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Improve the orbit eye to always maintain an up-axis (#5193)
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* Continuing the work in #3817

### What
- The orbit eye now always maintains an up axis internally (+Z by
default, if there is no `ViewCoordinates`).
- When a user rolls the camera (middle mouse drag), we now change the
internal up-axis, which makes rolling then orbiting a much better
experience as you don't end up in a weird state with no up axis.
- The orbit eye center visualization now indicates the current up-axis



https://github.com/rerun-io/rerun/assets/1148717/daeb1e57-8fe3-4ac9-84fc-c673bb70ad09


- Fixes #3539
- Fixes #3420

### Checklist
* [x] I have read and agree to [Contributor
Guide](https://github.com/rerun-io/rerun/blob/main/CONTRIBUTING.md) and
the [Code of
Conduct](https://github.com/rerun-io/rerun/blob/main/CODE_OF_CONDUCT.md)
* [x] I've included a screenshot or gif (if applicable)
* [x] I have tested the web demo (if applicable):
* Using newly built examples:
[app.rerun.io](https://app.rerun.io/pr/5193/index.html)
* Using examples from latest `main` build:
[app.rerun.io](https://app.rerun.io/pr/5193/index.html?manifest_url=https://app.rerun.io/version/main/examples_manifest.json)
* Using full set of examples from `nightly` build:
[app.rerun.io](https://app.rerun.io/pr/5193/index.html?manifest_url=https://app.rerun.io/version/nightly/examples_manifest.json)
* [x] The PR title and labels are set such as to maximize their
usefulness for the next release's CHANGELOG
* [x] If applicable, add a new check to the [release
checklist](https://github.com/rerun-io/rerun/blob/main/tests/python/release_checklist)!

- [PR Build Summary](https://build.rerun.io/pr/5193)
- [Docs
preview](https://rerun.io/preview/c4c8821a33c3df282e31c64ca1d719358666b72a/docs)
<!--DOCS-PREVIEW-->
- [Examples
preview](https://rerun.io/preview/c4c8821a33c3df282e31c64ca1d719358666b72a/examples)
<!--EXAMPLES-PREVIEW-->
- [Recent benchmark results](https://build.rerun.io/graphs/crates.html)
- [Wasm size tracking](https://build.rerun.io/graphs/sizes.html)

---------

Co-authored-by: Clement Rey <[email protected]>
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@emilk @teh-cmc
emilk and teh-cmc authored Feb 15, 2024
1 parent 5c7dabe commit 1e5f933
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Showing 5 changed files with 189 additions and 139 deletions.
2 changes: 2 additions & 0 deletions clippy.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,8 @@ disallowed-macros = [
# https://rust-lang.github.io/rust-clippy/master/index.html#disallowed_methods
disallowed-methods = [
{ path = "egui_extras::TableBody::row", reason = "`row` doesn't scale. Use `rows` instead." },
{ path = "glam::Vec2::normalize", reason = "normalize() can create NaNs. Use try_normalize or normalize_or_zero" },
{ path = "glam::Vec3::normalize", reason = "normalize() can create NaNs. Use try_normalize or normalize_or_zero" },
{ path = "sha1::Digest::new", reason = "SHA1 is cryptographically broken" },
{ path = "std::env::temp_dir", reason = "Use the tempdir crate instead" },
{ path = "std::panic::catch_unwind", reason = "We compile with `panic = 'abort'`" },
Expand Down
128 changes: 57 additions & 71 deletions crates/re_space_view_spatial/src/eye.rs
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Original file line number Diff line number Diff line change
@@ -1,5 +1,4 @@
use egui::{lerp, NumExt as _, Rect};
use glam::Affine3A;
use macaw::{vec3, IsoTransform, Mat4, Quat, Vec3};

use re_space_view::controls::{
Expand Down Expand Up @@ -96,7 +95,7 @@ impl Eye {
let ray_dir = self
.world_from_rub_view
.transform_vector3(glam::vec3(px, py, -1.0));
macaw::Ray3::from_origin_dir(self.pos_in_world(), ray_dir.normalize())
macaw::Ray3::from_origin_dir(self.pos_in_world(), ray_dir.normalize_or_zero())
} else {
// The ray originates on the camera plane, not from the camera position
let ray_dir = self.world_from_rub_view.rotation().mul_vec3(glam::Vec3::Z);
Expand Down Expand Up @@ -159,23 +158,37 @@ pub struct OrbitEye {
pub world_from_view_rot: Quat,
pub fov_y: f32,

