osg::Matrixd ViewingCore::computeProjection() const
{
if( !( _scene.valid() ) ) {
osg::notify( osg::WARN ) << "ViewingCore::computeProjection: _scene == NULL." << std::endl;
return( osg::Matrixd::identity() );
}
// TBD do we really want eyeToCenter to be a vector
// to the *bound* center, or to the *view* center?
const osg::BoundingSphere& bs = _scene->getBound();
const osg::Vec3d eyeToCenter( bs._center - getEyePosition() );
if( _ortho ) {
double zNear = eyeToCenter.length() - bs._radius;
double zFar = eyeToCenter.length() + bs._radius;
const double xRange = _aspect * ( _orthoTop - _orthoBottom );
const double right = xRange * .5;
return( osg::Matrixd::ortho( -right, right, _orthoBottom, _orthoTop, zNear, zFar ) );
} else {
double zNear = eyeToCenter.length() - bs._radius;
double zFar = zNear + ( bs._radius * 2. );
if( zNear < 0. ) {
zNear = zFar / 2000.; // Default z ratio.
}
return( osg::Matrixd::perspective( _fovy, _aspect, zNear, zFar ) );
}
}
void CameraFlight::navigate(osg::Matrix destMat, osg::Vec3 destVec)
{
osg::Matrix objMat = SceneManager::instance()->getObjectTransform()->getMatrix();
switch(_flightMode)
{
case INSTANT:{
cout<<"USING INSTANT"<<endl;
SceneManager::instance()->setObjectMatrix(destMat);
break;
}
case SATELLITE:
cout<<"USING SATELLITE"<<endl;
t = 0.0;
total = 0.0;
objMat.decompose(trans2, rot2, scale2, so2);
a = (maxHeight - trans2[1])/25.0;
map->getProfile()->getSRS()->getEllipsoid()->convertLatLongHeightToXYZ(
destVec.x(),destVec.y(),destVec.z(),toVec.x(),toVec.y(),toVec.z());
fromVec = origPlanetPoint;
fromVec.normalize();
toVec.normalize();
origAngle = acos((fromVec * toVec)/((fromVec.length() * toVec.length())));
origAngle = RadiansToDegrees(origAngle);
angle = origAngle;
if(origAngle <= 10) {
maxHeight = 6.5e+9;
}
else {
maxHeight = 2.0e+10;
}
flagRot = true;
break;
case AIRPLANE:
cout<<"USING AIRPLANE"<<endl;
break;
default:
cout<<"PICK THE ALGORYTHM!!!!"<<endl;
break;
}
}
bool
GeoMath::isPointVisible(const osg::Vec3d& eye,
const osg::Vec3d& target,
double R)
{
double r2 = R*R;
// same quadrant:
if ( eye * target >= 0.0 )
{
double d2 = eye.length2();
double horiz2 = d2 - r2;
double dist2 = (target-eye).length2();
if ( dist2 < horiz2 )
{
return true;
}
}
// different quadrants:
else
{
// there's a horizon between them; now see if the thing is visible.
// find the triangle formed by the viewpoint, the target point, and
// the center of the earth.
