文章介绍了在OpenSceneGraph(OSG)中如何仅使坦克模型的炮塔部分旋转，而非整个模型。通过创建DOFTransform节点在3D建模软件中实现自由度控制，然后在OSG中利用自定义回调函数更新这些DOF节点，从而在每一帧动画中控制炮塔和机枪的旋转与俯仰。
目录
1. 问题的提出
一般地，我们通过osg的osgDB::readNodeFile函数（或类似函数）加载*.osg、*.obj等模型文件到场景中，如果没啥问题，场景就能显示该模型,但对模型进行转动时，只能对整个模型进行转动，而不能对模型的部分转动，如下为一个文件表示的坦克模型：
现在我们只想坦克的炮塔转动，而底座不转动。利用osg::MatrixTransform类显然是不行的，因为osg::MatrixTransform类只能对整个模型形成的根节点进行转动，即整个坦克整体运动。
2. 三维模型制作
要实现一个模型文件形成的模型中部分区域动作，模型制作必须保证有DOFTransform节点，在3DMAX等模型制作软件中，可以装个osg的插件（如：osgExp，网上自行搜索）），此时就可以制作出DOF节点来，而炮塔则是DOF节点的子节点，然后再导出osg格式。关于怎么在3DMAX中制作DOF节点，这超出了osg及本博文的范围了，可以参考下述链接：
3. 回调概览及代码实现
用户可以使用回调来实现与场景图形的交互。回调可以被理解成是一种用户自定义的函数，根据遍历方式的不同（更新update，拣选cull，绘制draw），回调函数将自动地执行。回调可以与个别的节点或者选定类型（及子类型）的节点相关联。在场景图形的各次遍历中，如果遇到的某个节点已经与用户定义的回调类和函数相关联，则这个节点的回调将被执行。
3.1.创建一个更新回调
更新回调将在场景图形每一次运行更新遍历时被执行。与更新回调相关的代码可以在每一帧被执行，且实现过程是在拣选回调之前，因此回调相关的代码可以插入到主仿真循环的viewer.update()和viewer.frame()函数之间。而OSG的回调也提供了维护更为方便的接口来实现上述的功能。善于使用回调的程序代码也可以在多线程的工作中更加高效地运行。
如果我们需要自动更新与坦克模型的炮塔航向角和机枪倾角相关联的DOF（自由度）节点，我们可以采取多种方式来完成这一任务。譬如，针对我们将要操作的各个节点编写相应的回调函数：包括一个与机枪节点相关联的回调，一个与炮塔节点相关联的回调，等等。这种方法的缺陷是，与不同模型相关联的函数无法被集中化，因此增加了代码阅读、维护和更新的复杂性。另一种（极端的）方法是，只编写一个更新回调函数，来完成整个场景的节点操作。本质上来说，这种方法和上一种具有同样的问题，因为所有的代码都会集中到仿真循环当中。当仿真的复杂程度不断增加时，这个唯一的更新回调函数也会变得愈发难以阅读、维护和修改。关于编写场景中节点/子树回调函数的方法，并没有一定之规。在本例中我们将创建单一的坦克节点回调，这个回调函数将负责更新炮塔和机枪的自由度节点。
为了实现这一回调，我们需要在节点类原有的基础上添加新的数据。我们需要获得与炮塔和机枪相关联的DOF节点的句柄，以更新炮塔旋转和机枪俯仰的角度值。角度值的变化要建立在上一次变化的基础上。因为回调是作为场景遍历的一部分进行初始化的，我们所需的参数通常只有两个：一个是与回调相关联的节点指针，一个是用于执行遍历的节点访问器指针。为了获得更多的参数数据（炮塔和机枪DOF的句柄，旋转和俯仰角度值），我们可以使用节点类的userData数据成员。userData是一个指向用户定义类的指针，其中包含了关联某个特定节点时所需的一切数据集。而对于用户自定义类，只有一个条件是必需的，即，它必须继承自osg::Referenced类。Referenced类提供了智能指针的功能，用于协助用户管理内存分配。智能指针记录了分配给一个类的实例的引用计数值。这个类的实例只有在引用计数值到达0的时候才会被删除。基于上述的需求，我们向坦克节点添加如下的代码：
class tankDataType
{
public:
//公有成员
protected:
osgSim::DOFTransform* tankTurretNode;
osgSim::DOFTransform* tankGunNode;
double rotation; //（弧度值）
double elevation; //（弧度值）
double transion;
};
为了正确实现tankData类，我们需要获取DOF节点的句柄。这一工作可以在类的构造函数中使用findNodeVisitor类完成。findNodeVisitor将从一个起始节点开始遍历。本例中我们将从表示坦克的子树的根节点开始执行遍历，因此我们需要向tankDataType的构造函数传递坦克节点的指针。因此，tankDataType类的构造函数代码应当编写为：（向特定节点分配用户数据的步骤将随后给出）
tankDataType::tankDataType(osg::Node* n)
{
rotation = 0;
elevation = 0;
transion = 0;
findNodeVisitor findTurret("DOF001"); // DOF001就是炮塔的DOF节点名称
n->accept(findTurret);
tankTurretNode = dynamic_cast <osgSim::DOFTransform*> (findTurret.getFirst());
findNodeVisitor findGun("gun");
n->accept(findGun);
tankGunNode = dynamic_cast< osgSim::DOFTransform*> (findGun.getFirst());
}
我们也可以在tankDataType类中定义更新炮塔旋转和机枪俯仰的方法。现在我们只需要简单地让炮塔和机枪角度每帧改变一个固定值即可。对于机枪的俯仰角，我们需要判断它是否超过了实际情况的限制值。如果达到限制值，则重置仰角为0。炮塔的旋转可以在一个圆周内自由进行。
void tankDataType::updateTurretRotation() //控制坦克的炮塔将旋转不同的角度
{
rotation += 0.01;
