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x3domlet
Commit 0e3c7053 authored by Oleg Dzhimiev's avatar Oleg Dzhimiev
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started constructing derivatives

parent 7647bcd0
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js/x3dom_deltas.js
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......@@ -53,80 +53,6 @@ function Av_f(mark,pars){
}
function v_f(mark,pars){
var e1_world = get_e1_w(mark,pars);
var e2_world = get_e2_w(mark,pars);
// pointing from model mark to map mark
var v = e1_world.subtract(e2_world);
return v;
}
// model to world (for debugging mainly)
function get_e1_M2W(mark,pars){
var heading = pars.heading*Math.PI/180;
var tilt = (pars.tilt-90)*Math.PI/180;
var roll = pars.roll*Math.PI/180;
// Heading,Tilt,Roll
var Mh = x3dom.fields.SFMatrix4f.rotationZ(heading);
var Mt = x3dom.fields.SFMatrix4f.rotationY(tilt);
var Mr = x3dom.fields.SFMatrix4f.rotationX(roll);
// I'll need R'
var R = Mh.mult(Mt).mult(Mr);
// T is constant
var T = x3dom_toYawPitchRoll();
var M2W = R.mult(T);
return M2W;
}
// get ellipse 1 in world coordinates
function get_e1_w(mark,pars){
var M2W = get_e1_M2W(mark,pars);
var W2M = M2W.inverse();
var e1_model = new x3dom.fields.SFVec3f(mark.model.x,mark.model.y,mark.model.z);
var e1_world = M2W.multMatrixVec(e1_model);
return e1_world;
}
// get ellipse 2 in world coordinates
function get_e2_w(mark,pars){
var p0_ll = new L.LatLng(pars.lat, pars.lng);
var p1_ll = new L.LatLng(mark.map.lat, mark.map.lng);
// get coordinates of marker in real world coorinates
// the world is
var pi_ll = new L.LatLng(p0_ll.lat, p1_ll.lng);
// will need derivatives from this distanceTo
var dx = pi_ll.distanceTo(p1_ll);
var dy = p0_ll.distanceTo(pi_ll);
var dz = (mark.map.alt-pars.alt)*(-1);
// sign
if (p1_ll.lng<p0_ll.lng) dy = -dy;
if (p1_ll.lat<p0_ll.lat) dx = -dx;
// dx,dy,dz - coorinates map marker in 'world' coordinates
// with the center in p0
//
// which is ellipse 2 e2.
var e2_world = new x3dom.fields.SFVec3f(dx,dy,dz);
return e2_world;
}
function A_f(mark,pars){
var e1_world = get_e1_w(mark,pars);
......@@ -235,6 +161,164 @@ function A_f(mark,pars){
}
function v_f(mark,pars){
var e1_world = get_e1_w(mark,pars);
var e2_world = get_e2_w(mark,pars);
// pointing from model mark to map mark
var v = e1_world.subtract(e2_world);
return v;
}
// rads per degree
var RPD = Math.PI/180;
// v derivatives
function dv_lat(mark,pars){
// dv = de1 - de2, where de1==0
// dv = -de2
//var dlat = p2_ll.lat-p1_ll.lat;
//var dlon = p2_ll.lng-p1_ll.lng;
//var dy = Math.sin(dlon)*Math.cos(p2_ll.lat);
//var dx = Math.cos(p1_ll.lat)*Math.sin(p2_ll.lat)-Math.sin(p1_ll.lat)*Math.cos(p2_ll.lat)*Math.cos(dlon);
//
var p0_ll = new L.LatLng(pars.lat, pars.lng);
var p1_ll = new L.LatLng(mark.map.lat, mark.map.lng);
//var Earth = 6371000;
// take from leaflet
var Earth = L.CRS.Earth.R;
}
function dv_heading(mark,pars){
// dv = de1 - de2, where de2==0
var heading = pars.heading*RPD;
var tilt = (pars.tilt-90)*RPD;
var roll = pars.roll*RPD;
var M = dHTR(heading,tilt,roll);
var T = x3dom_toYawPitchRoll();
var e1_model = new x3dom.fields.SFVec3f(mark.model.x,mark.model.y,mark.model.z);
var dv_heading = M.mult(T).multMatrixVec(e1_model).multiply(RPD);
return dv_heading;
}
function dv_tilt(mark,pars){
// dv = de1
var heading = pars.heading*RPD;
var tilt = (pars.tilt-90)*RPD;
var roll = pars.roll*RPD;
var M = HdTR(heading,tilt,roll);