double a = (target-eye).length();
double b = target.length();
double c = eye.length();
// Heron's formula for triangle area:
double s = 0.5*(a+b+c);
double area = 0.25*sqrt( s*(s-a)*(s-b)*(s-c) );
// Get the triangle's height:
double h = (2*area)/a;
if ( h >= R )
{
return true;
}
}
return false;
}
void
Horizon::setEye(const osg::Vec3d& eyeECEF)
{
_cv = osg::componentMultiply(eyeECEF, _scale);
double cvMag2 = _cv*_cv;
osg::Vec3d minCV = _cv;
minCV.normalize();
minCV = osg::componentMultiply(minCV, _scaleToMinHAE);
double min_cvMag2 = minCV*minCV;
#if 0 // debugging
osg::Vec3d msl = _cv;
msl.normalize();
msl = osg::componentMultiply(msl, _scale+osg::Vec3d(1,1,1));
msl = osg::componentMultiply(msl, _scaleInv);
double alt = eyeECEF.length() - msl.length();
#endif
if ( cvMag2 >= min_cvMag2 )
{
_vhMag2 = cvMag2-1.0;
}
else
{
_cv = minCV;
_vhMag2 = (_cv*_cv)-1.0;
}
#if 0 // debugging
osg::Vec3d vh = _cv;
vh.normalize();
vh = osg::componentMultiply(vh, (_scale*sqrt(_vhMag2))+osg::Vec3d(1,1,1));
vh = _scaleInv * sqrt(_vhMag2);
static int count=0;
if (count++ %60 == 0) {
OE_NOTICE << "cvmag2="<< cvMag2 << "; minMag2="<< min_cvMag2 << "; vhMag2=" << _vhMag2 << "; alt=" << alt << "; vh=" << vh.length() << "\n";
}
#endif
}
bool CameraFlight::buttonEvent(int type/*, const osg::Matrix & mat*/)
{
// osg::Matrix curMatrix = SceneManager::instance()->getObjectTransform()->getMatrix();
// double curScale = SceneManager::instance()->getObjectScale();
// osg::Matrix w2o = SceneManager::instance()->getWorldToObjectTransform();
// osg::Matrix o2w = SceneManager::instance()->getObjectToWorldTransform();
if(type == 'p') {
std::cerr<<"curMatrix"<<endl;
printMat(curMatrix, curScale);
cout<<"x = "<<latLonHeight.x()<<", y = "<<latLonHeight.y()<<", z = "<<latLonHeight.z()<<endl;
// std::cerr<<"WorldToObject"<<endl;
// printMat(w2o, curScale);
// std::cerr<<"ObjectToWorld"<<endl;
// printMat(o2w, curScale);
}
else if(type == 'd') {
curMatrix.decompose(trans1, rot1, scale1, so1);
std::cerr<<"<<<<<<<<<<<<<<<<<<<<<<<<<<<<"<<endl;
cout<<"Trans = ";
printVec(trans1);
cout<<"Scale = ";
printVec(scale1);
cout<<"Rotate = ";
printQuat(rot1);
cout<<"Scale Orient =";
printQuat(so1);
std::cerr<<"<<<<<<<<<<<<<<<<<<<<<<<<<<<<<"<<endl;
//osg::Matrix _trans = osg::Matrix::rotate(oldPos,currentPos) * osg::Matrix::translate(trans);
//osg::Matrix rotMat = osg::Matrix::rotate(oldPos,currentPos);
//osg::Matrix wr = o2w * rotMat* w2o;
// osg::Matrix _tmp = w2o * osg::Matrix::rotate(oldPos,currentPos) * o2w;
//osg::Matrix _scale = osg::Matrix::scale(scale);
//osg::Matrix _temp = osg::Matrix::translate(-trans) * _scale * _trans;
}
else if(type == 't') {
curMatrix.setTrans(osg::Vec3(0.0,1e+09/*6.41844e+09*/,0));
SceneManager::instance()->setObjectMatrix(curMatrix);
}
else if(type == 's') {
_origMatrix = SceneManager::instance()->getObjectTransform()->getMatrix();
_origScale = SceneManager::instance()->getObjectScale();
}
else if(type == 'z') {
tstart = time(0);
// zIn = 1e+10;
