// Returns angle between 2 vectors in degrees
double ViroManipulator::VecAngle(osg::Vec3d a, osg::Vec3d b){
double ang;
a.normalize();
b.normalize();
ang = RadiansToDegrees( acos(a * b) );
return fabs( ang );
}
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;
}
}
/**
* Simulate a track-ball. Project the points onto the virtual
* trackball, then figure out the axis of rotation, which is the cross
* product of P1 P2 and O P1 (O is the center of the ball, 0,0,0)
* Note: This is a deformed trackball-- is a trackball in the center,
* but is deformed into a hyperbolic sheet of rotation away from the
* center. This particular function was chosen after trying out
* several variations.
*
* It is assumed that the arguments to this routine are in the range
* (-1.0 ... 1.0)
*/
void OrbitManipulator::trackball( osg::Vec3d& axis, float& angle, float p1x, float p1y, float p2x, float p2y )
{
/*
* First, figure out z-coordinates for projection of P1 and P2 to
* deformed sphere
*/
osg::Matrixd rotation_matrix(_rotation);
osg::Vec3d uv = Vec3d(0.0f,1.0f,0.0f)*rotation_matrix;
osg::Vec3d sv = Vec3d(1.0f,0.0f,0.0f)*rotation_matrix;
osg::Vec3d lv = Vec3d(0.0f,0.0f,-1.0f)*rotation_matrix;
osg::Vec3d p1 = sv * p1x + uv * p1y - lv * tb_project_to_sphere(_trackballSize, p1x, p1y);
osg::Vec3d p2 = sv * p2x + uv * p2y - lv * tb_project_to_sphere(_trackballSize, p2x, p2y);
/*
* Now, we want the cross product of P1 and P2
*/
axis = p2^p1;
axis.normalize();
/*
* Figure out how much to rotate around that axis.
*/
float t = (p2 - p1).length() / ( /*2.0*/ 1.3 * _trackballSize);
/*
* Avoid problems with out-of-control values...
*/
if (t > 1.0) t = 1.0;
if (t < -1.0) t = -1.0;
angle = inRadians(asin(t));
}
void
MorphologyViewerWidget::_get_transformation( unsigned int index
, osg::Vec3d & eye
, osg::Vec3d & center
, double & distance
, osg::Vec3d & up
, osg::Vec3d & look
, osg::Vec3d & side
)
{
osgViewer::View * view = _viewer -> getView(index);
osgGA::TrackballManipulator * manipulator = dynamic_cast<osgGA::TrackballManipulator *>(view -> getCameraManipulator());
manipulator -> getTransformation(eye, center, up);
up.normalize();
look = center - eye;
distance = look.normalize();
side = look ^ up;
side.normalize();
}
void ossimPlanetSceneView::getLookDirection(osg::Vec3d& direction)const
{
osg::Vec3 eyeTemp(0,0,0);
osg::Vec3 center(0,0,0);
osg::Vec3 up(0,0,0);
(const_cast<ossimPlanetSceneView*>(this))->getViewMatrixAsLookAt(eyeTemp, center, up);
direction = (center-eyeTemp);
direction.normalize();
}
osg::Quat FaceTransform::computeQuat(osg::Vec3d direction)
{
direction.normalize();
double zAngle = atan2(direction.y(), direction.x());
osg::Quat zRot(zAngle, osg::Vec3d(0,0,1));
osg::Vec3d yAxis = zRot * osg::Vec3d(0,1,0);
double zLength = (direction - osg::Vec3d(0,0,direction.z())).length();
double yAngle = - atan2(direction.z(), zLength) + osg::PI/2;
osg::Quat yRot(yAngle, yAxis);
return zRot * yRot;
}
// Computes all intersections in line segment (p1,p2) and returns the nearest impact point in
// vResult and its associated surface normal.
bool ViroManipulator::Intersect(osg::Vec3d p1,osg::Vec3d p2, osg::Vec3d& vResult,osg::Vec3d& vNorm){
osg::ref_ptr<osg::LineSegment> seg = new osg::LineSegment;
seg->set(p1,p2);
if ( !seg->valid() ) return false;
osgUtil::IntersectVisitor iv;
iv.setTraversalMode(osgUtil::IntersectVisitor::TRAVERSE_ACTIVE_CHILDREN); //Only visible children
iv.setLODSelectionMode(osgUtil::IntersectVisitor::USE_SEGMENT_START_POINT_AS_EYE_POINT_FOR_LOD_LEVEL_SELECTION);
iv.addLineSegment(seg.get());
iv.setEyePoint( _vEye );
_NODE->accept( iv );
bool hitfound = false;
if (iv.hits()){
osgUtil::IntersectVisitor::HitList& hitList = iv.getHitList(seg.get());
if (!hitList.empty()){
for(osgUtil::IntersectVisitor::HitList::iterator hitr=hitList.begin(); hitr!=hitList.end(); ++hitr){
if( hitr->_geode.valid() && (hitr->_geode.get()->getName()!="Contraint_OutBox_Geode") && (hitr->_geode.get()->getName()!="environment")){
osg::Vec3d ip = hitr->getWorldIntersectPoint();
osg::Vec3d in = hitr->getWorldIntersectNormal();
if(!hitfound){
vResult = ip;
vNorm = in;
}
else{
osg::Vec3d vLastIP = vResult;
osg::Vec3d vCurrentIP = ip;
double dPrev = Vec3d(_vEye - vLastIP).length();
double dCurrent = Vec3d(_vEye - vCurrentIP).length();
if( dCurrent < dPrev ){
vResult = ip;
vNorm = in;
}
}
hitfound = true;
}
}
}
}
if (hitfound){
vNorm.normalize();
vNorm = RightNormal(vResult,vNorm);
}
return hitfound;
}
void Manipulator::calcRotationArgs(osg::Vec3d& axis, float& angle,
float p1x, float p1y,float p2x, float p2y) {
osg::Matrixd rotation_matrix(_rotation);
osg::Vec3d uv = osg::Vec3d(0.0f,1.0f,0.0f)*rotation_matrix;
osg::Vec3d sv = osg::Vec3d(1.0f,0.0f,0.0f)*rotation_matrix;
osg::Vec3d lv = osg::Vec3d(0.0f,0.0f,-1.0f)*rotation_matrix;
osg::Vec3d p1 = sv * p1x + uv * p1y - lv * tb_project_to_sphere(_trackball_size, p1x, p1y);
osg::Vec3d p2 = sv * p2x + uv * p2y - lv * tb_project_to_sphere(_trackball_size, p2x, p2y);
axis = p2^p1;
axis.normalize();
float t = (p2 - p1).length() / (2.0 * _trackball_size);
if (t > 1.0) t = 1.0;
if (t < -1.0) t = -1.0;
angle = osg::inRadians(asin(t));
//2014/4/28
//2014/10/26,0.1
angle = 0.02 * angle;
}
CullPlaneCallback( const osg::Vec3d& planeNormal ) : _n(planeNormal) {
_n.normalize();
}
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;
}