transformation_gizmo.cxx

#include "transformation_gizmo.h"
 
#include <cgv/math/intersection.h>
 
using namespace cgv::render;
 
namespace cgv {
namespace app {
 
transformation_gizmo::transformation_gizmo() {
    _boxes.style.illumination_mode = IM_OFF;
    _boxes.style.map_color_to_material = CM_COLOR_AND_OPACITY;
    _boxes.style.default_extent = _handle_size;
 
    _cones.style.illumination_mode = IM_OFF;
    _cones.style.map_color_to_material = CM_COLOR_AND_OPACITY;
    _cones.style.radius = 0.02f;
 
    _sphere.style.illumination_mode = IM_OFF;
    _sphere.style.map_color_to_material = CM_COLOR_AND_OPACITY;
    _sphere.style.halo_color = { 1.0f };
 
    _rectangles.style.illumination_mode = IM_OFF;
    _rectangles.style.map_color_to_material = CM_COLOR_AND_OPACITY;
 
    // calculate ring points for rotation handles
    for(size_t i = 0; i < _ring_segment_count; ++i) {
        float t = static_cast<float>(i) / static_cast<float>(_ring_segment_count - 1);
        t *= 2.0f * M_PI;
        _ring_points.push_back({ std::cos(t), std::sin(t) });
    }
    _ring_points.back() = _ring_points.front();
}
 
bool transformation_gizmo::init(context& ctx) {
    bool success = true;
 
    success &= _box_renderer.init(ctx);
    success &= _cone_renderer.init(ctx);
    success &= _rectangle_renderer.init(ctx);
    success &= _sphere_renderer.init(ctx);
 
    success &= _boxes.init(ctx);
    success &= _cones.init(ctx);
    success &= _rectangles.init(ctx);
    success &= _sphere.init(ctx);
 
    return success;
}
 
void transformation_gizmo::clear(context& ctx) {
    _box_renderer.clear(ctx);
    _cone_renderer.clear(ctx);
    _rectangle_renderer.clear(ctx);
    _sphere_renderer.clear(ctx);
 
    _boxes.destruct(ctx);
    _cones.destruct(ctx);
    _rectangles.destruct(ctx);
    _sphere.destruct(ctx);
}
 
transformation_gizmo::Mode transformation_gizmo::get_mode() const {
    return _mode;
}
 
void transformation_gizmo::set_mode(Mode mode) {
    _mode = mode;
    set_geometry_out_of_date();
    post_redraw();
}
 
vec3 transformation_gizmo::get_scale() const {
    return _scale;
}
 
void transformation_gizmo::set_scale(const vec3& scale) {
    _scale = scale;
    post_redraw();
}
 
void transformation_gizmo::create_geometry() {
    using hls = cgv::media::color<float, cgv::media::ColorModel::HLS>;
 
    const vec3 v0(0.0f);
    const vec3 vx(1.0f, 0.0f, 0.0f);
    const vec3 vy(0.0f, 1.0f, 0.0f);
    const vec3 vz(0.0f, 0.0f, 1.0f);
 
    hls red = rgb(1.0f, 0.0f, 0.0f);
    hls green = rgb(0.0f, 1.0f, 0.0f);
    hls blue = rgb(0.0f, 0.0f, 1.0f);
 
    const float saturation = 0.9f;
    const float lightness = 0.3f;
 
    red.S() = saturation;
    green.S() = saturation;
    blue.S() = saturation;
    red.L() = lightness;
    green.L() = lightness;
    blue.L() = lightness;
 
    const rgb x_color = red;
    const rgb y_color = green;
    const rgb z_color = blue;
 
    _boxes.clear();
    _cones.clear();
    _rectangles.clear();
    _sphere.clear();
 
    bool use_axes =
        _mode == Mode::kTranslation ||
        _mode == Mode::kScale ||
        _mode == Mode::kModel;
 
    bool has_translation =
        _mode == Mode::kTranslation ||
        _mode == Mode::kModel;
 
    bool has_rotation =
        _mode == Mode::kRotation ||
        _mode == Mode::kModel;
 
    bool has_scale =
        _mode == Mode::kScale ||
        _mode == Mode::kModel;
 
    if(use_axes) {
        float axis_length = 1.0f;
 
        if(has_translation && has_scale)
            axis_length -= 2.0f * _handle_size;
        else if(has_translation)
            axis_length -= 2.0f * _handle_size;
        else if(has_scale)
            axis_length -= _handle_size;
 
        vec3 hx = axis_length * vx;
        vec3 hy = axis_length * vy;
        vec3 hz = axis_length * vz;
 
