bool
TileModel::ElevationData::getNormal(const osg::Vec3d& ndc,
const GeoLocator* ndcLocator,
osg::Vec3& output ) const
{
if ( !_locator.valid() || !ndcLocator )
{
output.set(0,0,1);
return false;
}
osg::Vec3d hf_ndc;
GeoLocator::convertLocalCoordBetween( *ndcLocator, ndc, *_locator.get(), hf_ndc );
return HeightFieldUtils::getNormalAtNormalizedLocation( _hf.get(), hf_ndc.x(), hf_ndc.y(), output );
}
bool
TileModel::ElevationData::getNormal(const osg::Vec3d& ndc,
const GeoLocator* ndcLocator,
osg::Vec3& output,
ElevationInterpolation interp ) const
{
if ( !_locator.valid() || !ndcLocator )
{
output.set(0,0,1);
return false;
}
double xcells = (double)(_hf->getNumColumns()-1);
double ycells = (double)(_hf->getNumRows()-1);
double xres = 1.0/xcells;
double yres = 1.0/ycells;
osg::Vec3d hf_ndc;
GeoLocator::convertLocalCoordBetween( *ndcLocator, ndc, *_locator.get(), hf_ndc );
float centerHeight = HeightFieldUtils::getHeightAtNormalizedLocation(_hf.get(), hf_ndc.x(), hf_ndc.y(), interp);
osg::Vec3d west ( hf_ndc.x()-xres, hf_ndc.y(), 0.0 );
osg::Vec3d east ( hf_ndc.x()+xres, hf_ndc.y(), 0.0 );
osg::Vec3d south( hf_ndc.x(), hf_ndc.y()-yres, 0.0 );
osg::Vec3d north( hf_ndc.x(), hf_ndc.y()+yres, 0.0 );
if (!HeightFieldUtils::getHeightAtNormalizedLocation(_neighbors, west.x(), west.y(), west.z(), interp))
west.z() = centerHeight;
if (!HeightFieldUtils::getHeightAtNormalizedLocation(_neighbors, east.x(), east.y(), east.z(), interp))
east.z() = centerHeight;
if (!HeightFieldUtils::getHeightAtNormalizedLocation(_neighbors, south.x(), south.y(), south.z(), interp))
south.z() = centerHeight;
if (!HeightFieldUtils::getHeightAtNormalizedLocation(_neighbors, north.x(), north.y(), north.z(), interp))
north.z() = centerHeight;
osg::Vec3d westWorld, eastWorld, southWorld, northWorld;
_locator->unitToModel(west, westWorld);
_locator->unitToModel(east, eastWorld);
_locator->unitToModel(south, southWorld);
_locator->unitToModel(north, northWorld);
output = (eastWorld-westWorld) ^ (northWorld-southWorld);
output.normalize();
return true;
}
void Yiq::getYIQ(osg::Vec3& hhh) const
{
hhh.set(yiq[Y],yiq[I],yiq[Q]);
}
// ================================================
// convertRotMtxToEuler
// vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv
void convertRotMtxToEuler( const osg::Matrix &m, osg::Vec3 &euler )
{
osg::Vec3 yaxis( 0., 1., 0. ), zaxis( 0., 0., 1. );
float heading, pitch, roll;
osg::Vec3 headingv, pitchv, hpnormalv, v;
pitchv = m.preMult( yaxis );
headingv = pitchv;
// zero-out the z component
headingv[2] = 0.;
// normalize
headingv.normalize();
/////////////////////////////////////////////////////////////////
// HEADING
/////////////////////////////////////////////////////////////////
// the dot product of the two vectors will get us the cosine of the
// angle between them
float cosH = headingv * yaxis; // dot product
ARCCOS_SANITY( cosH )
heading = acos(cosH);
// the cross product of the two vectors will get us the vector normal
// to them
v = headingv ^ yaxis; // cross product
if( v[2] > 0. )
{
heading *= -1.;
}
/////////////////////////////////////////////////////////////////
// PITCH
/////////////////////////////////////////////////////////////////
float cosP = pitchv * headingv; // dot product
ARCCOS_SANITY( cosP )
pitch = acos(cosP);
if( pitchv[2] < 0. )
{
pitch *= -1.;
}
/////////////////////////////////////////////////////////////////
// ROLL
/////////////////////////////////////////////////////////////////
hpnormalv = pitchv ^ headingv;
hpnormalv.normalize();
// If pitch is negative, hpnormalv will point in the "wrong" direction.
