1588 lines
64 KiB
Python
1588 lines
64 KiB
Python
import math
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from typing import Optional, Tuple, Callable, Dict, Any, List
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from panda3d.core import (
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NodePath,
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Vec3,
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Point3,
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Point2,
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Vec4,
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Quat,
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GeomNode,
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GeomVertexFormat,
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GeomVertexData,
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GeomVertexWriter,
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GeomLines,
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GeomTriangles,
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Geom,
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CollisionNode,
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CollisionRay,
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CollisionHandlerQueue,
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CollisionTraverser,
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CollisionTube,
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CollisionSphere,
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CollisionEntry,
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BitMask32,
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PerspectiveLens,
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TransparencyAttrib,
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Material,
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LPoint2f
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)
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from direct.showbase.DirectObject import DirectObject
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from direct.task import Task
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from direct.task.TaskManagerGlobal import taskMgr
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from direct.showbase.ShowBase import ShowBase
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from .events import GizmoEvent
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"""
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旋转控制柄（Rotate Gizmo）
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=========================
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功能概述：
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- 模仿 Unity 的旋转控制柄，使用 3 个彩色圆环表示绕 X/Y/Z 轴旋转
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- X 轴：红色圆环（绕局部 X 轴旋转）
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- Y 轴：绿色圆环（绕局部 Y 轴旋转）
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- Z 轴：蓝色圆环（绕局部 Z 轴旋转）
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- 额外提供屏幕对齐的外圈（view handle）与轨迹球（trackball）方便视图方向与自由旋转
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- 拖拽时展示半透明角度扇形与箭头，辅助观察旋转量
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- 中心轴线辅助观察当前坐标系朝向
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- 使用 Panda3D 的碰撞系统进行鼠标拾取与拖拽
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- 控件跟随目标节点的局部坐标系（即“局部模式”），
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当目标有旋转时，三个圆环会随之旋转
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- 控件会根据摄像机距离自动缩放，屏幕大小保持近似不变
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集成方式（示例）：
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from QPanda3D.Panda3DWorld import Panda3DWorld
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from QPanda3DExamples.rotate_gizmo import RotateGizmo
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world = Panda3DWorld()
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model_np = world.render.attachNewNode("Box")
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# ... 在 model_np 下加载模型
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gizmo = RotateGizmo(world) # 创建旋转 Gizmo
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gizmo.attach(model_np) # 绑定到某个模型
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# 当需要切换目标时：
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gizmo.attach(another_np)
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# 当不需要时，可隐藏：
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gizmo.detach()
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鼠标事件要求：
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- 本类默认监听 Panda3D 的 "mouse1" / "mouse1-up" / "mouse-move" 事件
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- 如果从 Qt / 自定义 UI 传递鼠标像素坐标，可以在发送事件时传入 extra 字典：
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messenger.send("mouse1", [{"x": mouse_x, "y": mouse_y}])
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本类会自动将像素坐标转换到 [-1, 1] 的标准化设备坐标
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"""
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class RotateGizmo(DirectObject):
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"""
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Unity 风格的旋转控制柄：
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- 3 个圆环分别代表绕局部 X/Y/Z 轴旋转
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- 额外的视图对齐圆环与屏幕轨迹球，便于自由旋转
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- 左键点击圆环并拖拽，可以绕对应轴旋转绑定的 NodePath
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"""
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def __init__(
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self,
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world,
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camera_np: NodePath | None = None,
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on_action_committed: Optional[Callable[[Dict[str, Any]], None]] = None,
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event_hooks: Optional[Dict[str, List[Callable[[Dict[str, Any]], None]]]] = None
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):
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super().__init__()
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self.world:ShowBase = world
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self.is_local: bool = True
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self.debug: bool = False
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self.is_hovering = False
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self._picker_added: bool = False
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# Optional callback to report completed rotate actions to a higher-level
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# manager (e.g. TransformGizmo) so it can build a global undo stack.
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self.on_action_committed = on_action_committed
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# Event hooks: drag_start / drag_move / drag_end
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self._event_hooks = self._normalize_event_hooks(event_hooks)
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# 摄像机节点，如果未手动传入，则尝试从 world/base 中自动获取
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self.camera: Optional[NodePath] = camera_np or getattr(world, "cam", None)
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if not self.camera and hasattr(world, "base"):
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self.camera = world.base.cam
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if not self.camera:
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self._log("No camera found for RotateGizmo")
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else:
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self._log(f"Camera found for RotateGizmo: {self.camera}")
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# 控制柄根节点
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self.root: NodePath = NodePath("RotateGizmo")
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self.color_higher = 0.05
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self.color_normal = 0.01
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# 当前绑定的目标节点
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self.target_node: Optional[NodePath] = None