/// Zero = no up (3dof rotation)
pub up: Vec3,
/// The up-axis of the eye itself, in world-space.
///
/// Initially, the up-axis of the eye will be the same as the up-axis of the scene (or +Z if
/// the scene has no up axis defined).
/// Rolling the camera (e.g. middle-click) will permanently modify the eye's up axis, until the
/// next reset.
///
/// A value of `Vec3::ZERO` is valid and will result in 3 degrees of freedom, although we never
/// use it at the moment.
pub eye_up: Vec3,

/// For controlling the eye with WSAD in a smooth way.
pub velocity: Vec3,
}

impl OrbitEye {
const MAX_PITCH: f32 = 0.999 * 0.25 * std::f32::consts::TAU;

pub fn new(orbit_center: Vec3, orbit_radius: f32, world_from_view_rot: Quat, up: Vec3) -> Self {
/// Avoids zentith/nadir singularity.
const MAX_PITCH: f32 = 0.99 * 0.25 * std::f32::consts::TAU;

pub fn new(
orbit_center: Vec3,
orbit_radius: f32,
world_from_view_rot: Quat,
eye_up: Vec3,
) -> Self {
OrbitEye {
orbit_center,
orbit_radius,
world_from_view_rot,
fov_y: Eye::DEFAULT_FOV_Y,
up,
eye_up,
velocity: Vec3::ZERO,
}
}
Expand Down Expand Up @@ -206,6 +219,7 @@ impl OrbitEye {
self.world_from_view_rot = eye.world_from_rub_view.rotation();
self.fov_y = eye.fov_y.unwrap_or(Eye::DEFAULT_FOV_Y);
self.velocity = Vec3::ZERO;
self.eye_up = eye.world_from_rub_view.rotation() * glam::Vec3::Y;
}

pub fn lerp(&self, other: &Self, t: f32) -> Self {
Expand All @@ -219,54 +233,28 @@ impl OrbitEye {
orbit_radius: lerp(self.orbit_radius..=other.orbit_radius, t),
world_from_view_rot: self.world_from_view_rot.slerp(other.world_from_view_rot, t),
fov_y: egui::lerp(self.fov_y..=other.fov_y, t),
up: self.up.lerp(other.up, t).normalize_or_zero(),
// A slerp would technically be nicer for eye_up, but it only really
// matters if the user starts interacting half-way through the lerp,
// and even then it's not a big deal.
eye_up: self.eye_up.lerp(other.eye_up, t).normalize_or_zero(),
velocity: self.velocity.lerp(other.velocity, t),
}
}
}

/// Direction we are looking at
/// World-direction we are looking at
fn fwd(&self) -> Vec3 {
self.world_from_view_rot * -Vec3::Z
self.world_from_view_rot * -Vec3::Z // view-coordinates are RUB
}

/// Only valid if we have an up vector.
///
/// `[-tau/4, +tau/4]`
fn pitch(&self) -> Option<f32> {
if self.up == Vec3::ZERO {
if self.eye_up == Vec3::ZERO {
None
} else {
Some(self.fwd().dot(self.up).clamp(-1.0, 1.0).asin())
}
}

fn set_fwd(&mut self, fwd: Vec3) {
if let Some(pitch) = self.pitch() {
let pitch = pitch.clamp(-Self::MAX_PITCH, Self::MAX_PITCH);

let fwd = project_onto(fwd, self.up).normalize(); // Remove pitch
let right = fwd.cross(self.up).normalize();
let fwd = Quat::from_axis_angle(right, pitch) * fwd; // Tilt up/down
let fwd = fwd.normalize(); // Prevent drift

let world_from_view_rot =
Quat::from_affine3(&Affine3A::look_at_rh(Vec3::ZERO, fwd, self.up).inverse());

if world_from_view_rot.is_finite() {
self.world_from_view_rot = world_from_view_rot;
}
} else {
self.world_from_view_rot = Quat::from_rotation_arc(-Vec3::Z, fwd);
}
}

#[allow(unused)]
pub fn set_up(&mut self, up: Vec3) {
self.up = up.normalize_or_zero();

if self.up != Vec3::ZERO {
self.set_fwd(self.fwd()); // this will clamp the rotation
Some(self.fwd().dot(self.eye_up).clamp(-1.0, 1.0).asin())
}
}

