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

From Ronald van Maarseveen and Robert Osfield, changed compute of up vector and localToWorld transform so that it takes in to account the geographic latitude.

Browse Source
This commit is contained in:
Robert Osfield 2009-08-20 14:19:10 +00:00
parent b76983c7f9
commit a2a2740a23
1 changed files with 38 additions and 28 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

66
include/osg/CoordinateSystemNode
View File

@ -60,6 +60,8 @@ class EllipsoidModel : public Object
inline void computeLocalToWorldTransformFromXYZ(double X, double Y, double Z, osg::Matrixd& localToWorld) const; inline void computeLocalToWorldTransformFromXYZ(double X, double Y, double Z, osg::Matrixd& localToWorld) const;
inline void computeCoordinateFrame(double latitude, double longitude, osg::Matrixd& localToWorld) const;
inline osg::Vec3d computeLocalUpVector(double X, double Y, double Z) const; inline osg::Vec3d computeLocalUpVector(double X, double Y, double Z) const;
// Convenience method for determining if EllipsoidModel is a stock WGS84 ellipsoid // Convenience method for determining if EllipsoidModel is a stock WGS84 ellipsoid
@ -189,49 +191,57 @@ inline void EllipsoidModel::computeLocalToWorldTransformFromLatLongHeight(double
{ {
double X, Y, Z; double X, Y, Z;
convertLatLongHeightToXYZ(latitude,longitude,height,X,Y,Z); convertLatLongHeightToXYZ(latitude,longitude,height,X,Y,Z);
computeLocalToWorldTransformFromXYZ(X,Y,Z,localToWorld);
localToWorld.makeTranslate(X,Y,Z);
computeCoordinateFrame(latitude, longitude, localToWorld);
} }
inline void EllipsoidModel::computeLocalToWorldTransformFromXYZ(double X, double Y, double Z, osg::Matrixd& localToWorld) const inline void EllipsoidModel::computeLocalToWorldTransformFromXYZ(double X, double Y, double Z, osg::Matrixd& localToWorld) const
{ {
double latitude, longitude, height;
convertXYZToLatLongHeight(X,Y,Z,latitude,longitude,height);
localToWorld.makeTranslate(X,Y,Z); localToWorld.makeTranslate(X,Y,Z);
computeCoordinateFrame(latitude, longitude, localToWorld);
}
inline void EllipsoidModel::computeCoordinateFrame(double latitude, double longitude, osg::Matrixd& localToWorld) const
{
// Compute up vector
osg::Vec3d up ( cos(longitude)*cos(latitude), sin(longitude)*cos(latitude), sin(latitude));
// normalize X,Y,Z // Compute east vector
double inverse_length = 1.0/sqrt(X*X + Y*Y + Z*Z); osg::Vec3d east (-sin(longitude), cos(longitude), 0);
X *= inverse_length; // Compute north vector = outer product up x east
Y *= inverse_length; osg::Vec3d north = up ^ east;
Z *= inverse_length;
double length_XY = sqrt(X*X + Y*Y); // set matrix
double inverse_length_XY = 1.0/length_XY; localToWorld(0,0) = east[0];
localToWorld(0,1) = east[1];
localToWorld(0,2) = east[2];
// Vx = |(-Y,X,0)| localToWorld(1,0) = north[0];
localToWorld(0,0) = -Y*inverse_length_XY; localToWorld(1,1) = north[1];
localToWorld(0,1) = X*inverse_length_XY; localToWorld(1,2) = north[2];
localToWorld(0,2) = 0.0;
// Vy = /(-Z*X/(sqrt(X*X+Y*Y), -Z*Y/(sqrt(X*X+Y*Y),sqrt(X*X+Y*Y))| localToWorld(2,0) = up[0];
double Vy_x = -Z*X*inverse_length_XY; localToWorld(2,1) = up[1];
double Vy_y = -Z*Y*inverse_length_XY; localToWorld(2,2) = up[2];
double Vy_z = length_XY;
inverse_length = 1.0/sqrt(Vy_x*Vy_x + Vy_y*Vy_y + Vy_z*Vy_z);
localToWorld(1,0) = Vy_x*inverse_length;
localToWorld(1,1) = Vy_y*inverse_length;
localToWorld(1,2) = Vy_z*inverse_length;
// Vz = (X,Y,Z)
localToWorld(2,0) = X;
localToWorld(2,1) = Y;
localToWorld(2,2) = Z;
} }
inline osg::Vec3d EllipsoidModel::computeLocalUpVector(double X, double Y, double Z) const inline osg::Vec3d EllipsoidModel::computeLocalUpVector(double X, double Y, double Z) const
{ {
osg::Vec3d normal(X,Y,Z); // Note latitude is angle between normal to ellipsoid surface and XY-plane
normal.normalize(); double latitude;
return normal; double longitude;
double altitude;
convertXYZToLatLongHeight(X,Y,Z,latitude,longitude,altitude);
// Compute up vector
return osg::Vec3d( cos(longitude) * cos(latitude),
sin(longitude) * cos(latitude),
sin(latitude));
} }
} }