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self.attached: bool = False
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self.last_mouse_pos = None
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# 控制柄视觉参数
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self.ring_radius: float = 0.45 # 圆环半径（局部空间）
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self.ring_thickness: float = 0.04 # 圆环粗细（碰撞体半径）
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self.ring_alpha: float = 0.9 # 圆环透明度
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self.trackball_radius: float = self.ring_radius * 1.0 # 轨迹球半径（略小，避免遮挡轴拾取）
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self.trackball_color: Vec4 = Vec4(0.25, 0.25, 0.25, 0.45)
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self.trackball_edge_color: Vec4 = Vec4(1, 1, 1, 0.75)
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self.highlight_color: Vec4 = Vec4(1.0, 1.0, 1.0, 1.0)
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self.arrow_length_factor: float = 0.35 # 箭头长度相对圆环半径的倍数
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self.arrow_head_width_factor: float = 0.25 # 箭头头部宽度相对箭长的倍数
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# 拾取射线与碰撞系统
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self.picker_ray = CollisionRay()
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self.picker_node = CollisionNode("rotate_gizmo_picker_ray")
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self.picker_node.addSolid(self.picker_ray)
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self.picker_node.setFromCollideMask(BitMask32.bit(20))
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self.picker_node.setIntoCollideMask(BitMask32.allOff())
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self.picker_np: NodePath = NodePath(self.picker_node)
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self.c_trav = CollisionTraverser()
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self.c_queue = CollisionHandlerQueue()
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# 拖拽状态
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self.dragging: bool = False
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self.drag_axis: Optional[int] = None # 0 = X, 1 = Y, 2 = Z
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self.drag_mode: Optional[str] = None # "axis" / "view" / "trackball"
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self.drag_local_axis: Optional[Vec3] = None
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self.start_mouse: Optional[Point2] = None
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self._axis_screen_dir: Point2 | None = None
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# 起始姿态：世界与父坐标系两份，方便选用一致的参考系进行旋转
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self.start_quat: Optional[Quat] = None # 世界四元数
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self.start_quat_local: Optional[Quat] = None # 父坐标系四元数
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self.start_root_axis_dir: Optional[Vec3] = None
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self.rotate_axis_world: Vec3 = Vec3(0, 0, 0) # 当前轴的世界方向
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self.start_vec_on_plane: Vec3 = Vec3(0, 0, 0) # 旋转平面上的起始向量
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self.center_world: Point3 = Point3(0, 0, 0) # Gizmo 中心（世界坐标）
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self._trackball_start_vec: Optional[Vec3] = None # 屏幕空间轨迹球起始向量
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self._angle_start_offset: float = 0.0 # 扇形起点（弧度）
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self._drag_root_quat_world: Optional[Quat] = None # 拖拽时保持的 Gizmo 世界朝向
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self._arrow_tangent_angle_deg: float = 0.0 # 箭头朝向（在扇形平面内的角度）
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self._start_vec_local: Optional[Vec3] = None # 起始向量（扇形局部坐标）
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# 撤销栈：每项为 (node, old_hpr(world), new_hpr(world))
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self._rotate_undo_stack: list[Tuple[NodePath, Vec3, Vec3]] = []
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self._undo_angle_epsilon: float = 0.01 # 角度变化阈值（防止浮点抖动）
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# 边缘视角（grazing angle）时使用屏幕空间旋转的参数
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self._grazing_threshold: float = 0.15 # denom 小于此值时启用屏幕空间计算
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self._center_screen: Optional[Point2] = None # Gizmo 中心的屏幕投影
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self._start_screen_angle: float = 0.0 # 起始鼠标相对于屏幕中心的角度
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self._axis_screen_sign: float = 1.0 # 屏幕空间旋转方向符号
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# 三个圆环节点：0=X, 1=Y, 2=Z
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self.rings: list[NodePath] = []
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self.ring_colors: list[Tuple[NodePath, Vec4]] = []
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# (front_geom_np, back_geom_np, front_col_np, back_col_np)
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self.ring_halves: list[Tuple[NodePath,NodePath, NodePath, NodePath]] = []
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self.center_axes: list[NodePath] = []
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self.center_axes_colors: list[Tuple[NodePath, Vec4]] = []
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self.view_ring: Optional[NodePath] = None
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self.trackball_np: Optional[NodePath] = None
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self.angle_disc_root: Optional[NodePath] = None
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self.angle_fill_np: Optional[NodePath] = None
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self.angle_fill_np_copy: Optional[NodePath] = None
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self.angle_arrow_np: Optional[NodePath] = None
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# 构建几何与碰撞体
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self._build_gizmo()
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# 初始挂在 world.render，后续通过更新同步到目标
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self.root.reparentTo(self.world.render)
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self.root.setBin('fixed',40)
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self.root.setDepthTest(False)
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self.root.setDepthWrite(False)
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self.root.setLightOff()
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self.root.hide()
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# 每帧更新 Gizmo 缩放
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# taskMgr.add(self._update_task, "RotateGizmoUpdateTask")
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# ------------------------------------------------------------------ #
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# 内部工具
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# ------------------------------------------------------------------ #
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def _log(self, msg: str):
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if self.debug:
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print(f"[RotateGizmo] {msg}")
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def _normalize_event_hooks(self, hooks):
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base = {name: [] for name in GizmoEvent.ALL}
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if not hooks:
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return base
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for name in list(base.keys()):
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cbs = hooks.get(name)
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if cbs:
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base[name] = list(cbs)
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return base
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def _emit_event(self, name: str, payload: Dict[str, Any]):
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handlers = self._event_hooks.get(name, [])
