LOG750-LAB2/QGLViewer/keyFrameInterpolator.cpp

/****************************************************************************

 Copyright (C) 2002-2014 Gilles Debunne. All rights reserved.

 This file is part of the QGLViewer library version 2.6.3.

 http://www.libqglviewer.com - contact@libqglviewer.com

 This file may be used under the terms of the GNU General Public License 
 versions 2.0 or 3.0 as published by the Free Software Foundation and
 appearing in the LICENSE file included in the packaging of this file.
 In addition, as a special exception, Gilles Debunne gives you certain 
 additional rights, described in the file GPL_EXCEPTION in this package.

 libQGLViewer uses dual licensing. Commercial/proprietary software must
 purchase a libQGLViewer Commercial License.

 This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.

*****************************************************************************/

#include "domUtils.h"
#include "qglviewer.h" // for QGLViewer::drawAxis and Camera::drawCamera

using namespace qglviewer;
using namespace std;

/*! Creates a KeyFrameInterpolator, with \p frame as associated frame().

  The frame() can be set or changed using setFrame().

  interpolationTime(), interpolationSpeed() and interpolationPeriod() are set to their default
  values. */
KeyFrameInterpolator::KeyFrameInterpolator(Frame* frame)
	: frame_(NULL), period_(40), interpolationTime_(0.0), interpolationSpeed_(1.0), interpolationStarted_(false),
	  closedPath_(false), loopInterpolation_(false), pathIsValid_(false), valuesAreValid_(true), currentFrameValid_(false)
	// #CONNECTION# Values cut pasted initFromDOMElement()
{
	setFrame(frame);
	for (int i=0; i<4; ++i)
		currentFrame_[i] = new QMutableListIterator<KeyFrame*>(keyFrame_);
	connect(&timer_, SIGNAL(timeout()), SLOT(update()));
}

/*! Virtual destructor. Clears the keyFrame path. */
KeyFrameInterpolator::~KeyFrameInterpolator()
{
	deletePath();
	for (int i=0; i<4; ++i)
		delete currentFrame_[i];
}

/*! Sets the frame() associated to the KeyFrameInterpolator. */
void KeyFrameInterpolator::setFrame(Frame* const frame)
{
	if (this->frame())
		disconnect(this, SIGNAL( interpolated() ), this->frame(), SIGNAL( interpolated() ));

	frame_ = frame;

	if (this->frame())
		connect(this, SIGNAL( interpolated() ), this->frame(), SIGNAL( interpolated() ));
}

/*! Updates frame() state according to current interpolationTime(). Then adds
  interpolationPeriod()*interpolationSpeed() to interpolationTime().

  This internal method is called by a timer when interpolationIsStarted(). It can be used for
  debugging purpose. stopInterpolation() is called when interpolationTime() reaches firstTime() or
  lastTime(), unless loopInterpolation() is \c true. */
void KeyFrameInterpolator::update()
{
	interpolateAtTime(interpolationTime());

	interpolationTime_ += interpolationSpeed() * interpolationPeriod() / 1000.0;

	if (interpolationTime() > keyFrame_.last()->time())
	{
		if (loopInterpolation())
			setInterpolationTime(keyFrame_.first()->time() + interpolationTime_ - keyFrame_.last()->time());
		else
		{
			// Make sure last KeyFrame is reached and displayed
			interpolateAtTime(keyFrame_.last()->time());
			stopInterpolation();
		}
		Q_EMIT endReached();
	}
	else
		if (interpolationTime() < keyFrame_.first()->time())
		{
			if (loopInterpolation())
				setInterpolationTime(keyFrame_.last()->time() - keyFrame_.first()->time() + interpolationTime_);
			else
			{
				// Make sure first KeyFrame is reached and displayed
				interpolateAtTime(keyFrame_.first()->time());
				stopInterpolation();
			}
			Q_EMIT endReached();
		}
}


/*! Starts the interpolation process.

  A timer is started with an interpolationPeriod() period that updates the frame()'s position and
  orientation. interpolationIsStarted() will return \c true until stopInterpolation() or
  toggleInterpolation() is called.

