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Code Issues Releases Activity

Add a camera tracker mode (on by default) and make the rotation apply in the

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right coordinate system.
This commit is contained in:
James Cotton 2012-03-18 16:31:41 -05:00
parent 49d37a8382
commit f4bd5a1c71
1 changed files with 32 additions and 6 deletions
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38
ground/openpilotgcs/src/plugins/osgearthview/osgviewerwidget.cpp
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@ -44,8 +44,11 @@
#include <osg/PositionAttitudeTransform>
#include <osgUtil/Optimizer>
#include <osgGA/StateSetManipulator>
#include <osgGA/GUIEventHandler>
#include <osgGA/NodeTrackerManipulator>
#include <osgViewer/Viewer>
#include <osgViewer/ViewerEventHandlers>
@ -154,14 +157,23 @@ QWidget* OsgViewerWidget::createViewWidget( osg::Camera* camera, osg::Node* scen
manip = new EarthManipulator();
view->setCameraManipulator( manip );
// osgGA::NodeTrackerManipulator *camTracker = new osgGA::NodeTrackerManipulator();
// camTracker->setTrackNode(uavPos);
// camTracker->setMinimumDistance(0.0001f);
// camTracker->setDistance(0.001f);
// camTracker->setTrackerMode(osgGA::NodeTrackerManipulator::NODE_CENTER);
// view->setCameraManipulator(camTracker);
Grid* grid = new Grid();
grid->setControl(0,0,new LabelControl("OpenPilot"));
ControlCanvas::get(view, true)->addControl(grid);
// zoom to a good startup position
manip->setViewpoint( Viewpoint(-71.100549, 42.349273, 0, 24.261, -21.6, 650.0), 5.0 );
manip->setViewpoint( Viewpoint(-71.100549, 42.349273, 0, 24.261, -21.6, 350.0), 5.0 );
//manip->setViewpoint( Viewpoint(-71.100549, 42.349273, 0, 24.261, -81.6, 650.0), 5.0 );
//manip->setHomeViewpoint(Viewpoint("Boston", osg::Vec3d(-71.0763, 42.34425, 0), 24.261, -21.6, 3450.0));
manip->setTetherNode(uavPos);
osgQt::GraphicsWindowQt* gw = dynamic_cast<osgQt::GraphicsWindowQt*>( camera->getGraphicsContext() );
return gw ? gw->getGLWidget() : NULL;
}
@ -195,11 +207,17 @@ osg::Camera* OsgViewerWidget::createCamera( int x, int y, int w, int h, const st
osg::Node* OsgViewerWidget::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::Node *uav = osgDB::readNodeFile("/Users/jcotton81/Documents/Programming/OpenPilot/artwork/3D Model/multi/joes_cnc/J14-QT_+.3DS");
if(uav) {
uavAttitudeAndScale = new osg::MatrixTransform();
uavAttitudeAndScale->setMatrix(osg::Matrixd::scale(0.2e0,0.2e0,0.2e0));
uavAttitudeAndScale->addChild( cessna );
// Apply a rotation so model is NED before any other rotations
osg::MatrixTransform *rotateModelNED = new osg::MatrixTransform();
rotateModelNED->setMatrix(osg::Matrixd::scale(0.05e0,0.05e0,0.05e0) * osg::Matrixd::rotate(M_PI, osg::Vec3d(0,0,1)));
rotateModelNED->addChild( uav );
uavAttitudeAndScale->addChild( rotateModelNED );
model->addChild(uavAttitudeAndScale);
} else
@ -235,8 +253,16 @@ void OsgViewerWidget::paintEvent( QPaintEvent* event )
// Set the attitude (reverse the attitude)
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));
osg::Quat quat(attitudeActual.q2, attitudeActual.q3, attitudeActual.q4, attitudeActual.q1);
// Have to rotate the axes from OP NED frame to OSG frame (X east, Y north, Z down)
double angle;
osg::Vec3d axis;
quat.getRotate(angle,axis);
quat.makeRotate(angle, osg::Vec3d(axis[1],axis[0],-axis[2]));
osg::Matrixd rot = osg::Matrixd::rotate(quat);
uavAttitudeAndScale->setMatrix(rot);
frame();
}