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for cb in handlers:
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try:
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cb(payload)
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except Exception as exc:
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self._log(f"event hook '{name}' error: {exc}")
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def _build_gizmo(self):
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"""构建旋转 Gizmo 的可视化元素（轴环、屏幕外圈、轨迹球、角度扇形等）。"""
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# 屏幕对齐的轨迹球，用于自由旋转
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# 轨迹球：默认隐藏可视几何，仅在选中时显示
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self.trackball_np = self._create_trackball_disc(
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radius=self.trackball_radius,
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color=self.trackball_color,
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visual=True,
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)
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if self.trackball_np:
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trackball_geom = self.trackball_np.find("**/trackball_geom")
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if not trackball_geom.isEmpty():
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trackball_geom.hide()
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# X 轴（红）—— 绕局部 X 轴旋转
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self.rings.append(
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self._create_ring(
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axis_dir=Vec3(1, 0, 0),
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color=Vec4(1, 0, 0, 1),
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radius=self.ring_radius,
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thickness=self.ring_thickness,
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axis_id=0,
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)
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)
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# Y 轴（绿）—— 绕局部 Y 轴旋转
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self.rings.append(
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self._create_ring(
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axis_dir=Vec3(0, 1, 0),
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color=Vec4(0, 1, 0, 1),
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radius=self.ring_radius,
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thickness=self.ring_thickness,
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axis_id=1,
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)
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)
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# Z 轴（蓝）—— 绕局部 Z 轴旋转
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self.rings.append(
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self._create_ring(
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axis_dir=Vec3(0, 0, 1),
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color=Vec4(0, 0, 1, 1),
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radius=self.ring_radius,
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thickness=self.ring_thickness,
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axis_id=2,
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)
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)
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# 轨迹球边缘辅助圆，标示球的尺寸（无碰撞）
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self.trackball_edge = self._create_trackball_edge(
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radius=self.trackball_radius,
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color=self.trackball_edge_color,
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)
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# 中心轴线，帮助观察旋转轴朝向
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self.center_axes = [
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self._create_center_axis(Vec3(1, 0, 0), Vec4(0.3, 0.0, 0.0, 1.0)),
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self._create_center_axis(Vec3(0, 1, 0), Vec4(0.0, 0.3, 0.0, 1.0)),
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self._create_center_axis(Vec3(0, 0, 1), Vec4(0.0, 0.0, 0.3, 1.0)),
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]
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# 角度可视化扇形
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self._build_angle_disc()
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def _create_ring(
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self,
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axis_dir: Vec3,
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color: Vec4,
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radius: float,
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thickness: float,
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axis_id: int,
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) -> NodePath:
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"""
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构建一个圆环：
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- 几何：使用 GeomLines 画出若干线段组成的圆
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- 碰撞体：使用多段 CollisionTube 近似圆环
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默认圆环在局部 XY 平面，法线为 +Z，通过四元数旋转到指定 axis_dir。
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"""
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ring_root = self.root.attachNewNode(f"ring_{axis_id}")
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# 本地 +Z 对齐到目标“旋转轴方向”（即圆环法线）
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align_quat = self._quat_from_z(axis_dir)
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ring_root.setQuat(align_quat)
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# -------------------- 几何圆环 --------------------
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vdata = GeomVertexData("ring", GeomVertexFormat.getV3c4(), Geom.UHStatic)
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vertex = GeomVertexWriter(vdata, "vertex")
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vcolor = GeomVertexWriter(vdata, "color")
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segments = 64
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for i in range(segments + 1):
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angle = 2 * math.pi * i / segments
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x = radius * math.cos(angle)
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y = radius * math.sin(angle)
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vertex.addData3(x, y, 0.0)
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vcolor.addData4(color)
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# 将圆拆分为两个半圆环，方便根据摄像机方向隐藏背面的半圆。
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half_segments = segments // 2
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# 前半圆：索引 [0, half_segments]
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prim_front = GeomLines(Geom.UHStatic)
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for i in range(half_segments):
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prim_front.addVertices(i, i + 1)
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geom_front = Geom(vdata)
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geom_front.addPrimitive(prim_front)
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node_front = GeomNode("ring_geom_front")
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node_front.addGeom(geom_front)
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np_front = ring_root.attachNewNode(node_front)
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np_front.setTransparency(True)
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np_front.setColorScale(1, 1, 1, self.ring_alpha)
|
||
|
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# 后半圆：索引 [half_segments, segments]
|
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prim_back = GeomLines(Geom.UHStatic)
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for i in range(half_segments, segments):
|
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prim_back.addVertices(i, i + 1)