        _cones.add(v0 + _center_radius * vx, hx);
        _cones.add(v0 + _center_radius * vy, hy);
        _cones.add(v0 + _center_radius * vz, hz);
        _cones.fill_radii(_axis_radius);
        _cones.add_segment_color({ x_color, 1.0f });
        _cones.add_segment_color({ y_color, 1.0f });
        _cones.add_segment_color({ z_color, 1.0f });
 
        float arrow_offset = has_scale ? 3.0f * _handle_size : 0.0f;
 
        if(has_translation) {
            // create axis handles as arrow tips
            _cones.add(hx + arrow_offset * vx, (1.0f + arrow_offset) * vx);
            _cones.add(hy + arrow_offset * vy, (1.0f + arrow_offset) * vy);
            _cones.add(hz + arrow_offset * vz, (1.0f + arrow_offset) * vz);
            _cones.add(0.5f * _handle_size, 0.0f);
            _cones.add(0.5f * _handle_size, 0.0f);
            _cones.add(0.5f * _handle_size, 0.0f);
            _cones.add_segment_color({ x_color, 1.0f });
            _cones.add_segment_color({ y_color, 1.0f });
            _cones.add_segment_color({ z_color, 1.0f });
        }
 
        if(has_scale) {
            // create axis handles as boxes
            float box_offset = axis_length + 0.5f * _handle_size;
 
            _boxes.add_position(v0 + box_offset * vx);
            _boxes.add_position(v0 + box_offset * vy);
            _boxes.add_position(v0 + box_offset * vz);
            _boxes.add_color({ x_color, 1.0f });
            _boxes.add_color({ y_color, 1.0f });
            _boxes.add_color({ z_color, 1.0f });
        }
    }
    
    if(has_rotation) {
        // create rings
        const auto add_ring = [this](auto transform, const rgba& color) {
            for(size_t i = 0; i < _ring_points.size(); ++i)
                _cones.add(transform(_ring_points[i]), transform(_ring_points[(i + 1) % _ring_points.size()]));
            _cones.fill_colors(color);
        };
 
        add_ring([](vec2 p) { return vec3(0.0f, p.x(), p.y()); }, { x_color, 1.0f }); // yz plane
        add_ring([](vec2 p) { return vec3(p.x(), 0.0f, p.y()); }, { y_color, 1.0f }); // xz plane
        add_ring([](vec2 p) { return vec3(p.x(), p.y(), 0.0f); }, { z_color, 1.0f }); // xy plane
        _cones.fill_radii(_axis_radius);
    }
 
    // create plane handles
    if(_mode == Mode::kTranslation || _mode == Mode::kScale) {
        _rectangles.add_position(v0 + 0.5f * (vy + vz));
        _rectangles.add_position(v0 + 0.5f * (vx + vz));
        _rectangles.add_position(v0 + 0.5f * (vx + vy));
        _rectangles.fill_extents(vec2(_plane_size));
 
        _rectangles.add_color({ x_color, 0.5f });
        _rectangles.add_color({ y_color, 0.5f });
        _rectangles.add_color({ z_color, 0.5f });
 
        _rectangles.add_border_color({ x_color, 1.0f });
        _rectangles.add_border_color({ y_color, 1.0f });
        _rectangles.add_border_color({ z_color, 1.0f });
 
        _rectangles.add_rotation(quat(vy, cgv::math::deg2rad(90.0f)));
        _rectangles.add_rotation(quat(vx, cgv::math::deg2rad(-90.0f)));
        _rectangles.add_rotation(quat());
    }
 
    // create center sphere
    _sphere.add(v0, _axis_radius);
    _sphere.colors.push_back({ 1.0f });
 
    _sphere.add(v0, _center_radius);
    _sphere.colors.push_back({ 0.7f, 0.7f, 0.7f, 0.0f });
    
    if(!is_hovered())
        return;
 