  If \p period is positive, it is set as the new interpolationPeriod(). The previous
  interpolationPeriod() is used otherwise (default).

  If interpolationTime() is larger than lastTime(), interpolationTime() is reset to firstTime()
  before interpolation starts (and inversely for negative interpolationSpeed()).

  Use setInterpolationTime() before calling this method to change the starting interpolationTime().

  See the <a href="../examples/keyFrames.html">keyFrames example</a> for an illustration.

  You may also be interested in QGLViewer::animate() and QGLViewer::startAnimation().

  \attention The keyFrames must be defined (see addKeyFrame()) \e before you startInterpolation(),
  or else the interpolation will naturally immediately stop. */
void KeyFrameInterpolator::startInterpolation(int period)
{
	if (period >= 0)
		setInterpolationPeriod(period);

	if (!keyFrame_.isEmpty())
	{
		if ((interpolationSpeed() > 0.0) && (interpolationTime() >= keyFrame_.last()->time()))
			setInterpolationTime(keyFrame_.first()->time());
		if ((interpolationSpeed() < 0.0) && (interpolationTime() <= keyFrame_.first()->time()))
			setInterpolationTime(keyFrame_.last()->time());
		timer_.start(interpolationPeriod());
		interpolationStarted_ = true;
		update();
	}
}


/*! Stops an interpolation started with startInterpolation(). See interpolationIsStarted() and toggleInterpolation(). */
void KeyFrameInterpolator::stopInterpolation()
{
	timer_.stop();
	interpolationStarted_ = false;
}


/*! Stops the interpolation and resets interpolationTime() to the firstTime().

If desired, call interpolateAtTime() after this method to actually move the frame() to
firstTime(). */
void KeyFrameInterpolator::resetInterpolation()
{
	stopInterpolation();
	setInterpolationTime(firstTime());
}

/*! Appends a new keyFrame to the path, with its associated \p time (in seconds).

  The keyFrame is given as a pointer to a Frame, which will be connected to the
  KeyFrameInterpolator: when \p frame is modified, the KeyFrameInterpolator path is updated
  accordingly. This allows for dynamic paths, where keyFrame can be edited, even during the
  interpolation. See the <a href="../examples/keyFrames.html">keyFrames example</a> for an
  illustration.

  \c NULL \p frame pointers are silently ignored. The keyFrameTime() has to be monotonously
  increasing over keyFrames.

  Use addKeyFrame(const Frame&, qreal) to add keyFrame by values. */
void KeyFrameInterpolator::addKeyFrame(const Frame* const frame, qreal time)
{
	if (!frame)
		return;

	if (keyFrame_.isEmpty())
		interpolationTime_ = time;

	if ( (!keyFrame_.isEmpty()) && (keyFrame_.last()->time() > time) )
		qWarning("Error in KeyFrameInterpolator::addKeyFrame: time is not monotone");
	else
		keyFrame_.append(new KeyFrame(frame, time));
	connect(frame, SIGNAL(modified()), SLOT(invalidateValues()));
	valuesAreValid_ = false;
	pathIsValid_ = false;
	currentFrameValid_ = false;
	resetInterpolation();
}

/*! Appends a new keyFrame to the path, with its associated \p time (in seconds).

  The path will use the current \p frame state. If you want the path to change when \p frame is
  modified, you need to pass a \e pointer to the Frame instead (see addKeyFrame(const Frame*,
  qreal)).

  The keyFrameTime() have to be monotonously increasing over keyFrames. */
void KeyFrameInterpolator::addKeyFrame(const Frame& frame, qreal time)
{
	if (keyFrame_.isEmpty())
		interpolationTime_ = time;

	if ( (!keyFrame_.isEmpty()) && (keyFrame_.last()->time() > time) )
		qWarning("Error in KeyFrameInterpolator::addKeyFrame: time is not monotone");
	else
		keyFrame_.append(new KeyFrame(frame, time));

	valuesAreValid_ = false;
	pathIsValid_ = false;
	currentFrameValid_ = false;
	resetInterpolation();
}


/*! Appends a new keyFrame to the path.

