C++ NodeRecPtr::getToWorld方法代码示例

Vec2f VRIntersect_computeTexel(VRIntersection& ins, NodeRecPtr node) {
    if (!ins.hit) return Vec2f(0,0);
    if (node == 0) return Vec2f(0,0);

    GeometryRefPtr geo = dynamic_cast<Geometry*>( node->getCore() );
    if (geo == 0) return Vec2f(0,0);
    auto texcoords = geo->getTexCoords();
    if (texcoords == 0) return Vec2f(0,0);
    TriangleIterator iter = geo->beginTriangles(); iter.seek( ins.triangle );


    Matrix m = node->getToWorld();
    m.invert();
    Pnt3f local_pnt; m.mult(ins.point, local_pnt);

    Pnt3f p0 = iter.getPosition(0);
    Pnt3f p1 = iter.getPosition(1);
    Pnt3f p2 = iter.getPosition(2);
    Vec3f cr = (p1 - p0).cross(p2 - p0);
    Vec3f n = cr; n.normalize();

    float areaABC = n.dot(cr);
    float areaPBC = n.dot((p1 - local_pnt).cross(p2 - local_pnt));
    float areaPCA = n.dot((p2 - local_pnt).cross(p0 - local_pnt));
    float a = areaPBC / areaABC;
    float b = areaPCA / areaABC;
    float c = 1.0f - a - b;

    return iter.getTexCoords(0) * a + iter.getTexCoords(1) * b + iter.getTexCoords(2) * c;
}

int main(int argc, char **argv)
{
    // OSG init
    osgInit(argc,argv);

    // Set up Window
    TutorialWindow = createNativeWindow();
    TutorialWindow->initWindow();

    TutorialWindow->setDisplayCallback(display);
    TutorialWindow->setReshapeCallback(reshape);

    //Add Window Listener
    TutorialKeyListener TheKeyListener;
    TutorialWindow->addKeyListener(&TheKeyListener);
    TutorialMouseListener TheTutorialMouseListener;
    TutorialMouseMotionListener TheTutorialMouseMotionListener;
    TutorialWindow->addMouseListener(&TheTutorialMouseListener);
    TutorialWindow->addMouseMotionListener(&TheTutorialMouseMotionListener);

    // Create the SimpleSceneManager helper
    mgr = new SimpleSceneManager;

    // Tell the Manager what to manage
    mgr->setWindow(TutorialWindow);
	
	//SkeletonDrawer System Material
	LineChunkUnrecPtr ExampleLineChunk = LineChunk::create();
    ExampleLineChunk->setWidth(4.0f);
    ExampleLineChunk->setSmooth(true);

	BlendChunkUnrecPtr ExampleBlendChunk = BlendChunk::create();
    ExampleBlendChunk->setSrcFactor(GL_SRC_ALPHA);
    ExampleBlendChunk->setDestFactor(GL_ONE_MINUS_SRC_ALPHA);

	MaterialChunkUnrecPtr ExampleMaterialChunk = MaterialChunk::create();
    ExampleMaterialChunk->setAmbient(Color4f(1.0f,1.0f,1.0f,1.0f));
    ExampleMaterialChunk->setDiffuse(Color4f(0.0f,0.0f,0.0f,1.0f));
    ExampleMaterialChunk->setSpecular(Color4f(0.0f,0.0f,0.0f,1.0f));

	ChunkMaterialUnrecPtr ExampleMaterial = ChunkMaterial::create();
    ExampleMaterial->addChunk(ExampleLineChunk);
    ExampleMaterial->addChunk(ExampleMaterialChunk);
    ExampleMaterial->addChunk(ExampleBlendChunk);

    GeometryRefPtr SphereGeometry = makeSphereGeo(2, 0.25f);
    GeometryRefPtr BoxGeometry = makeBoxGeo(0.5f,0.5f,0.5f,1,1,1);

    //Skeleton
    SkeletonBlendedGeometryUnrecPtr ExampleSkeleton = SkeletonBlendedGeometry::create();

    //Joint
	TransformRecPtr ExampleRootJoint = Transform::create();

    NodeRecPtr ExampleRootJointNode = makeNodeFor(ExampleRootJoint);

    //Add this joint to the skeleton
    ExampleSkeleton->pushToJoints(ExampleRootJointNode, Matrix());

    NodeRecPtr TempRootJointNode = ExampleRootJointNode;
    NodeRefPtr GeoNode = makeNodeFor(BoxGeometry);
    TempRootJointNode->addChild(GeoNode);

	Matrix TempMat;
	//Create a set of randomly placed child joints
	for (Real32 i = 0.0f; i < 5.0f; ++i)
	{
		TransformRecPtr ExampleChildJoint = Transform::create();
		NodeRecPtr ExampleChildJointNode = makeNodeFor(ExampleChildJoint);

        GeoNode = makeNodeFor(SphereGeometry);
        ExampleChildJointNode->addChild(GeoNode);

