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Commit 64db9f96 authored by Oleg Dzhimiev's avatar Oleg Dzhimiev
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got rid of INIT_HEADING, it's all matrix operations now

parent 43da7d62
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Showing with 209 additions and 165 deletions
js/leaflet_init.js
View file @ 64db9f96
......@@ -80,7 +80,7 @@ LeafletObject.prototype.initialize = function(){
'https://{s}.google.com/vt/lyrs=s&x={x}&y={y}&z={z}',
{
maxZoom: this._settings.maxzoom,
attribution: 'Thanks to comrade Google for our happy childhood',
attribution: 'Google imagery',
subdomains:['mt0','mt1','mt2','mt3'],
}
);
......
js/ui_init.js
View file @ 64db9f96
......@@ -43,9 +43,6 @@ var Data = {
var Scene;
var Map;
// this var needs to go
var INIT_HEADING = 0;
var SETTINGS = {
'pointer': false,
'highlight': false,
......@@ -158,8 +155,6 @@ function light_init(){
fov: fov || 0,
});
INIT_HEADING = heading;
var element = document.getElementById('x3d_id');
Scene = new X3DOMObject(element,Data,{});
......@@ -268,38 +263,31 @@ function x3d_initial_camera_placement(){
// Altitude is relative. Do not care.
// Roll
var x = new x3dom.fields.SFVec3f(1,0,0);
var qr = x3dom.fields.Quaternion.axisAngle(x,roll);
var Mr = qr.toMatrix();
// Tilt
var y = new x3dom.fields.SFVec3f(0,1,0);
var qt = x3dom.fields.Quaternion.axisAngle(y,tilt);
var Mt = qt.toMatrix();
// Heading
var z = new x3dom.fields.SFVec3f(0,0,1);
var qh = x3dom.fields.Quaternion.axisAngle(z,heading);
var Mh = qh.toMatrix();
var R = Mh.mult(Mt).mult(Mr);
var T = x3dom_C2E();
// Heading,Tilt,Roll
var Mh = x3dom.fields.SFMatrix4f.rotationZ(heading);
var Mt = x3dom.fields.SFMatrix4f.rotationY(tilt);
var Mr = x3dom.fields.SFMatrix4f.rotationX(roll);
// rw = real world with North
// w = virtual world = x3dom frame reference
var Rw_rw = T.inverse().mult(R).mult(T);
var M_rw2w = Rw_rw.inverse();
// proper Euler rotation
var R = Mh.mult(Mt).mult(Mr);
// convert to proper Euler
var T = x3dom_toYawPitchRoll();
var R0 = T.inverse().mult(R).mult(T);
// _rw - real world
// _w - virt world
var Rc_rw = T.inverse().mult(Mh).mult(T);
var Rc_w = M_rw2w.mult(Rc_rw);
//var Rm_w = M_rw2w.mult(Rm_rw);
// exclude roll?
//var RC0_rw = T.inverse().mult(Mh).mult(Mt).mult(T);
// exclude tilt and roll
var RC0_rw = T.inverse().mult(Mh).mult(T);
var RC_w = R0.inverse().mult(RC0_rw);
// store matrices
Data.camera.Matrices = {
Ah: heading,
......@@ -308,25 +296,23 @@ function x3d_initial_camera_placement(){
R_h_eul: Mh,
R_t_eul: Mt,
R_r_eul: Mr,
Rw_rw : Rw_rw,
M_rw2w : M_rw2w,
V_trueUp_w: Rc_w.e1(),
Rc_w: Rc_w,
//Rm_w: Rm_w
R0 : R0,
Up0: RC_w.e1(),
RC_w: RC_w,
};
// set view
var Q = new x3dom.fields.Quaternion(0, 0, 1, 0);
Q.setValue(Rc_w);
Q.setValue(RC_w);
var AA = Q.toAxisAngle();
var viewpoint = $(Scene.element).find("Viewpoint");
viewpoint.attr("orientation",AA[0].toString()+" "+AA[1]);
viewpoint.attr("position",Rc_w.e3().toString());
viewpoint.attr("centerOfRotation",Rc_w.e3().toString());
viewpoint.attr("position",RC_w.e3().toString());
viewpoint.attr("centerOfRotation",RC_w.e3().toString());
// update every time
Data.camera.Matrices.Rc_w = Rc_w;
Data.camera.Matrices.RC_w = RC_w;
}
......@@ -589,27 +575,18 @@ function leaf_mousemove_nohc(e){