 Same as addKeyFrame(const Frame* frame, qreal), except that the keyFrameTime() is set to the
 previous keyFrameTime() plus one second (or 0.0 if there is no previous keyFrame). */
void KeyFrameInterpolator::addKeyFrame(const Frame* const frame)
{
	qreal time;
	if (keyFrame_.isEmpty())
		time = 0.0;
	else
		time = lastTime() + 1.0;

	addKeyFrame(frame, time);
}

/*! Appends a new keyFrame to the path.

 Same as addKeyFrame(const Frame& frame, qreal), except that the keyFrameTime() is automatically set
 to previous keyFrameTime() plus one second (or 0.0 if there is no previous keyFrame). */
void KeyFrameInterpolator::addKeyFrame(const Frame& frame)
{
	qreal time;
	if (keyFrame_.isEmpty())
		time = 0.0;
	else
		time = keyFrame_.last()->time() + 1.0;

	addKeyFrame(frame, time);
}

/*! Removes all keyFrames from the path. The numberOfKeyFrames() is set to 0. */
void KeyFrameInterpolator::deletePath()
{
	stopInterpolation();
	qDeleteAll(keyFrame_);
	keyFrame_.clear();
	pathIsValid_ = false;
	valuesAreValid_ = false;
	currentFrameValid_ = false;
}

void KeyFrameInterpolator::updateModifiedFrameValues()
{
	Quaternion prevQ = keyFrame_.first()->orientation();
	KeyFrame* kf;
	for (int i=0; i<keyFrame_.size(); ++i)
	{
		kf = keyFrame_.at(i);
		if (kf->frame())
			kf->updateValuesFromPointer();
		kf->flipOrientationIfNeeded(prevQ);
		prevQ = kf->orientation();
	}

	KeyFrame* prev = keyFrame_.first();
	kf = keyFrame_.first();
	int index = 1;
	while (kf)
	{
		KeyFrame* next = (index < keyFrame_.size()) ? keyFrame_.at(index) : NULL;
		index++;
		if (next)
			kf->computeTangent(prev, next);
		else
			kf->computeTangent(prev, kf);
		prev = kf;
		kf = next;
	}
	valuesAreValid_ = true;
}

/*! Returns the Frame associated with the keyFrame at index \p index.

 See also keyFrameTime(). \p index has to be in the range 0..numberOfKeyFrames()-1.

 \note If this keyFrame was defined using a pointer to a Frame (see addKeyFrame(const Frame*
  const)), the \e current pointed Frame state is returned. */
Frame KeyFrameInterpolator::keyFrame(int index) const
{
	const KeyFrame* const kf = keyFrame_.at(index);
	return Frame(kf->position(), kf->orientation());
}

/*! Returns the time corresponding to the \p index keyFrame.

 See also keyFrame(). \p index has to be in the range 0..numberOfKeyFrames()-1. */
qreal KeyFrameInterpolator::keyFrameTime(int index) const
{
	return keyFrame_.at(index)->time();
}

/*! Returns the duration of the KeyFrameInterpolator path, expressed in seconds.

 Simply corresponds to lastTime() - firstTime(). Returns 0.0 if the path has less than 2 keyFrames.
 See also keyFrameTime(). */
qreal KeyFrameInterpolator::duration() const
{
	return lastTime() - firstTime();
}

/*! Returns the time corresponding to the first keyFrame, expressed in seconds.

Returns 0.0 if the path is empty. See also lastTime(), duration() and keyFrameTime(). */
qreal KeyFrameInterpolator::firstTime() const
{
	if (keyFrame_.isEmpty())
		return 0.0;
	else
		return keyFrame_.first()->time();
}

/*! Returns the time corresponding to the last keyFrame, expressed in seconds.