tankTurretNode->setCurrentHPR( osg::Vec3(rotation,0,0) );
}
void tankDataType::updateGunElevation() //控制坦克的枪管在y方向上的仰角，控制枪管的升降
{
elevation += 0.01;
tankGunNode->setCurrentHPR( osg::Vec3(0,elevation,0) );
if (elevation > 0.5)
elevation = 0.0;
}
将上述代码添加到类的内容后，我们新定义的类如下所示：
class tankDataType : public osg::Referenced
{
public:
tankDataType(osg::Node*n);
void updateTurretRotation();
void updateGunElevation();
void updateTurretTranslate();
protected:
osgSim::DOFTransform* tankTurretNode;
osgSim::DOFTransform* tankGunNode;
double rotation; //（弧度值）
double elevation; //（弧度值）
double transion;
};
下一个步骤是创建回调，并将其关联到坦克节点上。为了创建这个回调，我们需要重载“()”操作符，它包括两个参数：节点指针和节点访问器的指针。在这个函数中我们将执行DOF节点的更新。因此，我们需要执行tankData实例的更新方法，其中tankData实例使用坦克节点的userData成员与坦克节点相关联。坦克节点的指针可以通过使用getUserData方法来获取。由于这个方法的返回值是一个osg::Referenced基类的指针，因此需要将其安全地转换为tankDataType类的指针。为了保证用户数据的引用计数值是正确的，我们使用模板类型osg::ref_ptr指向用户数据。整个类的定义如下：
```cpp
class tankNodeCallback : public osg::NodeCallback
{
public:
virtual void operator()(osg::Node* node, osg::NodeVisitor* nv)
{
osg::ref_ptr<tankDataType> tankData = dynamic_cast<tankDataType*> (node->getUserData() );
if(tankData)
{
tankData->updateTurretRotation();
tankData->updateGunElevation();
tankData->updateTurretTranslate();
}
traverse(node, nv);
}
};
下一步的工作是“安装”回调：将其关联给我们要修改的坦克节点，以实现每帧的更新函数执行。因此，我们首先要保证坦克节点的用户数据（tankDataType类的实例）是正确的。然后，我们使用osg::Node类的setUpdateCallback方法将回调与正确的节点相关联。代码如下所示：
// 初始化变量和模型，建立场景
osg::ref_ptr<osg::Node> tankNode = osgDB::readNodeFile("tankTurret.osg");
tankDataType* tankData = new tankDataType(tankNode);
tankNode->setUserData( tankData );
tankNode->setUpdateCallback(new tankNodeCallback);
创建了回调之后，我们进入仿真循环。仿真循环的代码不用加以改变。当我们调用视口类实例的frame()方法时，我们即进入一个更新遍历。当更新遍历及至坦克节点时，将触发tankNodeCallback类的操作符“()”函数。
完整的源程序代码如下：
#include <osgViewer/Viewer>
#include <osgDB/ReadFile>
#include <osg/NodeVisitor>
#include <osg/Node>
#include <osg/Group>
#include <osgSim/DOFTransform>
#include <osgUtil/Optimizer>
#include <osg/NodeVisitor>
#include <iostream>
#include <vector>
//模型中使用DOF节点，以便清晰表达坦克的某个部分。例如炮塔节点可以旋转，机枪节点可以升高
class findNodeVisitor : public osg::NodeVisitor
{
public:
findNodeVisitor();
findNodeVisitor(const std::string &searchName) ;
virtual void apply(osg::Node &searchNode);
virtual void apply(osg::Transform &searchNode);
void setNameToFind(const std::string &searchName);
osg::Node* getFirst();
typedef std::vector<osg::Node*> nodeListType;
nodeListType& getNodeList() { return foundNodeList; }
private:
std::string searchForName;
nodeListType foundNodeList;
};
findNodeVisitor::findNodeVisitor() : osg::NodeVisitor(TRAVERSE_ALL_CHILDREN),searchForName()
{
}
findNodeVisitor::findNodeVisitor(const std::string &searchName):osg::NodeVisitor(TRAVERSE_ALL_CHILDREN),searchForName(searchName)
