CommandParser::scale(std::string elementName, std::string command)
+{
+
+	std::string value;
+	float xscale, yscale, zscale;
+	osg::MatrixTransform* matNode;
+	BasicShape* geoNode;
+	osg::Matrixd* scaleMat;
+	osg::Matrixd tempMat;
+	osg::Quat rotateQuat;
+	osg::Vec3d transVec;
+
+	//find MatrixTransform parent
+	geoNode = _shapes[elementName];
+	matNode = geoNode->getMatrixParent();
+
+	//check whether it is uniform scale or not
+	value = getParameter(command, "factor");
+	if( !value.empty() )
+	{
+		//extract value from parameter
+		std::stringstream ss(value);
+		ss >> xscale;
+		yscale = xscale;
+		zscale = xscale;
+	}
+	else
+	{
+		//search for xscale
+		value = getParameter(command, "x");
+		if( !value.empty() )
+		{
+			//extract value from parameter
+			std::stringstream ss(value);
+			ss >> xscale;
+		}
+		else
+			xscale = 1.0;
+
+		//search for yscale
+		value = getParameter(command, "y");
+		if( !value.empty() )
+		{
+			//extract value from parameter
+			std::stringstream ss(value);
+			ss >> yscale;
+		}
+		else
+			yscale = 1.0;
+
+		//search for zscale
+		value = getParameter(command, "z");
+		if( !value.empty() )
+		{
+			//extract value from parameter
+			std::stringstream ss(value);
+			ss >> zscale;
+		}
+		else
+			zscale = 1.0;
+	}
+
+	//create new matrix to set
+	scaleMat = new osg::Matrixd();
+	scaleMat->makeScale(xscale, yscale, zscale);
+	tempMat = matNode->getMatrix();
+	rotateQuat = tempMat.getRotate();
+	transVec = tempMat.getTrans();
+	scaleMat->postMultRotate(rotateQuat);
+	scaleMat->postMultTranslate(transVec);
+	matNode->setMatrix(*scaleMat);
+
+}
+
+void CommandParser::translate(std::string elementName, std::string command)
+{
+
+	std::string value;
+	float xtrans, ytrans, ztrans;
+	osg::MatrixTransform* matNode;
+	BasicShape* geoNode;
+	osg::Matrixd* transMat;
+	osg::Matrixd rotateMat;
+	osg::Matrixd scaleMat;
+	osg::Matrixd tempMat;
+	osg::Quat rotateQuat;
+	osg::Vec3d scaleVec;
+
+	//find MatrixTransform parent
+	geoNode = _shapes[elementName];
+	matNode = geoNode->getMatrixParent();
+
+	//search for xtrans
+	value = getParameter(command, "x");
+	if( !value.empty() )
+	{
+		//extract value from parameter
+		std::stringstream ss(value);
+		ss >> xtrans;
+	}
+	else
+		xtrans = 0.0;
+
+	//search for ytrans
+	value = getParameter(command, "y");
+	if( !value.empty() )
+	{
+		//extract value from parameter
+		std::stringstream ss(value);
+		ss >> ytrans;
+	}
+	else
+		ytrans = 0.0;
+
+	//search for ztrans
+	value = getParameter(command, "z");
+	if( !value.empty() )
+	{
+		//extract value from parameter
+		std::stringstream ss(value);
+		ss >> ztrans;
+	}
+	else
+		ztrans = 0.0;
+
+	//create new matrix to set
+	transMat = new osg::Matrixd();
+	transMat->makeTranslate(xtrans, ytrans, ztrans);
+	tempMat = matNode->getMatrix();
+	rotateQuat = tempMat.getRotate();
+	scaleVec = tempMat.getScale();
+	transMat->preMultRotate(rotateQuat);
+	transMat->preMultScale(scaleVec);
+	matNode->setMatrix(*transMat);
+
+}
+
+
+

calit2/Mugic/CommandParser.h

@@ -6,6 +6,8 @@
 #include <OpenThreads/Block>
 #include <osg/Node>
 #include <osg/Geode>
+#include <osg/MatrixTransform>
+#include <osg/Matrixd>
 
 #include "ThreadQueue.h"
 #include "MainNode.h"
@@ -40,6 +42,11 @@ class CommandParser : public OpenThreads::Thread
         void remove(std::string elementName);
         void removeAll();
 
+	//MatrixTransform manipulation commands
+	void rotate(std::string elementName, std::string command);
+	void scale(std::string elementName, std::string command);
+	void translate(std::string elementName, std::string command);
+
     public:
     	CommandParser(ThreadQueue<std::string>* queue, MainNode* root);
 	    ~CommandParser();