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||
geom_back = Geom(vdata)
|
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geom_back.addPrimitive(prim_back)
|
||
node_back = GeomNode("ring_geom_back")
|
||
node_back.addGeom(geom_back)
|
||
np_back = ring_root.attachNewNode(node_back)
|
||
np_back.setTransparency(True)
|
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np_back.setColorScale(1, 1, 1, self.ring_alpha)
|
||
# -------------------- 碰撞圆环拆分为两半 --------------------
|
||
col_segments = 24
|
||
half_col = col_segments // 2
|
||
|
||
c_node_front = CollisionNode(f"ring_col_front_{axis_id}")
|
||
c_node_front.setIntoCollideMask(BitMask32.bit(20))
|
||
c_node_front.setFromCollideMask(BitMask32.allOff())
|
||
c_node_front.setTag("gizmo_axis", str(axis_id))
|
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for i in range(half_col):
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a0 = 2 * math.pi * i / col_segments
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a1 = 2 * math.pi * (i + 1) / col_segments
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p0 = Point3(radius * math.cos(a0), radius * math.sin(a0), 0.0)
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p1 = Point3(radius * math.cos(a1), radius * math.sin(a1), 0.0)
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c_node_front.addSolid(CollisionTube(p0, p1, thickness))
|
||
col_front_np = ring_root.attachNewNode(c_node_front)
|
||
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c_node_back = CollisionNode(f"ring_col_back_{axis_id}")
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||
c_node_back.setIntoCollideMask(BitMask32.bit(20))
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||
c_node_back.setFromCollideMask(BitMask32.allOff())
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||
c_node_back.setTag("gizmo_axis", str(axis_id))
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||
for i in range(half_col, col_segments):
|
||
a0 = 2 * math.pi * i / col_segments
|
||
a1 = 2 * math.pi * (i + 1) / col_segments
|
||
p0 = Point3(radius * math.cos(a0), radius * math.sin(a0), 0.0)
|
||
p1 = Point3(radius * math.cos(a1), radius * math.sin(a1), 0.0)
|
||
c_node_back.addSolid(CollisionTube(p0, p1, thickness))
|
||
col_back_np = ring_root.attachNewNode(c_node_back)
|
||
|
||
# 默认先都显示，后续在 update() 中根据摄像机位置只显示靠近摄像机的一半（含碰撞）
|
||
self.ring_halves.append((np_front, np_back, col_front_np, col_back_np))
|
||
|
||
return ring_root
|
||
|
||
def _create_center_axis(self, axis_dir: Vec3, color: Vec4) -> NodePath:
|
||
"""创建中心轴线，方便观察轴向。"""
|
||
vdata = GeomVertexData(
|
||
"center_axis", GeomVertexFormat.getV3c4(), Geom.UHStatic)
|
||
vertex = GeomVertexWriter(vdata, "vertex")
|
||
vcolor = GeomVertexWriter(vdata, "color")
|
||
|
||
vertex.addData3(0.0, 0.0, 0.0)
|
||
vcolor.addData4(color)
|
||
tip = axis_dir * (self.ring_radius * 0.8)
|
||
vertex.addData3(tip)
|
||
vcolor.addData4(color)
|
||
|
||
lines = GeomLines(Geom.UHStatic)
|
||
lines.addVertices(0, 1)
|
||
geom = Geom(vdata)
|
||
geom.addPrimitive(lines)
|
||
node = GeomNode("center_axis_geom")
|
||
node.addGeom(geom)
|
||
np = self.root.attachNewNode(node)
|
||
np.setTransparency(True)
|
||
np.setColorScale(1, 1, 1, 0.9)
|
||
return np
|
||
|
||
def _create_trackball_edge(self, radius: float, color: Vec4) -> NodePath:
|
||
"""创建轨迹球尺寸辅助圆（无碰撞，仅显示）。"""
|
||
edge_root = self.root.attachNewNode("trackball_edge")
|
||
vdata = GeomVertexData("trackball_edge", GeomVertexFormat.getV3c4(), Geom.UHStatic)
|
||
vertex = GeomVertexWriter(vdata, "vertex")
|
||
vcolor = GeomVertexWriter(vdata, "color")
|
||
|
||
segments = 96
|
||
for i in range(segments + 1):
|
||
ang = 2 * math.pi * i / segments
|
||
x = radius * math.cos(ang)
|
||
z = radius * math.sin(ang)
|
||
vertex.addData3(x, 0.0, z)
|
||
vcolor.addData4(color)
|
||
|
||
prim = GeomLines(Geom.UHStatic)
|
||
for i in range(segments):
|
||
prim.addVertices(i, i + 1)
|
||
geom = Geom(vdata)
|
||
geom.addPrimitive(prim)
|
||
node = GeomNode("trackball_edge_geom")
|
||
node.addGeom(geom)
|
||
np_geom = edge_root.attachNewNode(node)
|
||
np_geom.setRenderModeThickness(1.5)
|
||
np_geom.setBillboardPointEye()
|
||
np_geom.setTransparency(True)
|
||
np_geom.setColorScale(color)
|
||
return edge_root
|
||
|
||
def _create_trackball_disc(self, radius: float, color: Vec4, visual: bool = True) -> NodePath:
|
||
"""创建屏幕对齐的轨迹球圆盘。visual=False 时仅保留拾取体。"""
|
||
disc_root = self.root.attachNewNode("trackball_disc")
|
||
|
||
if visual:
|
||
np_geom = self.make_sphere(radius=radius,color=color)
|
||
np_geom.set_name("trackball_geom")
|
||
np_geom.wrt_reparent_to(disc_root)
|
||
np_geom.setTransparency(True)
|
||
# 拾取使用球体，方便捕获整个圆盘区域
|
||
c_node = CollisionNode("trackball_col")
|
||
c_node.setIntoCollideMask(BitMask32.bit(20))
|
||
c_node.setFromCollideMask(BitMask32.allOff())
|
||
c_node.setTag("gizmo_handle", "trackball")
|
||
c_node.addSolid(CollisionSphere(0, 0, 0, radius + self.ring_thickness * 0.25))
|
||
disc_root.attachNewNode(c_node)
|
||
|
||
return disc_root
|
||
|
||
def make_sphere(self,radius=0.5, lat_steps=32, lon_steps=64, color=(1,1,1,0.5)) -> NodePath:
|
||
fmt = GeomVertexFormat.getV3c4()
|
||
vdata = GeomVertexData("sphere", fmt, Geom.UHStatic)
|
||
vw = GeomVertexWriter(vdata, "vertex")
|
||
cw = GeomVertexWriter(vdata, "color")
|
||
tris = GeomTriangles(Geom.UHStatic)
|
||
|
||
# 顶点
|
||
for i in range(lat_steps + 1): # 纬度 0..pi
|
||
theta = math.pi * i / lat_steps
|
||
st, ct = math.sin(theta), math.cos(theta)
|
||
for j in range(lon_steps): # 经度 0..2pi
|
||
phi = 2 * math.pi * j / lon_steps
|
||
sp, cp = math.sin(phi), math.cos(phi)
|
||
x, y, z = radius * cp * st, radius * sp * st, radius * ct
|
||
vw.addData3(x, y, z)
|
||
cw.addData4(*color)
|
||
|
||
# 索引
|
||
def vid(i, j): # i:0..lat_steps, j:0..lon_steps-1
|
||
return i * lon_steps + (j % lon_steps)
|
||
|
||
for i in range(lat_steps):
|
||
for j in range(lon_steps):
|
||
a = vid(i, j)
|
||
b = vid(i+1, j)
|
||
c = vid(i+1, j+1)
|
||
d = vid(i, j+1)
|
||
tris.addVertices(a, b, c)
|
||
tris.addVertices(a, c, d)
|
||
|
||
geom = Geom(vdata); geom.addPrimitive(tris)
|
||
node = GeomNode("hi_sphere"); node.addGeom(geom)
|
||
np = NodePath(node)
|
||
return np
|
||
|
||
def _build_angle_disc(self):
|
||
"""搭建旋转角度的可视化扇形。"""
|
||
self.angle_disc_root = self.root.attachNewNode("angle_disc_root")
|
||
self.angle_disc_root.setTransparency(TransparencyAttrib.M_alpha)
|
||
self.angle_disc_root.setTwoSided(True)
|
||
self.angle_disc_root.hide()
|
||
|
||
self.angle_fill_np = self.angle_disc_root.attachNewNode(GeomNode("angle_sector"))
|
||
self.angle_fill_np.setTransparency(TransparencyAttrib.M_alpha)
|
||
self.angle_fill_np.setColor(0.9, 0.9, 0.9, 0.5)
|
||
# 末端箭头
|
||
self.angle_arrow_np = self._create_angle_arrow(
|
||
self.angle_disc_root,
|
||
self.ring_radius * self.arrow_length_factor,
|
||
self.arrow_head_width_factor,
|
||
)
|
||
self.angle_arrow_np.setColor(1.0, 1.0, 1.0, 1.0)
|
||
self.angle_arrow_np.hide()
|
||
|
||
def _create_angle_disc_half(self, parent: NodePath, mirror: bool = False) -> NodePath:
|
||
"""创建角度盘的一半，方便做基础背景。"""
|
||
segments = 50
|
||
angle = math.pi / segments
|
||
angle = -angle if mirror else angle
|
||
offset = math.pi * 0.5
|
||
|
||
vdata = GeomVertexData("angle_disc_half", GeomVertexFormat.getV3(), Geom.UHStatic)
|
||
vertex = GeomVertexWriter(vdata, "vertex")
|
||
|
||
for i in range(segments + 1):
|
||
x = math.cos(angle * i - offset)
|
||
y = math.sin(angle * i - offset)
|
||
vertex.addData3(x, y, 0.0)
|
||
|
||
prim = GeomTriangles(Geom.UHStatic)
|
||
for i in range(1, segments):
|
||
prim.addVertices(0, i, i + 1)
|
||
geom = Geom(vdata)
|
||
geom.addPrimitive(prim)
|
||
node = GeomNode("angle_disc_half_node")
|
||
node.addGeom(geom)
|
||
half_np = parent.attachNewNode(node)
|
||
half_np.setTransparency(TransparencyAttrib.M_alpha)
|
||
half_np.setColor(1, 1, 1, 0.1)
|
||
return half_np
|
||
|
||
def _create_angle_arrow(self, parent: NodePath, length: float, head_width_factor: float) -> NodePath:
|
||
"""创建显示末端角度的箭头。"""
|
||
vdata = GeomVertexData(
|
||
"angle_arrow", GeomVertexFormat.getV3(), Geom.UHStatic)
|
||
vertex = GeomVertexWriter(vdata, "vertex")
|
||
|
||
# 箭头沿 +X 方向，从原点出发，便于通过平面内旋转对齐切线
|
||
head_w = max(length * head_width_factor, length * 0.02)
|
||
vertex.addData3(0.0, 0.0, 0.0)
|
||
vertex.addData3(length, 0.0, 0.0)
|
||
vertex.addData3(length * 0.7, head_w, 0.0)
|
||
vertex.addData3(length * 0.7, -head_w, 0.0)