// zOut = 1e+10;
cout<<"zpressed"<<endl;
if (flagZoom == false)
flagZoom = true;
}
else if(type == 'r') {
if (flagRot == false) {
flagRot = true;
}
else {
flagRot = false;
}
//cout<<"Old Matrix"<<endl;
//curMatrix = SceneManager::instance()->getObjectTransform()->getMatrix();
//curScale = SceneManager::instance()->getObjectScale();
// printMat(curMatrix, curScale);
/*osg::Matrix mat2 = */
osg::Matrix rotM;
rotM.makeRotate(DegreesToRadians(1.0),osg::Vec3(0,1,0));
// printMat(rotM, curScale);
curMatrix= o2w * rotM * w2o;
// printMat(curMatrix, curScale);
//curMatrix.setTrans(trans);
//cout<<"New Matrix"<<endl;
//printMat(curMatrix, curScale);
cout<<"x = "<<origPlanetPoint[0]<<", y = "<<origPlanetPoint[1]<<", z = "<<origPlanetPoint[2]<<endl;
osg::Matrix objMat = SceneManager::instance()->getObjectTransform()->getMatrix();
objMat.decompose(trans1,rot1,scale1,so1);
_destMat1.decompose(trans2,rot2,scale2,so2);
// cout<<"rotate from"<<endl;
// printQuat(rot1);
// cout<<"rotate to"<<endl;
// printQuat(rot2);
osg::Vec3 vect1, vect2;
double ang1, ang2;
rot1.getRotate(ang1, vect1);
rot2.getRotate(ang2, vect2);
osg::Vec3 vec1 = rot1.asVec3();
osg::Vec3 vec2 = rot2.asVec3();
printVec(vect1);
printVec(vect2);
osg::Quat rotQuat;
rotQuat.makeRotate(vect1, vect2);
// printQuat(rotQuat);
rotM.makeRotate(rotQuat);
osg::Matrix mat = objMat* rotM;
mat.setTrans(trans1);
SceneManager::instance()->setObjectMatrix(mat);
}
else if(type == 'q') {
cout<<"Distance = "<<distanceToSurface<<endl;
}
else if(type == 'g') {
flagOut = false;
flagIn = false;
flagRot = false;
flagZoom = true;
osg::Matrix objMat = SceneManager::instance()->getObjectTransform()->getMatrix();
/* osg::Matrix rotM8;
rotM8.makeRotate(DegreesToRadians(10.0),osg::Vec3(0,1,0));
osg::Matrix mat9 = rotM8 * objMat;
SceneManager::instance()->setObjectMatrix(mat9);
*/
objMat.decompose(trans2, rot2, scale2, so2);
double LFD, PD, FS, PS;
a = (maxHeight - trans2[1])/25.0;
t = 0.0;
total = 0.0;
}
else if(type == 'a') {
SceneManager::instance()->setObjectMatrix(_origMatrix);
}
else if(type == 'm') {
if(flagRot) {
flagRot = false;
}
else {
tstart = time(0);
zIn = 1e+10;
zOut = 1e+10;
osg::Matrix objMat = SceneManager::instance()->getObjectTransform()->getMatrix();
osg::Vec3d tolatLon(0.573827, -2.04617,0);
osg::Vec3d tolatLon1(0.622566, 2.43884, 0);
osg::Vec3d toVec1, toVec2;
map->getProfile()->getSRS()->getEllipsoid()->convertLatLongHeightToXYZ(
tolatLon.x(),tolatLon.y(),tolatLon.z(),
toVec1.x(),toVec1.y(),toVec1.z());
// map->getProfile()->getSRS()->getEllipsoid()->convertLatLongHeightToXYZ(
// tolatLon1.x(),tolatLon1.y(),tolatLon1.z(),
// toVec2.x(),toVec2.y(),toVec2.z());
fromVec = origPlanetPoint;
toVec1.normalize();
// toVec2.normalize();
fromVec.normalize();
/*
osg::Vec3 offset(0.0,1.0,0.0);
offset = offset - fromVec;
fromVec = fromVec + offset;
toVec1 = toVec1 + offset;
toVec2 = toVec2 + offset;
printVec(fromVec);
printVec(toVec1);
printVec(toVec2);
*/
cout<<endl;
toVec = toVec1;