Returns 0.0 if the path is empty. See also firstTime(), duration() and keyFrameTime(). */
qreal KeyFrameInterpolator::lastTime() const
{
	if (keyFrame_.isEmpty())
		return 0.0;
	else
		return keyFrame_.last()->time();
}

void KeyFrameInterpolator::updateCurrentKeyFrameForTime(qreal time)
{
	// Assertion: times are sorted in monotone order.
	// Assertion: keyFrame_ is not empty

	// TODO: Special case for loops when closed path is implemented !!
	if (!currentFrameValid_)
		// Recompute everything from scrach
		currentFrame_[1]->toFront();

	while (currentFrame_[1]->peekNext()->time() > time)
	{
		currentFrameValid_ = false;
		if (!currentFrame_[1]->hasPrevious())
			break;
		currentFrame_[1]->previous();
	}

	if (!currentFrameValid_)
		*currentFrame_[2] = *currentFrame_[1];

	while (currentFrame_[2]->peekNext()->time() < time)
	{
		currentFrameValid_ = false;
		if (!currentFrame_[2]->hasNext())
			break;
		currentFrame_[2]->next();
	}

	if (!currentFrameValid_)
	{
		*currentFrame_[1] = *currentFrame_[2];
		if ((currentFrame_[1]->hasPrevious()) && (time < currentFrame_[2]->peekNext()->time()))
			currentFrame_[1]->previous();

		*currentFrame_[0] = *currentFrame_[1];
		if (currentFrame_[0]->hasPrevious())
			currentFrame_[0]->previous();

		*currentFrame_[3] = *currentFrame_[2];
		if (currentFrame_[3]->hasNext())
			currentFrame_[3]->next();

		currentFrameValid_ = true;
		splineCacheIsValid_ = false;
	}

	// cout << "Time = " << time << " : " << currentFrame_[0]->peekNext()->time() << " , " <<
	// currentFrame_[1]->peekNext()->time() << " , " << currentFrame_[2]->peekNext()->time() << " , " <<  currentFrame_[3]->peekNext()->time() << endl;
}

void KeyFrameInterpolator::updateSplineCache()
{
	Vec delta = currentFrame_[2]->peekNext()->position() - currentFrame_[1]->peekNext()->position();
	v1 = 3.0 * delta - 2.0 * currentFrame_[1]->peekNext()->tgP() - currentFrame_[2]->peekNext()->tgP();
	v2 = -2.0 * delta + currentFrame_[1]->peekNext()->tgP() + currentFrame_[2]->peekNext()->tgP();
	splineCacheIsValid_ = true;
}

/*! Interpolate frame() at time \p time (expressed in seconds). interpolationTime() is set to \p
  time and frame() is set accordingly.

  If you simply want to change interpolationTime() but not the frame() state, use
  setInterpolationTime() instead.

  Emits the interpolated() signal and makes the frame() emit the Frame::interpolated() signal. */
void KeyFrameInterpolator::interpolateAtTime(qreal time)
{
	setInterpolationTime(time);

	if ((keyFrame_.isEmpty()) || (!frame()))
		return;

	if (!valuesAreValid_)
		updateModifiedFrameValues();

	updateCurrentKeyFrameForTime(time);

	if (!splineCacheIsValid_)
		updateSplineCache();

	qreal alpha;
	qreal dt = currentFrame_[2]->peekNext()->time() - currentFrame_[1]->peekNext()->time();
	if (dt == 0.0)
		alpha = 0.0;
	else
		alpha = (time - currentFrame_[1]->peekNext()->time()) / dt;

	// Linear interpolation - debug
	// Vec pos = alpha*(currentFrame_[2]->peekNext()->position()) + (1.0-alpha)*(currentFrame_[1]->peekNext()->position());
	Vec pos = currentFrame_[1]->peekNext()->position() + alpha * (currentFrame_[1]->peekNext()->tgP() + alpha * (v1+alpha*v2));
	Quaternion q = Quaternion::squad(currentFrame_[1]->peekNext()->orientation(), currentFrame_[1]->peekNext()->tgQ(),
			currentFrame_[2]->peekNext()->tgQ(), currentFrame_[2]->peekNext()->orientation(), alpha);
	frame()->setPositionAndOrientationWithConstraint(pos, q);

	Q_EMIT interpolated();
}

/*! Returns an XML \c QDomElement that represents the KeyFrameInterpolator.

 The resulting QDomElement holds the KeyFrameInterpolator parameters as well as the path keyFrames
 (if the keyFrame is defined by a pointer to a Frame, use its current value).