|
||
|
||
prim = GeomLines(Geom.UHStatic)
|
||
prim.addVertices(0, 1)
|
||
prim.addVertices(1, 2)
|
||
prim.addVertices(1, 3)
|
||
geom = Geom(vdata)
|
||
geom.addPrimitive(prim)
|
||
node = GeomNode("angle_arrow_geom")
|
||
node.addGeom(geom)
|
||
np = parent.attachNewNode(node)
|
||
np.setTransparency(TransparencyAttrib.M_alpha)
|
||
np.setTwoSided(True)
|
||
return np
|
||
|
||
def _build_sector_geom(self, start_rad: float, end_rad: float) -> Geom:
|
||
"""根据起止弧度创建扇形几何。"""
|
||
radius = self.ring_radius
|
||
span = end_rad - start_rad
|
||
direction = 1.0 if span >= 0.0 else -1.0
|
||
span = abs(span)
|
||
segments = max(8, int(48 * (span / (2 * math.pi))))
|
||
|
||
vdata = GeomVertexData("angle_sector_data", GeomVertexFormat.getV3(), Geom.UHStatic)
|
||
vertex = GeomVertexWriter(vdata, "vertex")
|
||
|
||
# 中心点
|
||
vertex.addData3(0.0, 0.0, 0.0)
|
||
for i in range(segments + 1):
|
||
a = start_rad + direction * (span * i / segments)
|
||
x = radius * math.cos(a)
|
||
y = radius * math.sin(a)
|
||
vertex.addData3(x, y, 0.0)
|
||
|
||
prim = GeomTriangles(Geom.UHStatic)
|
||
for i in range(1, segments + 1):
|
||
prim.addVertices(0, i, i + 1)
|
||
geom = Geom(vdata)
|
||
geom.addPrimitive(prim)
|
||
|
||
return geom
|
||
|
||
def _quat_from_z(self, direction: Vec3) -> Quat:
|
||
"""
|
||
与 MoveGizmo 保持一致：
|
||
返回一个四元数，使本地 +Z 旋转到指定 direction（自动归一化）。
|
||
"""
|
||
dir_norm = Vec3(direction)
|
||
if dir_norm.length_squared() == 0:
|
||
return Quat.identQuat()
|
||
dir_norm.normalize()
|
||
z_axis = Vec3(0, 0, 1)
|
||
dot = z_axis.dot(dir_norm)
|
||
if abs(dot - 1.0) < 1e-6:
|
||
return Quat.identQuat() # 已经对齐
|
||
if abs(dot + 1.0) < 1e-6:
|
||
# 反向，绕任意垂直于 Z 的轴旋转 180°
|
||
ortho = Vec3(1, 0, 0) if abs(z_axis.dot(
|
||
Vec3(1, 0, 0))) < 0.9 else Vec3(0, 1, 0)
|
||
axis = z_axis.cross(ortho)
|
||
axis.normalize()
|
||
q = Quat()
|
||
q.setFromAxisAngle(180.0, axis)
|
||
return q
|
||
axis = z_axis.cross(dir_norm)
|
||
axis_len = axis.length()
|
||
if axis_len == 0:
|
||
return Quat.identQuat()
|
||
axis.normalize()
|
||
angle_rad = math.atan2(axis_len, dot)
|
||
q = Quat()
|
||
q.setFromAxisAngle(math.degrees(angle_rad), axis)
|
||
return q
|
||
|
||
def _begin_angle_visual(self, axis_world: Vec3):
|
||
"""开始显示角度扇形，基于当前旋转轴和起始向量。"""
|
||
if self.angle_disc_root is None:
|
||
return
|
||
if axis_world.length_squared() == 0:
|
||
return
|
||
|
||
align_q = self._quat_from_z(axis_world)
|
||
self.angle_disc_root.setQuat(self.world.render, align_q)
|
||
self.angle_disc_root.setPos(self.root, 0, 0, 0)
|
||
|
||
# 计算起始向量在扇形平面上的角度，作为扇形起点
|
||
if self.start_vec_on_plane.length_squared() > 0:
|
||
q_inv = Quat(self.angle_disc_root.getQuat(self.world.render))
|
||
q_inv.invertInPlace()
|
||
local_vec = q_inv.xform(self.start_vec_on_plane)
|
||
if local_vec.length_squared() == 0:
|
||
local_vec = Vec3(1, 0, 0)
|
||
local_vec.normalize()
|
||
self._start_vec_local = local_vec
|
||
self._angle_start_offset = math.atan2(local_vec.y, local_vec.x)
|
||
|
||
# 箭头朝向：起始向量的切线方向（轴 x start_vec），并记录为局部平面角度
|
||
axis_world_norm = Vec3(axis_world)
|
||
axis_world_norm.normalize()
|
||
tangent_world = axis_world_norm.cross(self.start_vec_on_plane)
|
||
if tangent_world.length_squared() == 0:
|
||
tangent_world = Vec3(-self.start_vec_on_plane.y,
|
||
self.start_vec_on_plane.x, 0)
|
||
tangent_world.normalize()
|
||
tangent_local = q_inv.xform(tangent_world)
|
||
self._arrow_tangent_angle_deg = math.degrees(
|
||
math.atan2(tangent_local.y, tangent_local.x))
|
||
|
||
# 将箭头放在起始点位置，面向相机
|
||
if self.angle_arrow_np:
|
||
self.angle_arrow_np.setPos(
|
||
self.angle_disc_root,
|
||
Vec3(local_vec.x * self.ring_radius,
|
||
local_vec.y * self.ring_radius,
|
||
0.0),
|
||
)
|
||
# 初始朝向即切线方向
|
||
self.angle_arrow_np.setH(self._arrow_tangent_angle_deg)
|
||
else:
|
||
self._start_vec_local = Vec3(1, 0, 0)
|
||
self._angle_start_offset = 0.0
|
||
self._arrow_tangent_angle_deg = 90.0
|
||
|
||
# 初始化扇形（零度）
|
||
self._update_angle_sector(
|
||
self._angle_start_offset, self._angle_start_offset)
|
||
self.angle_disc_root.show()
|
||
if self.angle_arrow_np:
|
||
self.angle_arrow_np.hide()
|
||
|
||
def _update_angle_visual(self, delta_deg: float):
|
||
"""根据当前旋转角度更新扇形与箭头。"""
|
||
if self.angle_disc_root is None or self.angle_fill_np is None:
|
||
return
|
||
start_rad = self._angle_start_offset
|
||
end_rad = start_rad + math.radians(delta_deg)
|
||
self._update_angle_sector(start_rad, end_rad)
|
||
if self.angle_arrow_np:
|
||
arrow_angle = self._arrow_tangent_angle_deg
|
||
if delta_deg < 0.0:
|
||
arrow_angle += 180.0
|
||
self.angle_arrow_np.setH(arrow_angle)
|
||
if self.angle_arrow_np.isHidden():
|
||
self.angle_arrow_np.show()
|
||
|
||
def _update_angle_sector(self, start_rad: float, end_rad: float):
|
||
"""生成并替换当前的角度扇形几何。"""
|
||
if self.angle_fill_np is None:
|
||
return
|
||
geom = self._build_sector_geom(start_rad, end_rad)
|
||
node = self.angle_fill_np.node()
|
||
node.removeAllGeoms()
|
||
node.addGeom(geom)
|
||
|
||
self.angle_fill_np.setTwoSided(True)
|
||
|
||
def _hide_angle_disc(self):
|
||
"""结束旋转时隐藏角度扇形。"""
|
||
if self.angle_disc_root:
|
||
self.angle_disc_root.hide()
|
||
if self.angle_fill_np:
|
||
self.angle_fill_np.node().removeAllGeoms()
|
||
if self.angle_arrow_np:
|
||
self.angle_arrow_np.hide()
|
||
self._angle_start_offset = 0.0
|
||
|
||
def _map_to_trackball(self, mpos: Point3) -> Vec3:
|
||
"""将屏幕坐标映射到轨迹球上的向量。"""
|
||
x = mpos.x
|
||
y = mpos.y
|
||
length_sq = x * x + y * y
|
||
if length_sq <= 1.0:
|
||
z = math.sqrt(max(0.0, 1.0 - length_sq))
|
||
v = Vec3(x, y, z)
|
||
else:
|
||
v = Vec3(x, y, 0.0)
|
||
v.normalize()
|
||
return v
|
||
|
||
def _apply_trackball_rotation(self, mpos: Point3):
|
||
"""轨迹球旋转计算：基于屏幕向量的弧球算法。"""
|
||
if self._trackball_start_vec is None or self.start_quat is None:
|
||
return
|
||
curr_vec = self._map_to_trackball(mpos)
|
||
axis_cam = self._trackball_start_vec.cross(curr_vec)
|
||
axis_len_sq = axis_cam.length_squared()
|
||
if axis_len_sq < 1e-8:
|
||
return
|
||
axis_cam.normalize()
|
||
dot = max(min(self._trackball_start_vec.dot(curr_vec), 1.0), -1.0)
|
||
angle_rad = math.acos(dot)
|
||
axis_world = self.camera.getQuat(self.world.render).xform(axis_cam)
|
||
q_delta = Quat()
|
||
q_delta.setFromAxisAngle(math.degrees(angle_rad), axis_world)
|
||
new_quat_world = q_delta * self.start_quat
|
||
self.target_node.setQuat(self.world.render, new_quat_world)
|
||
self._emit_event(
|
||
GizmoEvent.DRAG_MOVE,
|
||
{
|
||
"gizmo": "rotate",
|
||
"mode": "trackball",
|
||
"axis": None,
|
||
"target": self.target_node,
|
||
"mouse": Point2(mpos.x, mpos.y),
|
||
"delta_deg": math.degrees(angle_rad),
|
||
},
|
||
)
|
||
|
||
# ------------------------------------------------------------------ #
|
||
# 公共接口：绑定 / 解绑
|
||
# ------------------------------------------------------------------ #
|
||
def attach(self, node_path: NodePath):
|
||
"""
|
||
绑定控制柄到指定 NodePath。
|
||
当前实现采用 Unity 类似的“世界模式（Global）”：
|
||
- Gizmo 的三个旋转轴始终对齐世界坐标系的 X/Y/Z 方向。
|
||
"""
|
||
if not node_path:
|
||
return
|
||
|
||
self.target_node = node_path
|
||
self.attached = True
|
||
self._update_root_transform()
|
||
self.root.show()
|
||
self._log(
|
||
f"attached to {node_path.getName()} "
|
||
f"world_pos={self.root.getPos(self.world.render)} "
|
||
f"target_hpr={node_path.getHpr(self.world.render)}"
|
||
)
|
||
# 根据当前相机位置初始化半圆环的正反显示
|
||
self._update_ring_halves_visibility()
|
||
self._register_events()
|
||
|
||
def detach(self):
|
||
"""解绑并隐藏 Gizmo。"""
|
||
self.target_node = None
|
||
self.root.hide()
|
||
self.attached = False
|
||
self.dragging = False
|
||
self.drag_axis = None
|
||
self.drag_mode = None
|
||
self._trackball_start_vec = None
|
||
self._drag_root_quat_world = None
|
||
self.is_hovering = False
|
||
self._hide_angle_disc()
|
||
self._reset_highlights()
|
||
self._ignore_events()
|
||
self._log("detached")
|
||
|
||
def _update_ring_halves_visibility(self):
|
||
"""根据摄像机与 Gizmo 相对位置，切换每个轴的前/后半圆显示。"""
|
||
if not self.camera:
|
||
return
|
||
|
||
cam_pos = self.camera.getPos(self.world.render)
|
||
center = self.root.getPos(self.world.render)
|
||
view_vec = cam_pos - center
|
||
|
||
for axis_id, ring_root in enumerate(self.rings):
|
||
if axis_id >= len(self.ring_halves):
|
||
continue
|
||
front_np, back_np, col_front_np, col_back_np = self.ring_halves[axis_id]
|
||
if front_np.isEmpty() or back_np.isEmpty():
|
||
continue
|
||
|
||
# 圆环所在平面的法线（世界坐标）
|
||