var T = x3dom_toYawPitchRoll();
var e1_model = new x3dom.fields.SFVec3f(mark.model.x,mark.model.y,mark.model.z);
var dv_tilt = M.mult(T).multMatrixVec(e1_model).multiply(RPD);
return dv_tilt;
}
function dv_roll(mark,pars){
// dv = de1
var heading = pars.heading*RPD;
var tilt = (pars.tilt-90)*RPD;
var roll = pars.roll*RPD;
var M = HTdR(heading,tilt,roll);
var T = x3dom_toYawPitchRoll();
var e1_model = new x3dom.fields.SFVec3f(mark.model.x,mark.model.y,mark.model.z);
var dv_roll = M.mult(T).multMatrixVec(e1_model).multiply(RPD);
return dv_roll;
}
// BASIC FUNCTIONS and DERIVATIVES
// model to world (for debugging mainly)
function get_e1_M2W(mark,pars){
var heading = pars.heading*RPD;
var tilt = (pars.tilt-90)*RPD;
var roll = pars.roll*RPD;
// Heading,Tilt,Roll
var Mh = x3dom.fields.SFMatrix4f.rotationZ(heading);
var Mt = x3dom.fields.SFMatrix4f.rotationY(tilt);
var Mr = x3dom.fields.SFMatrix4f.rotationX(roll);
// I'll need R'
var R = Mh.mult(Mt).mult(Mr);
// T is constant
var T = x3dom_toYawPitchRoll();
var M2W = R.mult(T);
return M2W;
}
// get ellipse 1 in world coordinates
function get_e1_w(mark,pars){
var M2W = get_e1_M2W(mark,pars);
var W2M = M2W.inverse();
var e1_model = new x3dom.fields.SFVec3f(mark.model.x,mark.model.y,mark.model.z);
var e1_world = M2W.multMatrixVec(e1_model);
return e1_world;
}
// get ellipse 2 in world coordinates
function get_e2_w(mark,pars){
var p0_ll = new L.LatLng(pars.lat, pars.lng);
var p1_ll = new L.LatLng(mark.map.lat, mark.map.lng);
// get coordinates of marker in real world coorinates
// the world is
var pi_ll = new L.LatLng(p0_ll.lat, p1_ll.lng);
// will need derivatives from this distanceTo
var dx = pi_ll.distanceTo(p1_ll);
var dy = p0_ll.distanceTo(pi_ll);
var dz = (mark.map.alt-pars.alt)*(-1);
// sign
if (p1_ll.lng<p0_ll.lng) dy = -dy;
if (p1_ll.lat<p0_ll.lat) dx = -dx;
// dx,dy,dz - coorinates map marker in 'world' coordinates
// with the center in p0
//
// which is ellipse 2 e2.
var e2_world = new x3dom.fields.SFVec3f(dx,dy,dz);
return e2_world;
}
function Av_df_dx(){
console.log("Welcome to dAv/dx");
......@@ -397,13 +481,103 @@ function matrix_x3dom_to_numeric(m){
}
// for rotation matrices
function Rx(a){
return new x3dom.fields.SFMatrix4f(
1, 0, 0, 0,
0, Math.cos(a), -Math.sin(a), 0,
0, Math.sin(a), Math.cos(a), 0,
0, 0, 0, 1
);
}
function Ry(a){
return new x3dom.fields.SFMatrix4f(
Math.cos(a), 0, Math.sin(a), 0,
0, 1, 0, 0,
-Math.sin(a), 0, Math.cos(a), 0,
0, 0, 0, 1
);
}
function Rz(a){
return new x3dom.fields.SFMatrix4f(
Math.cos(a), -Math.sin(a), 0, 0,
Math.sin(a), Math.cos(a), 0, 0,
0, 0, 1, 0,
0, 0, 0, 1
);
}
function dRx(a){
return new x3dom.fields.SFMatrix4f(
1, 0, 0, 0,
0, -Math.sin(a), -Math.cos(a), 0,
0, Math.cos(a), -Math.sin(a), 0,
0, 0, 0, 1
);
}
function dRy(a){
return new x3dom.fields.SFMatrix4f(
-Math.sin(a), 0, Math.cos(a), 0,
0, 1, 0, 0,
-Math.cos(a), 0, -Math.sin(a), 0,
0, 0, 0, 1
);
}
function dRz(a){
return new x3dom.fields.SFMatrix4f(
-Math.sin(a), -Math.cos(a), 0, 0,
Math.cos(a), -Math.sin(a), 0, 0,
0, 0, 1, 0,
0, 0, 0, 1
);
}
function dHTR(h,t,r){
var m1 = dRz(h);
var m2 = Ry(t);
var m3 = Rx(r);
return m1.mult(m2).mult(m3);
}
function HdTR(h,t,r){
var m1 = Rz(h);
var m2 = dRy(t);
var m3 = Rx(r);
return m1.mult(m2).mult(m3);
}
function HTdR(h,t,r){
var m1 = Rz(h);
var m2 = Ry(t);
var m3 = dRx(r);
return m1.mult(m2).mult(m3);
}
......
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