{
}
void findNodeVisitor::setNameToFind(const std::string &searchName)
{
searchForName = searchName;
foundNodeList.clear();
}
osg::Node* findNodeVisitor::getFirst()
{
return *(foundNodeList.begin());
}
void findNodeVisitor::apply(osg::Node &searchNode)
{
if (searchNode.getName() == searchForName)
{
foundNodeList.push_back(&searchNode);
}
traverse(searchNode);
}
void findNodeVisitor::apply(osg::Transform &searchNode)
{
osgSim::DOFTransform* dofNode =
dynamic_cast<osgSim::DOFTransform*> (&searchNode);
if (dofNode)
{
dofNode->setAnimationOn(false);
}
apply ( (osg::Node&) searchNode);
traverse(searchNode);
}
class tankDataType : public osg::Referenced
{
public:
tankDataType(osg::Node*n);
void updateTurretRotation();
void updateGunElevation();
void updateTurretTranslate();
protected:
osgSim::DOFTransform* tankTurretNode;
osgSim::DOFTransform* tankGunNode;
double rotation; //（弧度值）
double elevation; //（弧度值）
double transion;
};
tankDataType::tankDataType(osg::Node* n)
{
rotation = 0;
elevation = 0;
transion= 0;
findNodeVisitor findTurret("DOF001"); // DOF001是炮塔DOF节点名称
n->accept(findTurret);
tankTurretNode = dynamic_cast <osgSim::DOFTransform*> (findTurret.getFirst());
findNodeVisitor findGun("gun");
n->accept(findGun);
tankGunNode = dynamic_cast< osgSim::DOFTransform*> (findGun.getFirst());
}
void tankDataType::updateTurretRotation() //控制坦克的炮塔将旋转不同的角度
{
rotation += 0.02;
tankTurretNode->setCurrentHPR( osg::Vec3(rotation,0,0) );
}
void tankDataType::updateTurretTranslate() //控制坦克的炮塔移动
{
transion += 0.005;
tankTurretNode->setCurrentTranslate(osg::Vec3(transion, 0, 0));
}
void tankDataType::updateGunElevation() //控制坦克的枪管在y方向上的仰角，控制枪管的升降
{
//elevation += 0.02; //控制坦克的枪管在y方向上的升降
tankGunNode->setCurrentHPR( osg::Vec3(0,elevation,0) );
if (elevation > 0.5)
elevation = 0.0;
}
class tankNodeCallback : public osg::NodeCallback
{
public:
virtual void operator()(osg::Node* node, osg::NodeVisitor* nv)
{
osg::ref_ptr<tankDataType> tankData = dynamic_cast<tankDataType*> (node->getUserData() );
if(tankData)
{
tankData->updateTurretRotation();
tankData->updateGunElevation();
tankData->updateTurretTranslate();
}
traverse(node, nv);
}
};
int main(void)
{
// 初始化变量和模型，建立场景
osg::ref_ptr<osgViewer::Viewer> viewer = new osgViewer::Viewer();
osg::ref_ptr<osg::Group> root = new osg::Group();
osg::ref_ptr<osg::Node> tankNode = osgDB::readNodeFile("tankTurret.osg");
tankDataType* tankData = new tankDataType(tankNode);
tankNode->setUserData( tankData );
tankNode->setUpdateCallback(new tankNodeCallback);
root->addChild(tankNode.get());
//优化场景数据
osgUtil::Optimizer optimizer;
optimizer.optimize(root.get());
//设置场景数据
viewer->setSceneData(root.get());
//初始化并创建窗口
viewer->realize();
//开始渲染
