FGFS-4.1/OpenSceneGraph
4
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Made improvements to the handling of small rotations in Quat and

Browse Source 
TerrainManipulator
This commit is contained in:
Robert Osfield
2004-05-20 23:25:26 +00:00
parent 48d148601b
commit ab2b817e61
3 changed files with 37 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

40
src/osgGA/TerrainManipulator.cpp
View File

@@ -280,6 +280,8 @@ void TerrainManipulator::setByMatrix(const osg::Matrixd& matrix)
}
}
CoordinateFrame coordinateFrame = getCoordinateFrame(_center);
_previousUp = getUpVector(coordinateFrame);
clampOrientation();
}
@@ -340,6 +342,9 @@ void TerrainManipulator::computePosition(const osg::Vec3d& eye,const osg::Vec3d&
rotation_matrix.get(_rotation);
_rotation = _rotation.inverse();
CoordinateFrame coordinateFrame = getCoordinateFrame(_center);
_previousUp = getUpVector(coordinateFrame);
clampOrientation();
}
@@ -391,6 +396,7 @@ bool TerrainManipulator::calcMovement()
CoordinateFrame coordinateFrame = getCoordinateFrame(_center);
osg::Vec3d localUp = getUpVector(coordinateFrame);
//osg::Vec3d localUp = _previousUp;
osg::Vec3d forwardVector = localUp^sideVector;
@@ -406,6 +412,7 @@ bool TerrainManipulator::calcMovement()
rotate_azim.makeRotate(-dx,localUp);
_rotation = _rotation * rotate_elevation * rotate_azim;
}
return true;
@@ -427,8 +434,9 @@ bool TerrainManipulator::calcMovement()
osg::Vec3d sideVector = getSideVector(rotation_matrix);
osg::Vec3d upVector = getFrontVector(rotation_matrix);
CoordinateFrame coordinateFrame = getCoordinateFrame(_center);
osg::Vec3d localUp = getUpVector(coordinateFrame);
// CoordinateFrame coordinateFrame = getCoordinateFrame(_center);
// osg::Vec3d localUp = getUpVector(coordinateFrame);
osg::Vec3d localUp = _previousUp;
osg::Vec3d forwardVector =localUp^sideVector;
sideVector = forwardVector^localUp;
@@ -443,13 +451,13 @@ bool TerrainManipulator::calcMovement()
// need to recompute the itersection point along the look vector.
// now reorientate the coordinate frame to the frame coords.
coordinateFrame = getCoordinateFrame(_center);
CoordinateFrame coordinateFrame = getCoordinateFrame(_center);
// need to reintersect with the terrain
osgUtil::IntersectVisitor iv;
double distance = _node->getBound().radius();
osg::Vec3d start_segment = osg::Vec3d(_center[0],_center[1],_center[2]) + getUpVector(coordinateFrame) * distance;
osg::Vec3d start_segment = _center + getUpVector(coordinateFrame) * distance;
osg::Vec3d end_segment = start_segment - getUpVector(coordinateFrame) * (2.0f*distance);
osg::notify(INFO)<<"start="<<start_segment<<"\tend="<<end_segment<<"\tupVector="<<getUpVector(coordinateFrame)<<std::endl;
@@ -483,13 +491,23 @@ bool TerrainManipulator::calcMovement()
coordinateFrame = getCoordinateFrame(_center);
osg::Vec3d new_localUp = getUpVector(coordinateFrame);
osg::Quat pan_rotation;
pan_rotation.makeRotate(localUp,new_localUp);
_rotation = _rotation * pan_rotation;
osg::notify(osg::NOTICE)<<"Rotating from "<<localUp<<" to "<<new_localUp<<" angle = "<<acos(localUp*new_localUp/(localUp.length()*new_localUp.length()))<<std::endl;
//clampOrientation();
if (!pan_rotation.zeroRotation())
{
_rotation = _rotation * pan_rotation;
_previousUp = new_localUp;
//osg::notify(osg::NOTICE)<<"Rotating from "<<localUp<<" to "<<new_localUp<<" angle = "<<acos(localUp*new_localUp/(localUp.length()*new_localUp.length()))<<std::endl;
//clampOrientation();
}
else
{
osg::notify(osg::NOTICE)<<"New up orientation nearly inline - no need to rotate"<<std::endl;
}
return true;
}
@@ -526,6 +544,7 @@ void TerrainManipulator::clampOrientation()
CoordinateFrame coordinateFrame = getCoordinateFrame(_center);
osg::Vec3d localUp = getUpVector(coordinateFrame);
//osg::Vec3d localUp = _previousUp;
osg::Vec3d sideVector = lookVector ^ localUp;
@@ -544,7 +563,10 @@ void TerrainManipulator::clampOrientation()
osg::Quat rotate_roll;
rotate_roll.makeRotate(upVector,newUpVector);
_rotation = _rotation * rotate_roll;
if (!rotate_roll.zeroRotation())
{
_rotation = _rotation * rotate_roll;
}
}
}