double dot = fromVec * toVec;
angle = acos(dot/((fromVec.length() * toVec.length())));
angle = RadiansToDegrees(angle);
rotAngle = angle/100.0;
cout<<angle<<endl;
flagRot = true;
}
// osg::Vec3 crsVec = toVec1^toVec2;
// crsVec.normalize();
// cout<<"Where you at"<<endl;
// printVec(fromVec);
// cout<<"UCSD"<<endl;
// printVec(toVec1);
// cout<<"Tokyo"<<endl;
// printVec(toVec2);
//osg::Vec3 rotVec = (fromVec ^ toVec);
//rotVec.normalize();
//origPlanetPoint.normalize();
//latLonHeight.normalize();
// printVec(crsVec);
// osg::Matrix rotM;
// rotM.makeRotate(DegreesToRadians(1.0),crsVec);
//printVec(origPlanetPoint);
// printVec(origPlanetPoint);
// printVec(latLonHeight);
// printMat(rotM, curScale);
//objMat.decompose(trans1,rot1,scale1,so1);
//osg::Vec3 vect1, vect2;
//double ang1, ang2;
//rot1.getRotate(ang1, vect1);
//printVec(vect1);
// osg::Matrix mat = objMat* rotM;
// mat.setTrans(trans1);
// SceneManager::instance()->setObjectMatrix(mat);
}
else if(type == 'x') {
cout<<"DRAWlING"<<endl;
osgEarth::MapNode* outMapNode = MapNode::findMapNode(SceneManager::instance()->getObjectsRoot());
outputMap = outMapNode->getMap();
double lat = 0.0;
double lon = -1.5708;
double hght = 0.0;
osg::Matrix objMat = SceneManager::instance()->getObjectTransform()->getMatrix();
osg::Vec3d tolatLon(0.573827, -2.04617,0);
osg::Vec3d tolatLon1(0.622566, 2.43884, 0);
osg::Vec3d toVec1, toVec2;
map->getProfile()->getSRS()->getEllipsoid()->convertLatLongHeightToXYZ(
lat,lon,hght,
toVec1.x(),toVec1.y(),toVec1.z());
osg::Matrixd output, output2;
map->getProfile()->getSRS()->getEllipsoid()->computeLocalToWorldTransformFromXYZ(
toVec1.x(), toVec1.y(), toVec1.z(), output);
map->getProfile()->getSRS()->getEllipsoid()->computeLocalToWorldTransformFromXYZ(
lat, lon, hght, output2);
printMat(output,10.0);
printMat(output2,10.0);
osg::Geode * geode = new osg::Geode();
osg::Vec3 centerVec(0.0,0.0,-20000.0);
osg::ShapeDrawable* shape = new osg::ShapeDrawable(
new osg::Cylinder(centerVec,10000.0, 2000000.0));
geode->addDrawable(shape);
osg::MatrixTransform * mat1 = new osg::MatrixTransform();
mat1->setMatrix(output);
mat1->addChild(geode);
SceneManager::instance()->getObjectsRoot()->addChild(mat1);
map->getProfile()->getSRS()->getEllipsoid()->convertLatLongHeightToXYZ(
tolatLon.x(),tolatLon.y(),tolatLon.z(),
toVec2.x(),toVec2.y(),toVec2.z());
osg::Matrixd output1;
// lat = 0.573827;
// lon = -2.04617;
map->getProfile()->getSRS()->getEllipsoid()->computeLocalToWorldTransformFromXYZ(
toVec2.x(), toVec2.y(), toVec2.z(), output1);
osg::Geode * geode1 = new osg::Geode();
osg::Vec3 centerVec1(0.0,0.0,-20000.0);
osg::ShapeDrawable* shape1 = new osg::ShapeDrawable(
new osg::Cylinder(centerVec1,10000.0, 2000000.0));
geode1->addDrawable(shape1);
osg::MatrixTransform * mat2 = new osg::MatrixTransform();
mat2->setMatrix(output1);
mat2->addChild(geode1);
SceneManager::instance()->getObjectsRoot()->addChild(mat2);
//geode->addDrawable(shape1);
}
return false;
}