plane_normal = ring_root.getQuat(self.world.render).xform(Vec3(0, 0, 1))
|
||
if plane_normal.length_squared() == 0:
|
||
continue
|
||
plane_normal.normalize()
|
||
|
||
# 将摄像机方向投影到圆环平面内，确定“近半圆”切分线的朝向
|
||
d = view_vec - plane_normal * view_vec.dot(plane_normal)
|
||
if d.length_squared() == 0:
|
||
# 摄像机几乎正对法线，保持显示近侧半圆
|
||
front_np.show()
|
||
back_np.hide()
|
||
if not col_front_np.isEmpty():
|
||
col_front_np.node().setIntoCollideMask(BitMask32.bit(20))
|
||
if not col_back_np.isEmpty():
|
||
col_back_np.node().setIntoCollideMask(BitMask32.allOff())
|
||
front_np.setHpr(ring_root, 0, 0, 0)
|
||
back_np.setHpr(ring_root, 0, 0, 0)
|
||
continue
|
||
|
||
q_world = ring_root.getQuat(self.world.render)
|
||
q_inv = Quat(q_world)
|
||
q_inv.invertInPlace()
|
||
d_local = q_inv.xform(d)
|
||
if d_local.length_squared() == 0:
|
||
front_np.show()
|
||
back_np.hide()
|
||
if not col_front_np.isEmpty():
|
||
col_front_np.node().setIntoCollideMask(BitMask32.bit(20))
|
||
if not col_back_np.isEmpty():
|
||
col_back_np.node().setIntoCollideMask(BitMask32.allOff())
|
||
if not col_front_np.isEmpty():
|
||
col_front_np.setHpr(ring_root, 0, 0, 0)
|
||
if not col_back_np.isEmpty():
|
||
col_back_np.setHpr(ring_root, 0, 0, 0)
|
||
continue
|
||
d_local.normalize()
|
||
|
||
# 将半圆几何整体绕轴旋转，让切分线对齐相机投影方向
|
||
angle = math.atan2(d_local.y, d_local.x)
|
||
# 将近侧半圆的中心对准相机投影方向（边界垂直于视线投影）
|
||
angle_deg = math.degrees(angle) - 90.0
|
||
front_np.setHpr(ring_root, angle_deg, 0, 0)
|
||
back_np.setHpr(ring_root, angle_deg, 0, 0)
|
||
if not col_front_np.isEmpty():
|
||
col_front_np.setHpr(ring_root, angle_deg, 0, 0)
|
||
if not col_back_np.isEmpty():
|
||
col_back_np.setHpr(ring_root, angle_deg, 0, 0)
|
||
|
||
# 近侧半圆显示，远侧隐藏
|
||
front_np.show()
|
||
back_np.hide()
|
||
if not col_front_np.isEmpty():
|
||
col_front_np.node().setIntoCollideMask(BitMask32.bit(20))
|
||
if not col_back_np.isEmpty():
|
||
col_back_np.node().setIntoCollideMask(BitMask32.allOff())
|
||
|
||
# ------------------------------------------------------------------ #
|
||
# 撤销支持（可选使用）
|
||
# ------------------------------------------------------------------ #
|
||
|
||
def _record_rotate_action(self, node: NodePath, old_hpr: Vec3, new_hpr: Vec3):
|
||
"""将一次旋转操作压入撤销栈，并在需要时通知外部监听者。"""
|
||
if node is None or node.isEmpty():
|
||
return
|
||
if old_hpr is None or new_hpr is None:
|
||
return
|
||
|
||
delta = new_hpr - old_hpr
|
||
if (
|
||
abs(delta.x) < self._undo_angle_epsilon
|
||
and abs(delta.y) < self._undo_angle_epsilon
|
||
and abs(delta.z) < self._undo_angle_epsilon
|
||
):
|
||
return
|
||
|
||
old_copy = Vec3(old_hpr)
|
||
new_copy = Vec3(new_hpr)
|
||
self._rotate_undo_stack.append((node, old_copy, new_copy))
|
||
self._log(
|
||
f"record rotate action: node={node.getName()} "
|
||
f"old_hpr={old_copy} new_hpr={new_copy} stack_size={len(self._rotate_undo_stack)}"
|
||
)
|
||
|
||
# 把这次旋转操作上报给 TransformGizmo，用于全局撤销栈
|
||
if self.on_action_committed is not None:
|
||
try:
|
||
self.on_action_committed(
|
||
{
|
||
"kind": "rotate",
|
||
"node": node,
|
||
"old_hpr": Vec3(old_copy),
|
||
"new_hpr": Vec3(new_copy),
|
||
}
|
||
)
|
||
except Exception as exc:
|
||
self._log(f"on_action_committed(rotate) error: {exc}")
|
||
|
||
def undo_last_rotate(self):
|
||
"""
|
||
撤销最近一次旋转操作。
|
||
可在 UI 中绑定快捷键调用。
|
||
"""
|
||
if not self._rotate_undo_stack:
|
||
self._log("undo_last_rotate: stack empty")
|
||
return
|
||
node, old_hpr, new_hpr = self._rotate_undo_stack.pop()
|
||
if node is None or node.isEmpty():
|
||
self._log("undo_last_rotate: target node invalid")
|
||
return
|
||
node.setHpr(self.world.render, old_hpr)
|
||
self._log(
|
||
f"undo_last_rotate: node={node.getName()} "
|
||
f"old_hpr={old_hpr} new_hpr={new_hpr} remaining={len(self._rotate_undo_stack)}"
|
||
)
|
||
|
||
# ------------------------------------------------------------------ #
|
||
# 事件注册 / 取消
|
||
# ------------------------------------------------------------------ #
|
||
def _register_events(self):
|
||
"""注册鼠标事件监听。"""
|
||
self.accept("mouse1", self._on_mouse_down)
|
||
self.accept("mouse1-up", self._on_mouse_up)
|
||
self.accept("mouse2-up", self._on_mouse_up)
|
||
self.accept("mouse3-up", self._on_mouse_up)
|
||
self.accept("mouse-move", self._on_mouse_move)
|
||
self._log("event listeners registered (mouse)")
|
||
|
||
def _ignore_events(self):
|
||
"""取消事件监听。"""
|
||
self.ignore("mouse1")
|
||
self.ignore("mouse1-up")
|
||
self.ignore("mouse2-up")
|
||
self.ignore("mouse3-up")
|
||
self.ignore("mouse-move")
|
||
self._log("event listeners removed")
|
||
|
||
# ------------------------------------------------------------------ #
|
||
# 鼠标坐标工具
|
||
# ------------------------------------------------------------------ #
|
||
def _get_normalized_mouse(self, extra) -> Optional[Point3]:
|
||
"""
|
||
将鼠标转换到 Panda3D 的标准化设备坐标 [-1, 1]。
|
||
|
||
优先使用 Qt / 外部 UI 传入的像素坐标（extra 字典），
|
||
如果没有，则回退到 Panda3D 的 mouseWatcherNode。
|
||
"""
|
||
if self.world.mouseWatcherNode.hasMouse():
|
||
mouse = self.world.mouseWatcherNode.getMouse()
|
||
return Point3(mouse.x, mouse.y, 0)
|
||
|
||
# 1) 外部 UI：通过 messenger 传入像素坐标
|
||
if isinstance(extra, dict) and "x" in extra and "y" in extra:
|
||
parent = getattr(self.world, "parent", None)
|
||
if parent is not None:
|
||
w = max(parent.width(), 1)
|
||
h = max(parent.height(), 1)
|
||
nx = (extra["x"] / w) * 2.0 - 1.0
|
||
# Qt 原点在左上，Panda3D 原点在中心，Y 轴向上
|
||
ny = 1.0 - (extra["y"] / h) * 2.0
|
||
return Point3(nx, ny, 0.0)
|
||
|
||
return None
|
||
|
||
# ------------------------------------------------------------------ #
|
||
# 屏幕空间旋转辅助方法
|
||
# ------------------------------------------------------------------ #
|
||
def _compute_screen_space_params(self, mpos: Point3):
|
||
"""
|
||
计算屏幕空间旋转所需的参数：
|
||
- Gizmo 中心在屏幕上的投影位置
|
||
- 旋转轴在屏幕上的投影方向（2D向量）
|
||
- 起始鼠标位置
|
||
"""
|
||
if not self.camera:
|
||
return
|
||
|
||
lens = self.camera.node().getLens()
|
||
|
||
# 将 Gizmo 中心投影到屏幕空间
|
||
center_cam = self.camera.getRelativePoint(
|
||
self.world.render, self.center_world)
|
||
center_2d = Point2()
|
||
if lens.project(center_cam, center_2d):
|
||
self._center_screen = center_2d
|
||
else:
|
||
self._center_screen = Point2(0, 0)
|
||
|
||
# 将旋转轴末端投影到屏幕空间，计算轴在屏幕上的方向
|
||
axis_end_world = self.center_world + self.rotate_axis_world
|
||
axis_end_cam = self.camera.getRelativePoint(
|
||
self.world.render, axis_end_world)
|
||
axis_end_2d = Point2()
|
||
if lens.project(axis_end_cam, axis_end_2d):
|
||
# 屏幕上的轴方向向量
|
||
self._axis_screen_dir = Point2(
|
||
axis_end_2d.x - self._center_screen.x,
|
||
axis_end_2d.y - self._center_screen.y
|
||
)
|
||
# 归一化
|
||
axis_len = math.sqrt(
|
||
self._axis_screen_dir.x ** 2 + self._axis_screen_dir.y ** 2)
|
||
if axis_len > 1e-6:
|
||
self._axis_screen_dir = Point2(
|
||
self._axis_screen_dir.x / axis_len,
|
||
self._axis_screen_dir.y / axis_len
|
||
)
|
||
else:
|
||
self._axis_screen_dir = Point2(0, 1)
|
||
else:
|
||
self._axis_screen_dir = Point2(0, 1)
|
||
|
||
# 记录起始鼠标位置
|
||
self._start_mouse_screen = Point2(mpos.x, mpos.y)
|
||
|
||
# 旋转灵敏度（屏幕单位到角度的转换系数）
|
||
self._screen_sensitivity = 180.0 # 移动1个屏幕单位 = 180度
|
||
|
||
self._log(
|
||
f"screen params: center={self._center_screen} "
|
||
f"axis_dir={self._axis_screen_dir} "
|
||
f"start_mouse={self._start_mouse_screen}"
|
||
)
|
||
|
||
def _calc_screen_space_angle(self, mpos: Point3) -> float:
|
||
"""
|
||
使用屏幕空间计算旋转角度（度）。
|
||
基于鼠标移动在旋转轴屏幕投影的垂直方向上的分量。
|
||
"""
|
||
if self._center_screen is None or self._axis_screen_dir is None:
|
||
self._log("screen params not ready")
|
||
return 0.0
|
||
|
||
# 鼠标移动向量（从起始位置）
|
||
move_x = mpos.x - self._start_mouse_screen.x
|
||
move_y = mpos.y - self._start_mouse_screen.y
|
||
|
||
# 轴的垂直方向（屏幕空间）：将轴方向旋转90度
|
||
# 原方向 (ax, ay)，垂直方向 (-ay, ax)
|
||
perp_x = -self._axis_screen_dir.y
|
||
perp_y = self._axis_screen_dir.x
|
||
|
||
# 鼠标移动在垂直方向上的投影（点积）
|
||
perp_component = move_x * perp_x + move_y * perp_y
|
||
|
||
# 转换为角度
|
||
delta_deg = perp_component * self._screen_sensitivity
|
||
|
||
self._log(
|
||
f"screen calc: mouse=({mpos.x:.3f},{mpos.y:.3f}) "
|
||
f"move=({move_x:.3f},{move_y:.3f}) "
|
||
f"perp=({perp_x:.3f},{perp_y:.3f}) "
|
||
f"perp_comp={perp_component:.4f} delta={delta_deg:.2f}"
|
||
)
|
||
|
||
# print(f"screen calc: mouse=({mpos.x:.3f},{mpos.y:.3f}) ")
|
||
# print(f"move=({move_x:.3f},{move_y:.3f}) ")
|
||
# print(f"perp=({perp_x:.3f},{perp_y:.3f}) ")
|
||
# print(f"perp_comp={perp_component:.4f} delta={delta_deg:.2f}")
|
||
|
||