    // set colors based on hover state
    const auto saturate_color = [](rgba& color) {
        cgv::media::color<float, cgv::media::ColorModel::HLS> hls = color;
        hls.S() = 0.95f;
        hls.L() = 0.52f;
        color = { rgb(hls), color.alpha() };
    };
 
    int axis_idx = axis_id_to_index(_interaction_axis_id);
    switch(_interaction_feature) {
    case InteractionFeature::kAxis:
        if(use_axes) {
            size_t base_idx = 2.0f * axis_idx;
            if(has_translation && has_scale && _interaction_mode == Mode::kScale || has_translation != has_scale) {
                saturate_color(_cones.colors[base_idx]);
                saturate_color(_cones.colors[base_idx + 1]);
            }
 
            if(_interaction_mode == Mode::kTranslation) {
                saturate_color(_cones.colors[base_idx + 6]);
                saturate_color(_cones.colors[base_idx + 7]);
            }
 
            if(_interaction_mode == Mode::kScale)
                saturate_color(_boxes.colors[axis_idx]);
        }
        break;
    case InteractionFeature::kPlane:
        if(has_rotation) {
            size_t base_idx = static_cast<size_t>(axis_idx) * 2 * _ring_segment_count;
            if(_mode == Mode::kModel)
                base_idx += 12;
 
            for(size_t i = 0; i < 2 * _ring_segment_count; ++i)
                saturate_color(_cones.colors[base_idx + i]);
        } else {
            saturate_color(_rectangles.colors[axis_idx]);
            saturate_color(_rectangles.border_colors[axis_idx]);
        }
        break;
    case InteractionFeature::kCenter:
        _sphere.colors.back().alpha() = 0.2f;
        break;
    default:
        break;
    }
}
 
void transformation_gizmo::draw_geometry(context& ctx) {
    // Pass the y view angle to the renderers so pixel measurements are computed correctly
    _rectangle_renderer.set_y_view_angle(get_view()->get_y_view_angle());
    _sphere_renderer.set_y_view_angle(get_view()->get_y_view_angle());
 
    // Since we use scaling in the modelview matrix we also need to adjust the pixel measures
    // in the render styles based on the scale of the gizmo.
    const float size = get_size();
 
    _sphere.style.halo_width_in_pixel = -3.0f / size;
    _sphere.style.blend_width_in_pixel = 1.0f / size;
 
    _rectangles.style.border_width_in_pixel = -3.0f / size;
    _rectangles.style.pixel_blend = 2.0f / size;
 
    _sphere.render(ctx, _sphere_renderer);
    _rectangles.render(ctx, _rectangle_renderer);
    _cones.render(ctx, _cone_renderer);
    _boxes.render(ctx, _box_renderer);
}
 
bool transformation_gizmo::intersect_bounding_box(const cgv::math::ray3& ray) {
    vec3 min = { 0.0f };
    vec3 max = { 1.0f };
 
    if(_mode == Mode::kRotation || _mode == Mode::kModel)
        min = -1.0f;
    else
        min -= _center_radius;
 
    if(_mode == Mode::kModel)
        max += 3.0f * _handle_size;
 
    min -= 0.1f;
    max += 0.1f;
 
    vec2 t = std::numeric_limits<float>::max();
    return cgv::math::ray_box_intersection(ray, min, max, t) != 0;
}
 
bool transformation_gizmo::intersect(const cgv::math::ray3& ray) {
    float min_t = std::numeric_limits<float>::max();
 
    const auto update_t_if_closer = [this, &min_t](float t, Mode transformation, InteractionFeature feature, AxisId axis_id) {
        if(t >= 0.0f && t < min_t) {
            min_t = t;
            _interaction_mode = transformation;
            _interaction_feature = feature;
            _interaction_axis_id = axis_id;
        }
    };
 
    if(_mode == Mode::kRotation || _mode == Mode::kModel) {
        // test rings for planes
        size_t start_offset = _mode == Mode::kModel ? 12 : 0;
        for(size_t i = start_offset; i < _cones.size(); i += 2) {
            vec3 pa = _cones.positions[i];
            vec3 pb = _cones.positions[i + 1];
 
            float t = std::numeric_limits<float>::max();
            if(cgv::math::ray_cylinder_intersection2(ray, pa, pb, 3.0f * _axis_radius, t)) {
                int axis_idx = static_cast<int>((i - start_offset) / (2 * _ring_segment_count));
                update_t_if_closer(t, Mode::kRotation, InteractionFeature::kPlane, index_to_axis_id(axis_idx));
            }
        }
    }
 
    
    std::array<std::pair<vec3, vec3>, 6> cylinders;
    cylinders.fill({ 0.0f, 0.0f });
    size_t cylinder_count = 0;
    float axis_length = 1.0f;
 
    if(_mode == Mode::kModel) {
        axis_length -= _handle_size;
    }
 
    if(_mode == Mode::kTranslation || _mode == Mode::kScale || _mode == Mode::kModel) {
        cylinder_count += 3;
        for(unsigned i = 0; i < 3; ++i) {
            cylinders[i].first[i] = _center_radius;
            cylinders[i].second[i] = axis_length;
        }
    }
 
