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Code Issues Releases Activity

OP-149 Ground/ModelView: Cartesian coordinates system + Object rotation instead of camera rotation.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1873 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
muralha 2010-10-04 09:53:31 +00:00 committed by muralha
parent 10a69a3c2c
commit abba162dca
1 changed files with 10 additions and 12 deletions
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22
ground/src/plugins/modelview/modelviewgadgetwidget.cpp
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@ -51,9 +51,8 @@ ModelViewGadgetWidget::ModelViewGadgetWidget(QWidget *parent)
m_Light.setPosition(4000.0, 40000.0, 80000.0);
m_Light.setAmbientColor(Qt::lightGray);
m_GlView.cameraHandle()->setDefaultUpVector(glc::Y_AXIS);
m_GlView.cameraHandle()->setRightView();
//m_GlView.cameraHandle()->setIsoView();
m_GlView.cameraHandle()->setDefaultUpVector(glc::Z_AXIS);
m_GlView.cameraHandle()->setFrontView();
QColor repColor;
repColor.setRgbF(1.0, 0.11372, 0.11372, 0.0);
@ -223,16 +222,15 @@ void ModelViewGadgetWidget::mouseReleaseEvent(QMouseEvent*)
//////////////////////////////////////////////////////////////////////
void ModelViewGadgetWidget::updateAttitude()
{
// Reset view to zero angles
// NOTE: Some aircraft 3D models have different orientation and axis
m_GlView.cameraHandle()->setTopView();
m_GlView.cameraHandle()->rotateAroundTarget(glc::X_AXIS, 180.0*glc::PI/180.0);
m_GlView.cameraHandle()->rotateAroundTarget(glc::Z_AXIS, 90.0*glc::PI/180.0);
// Rotate to the actual angles (if a gimbal lock at yaw 90/270 deg, change sequence of rotations)
AttitudeActual::DataFields data = attActual->getData();
m_GlView.cameraHandle()->rotateAroundTarget(glc::Z_AXIS, data.Yaw*glc::PI/180.0);
m_GlView.cameraHandle()->rotateAroundTarget(glc::Y_AXIS, data.Roll*glc::PI/180.0);
m_GlView.cameraHandle()->rotateAroundTarget(glc::X_AXIS, data.Pitch*glc::PI/180.0);
GLC_StructOccurence* rootObject= m_World.rootOccurence();
GLC_Matrix4x4 rootObjectPosition(0, 0, 0); // will be changed when the acceleration movement is tested
double pitch= glc::toRadian(data.Pitch);
double roll= glc::toRadian(data.Roll);
double yaw= glc::toRadian(data.Yaw);
GLC_Matrix4x4 rootObjectRotation(GLC_Matrix4x4().fromEuler(pitch, roll, yaw));
rootObject->structInstance()->setMatrix(rootObjectPosition * rootObjectRotation);
rootObject->updateChildrenAbsoluteMatrix();
updateGL();
}