subbing INIT_HEADING to matrix mults

js/ui_init.js

@@ -289,22 +289,30 @@ function x3d_initial_camera_placement(){
     
     // rw = real world with North
     // w = virtual world = x3dom frame reference
-    var R_rw2w = T.inverse().mult(R).mult(T);
+    var Rw_rw = T.inverse().mult(R).mult(T);
 
-    var M_rw2w = R_rw2w.inverse();
+    var M_rw2w = Rw_rw.inverse();
 
-    var Rmap_rw = T.inverse().mult(Mh).mult(T);
+    // _rw - real world
+    //  _w - virt world
+    var Rc_rw = T.inverse().mult(Mh).mult(T);
     
-    var Rc_w = M_rw2w.mult(T.inverse()).mult(Mh).mult(T);
+    var Rc_w = M_rw2w.mult(Rc_rw);
+    //var Rm_w = M_rw2w.mult(Rm_rw);
     
     // store matrices
     Data.camera.Matrices = {
+        Ah: heading,
+        At: tilt,
+        Ar: roll,
         R_h_eul: Mh,
         R_t_eul: Mt,
         R_r_eul: Mr,
-        R_rw2w : R_rw2w,
+        Rw_rw : Rw_rw,
         M_rw2w : M_rw2w,
-        V_trueUp_w: Rc_w.e1()
+        V_trueUp_w: Rc_w.e1(),
+        Rc_w: Rc_w,
+        //Rm_w: Rm_w
     };
 
     // set view
@@ -317,6 +325,9 @@ function x3d_initial_camera_placement(){
     viewpoint.attr("position",Rc_w.e3().toString());
     viewpoint.attr("centerOfRotation",Rc_w.e3().toString());
     
+    // update every time
+    Data.camera.Matrices.Rc_w = Rc_w;
+    
 }
 
 function x3d_events(){
@@ -493,9 +504,9 @@ function leaf_events(){
                 //var azimuth = getAzimuth(p1_ll,p2_ll);
                 var azimuth = getAzimuth(p1_ll,p2_ll);
                 
-                var initial_heading = INIT_HEADING;
+                //var initial_heading = Data.camera.Matrices.Ah*180/Math.PI;
                 
-                var angle = azimuth - initial_heading;
+                var angle = azimuth - Data.camera.Matrices.Ah*180/Math.PI;
                 var distance = p1_ll.distanceTo(p2_ll);
                 
                 //console.log("angle from lat lng: "+angle);
@@ -595,7 +606,7 @@ function leaf_mousemove_nohc(e){
     var newheading = Data.camera.heading - INIT_HEADING;
     
     if ((p0.lat!=p1.lat)||(p0.lng!=p1.lng)){
-        console.log("translation");
+        //console.log("translation");
         leaf_translation_v1(p0,p1);
     }else{
         //leaf_rotation_v1(newheading,dh);
@@ -625,58 +636,29 @@ function leaf_drag_marker(){
         
         mark.latitude = p2_ll.lat;
         mark.longitude = p2_ll.lng;
-        
-        var azimuth = getAzimuth(p1_ll,p2_ll);
-        //var initial_heading = Data.camera.heading;
-        
-        var angle = azimuth - INIT_HEADING;
+
         var distance = p1_ll.distanceTo(p2_ll);
         
-        mark.x = distance*Math.sin(Math.PI/180*angle);
-        mark.z = -distance*Math.cos(Math.PI/180*angle);
+        var dp_w = x3dom_delta_map2scene(p1_ll,p2_ll);
+        
+        mark.x = dp_w.x;
+        mark.z = dp_w.z;
         
         mark.d_map = distance;
         
         X3DOMObject.displayMarkInfo(index);
         
         X3DOMObject.Marker.place(mark.x,mark.y,mark.z,"my-sph-"+index);
-    
+
     }
     
 }
 
 function leaf_translation_v1(p0,p1){
     
-    var pi = new L.LatLng(p0.lat,p1.lng);
-    
-    var dx = p0.distanceTo(pi);
-    var dy = 0;
-    var dz = p1.distanceTo(pi);
-    var dl = p0.distanceTo(p1);
-    
-    //console.log(dx+" "+dz+" "+dl);
-    
-    if (p1.lng<p0.lng){
-        dx = -dx;
-    }
-    
-    if (p1.lat<p0.lat){
-        dz = -dz;
-    }
-
-    //transform to camera coordinates
-    var A  = Math.PI/180*INIT_HEADING;
-    var a  = Math.atan2(dx,dz);
-    
-    console.log(A);
-    
-    dx = -dl*Math.sin(A-a);
-    dz = -dl*Math.cos(A-a);
-    
-    console.log("dx="+dx+" dy="+dy+" dz="+dz);
+    var dp_w = x3dom_delta_map2scene(p0,p1);
     