// In this situation, we'll negate hpnormalv. If we didn't do this,
// we'd get roll values that change sign as pitch changes from positive to
// negative or vice versa (yuck).
if( pitch < 0. )
hpnormalv *= -1.;
osg::Vec3 zm;
zm = m.preMult( zaxis );
/*
cout << "vv color " << "zm" << " 0.5 0.5 1.0\n";
cout << "vv set zm " << zm << endl;
cout << "vv color pitchv 1 0 1\n";
cout << "vv set pitchv " << pitchv << endl;
cout << "vv color headingv 1 .5 1\n";
cout << "vv set headingv " << headingv << endl;
cout << "vv color " << "hpnormalv" << " 1. 1. 1.\n";
cout << "vv set hpnormalv " << hpnormalv << endl;
*/
float cosR = zm * hpnormalv;
ARCCOS_SANITY( cosR )
roll = acos(cosR);
// if the normal is roughly coincident with pitchv, then we need
// to negate the sign of the roll angle
osg::Vec3 rollplanenormalv = zm ^ hpnormalv;
rollplanenormalv.normalize();
//cout << "vv color " << "rollplanenormalv" << " .3 .3 .3\n";
//cout << "vv set rollplanenormalv " << rollplanenormalv << endl;
if( pitchv * rollplanenormalv > 0. )
{
roll *= -1.;
}
euler.set( roll, pitch, heading );
//cout << "r p h " << euler << endl;
}
void CameraFlight::menuCallback(cvr::MenuItem * item)
{
if (item == _instant)
{
if(activeMode != item)
{
activeMode->setValue(false);
std::cerr<<"Instant Transition has selected"<<std::endl;
}
activeMode = _instant;
_instant->setValue(true);
_flightMode = INSTANT;
}
else if (item == _satellite)
{
if(activeMode != item)
{
activeMode->setValue(false);
std::cerr<<"Satellite Transition has selected"<<std::endl;
}
activeMode = _satellite;
_satellite->setValue(true);
_flightMode = SATELLITE;
}
else if (item == _reset)
{
if(activeMode != item)
{
activeMode->setValue(false);
std::cerr<<"Reset Back to original"<<std::endl;
}
activeMode = _reset;
_reset->setValue(true);
SceneManager::instance()->setObjectMatrix(_origMatrix);
SceneManager::instance()->setObjectScale(_origScale);
}
else if (item == _dest1)
{
if(destMode != item && destMode != NULL)
{
destMode->setValue(false);
_dest1->setValue(true);
}
if(destMode != item) {
destMode = _dest1;
_destMat.set(_destMat1);
_destVec.set(0.573827, -2.04617, 0.0);
navigate(_destMat, _destVec);
}
else {
destMode = _dest1;
}
}
else if (item == _dest2)
{
if(destMode != item && destMode != NULL)
{
destMode->setValue(false);
}
destMode = _dest2;
_dest2->setValue(true);
_destMat.set(_destMat2);
_destVec.set(0.622566, 2.43884, 0.0);
navigate(_destMat, _destVec);
}
else if (item == _dest3)
{
if(destMode != item && destMode != NULL)
{
destMode->setValue(false);
}
destMode = _dest3;
_dest3->setValue(true);
_destMat.set(_destMat3);
_destVec.set(-1.51126, 1.54642, 0.0);
navigate(_destMat, _destVec);
}
else if (item == _dest4)
{
if(destMode != item && destMode != NULL)
{
destMode->setValue(false);
}
destMode = _dest4;
_dest4->setValue(true);
_destMat.set(_destMat4);
_destVec.set(-0.590719, 2.63979, 0.0);
navigate(_destMat, _destVec);
}
else if (item == _dest5)
{
if(destMode != item && destMode != NULL)
{
destMode->setValue(false);
}
destMode = _dest5;
_dest5->setValue(true);
_destMat.set(_destMat5);
_destVec.set(0.67315, 0.389608, 0.0);
navigate(_destMat, _destVec);
}
else if (item == _dest6)
{
if(destMode != item && destMode != NULL)
{
destMode->setValue(false);
}
destMode = _dest6;
_dest6->setValue(true);
_destMat.set(_destMat6);
_destVec.set(0.590992, -2.05847, 0.0);
navigate(_destMat, _destVec);
}
}
void Cmy::getCMY(osg::Vec3& hhh) const
{
hhh.set(cmy[CYAN],cmy[MAGENTA],cmy[YELLOW]);
}
void Cie::getCIE(osg::Vec3& hhh) const
{
hhh.set(cie[LUMINANCE],cie[X],cie[Y]);
}
void Hsv::getHSV(osg::Vec3& hhh) const
{
hhh.set(hsv[HUE],hsv[SATURATION],hsv[VALUE]);
}