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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.

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Robert Osfield 2009-08-20 14:19:10 +00:00
parent b76983c7f9
commit a2a2740a23
1 changed files with 38 additions and 28 deletions
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66
include/osg/CoordinateSystemNode
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@ -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;
Y *= inverse_length;
Z *= inverse_length;
double length_XY = sqrt(X*X + Y*Y); // Compute north vector = outer product up x east
double inverse_length_XY = 1.0/length_XY; osg::Vec3d north = up ^ east;
// Vx = |(-Y,X,0)| // set matrix
localToWorld(0,0) = -Y*inverse_length_XY; localToWorld(0,0) = east[0];
localToWorld(0,1) = X*inverse_length_XY; localToWorld(0,1) = east[1];
localToWorld(0,2) = 0.0; localToWorld(0,2) = east[2];
// Vy = /(-Z*X/(sqrt(X*X+Y*Y), -Z*Y/(sqrt(X*X+Y*Y),sqrt(X*X+Y*Y))| localToWorld(1,0) = north[0];
double Vy_x = -Z*X*inverse_length_XY; localToWorld(1,1) = north[1];
double Vy_y = -Z*Y*inverse_length_XY; localToWorld(1,2) = north[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) = up[0];
localToWorld(2,0) = X; localToWorld(2,1) = up[1];
localToWorld(2,1) = Y; localToWorld(2,2) = up[2];
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));
} }
} }