-    // translation over map = xz
-    x3dom_translation(dx,dy,dz);
+    x3dom_translation(dp_w.x,dp_w.y,dp_w.z);
     
     // if not updated then moving in 3D scene will make it jump
     Scene.old_view_translation = x3dom_getViewTranslation(Scene.element);
@@ -687,7 +669,7 @@ function x3d_mouseMove(){
     
     var Camera = Map.marker;
     
-    var initial_heading = Data.camera.heading;
+    //var initial_heading = Data.camera.heading;
     //var initial_heading = INIT_HEADING;
     
     var heading = x3dom_getViewDirection(Scene.element);

js/x3dom_functions.js

@@ -162,6 +162,8 @@ function x3dom_getXYPosOr(cnvx,cnvy,round){
  */
 function x3dom_getCameraPosOr(round){
     
+    //console.log("Getting PosOr");
+    
     var elem = Scene.element;
     
     var vm = elem.runtime.viewMatrix().inverse();
@@ -173,14 +175,26 @@ function x3dom_getCameraPosOr(round){
     var z = tr.z;
     
     var R = vm;
+
+    // double check below, random correct result?
     
-    var az = Math.atan2(R._02,R._22)*180/Math.PI;
+    //var mat = Data.camera.Matrices.Rw_rw;
+    var mat = Data.camera.Matrices.M_rw2w;
+    var T = x3dom_C2E();
     
-    az = (az+INIT_HEADING+360)%360;
+    mat = T.mult(mat).mult(vm).mult(T.inverse());
     
-    var el = -Math.asin(R._12)*180/Math.PI;
+    var test = x3dom_YawPitchRoll(mat);
 
-    var sk = Math.atan2(R._10,R._11);
+    test.yaw = (-180/Math.PI*test.yaw+360)%360;
+    test.pitch *= 180/Math.PI;
+    test.roll *= 180/Math.PI;
+    
+    //console.log(test);
+
+    az = test.yaw;
+    el = test.pitch;
+    sk = test.roll;
     
     if (!round){
         return {
@@ -238,6 +252,8 @@ function x3dom_setUpRight(){
     viewpoint.attr("position",mat.e3().toString());
     viewpoint.attr("centerOfRotation",mat.e3().toString());
     viewpoint.attr("orientation",AA[0].toString()+" "+AA[1]);
+    
+    Data.camera.Matrices.Rc_w = mat;
 
 }
 
@@ -283,6 +299,8 @@ function x3dom_rotation(delta_a){
     viewpoint.attr("orientation",AA[0].toString()+" "+AA[1]);
     viewpoint.attr("position",from.toString());
     viewpoint.attr("centerOfRotation",from.toString());
+    
+    Data.camera.Matrices.Rc_w = newmat;
 
 }
 
@@ -297,11 +315,11 @@ function x3dom_translation(dx,dy,dz){
     var from = mat.e3();
     var at = from.subtract(mat.e2());
     
-    console.log(from.toString());
+    //console.log(from.toString());
     
     var newfrom = from.add(delta);
     
-    console.log(newfrom.toString());
+    //console.log(newfrom.toString());
     
     var newat = newfrom.subtract(mat.e2());
     
@@ -319,6 +337,8 @@ function x3dom_translation(dx,dy,dz){
     viewpoint.attr("position",newfrom.toString());
     viewpoint.attr("centerOfRotation",newfrom.toString());
     
+    Data.camera.Matrices.Rc_w = newmat;
+    
 }
 
 function x3dom_altelev(alt,elev){
@@ -352,6 +372,7 @@ function x3dom_altelev(alt,elev){
     viewpoint.attr("centerOfRotation",newmat.e3().toString());
     viewpoint.attr("orientation",AA[0].toString()+" "+AA[1]);
     
+    Data.camera.Matrices.Rc_w = newmat;
 }
 
 /**
@@ -420,7 +441,7 @@ function x3dom_C2E(){
 }
 
 function x3dom_E2C(){
-    return x3dom_W2C().inverse();
+    return x3dom_C2E().inverse();
 }
 
 function x3dom_YawPitchRoll(m){
@@ -435,3 +456,24 @@ function x3dom_YawPitchRoll(m){
         roll: roll
     };
 }
+
+function x3dom_delta_map2scene(p0,p1){
+    
+    var pi = new L.LatLng(p0.lat,p1.lng);
+
+    var dx = p0.distanceTo(pi);
+    var dy = 0;
+    var dz = p1.distanceTo(pi);
+
+    var dp_rw = new x3dom.fields.SFVec3f(dx,dy,dz);
+
+    if (p1.lng<p0.lng) dp_rw.x = -dp_rw.x;
+    if (p1.lat>p0.lat) dp_rw.z = -dp_rw.z;
+
+    // rotate, not transform - because rotated is the camera
+    var mat = Data.camera.Matrices.Rw_rw;
+    var dp_w = mat.multMatrixVec(dp_rw);
+    
+    return dp_w;
+    
+}