return -delta_deg
|
||
|
||
# ------------------------------------------------------------------ #
|
||
# 鼠标事件：按下 / 弹起 / 移动
|
||
# ------------------------------------------------------------------ #
|
||
def _on_mouse_down(self, extra=None):
|
||
if not self.attached or not self.camera or self.target_node is None:
|
||
return
|
||
|
||
mpos = self._get_normalized_mouse(extra)
|
||
if mpos is None:
|
||
self._log("mouse_down ignored: no mouse pos")
|
||
return
|
||
|
||
# 设置拾取射线
|
||
self.picker_np.reparentTo(self.camera)
|
||
if not self._picker_added:
|
||
self.c_trav.addCollider(self.picker_np, self.c_queue)
|
||
self._picker_added = True
|
||
self.picker_ray.setFromLens(self.camera.node(), mpos.x, mpos.y)
|
||
|
||
self.c_queue.clearEntries()
|
||
self.c_trav.traverse(self.root)
|
||
|
||
self._log(
|
||
f"mouse_down mpos={mpos} cam_pos={self.camera.getPos(self.world.render)} "
|
||
f"cam_hpr={self.camera.getHpr(self.world.render)} "
|
||
f"entries={self.c_queue.getNumEntries()}"
|
||
)
|
||
|
||
num_entries = self.c_queue.getNumEntries()
|
||
if num_entries <= 0:
|
||
self._log("mouse_down: no collision entries on rotate gizmo")
|
||
return
|
||
|
||
self.c_queue.sortEntries()
|
||
|
||
axis_entry: Optional[CollisionEntry] = None
|
||
trackball_entry: Optional[CollisionEntry] = None
|
||
picked_kind: Optional[str] = None # "axis" / "view" / "trackball"
|
||
picked_axis_id: Optional[int] = None
|
||
for i in range(num_entries):
|
||
e = self.c_queue.getEntry(i)
|
||
axis_tag = e.getIntoNode().getTag("gizmo_axis")
|
||
handle_tag = e.getIntoNode().getTag("gizmo_handle")
|
||
if axis_tag:
|
||
axis_entry = e
|
||
picked_axis_id = int(axis_tag)
|
||
break
|
||
if handle_tag == "view":
|
||
# 外圈已移除，忽略
|
||
continue
|
||
elif handle_tag == "trackball" and trackball_entry is None:
|
||
trackball_entry = e
|
||
|
||
if axis_entry is not None:
|
||
picked_kind = "axis"
|
||
elif trackball_entry is not None:
|
||
axis_entry = trackball_entry
|
||
picked_kind = "trackball"
|
||
|
||
if axis_entry is None or picked_kind is None:
|
||
self._log("mouse_down: hit something but no gizmo handle tag")
|
||
return
|
||
|
||
self.dragging = True
|
||
self.drag_mode = "axis" if picked_kind == "axis" else picked_kind
|
||
self.drag_axis = picked_axis_id if self.drag_mode == "axis" else None
|
||
|
||
self.center_world = self.root.getPos(self.world.render)
|
||
self.start_quat = self.target_node.getQuat(self.world.render)
|
||
self.start_quat_local = self.target_node.getQuat()
|
||
self.start_mouse = Point2(mpos.x, mpos.y)
|
||
self._trackball_start_vec = None
|
||
self._drag_root_quat_world = self.root.getQuat(self.world.render)
|
||
self._hide_angle_disc()
|
||
|
||
# 轨迹球模式：屏幕空间自由旋转，不需要射线平面求交
|
||
if self.drag_mode == "trackball":
|
||
self._trackball_start_vec = self._map_to_trackball(mpos)
|
||
self._highlight_axis("trackball")
|
||
self._emit_event(
|
||
GizmoEvent.DRAG_START,
|
||
{
|
||
"gizmo": "rotate",
|
||
"mode": self.drag_mode,
|
||
"axis": self.drag_axis,
|
||
"target": self.target_node,
|
||
"mouse": Point2(mpos.x, mpos.y),
|
||
"start_quat": self.start_quat,
|
||
},
|
||
)
|
||
return
|
||
|
||
# 以“可见圆环”的朝向为准，避免目标节点已有旋转时出现视觉/数学轴不一致
|
||
if self.drag_mode == "axis" and self.drag_axis is not None:
|
||
ring_np = self.rings[self.drag_axis]
|
||
# 环所在平面法线：本地 +Z
|
||
ring_axis_local = ring_np.getQuat().xform(Vec3(0, 0, 1))
|
||
if ring_axis_local.length_squared() == 0:
|
||
ring_axis_local = Vec3(0, 0, 1)
|
||
ring_axis_local.normalize()
|
||
self.drag_local_axis = ring_axis_local # 父坐标系下的轴（与控件视觉一致）
|
||
|
||
if self.drag_axis == 0:
|
||
self.start_root_axis_dir = Quat(self.root.getQuat()).getRight()
|
||
elif self.drag_axis == 1:
|
||
self.start_root_axis_dir = Quat(
|
||
self.root.getQuat()).getForward()
|
||
elif self.drag_axis == 2:
|
||
self.start_root_axis_dir = Quat(self.root.getQuat()).getUp()
|
||
|
||
# 使用圆环本身的朝向来定义平面法线（可见轴与数学轴一致）
|
||
ring_np_world_quat = ring_np.getQuat(self.world.render)
|
||
axis_dir: Vec3 = ring_np_world_quat.xform(Vec3(0, 0, 1))
|
||
else:
|
||
# 视图对齐模式：轴朝向摄像机前向
|
||
axis_dir = self.camera.getQuat(self.world.render).getForward()
|
||
self.drag_local_axis = None
|
||
self.start_root_axis_dir = Vec3(axis_dir)
|
||
|
||
if axis_dir.length_squared() == 0:
|
||
axis_dir = Vec3(0, 0, 1)
|
||
axis_dir.normalize()
|
||
self.rotate_axis_world = axis_dir
|
||
|
||
# 计算当前鼠标射线与“旋转平面”（法线为当前轴，过 center_world）之间的交点
|
||
lens: PerspectiveLens = self.camera.node().getLens()
|
||
p_from = Point3()
|
||
p_to = Point3()
|
||
hit_point: Optional[Point3] = None
|
||
if lens.extrude(Point2(mpos.x, mpos.y), p_from, p_to):
|
||
ray_origin = self.world.render.getRelativePoint(
|
||
self.camera, p_from)
|
||
ray_to = self.world.render.getRelativePoint(self.camera, p_to)
|
||
ray_dir = ray_to - ray_origin
|
||
if ray_dir.length_squared() != 0:
|
||
ray_dir.normalize()
|
||
n = self.rotate_axis_world
|
||
denom = ray_dir.dot(n)
|
||
if abs(denom) > 1e-6:
|
||
t = (self.center_world - ray_origin).dot(n) / denom
|
||
hit_point = ray_origin + ray_dir * t
|
||
|
||
# 如果无法求交（几乎平行），回退到“摄像机投影向量”
|
||
if hit_point is None:
|
||
cam_pos = self.camera.getPos(self.world.render)
|
||
v = cam_pos - self.center_world
|
||
n = self.rotate_axis_world
|
||
proj = v - n * v.dot(n)
|
||
if proj.length_squared() == 0:
|
||
proj = Vec3(1, 0, 0) if abs(n.x) < 0.9 else Vec3(0, 1, 0)
|
||
hit_point = self.center_world + proj
|
||
|
||
start_vec = hit_point - self.center_world
|
||
if start_vec.length_squared() == 0:
|
||
start_vec = Vec3(1, 0, 0)
|
||
start_vec.normalize()
|
||
self.start_vec_on_plane = start_vec
|
||
|
||
# 计算屏幕空间参数，用于边缘视角时的备用旋转计算
|
||
self._compute_screen_space_params(mpos)
|
||
|
||
# 初始化角度扇形
|
||
self._begin_angle_visual(self.rotate_axis_world)
|
||
|
||
self._highlight_axis(
|
||
self.drag_axis if self.drag_mode == "axis" else self.drag_mode)
|
||
if self.debug:
|
||
t_quat_world = self.target_node.getQuat(self.world.render)
|
||
t_quat_local = self.target_node.getQuat()
|
||
self._log(
|
||
" / ".join(
|
||
[
|
||
f"pick handle={self.drag_mode} axis={self.drag_axis} target={self.target_node.getName()}",
|
||
f"center={self.center_world}",
|
||
f"axis_world(from ring)={self.rotate_axis_world}",
|
||
f"axis_local(from ring)={self.drag_local_axis}",
|
||
f"start_vec={self.start_vec_on_plane}",
|
||
f"t_quat_world={t_quat_world}",
|
||
f"t_quat_local={t_quat_local}",
|
||
]
|
||
)
|
||
)
|
||
self._emit_event(
|
||
GizmoEvent.DRAG_START,
|
||
{
|
||
"gizmo": "rotate",
|
||
"mode": self.drag_mode,
|
||
"axis": self.drag_axis,
|
||
"target": self.target_node,
|
||
"mouse": Point2(mpos.x, mpos.y),
|
||
"start_quat": self.start_quat,
|
||
"center": Point3(self.center_world),
|
||
"axis_world": Vec3(self.rotate_axis_world),
|
||
},
|
||
)
|
||
|
||
def _on_mouse_up(self, extra=None):
|
||
self._update_ring_halves_visibility()
|
||
if self.dragging and self.target_node is not None:
|
||
try:
|
||
final_hpr = self.target_node.getHpr(self.world.render)
|
||
except Exception:
|
||
final_hpr = None
|
||
old_hpr = None
|
||
if self.start_quat is not None:
|
||
# 将起始四元数转换为 HPR（世界坐标系）
|
||
tmp_np = NodePath("tmp_quat_to_hpr")
|
||
tmp_np.reparentTo(self.world.render)
|
||
tmp_np.setQuat(self.world.render, self.start_quat)
|
||
old_hpr = tmp_np.getHpr(self.world.render)
|
||
tmp_np.removeNode()
|
||
|
||
if old_hpr is not None and final_hpr is not None:
|
||
self._record_rotate_action(
|
||
self.target_node, old_hpr, final_hpr)
|
||
|
||
mode = self.drag_mode
|
||
axis_id = self.drag_axis
|
||
self._emit_event(
|
||
GizmoEvent.DRAG_END,
|
||
{
|
||
"gizmo": "rotate",
|
||
"mode": mode,
|
||
"axis": axis_id,
|
||
"target": self.target_node,
|
||
"start_quat": self.start_quat,
|
||
"final_hpr": final_hpr if "final_hpr" in locals() else None,
|
||
},
|
||
)
|
||
self.dragging = False
|
||
self.drag_axis = None
|
||
self.drag_mode = None
|
||
self._trackball_start_vec = None
|
||
self._drag_root_quat_world = None
|
||
self._hide_angle_disc()
|
||
# 结束拖拽后恢复 Gizmo 与目标的对齐方式
|
||
if self.is_local:
|
||
self.root.setHpr(self.root.parent, 0, 0, 0)
|
||
else:
|
||
self.root.setHpr(self.world.render, 0, 0, 0)
|
||
self._reset_highlights()
|
||
self._log("mouse_up -> stop rotating")
|
||
|
||
def _on_mouse_move(self, extra=None):
|
||
if not self.attached or not self.camera:
|
||
return
|
||
|
||
mpos = self._get_normalized_mouse(extra)
|
||
if mpos is None:
|
||
if self.dragging:
|
||
self._log("mouse_move ignored: no mouse pos while rotating")