		//TempMat.setTranslate(RandomPoolManager::getRandomReal32(0.0, 10.0f), RandomPoolManager::getRandomReal32(0.0f, 10.0f), RandomPoolManager::getRandomReal32(0.0f, 10.0f));
        switch((static_cast<UInt32>(i) % 3))
        {
            case 0:
                TempMat.setTranslate(2.0f,0.0f,0.0f);
                break;
            case 1:
                TempMat.setTranslate(0.0f,2.0f,0.0f);
                break;
            case 2:
                TempMat.setTranslate(0.0f,0.0f,2.0f);
                break;
        }
		
		//Set bind and current transformations to TempMat (calculated above)
        ExampleChildJoint->setMatrix(TempMat);

		//Add ExampleChildJoint as a child to the previous joint	
        TempRootJointNode->addChild(ExampleChildJointNode);//add a Child to the root joint

		//ExampleChildJoint will be the next parent joint
		TempRootJointNode = ExampleChildJointNode;
        
        //Add this joint to the skeleton
        Matrix InvBind(TempRootJointNode->getToWorld());
        InvBind.invert();
        ExampleSkeleton->pushToJoints(ExampleChildJointNode, InvBind);
//.........这里部分代码省略.........

//.........这里部分代码省略.........
    SkeletonBlendedGeometryUnrecPtr ExampleSkeleton = SkeletonBlendedGeometry::create();

    //Joint
	JointRecPtr ExampleRootJoint = Joint::create();

    //Add this joint to the skeleton
    ExampleSkeleton->pushToJoints(ExampleRootJoint, Matrix());

    NodeRecPtr ExampleRootJointNode = makeNodeFor(ExampleRootJoint);

    NodeRecPtr TempRootJointNode = ExampleRootJointNode;
    NodeRefPtr GeoNode = makeNodeFor(BoxGeometry);
    TempRootJointNode->addChild(GeoNode);

	Matrix TempMat;
	//Create a set of randomly placed child joints
	for (Real32 i = 0.0f; i < 5.0f; ++i)
	{
		JointRecPtr ExampleChildJoint = Joint::create();
		NodeRecPtr ExampleChildJointNode = makeNodeFor(ExampleChildJoint);

        GeoNode = makeNodeFor(SphereGeometry);
        ExampleChildJointNode->addChild(GeoNode);

		//TempMat.setTranslate(RandomPoolManager::getRandomReal32(0.0, 10.0f), RandomPoolManager::getRandomReal32(0.0f, 10.0f), RandomPoolManager::getRandomReal32(0.0f, 10.0f));
        switch((static_cast<UInt32>(i) % 3))
        {
            case 0:
                TempMat.setTranslate(2.0f,0.0f,0.0f);
                break;
            case 1:
                TempMat.setTranslate(0.0f,2.0f,0.0f);
                break;
            case 2:
                TempMat.setTranslate(0.0f,0.0f,2.0f);
                break;
        }
		
		//Set bind and current transformations to TempMat (calculated above)
        ExampleChildJoint->setJointTransformation(TempMat);

		//Add ExampleChildJoint as a child to the previous joint	
        TempRootJointNode->addChild(ExampleChildJointNode);//add a Child to the root joint

		//ExampleChildJoint will be the next parent joint
		TempRootJointNode = ExampleChildJointNode;
        
        //Add this joint to the skeleton
        Matrix InvBind(TempRootJointNode->getToWorld());
        InvBind.invert();
        ExampleSkeleton->pushToJoints(ExampleChildJoint, InvBind);
	}

    //SkeletonDrawer
    SkeletonDrawableUnrecPtr ExampleSkeletonDrawable = SkeletonDrawable::create();
    ExampleSkeletonDrawable->setSkeleton(ExampleSkeleton);
    ExampleSkeletonDrawable->setMaterial(ExampleMaterial);
    ExampleSkeletonDrawable->setDrawBindPose(false);  //By default, we won't draw the skeleton's bind pose
    ExampleSkeletonDrawable->setBindPoseColor(Color4f(0.0, 1.0, 0.0, 1.0));  //When the skeleton's bind pose is rendered, it will be green
    ExampleSkeletonDrawable->setDrawPose(true);  //By default, we do draw the skeleton's current pose
    ExampleSkeletonDrawable->setPoseColor(Color4f(0.0, 0.0, 1.0, 1.0));  //The skeleton's current pose is rendered in blue
	
	//Skeleton Node
	SkeletonNode = Node::create();
    SkeletonNode->setCore(ExampleSkeletonDrawable);

    //Create scene
    NodeUnrecPtr scene = Node::create();
    scene->setCore(Group::create());
    scene->addChild(SkeletonNode);
    scene->addChild(ExampleRootJointNode);

    mgr->setRoot(scene);

	//Setup the Animation
	setupAnimation(ExampleRootJoint,
                   dynamic_cast<Joint*>(ExampleRootJointNode->getChild(1)->getCore()));

	//Set the currently playing animation to TheJointAnimation (can be switched at runtime via a key command)
	TheCurrentAnimation = TheJointAnimation;


    // Show the whole Scene
    mgr->showAll();


