From a534e9450a409276a23004d01529ec1400479468 Mon Sep 17 00:00:00 2001
From: Glenn Waldron <gwaldron@gmail.com>
Date: Fri, 1 Nov 2024 11:43:43 -0400
Subject: [PATCH] Add missing files

---
 src/rocky/vsg/Motion.h    | 84 +++++++++++++++++++++++++++++++++++++++
 src/rocky/vsg/Transform.h | 82 ++++++++++++++++++++++++++++++++++++++
 2 files changed, 166 insertions(+)
 create mode 100644 src/rocky/vsg/Motion.h
 create mode 100644 src/rocky/vsg/Transform.h

diff --git a/src/rocky/vsg/Motion.h b/src/rocky/vsg/Motion.h
new file mode 100644
index 00000000..83d51552
--- /dev/null
+++ b/src/rocky/vsg/Motion.h
@@ -0,0 +1,84 @@
+/**
+ * rocky c++
+ * Copyright 2023 Pelican Mapping
+ * MIT License
+ */
+#pragma once
+#include <rocky/vsg/ECS.h>
+#include <rocky/vsg/Transform.h>
+
+namespace ROCKY_NAMESPACE
+{
+    /**
+    * ECS Component applying simple motion to an object
+    */
+    struct Motion
+    {
+        glm::dvec3 velocity;
+        glm::dvec3 acceleration;
+    };
+
+    /**
+    * ECS System to process Motion components
+    */
+    class MotionSystem : public ECS::System
+    {
+    public:
+        MotionSystem(entt::registry& r) : ECS::System(r) { }
+
+        std::vector<entt::entity> updated;
+
+        //! Called periodically to update the transforms
+        void update(Runtime& runtime) override
+        {
+            updated.clear();
+
+            auto time = runtime.viewer->getFrameStamp()->time;
+
+            if (last_time != ECS::time_point::min())
+            {
+                // delta seconds since last tick:
+                double dt = 1e-9 * (double)(time - last_time).count();
+
+                // Join query all motions + transform pairs:
+                auto view = registry.group<Motion, Transform>();
+
+                for (auto&& [entity, motion, transform] : view.each())
+                {
+                    const glm::dvec3 zero{ 0.0, 0.0, 0.0 };
+
+                    if (motion.velocity != zero)
+                    {
+                        GeoPoint& pos = transform.position;
+                        double save_z = pos.z;
+
+                        auto pos_to_world = pos.srs.to(pos.srs.geocentricSRS());
+
+                        // move the entity using a velocity vector in the local tangent plane
+                        glm::dvec3 world;
+                        pos_to_world((glm::dvec3)pos, world);
+                        auto l2w = pos.srs.ellipsoid().geocentricToLocalToWorld(world);
+
+                        world = l2w * (motion.velocity * dt);
+
+                        vsg::dvec3 coord(world.x, world.y, world.z);
+                        pos_to_world.inverse(coord, coord);
+
+                        pos.x = coord.x, pos.y = coord.y;
+                        pos.z = save_z;
+                        transform.dirty();
+
+                        updated.emplace_back(entity);
+                    }
+
+                    motion.velocity += motion.acceleration * dt;
+                };
+            }
+            last_time = time;
+        }
+
+    private:
+        //! Constructor
+        ECS::time_point last_time = ECS::time_point::min();
+    };
+}
diff --git a/src/rocky/vsg/Transform.h b/src/rocky/vsg/Transform.h
new file mode 100644
index 00000000..09bacacd
--- /dev/null
+++ b/src/rocky/vsg/Transform.h
@@ -0,0 +1,82 @@
+/**
+ * rocky c++
+ * Copyright 2023 Pelican Mapping
+ * MIT License
+ */
+#pragma once
+#include <rocky/vsg/GeoTransform.h>
+
+namespace ROCKY_NAMESPACE
+{
+    /**
+    * Spatial transformation component.
+    * Create with 
+    *   auto& transform = registry.emplace<Transform>(entity);
+    * 
+    * A Transform may be safely updated asynchronously.
+    */
+    struct Transform
+    {
+        //! Georeferenced position
+        GeoPoint position;
+
+        //! Local transform matrix (for rotation and scale, e.g.)
+        vsg::dmat4 localMatrix;
+
+        //! Whether the localMatrix is relative to a local tangent plane at
+        //! "position", versus a simple translated reference frame.
+        bool localTangentPlane = true;        
+
+        //! Parent transform to apply before applying this one
+        Transform* parent = nullptr;
+
+        //! Underlying geotransform logic
+        vsg::ref_ptr<GeoTransform> node; // todo. move this to a separate component...?
+
+        Transform()
+        {
+        }
+
+        void setPosition(const GeoPoint& p)
+        {
+            position = p;
+            dirty();
+        }
+        
+        void dirty()
+        {
+            if (!node)
+                node = GeoTransform::create();
+
+            node->setPosition(position);
+            node->localTangentPlane = localTangentPlane;
+        }
+
+        //! Returns true if the push succeeded (and a pop will be required)
+        inline bool push(vsg::RecordTraversal& rt, const vsg::dmat4& m)
+        {
+            if (node)
+            {
+                return node->push(rt, m * localMatrix);
+            }
+            else if (parent)
+            {
+                return parent->push(rt, m * localMatrix);
+            }
+            else return false;
+        }
+
+        //! Pops a transform applied if push() returned true.
+        inline void pop(vsg::RecordTraversal& rt)
+        {
+            if (node)
+            {
+                node->pop(rt);
+            }
+            else if (parent)
+            {
+                parent->pop(rt);
+            }
+        }
+    };
+}