 \p name is the name of the QDomElement tag. \p doc is the \c QDomDocument factory used to create
 QDomElement.

 Use initFromDOMElement() to restore the ManipulatedFrame state from the resulting QDomElement.

 See Vec::domElement() for a complete example. See also Quaternion::domElement(),
 Camera::domElement()...

 Note that the Camera::keyFrameInterpolator() are automatically saved by QGLViewer::saveStateToFile()
 when a QGLViewer is closed. */
QDomElement KeyFrameInterpolator::domElement(const QString& name, QDomDocument& document) const
{
	QDomElement de = document.createElement(name);
	int count = 0;
	Q_FOREACH (KeyFrame* kf, keyFrame_)
	{
		Frame fr(kf->position(), kf->orientation());
		QDomElement kfNode = fr.domElement("KeyFrame", document);
		kfNode.setAttribute("index", QString::number(count));
		kfNode.setAttribute("time",  QString::number(kf->time()));
		de.appendChild(kfNode);
		++count;
	}
	de.setAttribute("nbKF", QString::number(keyFrame_.count()));
	de.setAttribute("time", QString::number(interpolationTime()));
	de.setAttribute("speed", QString::number(interpolationSpeed()));
	de.setAttribute("period", QString::number(interpolationPeriod()));
	DomUtils::setBoolAttribute(de, "closedPath", closedPath());
	DomUtils::setBoolAttribute(de, "loop", loopInterpolation());
	return de;
}

/*! Restores the KeyFrameInterpolator state from a \c QDomElement created by domElement().

 Note that the frame() pointer is not included in the domElement(): you need to setFrame() after
 this method to attach a Frame to the KeyFrameInterpolator.

 See Vec::initFromDOMElement() for a complete code example.

 See also Camera::initFromDOMElement() and Frame::initFromDOMElement(). */
void KeyFrameInterpolator::initFromDOMElement(const QDomElement& element)
{
	qDeleteAll(keyFrame_);
	keyFrame_.clear();
	QDomElement child=element.firstChild().toElement();
	while (!child.isNull())
	{
		if (child.tagName() == "KeyFrame")
		{
			Frame fr;
			fr.initFromDOMElement(child);
			qreal time = DomUtils::qrealFromDom(child, "time", 0.0);
			addKeyFrame(fr, time);
		}

		child = child.nextSibling().toElement();
	}

	// #CONNECTION# Values cut pasted from constructor
	setInterpolationTime(DomUtils::qrealFromDom(element, "time", 0.0));
	setInterpolationSpeed(DomUtils::qrealFromDom(element, "speed", 1.0));
	setInterpolationPeriod(DomUtils::intFromDom(element, "period", 40));
	setClosedPath(DomUtils::boolFromDom(element, "closedPath", false));
	setLoopInterpolation(DomUtils::boolFromDom(element, "loop", false));

	// setFrame(NULL);
	pathIsValid_ = false;
	valuesAreValid_ = false;
	currentFrameValid_ = false;

	stopInterpolation();
}

#ifndef DOXYGEN

//////////// KeyFrame private class implementation /////////
KeyFrameInterpolator::KeyFrame::KeyFrame(const Frame& fr, qreal t)
	: time_(t), frame_(NULL)
{
	p_ = fr.position();
	q_ = fr.orientation();
}

KeyFrameInterpolator::KeyFrame::KeyFrame(const Frame* fr, qreal t)
	: time_(t), frame_(fr)
{
	updateValuesFromPointer();
}

void KeyFrameInterpolator::KeyFrame::updateValuesFromPointer()
{
	p_ = frame()->position();
	q_ = frame()->orientation();
}

void KeyFrameInterpolator::KeyFrame::computeTangent(const KeyFrame* const prev, const KeyFrame* const next)
{
	tgP_ = 0.5 * (next->position() - prev->position());
	tgQ_ = Quaternion::squadTangent(prev->orientation(), q_, next->orientation());
}

void KeyFrameInterpolator::KeyFrame::flipOrientationIfNeeded(const Quaternion& prev)
{
	if (Quaternion::dot(prev, q_) < 0.0)
		q_.negate();
}

#endif //DOXYGEN