    if(_mode == Mode::kModel) {
        cylinder_count += 3;
        for(size_t i = 0; i < 3; ++i) {
            cylinders[i + 3].first[i] = axis_length + 2.0f * _handle_size;
            cylinders[i + 3].second[i] = axis_length + 4.0f * _handle_size;
        }
    }
    
    for(size_t i = 0; i < cylinder_count; ++i) {
        float t = std::numeric_limits<float>::max();
        if(cgv::math::ray_cylinder_intersection2(ray, cylinders[i].first, cylinders[i].second, _handle_size, t)) {
            Mode transformation = _mode;
            if(cylinder_count > 3)
                transformation = i < 3 ? Mode::kScale : Mode::kTranslation;
 
            update_t_if_closer(t, transformation, InteractionFeature::kAxis, index_to_axis_id(static_cast<int>(i % 3)));
        }
    }
 
    // test rectangles for planes
    if(_mode == Mode::kTranslation || _mode == Mode::kScale) {
        float t = std::numeric_limits<float>::max();
        for(size_t i = 0; i < 3; ++i) {
            vec3 position = { 0.5f };
            position[i] = 0.0f;
            if(cgv::math::ray_axis_aligned_rectangle_intersection(ray, position, { _plane_size }, static_cast<int>(i), t))
                update_t_if_closer(t, _mode, InteractionFeature::kPlane, index_to_axis_id(static_cast<int>(i)));
        }
    }
 
    // test sphere for center
    vec2 ts(std::numeric_limits<float>::max());
    if(cgv::math::ray_sphere_intersection(ray, { 0.0f }, _center_radius, ts)) {
        Mode transformation = _mode == Mode::kModel ? Mode::kTranslation : _mode;
        update_t_if_closer(ts.x(), transformation, InteractionFeature::kCenter, AxisId::kX);
    }
 
    return min_t > 0.0f && min_t < std::numeric_limits<float>::max();
}
 
bool transformation_gizmo::start_drag(const cgv::math::ray3& ray) {
    int axis_idx = axis_id_to_index(_interaction_axis_id);
    vec3 axis = get_axis(axis_idx);
 
    const vec3 view_dir = get_view()->get_view_dir();
 
    _interaction_plane.origin = get_position();
 
    const auto get_rotated_axis = [this](const vec3& axis) {
        vec3 rotated = axis;
        get_rotation().rotate(rotated);
        return rotated;
    };
 
    if(_interaction_mode == Mode::kRotation) {
        switch(_interaction_feature) {
        case InteractionFeature::kPlane:
        {
            _interaction_plane.normal = get_rotated_axis(axis);
            // if the ray direction is close to parallel to the plane, choose the screen aligned plane instead
            float threshold_angle = std::cos(cgv::math::deg2rad(75.0f));
 
            float incident_angle = dot(_interaction_plane.normal, ray.direction);
            if(std::abs(incident_angle) < threshold_angle)
                _interaction_plane.normal = incident_angle < 0.0f ? -view_dir : view_dir;
            break;
        }
        case InteractionFeature::kCenter:
            _interaction_plane.normal = view_dir;
            break;
        default:
            return false;
        }
    } else {
        switch(_interaction_feature) {
        case InteractionFeature::kAxis:
        {
            // the plane is not actually needed for axis interaction, so we just chose one that will
            // always produce an intersection with the mouse ray
            _interaction_plane.normal = view_dir;
            break;
        }
        case InteractionFeature::kPlane:
            _interaction_plane.normal = get_rotated_axis(axis);
            break;
        case InteractionFeature::kCenter:
            _interaction_plane.normal = view_dir;
            break;
        default:
            return false;
        }
    }
 
    float t = -1.0f;
    if(!cgv::math::ray_plane_intersection(ray, _interaction_plane.origin, _interaction_plane.normal, t))
        return false;
 