Expand All @@ -278,12 +266,12 @@ impl OrbitEye {
let mut did_interact = response.drag_delta().length() > 0.0;

if response.drag_delta().length() > drag_threshold {
if response.dragged_by(ROLL_MOUSE)
let roll = response.dragged_by(ROLL_MOUSE)
|| (response.dragged_by(ROLL_MOUSE_ALT)
&& response
.ctx
.input(|i| i.modifiers.contains(ROLL_MOUSE_MODIFIER)))
{
.input(|i| i.modifiers.contains(ROLL_MOUSE_MODIFIER)));
if roll {
if let Some(pointer_pos) = response.ctx.pointer_latest_pos() {
self.roll(&response.rect, pointer_pos, response.drag_delta());
}
Expand Down Expand Up @@ -388,31 +376,26 @@ impl OrbitEye {
let sensitivity = 0.004; // radians-per-point. TODO(emilk): take fov_y and canvas size into account
let delta = sensitivity * delta;

if self.up == Vec3::ZERO {
// 3-dof rotation
let rot_delta = Quat::from_rotation_y(-delta.x) * Quat::from_rotation_x(-delta.y);
self.world_from_view_rot *= rot_delta;
} else {
if let Some(old_pitch) = self.pitch() {
// 2-dof rotation
let fwd = Quat::from_axis_angle(self.up, -delta.x) * self.fwd();
let fwd = fwd.normalize(); // Prevent drift

let pitch = self.pitch().unwrap() - delta.y;
let pitch = pitch.clamp(-Self::MAX_PITCH, Self::MAX_PITCH);
// Apply change in heading:
self.world_from_view_rot =
Quat::from_axis_angle(self.eye_up, -delta.x) * self.world_from_view_rot;

let fwd = project_onto(fwd, self.up).normalize(); // Remove pitch
let right = fwd.cross(self.up).normalize();
let fwd = Quat::from_axis_angle(right, pitch) * fwd; // Tilt up/down
let fwd = fwd.normalize(); // Prevent drift
// We need to clamp pitch to avoid nadir/zenith singularity:
let new_pitch = (old_pitch - delta.y).clamp(-Self::MAX_PITCH, Self::MAX_PITCH);
let pitch_delta = new_pitch - old_pitch;

let new_world_from_view_rot =
Quat::from_affine3(&Affine3A::look_at_rh(Vec3::ZERO, fwd, self.up).inverse());
// Apply change in pitch:
self.world_from_view_rot *= Quat::from_rotation_x(pitch_delta);

if new_world_from_view_rot.is_finite() {
self.world_from_view_rot = new_world_from_view_rot;
} else {
re_log::debug_once!("Failed to rotate camera: got non-finites");
}
// Avoid numeric drift:
self.world_from_view_rot = self.world_from_view_rot.normalize();
} else {
// no up-axis -> no pitch -> 3-dof rotation
let rot_delta = Quat::from_rotation_y(-delta.x) * Quat::from_rotation_x(-delta.y);
self.world_from_view_rot *= rot_delta;
}
}

Expand All @@ -422,9 +405,17 @@ impl OrbitEye {
let rel = pointer_pos - rect.center();
let delta_angle = delta.rot90().dot(rel) / rel.length_sq();
let rot_delta = Quat::from_rotation_z(delta_angle);

let up_in_view = self.world_from_view_rot.inverse() * self.eye_up;

self.world_from_view_rot *= rot_delta;

self.up = Vec3::ZERO; // forget about this until user resets the eye
// Permanently change our up-axis, at least until the user resets the view:
self.eye_up = self.world_from_view_rot * up_in_view;

// Prevent numeric drift:
self.world_from_view_rot = self.world_from_view_rot.normalize();
self.eye_up = self.eye_up.normalize_or_zero();
}

/// Translate based on a certain number of pixel delta.
Expand All @@ -439,8 +430,3 @@ impl OrbitEye {
self.orbit_center += translate;
}
}

/// e.g. up is `[0,0,1]`, we return things like `[x,y,0]`
fn project_onto(v: Vec3, up: Vec3) -> Vec3 {
v - up * v.dot(up)
}
9 changes: 5 additions & 4 deletions crates/re_space_view_spatial/src/picking.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -247,10 +247,11 @@ fn picking_textured_rects(context: &PickingContext, images: &[ViewerImage]) -> V

for image in images {
let rect = &image.textured_rect;
let rect_plane = macaw::Plane3::from_normal_point(
rect.extent_u.cross(rect.extent_v).normalize(),
rect.top_left_corner_position,
);
let Some(normal) = rect.extent_u.cross(rect.extent_v).try_normalize() else {
continue; // extent_u and extent_v are parallel. Shouldn't happen.
};

let rect_plane = macaw::Plane3::from_normal_point(normal, rect.top_left_corner_position);

