void daeWriter::writeUpdateTransformElements(const osg::Vec3 &pos, const osg::Quat &q, const osg::Vec3 &s)
{
// Make a scale place element
domScale *scale = daeSafeCast< domScale >( currentNode->add( COLLADA_ELEMENT_SCALE ) );
scale->setSid("scale");
scale->getValue().append3( s.x(), s.y(), s.z() );
// Make a three rotate place elements for the euler angles
// TODO decompose quaternion into three euler angles
osg::Quat::value_type angle;
osg::Vec3 axis;
q.getRotate( angle, axis );
domRotate *rot = daeSafeCast< domRotate >( currentNode->add( COLLADA_ELEMENT_ROTATE ) );
rot->setSid("rotateZ");
rot->getValue().append4( 0, 0, 1, osg::RadiansToDegrees(angle) );
rot = daeSafeCast< domRotate >( currentNode->add( COLLADA_ELEMENT_ROTATE ) );
rot->setSid("rotateY");
rot->getValue().append4( 0, 1, 0, osg::RadiansToDegrees(angle) );
rot = daeSafeCast< domRotate >( currentNode->add( COLLADA_ELEMENT_ROTATE ) );
rot->setSid("rotateX");
rot->getValue().append4( 1, 0, 0, osg::RadiansToDegrees(angle) );
// Make a translate place element
domTranslate *trans = daeSafeCast< domTranslate >( currentNode->add( COLLADA_ELEMENT_TRANSLATE ) );
trans->setSid("translate");
trans->getValue().append3( pos.x(), pos.y(), pos.z() );
}
inline void copyOsgQuatToLib3dsQuat(float lib3ds_vector[4], const osg::Quat& osg_quat)
{
//lib3ds_vector[0] = osg_quat[3]; // Not sure
//lib3ds_vector[1] = osg_quat[0];
//lib3ds_vector[2] = osg_quat[1];
//lib3ds_vector[3] = osg_quat[2];
// 3DS seems to store (angle in radians, axis_x, axis_y, axis_z), but it works with (axis_x, axis_y, axis_z, -angle in radians)!
osg::Quat::value_type angle, x, y, z;
osg_quat.getRotate(angle, x, y, z);
lib3ds_vector[0] = static_cast<float>(x);
lib3ds_vector[1] = static_cast<float>(y);
lib3ds_vector[2] = static_cast<float>(z);
lib3ds_vector[3] = static_cast<float>(-angle);
}
static boost::python::tuple getRotate_7cd433cce0eabe855a9b774688d2845e( ::osg::Quat const & inst ){
double angle2;
osg::Vec3f vec2;
inst.getRotate(angle2, vec2);
return bp::make_tuple( angle2, vec2 );
}
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;
}