    //Open Window
    Vec2f WinSize(TutorialWindow->getDesktopSize() * 0.85f);
    Pnt2f WinPos((TutorialWindow->getDesktopSize() - WinSize) *0.5);
    TutorialWindow->openWindow(WinPos,
                        WinSize,
                                        "11BoneAnimation");

    //Main Loop
    TutorialWindow->mainLoop();

    osgExit();

    return 0;
}

int main(int argc, char **argv)
{
    // OSG init
    osgInit(argc,argv);

    // Set up Window
    TutorialWindow = createNativeWindow();
    TutorialWindow->initWindow();

    TutorialWindow->setDisplayCallback(display);
    TutorialWindow->setReshapeCallback(reshape);

    //Add Window Listener
    TutorialKeyListener TheKeyListener;
    TutorialWindow->addKeyListener(&TheKeyListener);
    TutorialMouseListener TheTutorialMouseListener;
    TutorialMouseMotionListener TheTutorialMouseMotionListener;
    TutorialWindow->addMouseListener(&TheTutorialMouseListener);
    TutorialWindow->addMouseMotionListener(&TheTutorialMouseMotionListener);

    // Create the SimpleSceneManager helper
    mgr = new SimpleSceneManager;

    // Tell the Manager what to manage
    mgr->setWindow(TutorialWindow);

    //Print key command info
    std::cout << "\n\nKEY COMMANDS:" << std::endl;
    std::cout << "space   Play/Pause the animation" << std::endl;
    std::cout << "B       Show/Hide the bind pose skeleton" << std::endl;
    std::cout << "SHIFT-B Show/Hide the bind pose mesh" << std::endl;
    std::cout << "P       Show/Hide the current pose skeleton" << std::endl;
    std::cout << "SHIFT-P Show/Hide the current pose mesh" << std::endl;
    std::cout << "CTRL-Q  Exit\n\n" << std::endl;


    //SkeletonDrawer System Material
    LineChunkUnrecPtr ExampleLineChunk = LineChunk::create();
    ExampleLineChunk->setWidth(2.0f);
    ExampleLineChunk->setSmooth(true);

    BlendChunkUnrecPtr ExampleBlendChunk = BlendChunk::create();
    ExampleBlendChunk->setSrcFactor(GL_SRC_ALPHA);
    ExampleBlendChunk->setDestFactor(GL_ONE_MINUS_SRC_ALPHA);

    MaterialChunkUnrecPtr ExampleMaterialChunk = MaterialChunk::create();
    ExampleMaterialChunk->setAmbient(Color4f(1.0f,1.0f,1.0f,1.0f));
    ExampleMaterialChunk->setDiffuse(Color4f(0.0f,0.0f,0.0f,1.0f));
    ExampleMaterialChunk->setSpecular(Color4f(0.0f,0.0f,0.0f,1.0f));

    ChunkMaterialUnrecPtr ExampleMaterial = ChunkMaterial::create();
    ExampleMaterial->addChunk(ExampleLineChunk);
    ExampleMaterial->addChunk(ExampleMaterialChunk);
    ExampleMaterial->addChunk(ExampleBlendChunk);


    //Skeleton
    ExampleSkeleton = SkeletonBlendedGeometry::create();

    //===========================================Joints==================================================================
    Matrix TempMat;
    Matrix InvBind;

    /*================================================================================================*/
    /*                                       Pelvis                                                   */
    Pelvis = Joint::create(); //create a joint called Pelvis 
    TempMat.setTranslate(0.0,7.0,0.0);
    Pelvis->setJointTransformation(TempMat);

    NodeRecPtr PelvisNode = makeNodeFor(Pelvis);

    InvBind = PelvisNode->getToWorld();
    InvBind.invert();
    ExampleSkeleton->pushToJoints(Pelvis, InvBind);
    setName(Pelvis, "Pelvis Joint");
    setName(PelvisNode, "Pelvis Node");
    
    /*================================================================================================*/
    /*                                       Clavicle                                                   */
    Clavicle = Joint::create(); //create a joint called Clavicle 
    TempMat.setTranslate(0.0,5.0,0.0);
    Clavicle->setJointTransformation(TempMat);

    NodeRecPtr ClavicleNode = makeNodeFor(Clavicle);
    PelvisNode->addChild(ClavicleNode);

    InvBind = ClavicleNode->getToWorld();
    InvBind.invert();
    ExampleSkeleton->pushToJoints(Clavicle, InvBind);
    setName(Clavicle, "Clavicle Joint");
    setName(ClavicleNode, "Clavicle Node");

    /*================================================================================================*/
    /*                                       Left Shoulder                                                 */
    LeftShoulder = Joint::create(); //create a joint called LeftShoulder 
    TempMat.setTranslate(1.0,-0.5,0.0);
    LeftShoulder->setJointTransformation(TempMat);

    NodeRecPtr LeftShoulderNode = makeNodeFor(LeftShoulder);
    ClavicleNode->addChild(LeftShoulderNode);
//.........这里部分代码省略.........