// TODO(andreas): Interaction radius is currently ignored for rects.
let (intersect, t) =
Expand Down
48 changes: 35 additions & 13 deletions crates/re_space_view_spatial/src/ui.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@ use re_entity_db::EntityPath;
use re_format::format_f32;
use re_renderer::OutlineConfig;
use re_space_view::ScreenshotMode;
use re_types::components::{DepthMeter, InstanceKey, TensorData};
use re_types::components::{DepthMeter, InstanceKey, TensorData, ViewCoordinates};
use re_types::tensor_data::TensorDataMeaning;
use re_viewer_context::{
HoverHighlight, Item, SelectedSpaceContext, SelectionHighlight, SpaceViewHighlights,
Expand Down Expand Up @@ -97,10 +97,10 @@ impl SpatialSpaceViewState {
) {
let re_ui = ctx.re_ui;

let view_coordinates = ctx
let scene_view_coordinates = ctx
.entity_db
.store()
.query_latest_component(space_origin, &ctx.current_query())
.query_latest_component::<ViewCoordinates>(space_origin, &ctx.current_query())
.map(|c| c.value);

ctx.re_ui.selection_grid(ui, "spatial_settings_ui")
Expand Down Expand Up @@ -145,7 +145,7 @@ impl SpatialSpaceViewState {
.clicked()
{
self.bounding_boxes.accumulated = self.bounding_boxes.current;
self.state_3d.reset_camera(&self.bounding_boxes.accumulated, &view_coordinates);
self.state_3d.reset_camera(&self.bounding_boxes.accumulated, scene_view_coordinates);
}
let mut spin = self.state_3d.spin();
if re_ui.checkbox(ui, &mut spin, "Spin")
Expand All @@ -160,19 +160,21 @@ impl SpatialSpaceViewState {
ctx.re_ui.grid_left_hand_label(ui, "Coordinates")
.on_hover_text("The world coordinate system used for this view");
ui.vertical(|ui|{
let up_description = if let Some(up) = view_coordinates.and_then(|v| v.up()) {
format!("Up is {up}")
let up_description = if let Some(scene_up) = scene_view_coordinates.and_then(|vc| vc.up()) {
format!("Scene up is {scene_up}")
} else {
"Up is unspecified".to_owned()
"Scene up is unspecified".to_owned()
};
ui.label(up_description).on_hover_ui(|ui| {
ui.horizontal(|ui| {
ui.spacing_mut().item_spacing.x = 0.0;
ui.label("Set with ");
ui.code("rerun.log_view_coordinates");
ui.label(".");
});
re_ui::markdown_ui(ui, egui::Id::new("view_coordinates_tooltip"), "Set with `rerun.ViewCoordinates`.");
});

if let Some(eye) = &self.state_3d.orbit_eye {
if eye.eye_up != glam::Vec3::ZERO {
ui.label(format!("Current camera-eye up-axis is {}", format_vector(eye.eye_up)));
}
}

re_ui.checkbox(ui, &mut self.state_3d.show_axes, "Show origin axes").on_hover_text("Show X-Y-Z axes");
re_ui.checkbox(ui, &mut self.state_3d.show_bbox, "Show bounding box").on_hover_text("Show the current scene bounding box");
re_ui.checkbox(ui, &mut self.state_3d.show_accumulated_bbox, "Show accumulated bounding box").on_hover_text("Show bounding box accumulated over all rendered frames");
Expand Down Expand Up @@ -769,3 +771,23 @@ fn hit_ui(ui: &mut egui::Ui, hit: &crate::picking::PickingRayHit) {
ui.label(format!("Hover position: [{x:.5}, {y:.5}, {z:.5}]"));
}
}

fn format_vector(v: glam::Vec3) -> String {
use glam::Vec3;

if v == Vec3::X {
"+X".to_owned()
} else if v == -Vec3::X {
"-X".to_owned()
} else if v == Vec3::Y {
"+Y".to_owned()
} else if v == -Vec3::Y {
"-Y".to_owned()
} else if v == Vec3::Z {
"+Z".to_owned()
} else if v == -Vec3::Z {
"-Z".to_owned()
} else {
format!("[{:.02}, {:.02}, {:.02}]", v.x, v.y, v.z)
}
}
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