viewer->run();
return 0;
}
炮塔边旋转边移动，效果如下：
提供tankTurret.osg格式如下：
说明：
- 请将下面的全部复制到记事本文件，然后将.txt后缀名改为osg。
- 下面的tankTurret.osg文件中，由于当时模型制作人员很忙，对炮管没有附加DOF节点，如果利用该文件对前面代码测试，则请将上面的91~93,111~114行注释掉，否则tankGunNode为空，导致程序崩溃。
Group {
DataVariance STATIC
name "场景根"
nodeMask 0xffffffff
cullingActive TRUE
StateSet {
rendering_hint DEFAULT_BIN
renderBinMode INHERIT
GL_LIGHTING ON
GL_NORMALIZE ON
}
num_children 2
MatrixTransform {
DataVariance STATIC
name "dipan"
nodeMask 0xffffffff
cullingActive TRUE
referenceFrame RELATIVE
Matrix {
1 0 0 0
0 1 0 0
0 0 1 0
3.1969 -1.6377 0 1
}
num_children 1
Geode {
UniqueID Geode_0
DataVariance STATIC
name "dipan-GEODE"
nodeMask 0xffffffff
cullingActive TRUE
num_drawables 1
Geometry {
StateSet {
rendering_hint DEFAULT_BIN
renderBinMode INHERIT
}
useDisplayList TRUE
useVertexBufferObjects FALSE
PrimitiveSets 1
{
DrawArrays TRIANGLES 0 36
}
VertexArray Vec3Array 36
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}
NormalBinding PER_VERTEX
NormalArray Vec3Array 36
{
0 0 -1
0 0 -1
0 0 -1
0 0 -1
0 0 -1
0 0 -1
0 0 1
0 -0 1
0 0 1
0 0 1
-0 0 1
0 0 1
0 -1 0
0 -1 0
0 -1 0
0 -1 0
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1 0 0
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0 1 0
0 1 0
0 1 0
0 1 0
-1 0 0
-1 0 0
-1 0 0
-1 0 0
-1 -0 -0
-1 0 0
}
ColorBinding OVERALL
ColorArray Vec4Array 1
{
0.0235294 0.529412 0.443137 1
}
}
}
}
MatrixTransform {
nodeMask 0xffffffff
cullingActive TRUE
referenceFrame RELATIVE
Matrix {
1 0 0 0
0 1 0 0
0 0 1 0
0 -1.12194 23.6176 1
}
num_children 1
osgSim::DOFTransform {
DataVariance DYNAMIC
name "DOF001"
nodeMask 0xffffffff
cullingActive TRUE
referenceFrame RELATIVE
PutMatrix {
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
}
minHPR 0 0 0
maxHPR 0 0 0
incrementHPR 0 0 0
currentHPR 0 0 0
minTranslate 0 0 0
maxTranslate 0 0 0
incrementTranslate 0 0 0
currentTranslate 0 0 0
minScale 1 1 1
maxScale 1 1 1
incrementScale 0 0 0
currentScale 1 1 1
multOrder HPR
limitationFlags 0x0
animationOn FALSE
num_children 1
MatrixTransform {
nodeMask 0xffffffff
cullingActive TRUE
referenceFrame RELATIVE
Matrix {
1 0 0 0
0 1 0 0
0 0 1 0
-0 1.12194 -23.6176 1
}
num_children 2
MatrixTransform {
DataVariance STATIC
name "paota"
nodeMask 0xffffffff
cullingActive TRUE
referenceFrame RELATIVE
Matrix {
1 0 0 0
0 1 0 0
0 0 1 0
0 -1.12194 23.6176 1
}
num_children 1
Geode {
UniqueID Geode_1
DataVariance STATIC
name "paota-GEODE"
nodeMask 0xffffffff
cullingActive TRUE
num_drawables 1
Geometry {
StateSet {
rendering_hint DEFAULT_BIN
renderBinMode INHERIT
}
useDisplayList TRUE
useVertexBufferObjects FALSE
PrimitiveSets 1
{
DrawArrays TRIANGLES 0 1434
}
VertexArray Vec3Array 1434
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