Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-04-23 23:53:26 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

added localToWorld calls, put locks around access to _children hashtable

Browse source
This commit is contained in:
Seth Alves 2015-11-29 10:17:21 -08:00
parent eb50c9de5f
commit 204c3d839e
2 changed files with 52 additions and 7 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

53
libraries/shared/src/SpatiallyNestable.cpp
View file

@ -76,11 +76,15 @@ SpatiallyNestablePointer SpatiallyNestable::getParentPointer() const {
}
void SpatiallyNestable::beParentOfChild(SpatiallyNestablePointer newChild) const {
_children[newChild->getID()] = newChild;
_childrenLock.withWriteLock([&] {
_children[newChild->getID()] = newChild;
});
}
void SpatiallyNestable::forgetChild(SpatiallyNestablePointer newChild) const {
_children.remove(newChild->getID());
_childrenLock.withWriteLock([&] {
_children.remove(newChild->getID());
});
}
void SpatiallyNestable::setParentID(const QUuid& parentID) {
@ -110,6 +114,39 @@ glm::quat SpatiallyNestable::worldToLocal(const glm::quat& orientation) {
return result.getRotation();
}
glm::vec3 SpatiallyNestable::localToWorld(const glm::vec3& position, QUuid parentID, int parentJointIndex) {
QSharedPointer<SpatialParentFinder> parentFinder = DependencyManager::get<SpatialParentFinder>();
auto parentWP = parentFinder->find(parentID);
auto parent = parentWP.lock();
Transform parentTransform;
if (parent) {
parentTransform = parent->getTransform(parentJointIndex);
parentTransform.setScale(1.0f);
}
Transform positionTransform;
positionTransform.setTranslation(position);
Transform result;
Transform::mult(result, parentTransform, positionTransform);
return result.getTranslation();
}
glm::quat SpatiallyNestable::localToWorld(const glm::quat& orientation, QUuid parentID, int parentJointIndex) {
QSharedPointer<SpatialParentFinder> parentFinder = DependencyManager::get<SpatialParentFinder>();
auto parentWP = parentFinder->find(parentID);
auto parent = parentWP.lock();
Transform parentTransform;
if (parent) {
parentTransform = parent->getTransform(parentJointIndex);
parentTransform.setScale(1.0f);
}
Transform orientationTransform;
orientationTransform.setRotation(orientation);
Transform result;
Transform::mult(result, parentTransform, orientationTransform);
return result.getRotation();
}
const glm::vec3& SpatiallyNestable::getPosition() const {
Transform parentTransformDescaled = getParentTransform();
glm::mat4 parentMat;
@ -223,12 +260,14 @@ void SpatiallyNestable::setLocalScale(const glm::vec3& scale) {
QList<SpatiallyNestablePointer> SpatiallyNestable::getChildren() const {
QList<SpatiallyNestablePointer> children;
foreach (SpatiallyNestableWeakPointer childWP, _children.values()) {
SpatiallyNestablePointer child = childWP.lock();
if (child) {
children << child;
_childrenLock.withReadLock([&] {
foreach (SpatiallyNestableWeakPointer childWP, _children.values()) {
SpatiallyNestablePointer child = childWP.lock();
if (child) {
children << child;
}
}
}
});
return children;
}

6
libraries/shared/src/SpatiallyNestable.h
View file

@ -16,6 +16,7 @@
#include "Transform.h"
#include "SpatialParentFinder.h"
#include "shared/ReadWriteLockable.h"
class SpatiallyNestable;
@ -49,6 +50,9 @@ public:
glm::vec3 worldToLocal(const glm::vec3& position);
glm::quat worldToLocal(const glm::quat& orientation);
static glm::vec3 localToWorld(const glm::vec3& position, QUuid parentID, int parentJointIndex);
static glm::quat localToWorld(const glm::quat& orientation, QUuid parentID, int parentJointIndex);
// world frame
virtual const Transform& getTransform() const;
virtual void setTransform(const Transform& transform);
@ -101,6 +105,8 @@ protected:
virtual void beParentOfChild(SpatiallyNestablePointer newChild) const;
virtual void forgetChild(SpatiallyNestablePointer newChild) const;
mutable ReadWriteLockable _childrenLock;
mutable QHash<QUuid, SpatiallyNestableWeakPointer> _children;
virtual void parentChanged() {} // called when parent pointer is updated