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Code Issues Releases Activity

Get the attitude in there although there might be some convention problems on

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the rotation
This commit is contained in:
James Cotton 2012-03-17 18:37:42 -05:00
parent b2b44bd23b
commit e804de0a7a
5 changed files with 51 additions and 7 deletions
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1
ground/openpilotgcs/src/plugins/osgearthview/osgearthview_dependencies.pri
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@ -1 +1,2 @@
include(../../plugins/uavobjects/uavobjects.pri)
include(../../plugins/uavobjectutil/uavobjectutil.pri)

4
ground/openpilotgcs/src/plugins/osgearthview/osgearthviewplugin.cpp
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@ -30,6 +30,8 @@
#include <QStringList>
#include <extensionsystem/pluginmanager.h>
#include <osgQt/GraphicsWindowQt>
OsgEarthviewPlugin::OsgEarthviewPlugin()
{
@ -48,6 +50,8 @@ bool OsgEarthviewPlugin::initialize(const QStringList& args, QString *errMsg)
mf = new OsgEarthviewGadgetFactory(this);
addAutoReleasedObject(mf);
osgQt::initQtWindowingSystem();
return true;
}

50
ground/openpilotgcs/src/plugins/osgearthview/osgearthviewwidget.cpp
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@ -87,9 +87,23 @@ using namespace osgEarth::Annotation;
#include <iostream>
#include "utils/stylehelper.h"
#include "utils/homelocationutil.h"
#include "utils/worldmagmodel.h"
#include "utils/coordinateconversions.h"
#include "attitudeactual.h"
#include "homelocation.h"
#include "positionactual.h"
using namespace Utils;
OsgEarthviewWidget::OsgEarthviewWidget(QWidget *parent) : QWidget(parent)
{
setThreadingModel(osgViewer::ViewerBase::CullThreadPerCameraDrawThreadPerContext);
//setThreadingModel(osgViewer::ViewerBase::SingleThreaded);
setAttribute(Qt::WA_PaintOnScreen, true);
setAttribute(Qt::WA_NoSystemBackground, true);
osg::Group* root = new osg::Group;
osg::Node* earth = osgDB::readNodeFile("/Users/jcotton81/Documents/Programming/osgearth/tests/boston.earth");
@ -102,7 +116,7 @@ OsgEarthviewWidget::OsgEarthviewWidget(QWidget *parent) : QWidget(parent)
root->addChild(earth);
osg::Node* airplane = createAirplane();
osgEarth::Util::ObjectLocatorNode* uavPos = new osgEarth::Util::ObjectLocatorNode(mapNode->getMap());
uavPos = new osgEarth::Util::ObjectLocatorNode(mapNode->getMap());
uavPos->getLocator()->setPosition( osg::Vec3d(-71.0763, 42.34425, 150) );
uavPos->addChild(airplane);
@ -143,7 +157,7 @@ QWidget* OsgEarthviewWidget::createViewWidget( osg::Camera* camera, osg::Node* s
ControlCanvas::get(view, true)->addControl(grid);
// zoom to a good startup position
manip->setViewpoint( Viewpoint(-71.0763, 42.34425, 0, 24.261, -21.6, 1450.0), 5.0 );
manip->setViewpoint( Viewpoint(-71.0763, 42.34425, 0, 24.261, -21.6, 650.0), 5.0 );
//manip->setHomeViewpoint(Viewpoint("Boston", osg::Vec3d(-71.0763, 42.34425, 0), 24.261, -21.6, 3450.0));
osgQt::GraphicsWindowQt* gw = dynamic_cast<osgQt::GraphicsWindowQt*>( camera->getGraphicsContext() );
@ -181,19 +195,41 @@ osg::Node* OsgEarthviewWidget::createAirplane()
osg::Group* model = new osg::Group;
osg::Node *cessna = osgDB::readNodeFile("/Users/jcotton81/Documents/Programming/OpenPilot/artwork/3D Model/multi/joes_cnc/J14-QT_+.3DS");
if(cessna) {
osg::MatrixTransform* mt = new osg::MatrixTransform();
mt->setMatrix(osg::Matrixd::scale(0.2e0,0.2e0,0.2e0));
mt->addChild( cessna );
uavAttitudeAndScale = new osg::MatrixTransform();
uavAttitudeAndScale->setMatrix(osg::Matrixd::scale(0.2e0,0.2e0,0.2e0));
uavAttitudeAndScale->addChild( cessna );
model->addChild(mt);
model->addChild(uavAttitudeAndScale);
} else
qDebug() << "Bad model file";
return model;
}
void OsgEarthviewWidget::paintEvent( QPaintEvent* event )
{ frame(); }
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
PositionActual *positionActualObj = PositionActual::GetInstance(objMngr);
PositionActual::DataFields positionActual = positionActualObj->getData();
double LLA[3];
double NED[3] = {positionActual.North, positionActual.East, positionActual.Down};
double homeLLA[3] = {-71.0763, 42.34425, 50};
CoordinateConversions().GetLLA(homeLLA, NED, LLA);
uavPos->getLocator()->setPosition( osg::Vec3d(LLA[0], LLA[1], LLA[2]) );
AttitudeActual *attitudeActualObj = AttitudeActual::GetInstance(objMngr);
AttitudeActual::DataFields attitudeActual = attitudeActualObj->getData();
osg::Quat quat(-attitudeActual.q2, -attitudeActual.q3, -attitudeActual.q4,attitudeActual.q1);
uavAttitudeAndScale->setMatrix(osg::Matrixd::scale(0.05e0,0.05e0,0.05e0) * osg::Matrixd::rotate(quat));
frame();
}
void OsgEarthviewWidget::resizeEvent(QResizeEvent *event)
{
}

2
ground/openpilotgcs/src/plugins/osgearthview/osgearthviewwidget.h
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@ -109,5 +109,7 @@ private: /* Private methods */
private: /* Private variables */
QTimer _timer;
EarthManipulator* manip;
osgEarth::Util::ObjectLocatorNode* uavPos;
osg::MatrixTransform* uavAttitudeAndScale;
};
#endif /* OSGEARTHVIEWWIDGET_H_ */

1
ground/openpilotgcs/src/plugins/plugins.pro
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@ -196,6 +196,7 @@ SUBDIRS += plugin_uavobjectutil
plugin_osgearthview.subdir = osgearthview
plugin_osgearthview.depends = plugin_coreplugin
plugin_osgearthview.depends += plugin_uavobjects
plugin_osgearthview.depends += plugin_uavobjectwidgetutils
SUBDIRS += plugin_osgearthview
# Magic Waypoint gadget