|
||
return
|
||
|
||
# Hover highlight when idle (not dragging).
|
||
if not self.dragging:
|
||
self._update_ring_halves_visibility()
|
||
self._update_hover_highlight(mpos)
|
||
return
|
||
|
||
if not self.target_node:
|
||
return
|
||
|
||
# 拖拽过程中持续更新半圆可见性与分割线朝向
|
||
self._update_ring_halves_visibility()
|
||
|
||
# 轨迹球模式：直接基于屏幕向量计算旋转
|
||
if self.drag_mode == "trackball":
|
||
self._apply_trackball_rotation(mpos)
|
||
return
|
||
|
||
lens: PerspectiveLens = self.camera.node().getLens()
|
||
p_from = Point3()
|
||
p_to = Point3()
|
||
if not lens.extrude(Point2(mpos.x, mpos.y), p_from, p_to):
|
||
self._log("mouse_move: lens.extrude failed")
|
||
return
|
||
|
||
ray_origin = self.world.render.getRelativePoint(self.camera, p_from)
|
||
ray_to = self.world.render.getRelativePoint(self.camera, p_to)
|
||
ray_dir = ray_to - ray_origin
|
||
if ray_dir.length_squared() == 0:
|
||
return
|
||
ray_dir.normalize()
|
||
|
||
# 与旋转平面求交：平面法线为当前轴向，过 Gizmo 中心
|
||
axis_world = Vec3(self.rotate_axis_world)
|
||
if axis_world.length_squared() == 0:
|
||
return
|
||
axis_world.normalize()
|
||
|
||
denom = ray_dir.dot(axis_world)
|
||
|
||
# 判断是否处于边缘视角（grazing angle）
|
||
use_screen_space = abs(denom) < self._grazing_threshold
|
||
|
||
if use_screen_space:
|
||
# 边缘视角：使用屏幕空间计算旋转角度
|
||
delta_deg = self._calc_screen_space_angle(mpos)
|
||
curr_vec = None
|
||
if self.debug:
|
||
self._log(
|
||
f"grazing angle detected: denom={denom:.4f}, "
|
||
f"using screen space, delta_deg={delta_deg:.2f}"
|
||
)
|
||
else:
|
||
# 正常视角：使用射线-平面交点计算
|
||
t = (self.center_world - ray_origin).dot(axis_world) / denom
|
||
hit_point = ray_origin + ray_dir * t
|
||
curr_vec = hit_point - self.center_world
|
||
if curr_vec.length_squared() == 0:
|
||
return
|
||
curr_vec.normalize()
|
||
|
||
# 计算 start_vec -> curr_vec 的有符号夹角（使用 atan2 提高数值稳定性）
|
||
s = self.start_vec_on_plane
|
||
dot = max(min(s.dot(curr_vec), 1.0), -1.0)
|
||
cross = s.cross(curr_vec)
|
||
angle_rad = math.atan2(cross.dot(axis_world), dot)
|
||
delta_deg = math.degrees(angle_rad)
|
||
|
||
# 视图圈使用世界模式，轴向旋转也可根据 is_local 切换
|
||
if self.drag_mode == "axis" and self.is_local:
|
||
# 本地模式：绕父坐标系下的轴旋转，保持与可见圆环一致。
|
||
if self.drag_local_axis is None or self.start_quat_local is None:
|
||
return
|
||
q_delta = Quat()
|
||
q_delta.setFromAxisAngle(delta_deg, self.drag_local_axis)
|
||
if self.debug:
|
||
self._log(
|
||
f"[RotateGizmo] local q_delta={q_delta} delta_deg={delta_deg} axis_world={axis_world} axis_local={self.drag_local_axis}"
|
||
)
|
||
new_quat_local = q_delta * self.start_quat_local
|
||
self.target_node.setQuat(new_quat_local)
|
||
else:
|
||
# 世界模式：绕固定的世界轴旋转，直接在世界坐标系应用。
|
||
q_delta = Quat()
|
||
axis_for_world = self.start_root_axis_dir or axis_world
|
||
if axis_for_world.length_squared() == 0:
|
||
axis_for_world = axis_world
|
||
else:
|
||
axis_for_world.normalize()
|
||
q_delta.setFromAxisAngle(delta_deg, axis_for_world)
|
||
if self.debug:
|
||
self._log(
|
||
f"[RotateGizmo] world q_delta={q_delta} delta_deg={delta_deg} axis_world={axis_world}"
|
||
)
|
||
new_quat_world = q_delta * self.start_quat
|
||
self.target_node.setQuat(self.world.render, new_quat_world)
|
||
|
||
# 更新角度扇形可视化
|
||
self._update_angle_visual(delta_deg)
|
||
# 拖拽时锁定 Gizmo 的世界朝向，避免扇形跟随目标旋转
|
||
if self._drag_root_quat_world is not None:
|
||
self.root.setQuat(self.world.render, self._drag_root_quat_world)
|
||
|
||
self._emit_event(
|
||
GizmoEvent.DRAG_MOVE,
|
||
{
|
||
"gizmo": "rotate",
|
||
"mode": self.drag_mode,
|
||
"axis": self.drag_axis,
|
||
"target": self.target_node,
|
||
"mouse": Point2(mpos.x, mpos.y),
|
||
"delta_deg": delta_deg,
|
||
},
|
||
)
|
||
|
||
if self.debug:
|
||
if use_screen_space:
|
||
self._log(
|
||
f"rotate handle={self.drag_mode} angle={delta_deg:.2f} center={self.center_world} n={axis_world} (screen space)"
|
||
)
|
||
else:
|
||
self._log(
|
||
f"rotate handle={self.drag_mode} axis={self.drag_axis} angle={delta_deg:.2f} "
|
||
f"center={self.center_world} n={axis_world} "
|
||
f"start_vec={self.start_vec_on_plane} curr_vec={curr_vec}"
|
||
)
|
||
|
||
def _update_hover_highlight(self, mpos: Point3):
|
||
"""Highlight the hovered rotate handle without starting a drag."""
|
||
self.picker_np.reparentTo(self.camera)
|
||
if not self._picker_added:
|
||
self.c_trav.addCollider(self.picker_np, self.c_queue)
|
||
self._picker_added = True
|
||
self.picker_ray.setFromLens(self.camera.node(), mpos.x, mpos.y)
|
||
|
||
self.c_queue.clearEntries()
|
||
self.c_trav.traverse(self.root)
|
||
|
||
num_entries = self.c_queue.getNumEntries()
|
||
if num_entries <= 0:
|
||
self._reset_highlights()
|
||
self.is_hovering = False
|
||
return
|
||
|
||
self.c_queue.sortEntries()
|
||
|
||
axis_entry: Optional[CollisionEntry] = None
|
||
trackball_entry: Optional[CollisionEntry] = None
|
||
for i in range(num_entries):
|
||
e = self.c_queue.getEntry(i)
|
||
axis_tag = e.getIntoNode().getTag("gizmo_axis")
|
||
handle_tag = e.getIntoNode().getTag("gizmo_handle")
|
||
if axis_tag:
|
||
axis_entry = e
|
||
break
|
||
if handle_tag == "trackball" and trackball_entry is None:
|
||
trackball_entry = e
|
||
|
||
if axis_entry is not None:
|
||
self._highlight_axis(int(axis_entry.getIntoNode().getTag("gizmo_axis")))
|
||
self.is_hovering = True
|
||
elif trackball_entry is not None:
|
||
self._highlight_axis("trackball")
|
||
self.is_hovering = True
|
||
else:
|
||
self._reset_highlights()
|
||
self.is_hovering = False
|
||
|
||
# ------------------------------------------------------------------ #
|
||
# 高亮与更新
|
||
# ------------------------------------------------------------------ #
|
||
def _highlight_axis(self, axis_id: Optional[int | str]):
|
||
"""高亮指定的旋转手柄（轴 / 视图圈 / 轨迹球）。"""
|
||
for i, ring in enumerate(self.rings):
|
||
if i == axis_id:
|
||
ring.setColorScale(2, 2, 2, 1.0)
|
||
ring.setAlphaScale(1.0)
|
||
else:
|
||
ring.clearColorScale()
|
||
ring.setAlphaScale(0.3)
|
||
|
||
for idx, axis_np in enumerate(self.center_axes):
|
||
if axis_id == idx:
|
||
axis_np.setColorScale(1.5, 1.5, 1.5, 1.0)
|
||
else:
|
||
axis_np.clearColorScale()
|
||
|
||
if self.trackball_np:
|
||
geom_np = self.trackball_np.find("**/trackball_geom")
|
||
if not geom_np.isEmpty():
|
||
if axis_id == "trackball":
|
||
geom_np.show()
|
||
geom_np.setColorScale(self.highlight_color.x, self.highlight_color.y,self.highlight_color.z, 0.4)
|
||
if self.trackball_edge:
|
||
self.trackball_edge.setColorScale(self.highlight_color.x, self.highlight_color.y, self.highlight_color.z, 0.6)
|
||
else:
|
||
geom_np.hide()
|
||
if self.trackball_edge:
|
||
self.trackball_edge.setColorScale(self.trackball_edge_color)
|
||
|
||
def _reset_highlights(self):
|
||
for ring in self.rings:
|
||
ring.clearColorScale()
|
||
ring.setAlphaScale(self.ring_alpha)
|
||
if self.trackball_edge:
|
||
self.trackball_edge.setColorScale(self.trackball_edge_color)
|
||
for axis_np in self.center_axes:
|
||
axis_np.clearColorScale()
|
||
|
||
if self.trackball_np:
|
||
geom_np = self.trackball_np.find("**/trackball_geom")
|
||
if not geom_np.isEmpty():
|
||
geom_np.hide()
|
||
|
||
def update(self):
|
||
"""根据摄像机距离自动缩放 Gizmo。"""
|
||
if self.world.mouseWatcherNode.has_mouse():
|
||
current_mouse = LPoint2f(self.world.mouseWatcherNode.get_mouse())
|
||
if current_mouse != self.last_mouse_pos or self.last_mouse_pos is None:
|
||
self._on_mouse_move()
|
||
self.last_mouse_pos = current_mouse
|
||
|
||
if self.attached and self.camera:
|
||
self._update_root_transform()
|
||
# 持续调整半圆的可见性与分割线朝向
|
||
self._update_ring_halves_visibility()
|
||
dist = (
|
||
self.camera.getPos(self.world.render)
|
||
- self.root.getPos(self.world.render)
|
||
).length()
|
||
scale = dist * 0.15
|
||
self.root.setScale(self.world.render, scale)
|
||
|
||
# print(f"target_node_hpr -> {self.target_node.getHpr()}")
|
||
|
||
def _update_task(self, task: Task):
|
||
"""每帧调用，用于持续更新 Gizmo 的缩放。"""
|
||
self.update()
|
||
return Task.cont
|
||
|
||
# ------------------------------------------------------------------ #
|
||
# 内部：跟随目标更新根节点变换
|
||
# ------------------------------------------------------------------ #
|
||
def _update_root_transform(self):
|
||
if not self.attached or not self.target_node:
|
||
return
|
||
render = self.world.render
|
||
tgt = self.target_node
|
||
self.root.setPos(render, tgt.getPos(render))
|
||
# 拖拽过程中保持根节点朝向锁定，避免 gizmo 轴随目标旋转而跳动
|
||
if self.dragging and self._drag_root_quat_world is not None:
|
||
self.root.setQuat(render, self._drag_root_quat_world)
|
||
else:
|
||
if self.is_local:
|
||
self.root.setQuat(render, tgt.getQuat(render))
|
||
else:
|
||
self.root.setQuat(render, Quat.identQuat())
|
||
|
||
|
||
__all__ = ["RotateGizmo"]
|