    _drag_start_t = t;
    _drag_start_position = get_position();
    _drag_start_scale = _scale;
    _drag_start_rotation = get_rotation();
 
    if(on_change)
        on_change(GizmoAction::kDragStart, _interaction_mode);
 
    return true;
}
 
bool transformation_gizmo::drag(const cgv::math::ray3& ray) {
    int axis_idx = axis_id_to_index(_interaction_axis_id);
    vec3 axis = get_axis(axis_idx);
 
    const vec3 position = get_position();
 
    if(!_interaction_plane.valid())
        return false;
 
    float t = -1.0f;
    if(!cgv::math::ray_plane_intersection(ray, _interaction_plane.origin, _interaction_plane.normal, t) || t < 0.0f) {
        // restore drag start transforms if no valid intersection with the interaction plane is found
        set_position(_drag_start_position);
        set_scale(_drag_start_scale);
        set_rotation(_drag_start_rotation);
    } else {
        vec3 start_intersection_position = _drag_start_ray.position(_drag_start_t);
        vec3 intersection_position = ray.position(t);
 
        if(get_orientation() == GizmoOrientation::kLocal)
            _drag_start_rotation.rotate(axis);
 
        switch(_interaction_mode) {
        case Mode::kTranslation:
        {
            // TODO: FIXME: This is not optimal and only works well when the mouse position is pointing close to the manipulated axis.
            cgv::math::ray3 axis_ray = { _drag_start_position, axis };
 
            float start_offset = ray_ray_closest_approach(_drag_start_ray, axis_ray).second;
            float offset = ray_ray_closest_approach(ray, axis_ray).second;
 
            vec3 new_position = _drag_start_position;
            if(_interaction_feature == InteractionFeature::kAxis)
                new_position += (offset - start_offset) * axis;
            else
                new_position += intersection_position - start_intersection_position;// _local_offset;
 
            set_position(new_position);
            break;
        }
        case Mode::kScale:
        {
            // TODO: FIXME: Scaling does not work corectly for rotated coordinate frames (local gizmo orientation).
            vec3 new_local_offset = start_intersection_position - _drag_start_position;
            if(_interaction_feature == InteractionFeature::kAxis)
                new_local_offset[axis_idx] = (intersection_position - position)[axis_idx];
            else
                new_local_offset = intersection_position - position;
 
            vec3 scale_mult = new_local_offset / (start_intersection_position - _drag_start_position);
 
            vec3 new_scale = _drag_start_scale;
            switch(_interaction_feature) {
            case InteractionFeature::kAxis:
                new_scale[axis_idx] *= scale_mult[axis_idx];
                break;
            case InteractionFeature::kPlane:
                for(int i = 0; i < 3; ++i) {
                    if(i != axis_idx)
                        new_scale[i] *= scale_mult[i];
                }
                break;
            case InteractionFeature::kCenter:
                new_scale *= length(scale_mult);
                break;
            default:
                break;
            }
 
            set_scale(new_scale);
            break;
        }
        case Mode::kRotation:
        {
            vec3 start_dir = start_intersection_position - _drag_start_position;
            vec3 end_dir = intersection_position - position;
 
            // check length and skip if too short
            if(start_dir.normalize() < 0.01f)
                return true;
            if(end_dir.normalize() < 0.01f)
                return true;
 
            vec3 plane_tangent = normalize(cross(_interaction_plane.normal, start_dir));
 
            float cos_theta = dot(start_dir, end_dir);
            cos_theta = cgv::math::clamp(cos_theta, -1.0f, 1.0f);
            float angle = std::acos(cos_theta);
 
            // check for side and bring angle in range [0,2pi];
            if(dot(plane_tangent, end_dir) < 0.0f)
                angle = 2.0f * M_PI - angle;
 
            vec3 rotaton_axis = _interaction_feature == InteractionFeature::kCenter ? _interaction_plane.normal : axis;
 
            quat new_rotation = quat(rotaton_axis, angle) * _drag_start_rotation;
 
            set_rotation(new_rotation);
            break;
        }
        default:
            return false;
        }
    }
    
    if(on_change)
        on_change(GizmoAction::kDrag, _interaction_mode);
 
    return true;
}
 
void transformation_gizmo::end_drag(const cgv::math::ray3& ray) {
    if(on_change)
        on_change(GizmoAction::kDragEnd, _interaction_mode);
}
 
std::pair<float, float> transformation_gizmo::ray_ray_closest_approach(const cgv::math::ray3& r0, const cgv::math::ray3& r1) const {
    vec3 ba = r1.direction;
    vec3 oa = r0.origin - r1.origin;
 
    float a = dot(ba, ba);
    float b = dot(r0.direction, ba);
    float c = dot(oa, ba);
    float e = dot(oa, r0.direction);
 
    vec2 st = vec2(c - b * e, b * c - a * e) / (a - b * b);
 
    return { st.y(), st.x() };
}
 
}
}