var Camera = Map.marker;
//old
var p0 = new L.LatLng(Data.camera.latitude,Data.camera.longitude);
var p1 = new L.LatLng(Camera._latlng.lat,Camera._latlng.lng);
//update Data
Data.camera.latitude = Camera._latlng.lat;
Data.camera.longitude = Camera._latlng.lng;
var dh = Camera._heading - Math.PI/180*Data.camera.heading;
//console.log(Camera._heading);
Data.camera.heading = Camera._heading*180/Math.PI;
var newheading = Data.camera.heading - INIT_HEADING;
Data.camera.latitude = Camera._latlng.lat;
Data.camera.longitude = Camera._latlng.lng;
if ((p0.lat!=p1.lat)||(p0.lng!=p1.lng)){
//console.log("translation");
leaf_translation_v1(p0,p1);
}else{
//leaf_rotation_v1(newheading,dh);
x3dom_rotation(dh);
}
......@@ -669,42 +646,41 @@ function x3d_mouseMove(){
var Camera = Map.marker;
//var initial_heading = Data.camera.heading;
//var initial_heading = INIT_HEADING;
var mat = Scene.element.runtime.viewMatrix().inverse();
var R0 = Data.camera.Matrices.R0;
var T = x3dom_toYawPitchRoll();
var heading = x3dom_getViewDirection(Scene.element);
var m_rw = T.mult(R0).mult(mat).mult(T.inverse());
var ypr = x3dom_YawPitchRoll_degs(m_rw);
Map.marker.setHeading(heading+INIT_HEADING);
var heading = ypr.yaw;
var d = x3dom_getViewTranslation(Scene.element);
Map.marker.setHeading(heading);
var dx;
var dz;
var dp_w = mat.e3();
if (Scene.old_view_translation == null){
dx = 0;
dz = 0;
}else{
dx = d.x - Scene.old_view_translation.x;
dz = d.z - Scene.old_view_translation.z;
if (Scene.old_view_translation != null){
dp_w = dp_w.subtract(Scene.old_view_translation);
}
var distance = Math.sqrt(dx*dx+dz*dz);
var angle = 180/Math.PI*Math.atan2(dx,-dz);
// from w to rw
dp_rw = R0.multMatrixVec(dp_w);
var distance = Math.sqrt(dp_rw.x*dp_rw.x+dp_rw.z*dp_rw.z);
var angle = 180/Math.PI*Math.atan2(dp_rw.x,-dp_rw.z);
var initial_coordinates = [Data.camera.latitude,Data.camera.longitude];
var p0 = new L.LatLng(initial_coordinates[0],initial_coordinates[1]);//Camera._latlng;
var p1 = p0.CoordinatesOf(angle+INIT_HEADING,distance);
var p1 = p0.CoordinatesOf(angle,distance);
Map.marker.setBasePoint(p1);
Map.marker._syncMeasureMarkersToBasePoint();
Data.camera.latitude = p1.lat;
Data.camera.longitude = p1.lng;
Data.camera.heading = heading+INIT_HEADING;
Data.camera.heading = heading;
Scene.old_view_translation = d;
Scene.old_view_translation = mat.e3();
}
js/x3dom_functions.js
View file @ 64db9f96
......@@ -79,6 +79,8 @@ function x3dom_getXYPosOr(cnvx,cnvy,round){
var shootRay = elem.runtime.shootRay(cnvx,cnvy);
var valid_distance = true;
if (shootRay.pickPosition != null){
var index = Scene.highlighted_marker_index;
......@@ -124,11 +126,25 @@ function x3dom_getXYPosOr(cnvx,cnvy,round){
dist_xz = null;
dist_xyz = null;
valid_distance = false;
}
var R0 = Data.camera.Matrices.R0;
var p_w = new x3dom.fields.SFVec3f(x,y,z);
var p_rw = R0.multMatrixVec(p_w);
if (valid_distance){
dist_xz = Math.sqrt(p_rw.x*p_rw.x+p_rw.z*p_rw.z);
dist_xyz = Math.sqrt(p_rw.y*p_rw.y+dist_xz*dist_xz);
}else{
dist_xz = null;
dist_xyz = null;
}
az = Math.atan2(x,-z)*180/Math.PI;
az = (az+INIT_HEADING+360)%360;
el = Math.atan2(y,Math.sqrt(x*x+z*z))*180/Math.PI;
az = Math.atan2(p_rw.x,-p_rw.z)*180/Math.PI;
az = (az+360)%360;
el = Math.atan2(p_rw.y,Math.sqrt(p_rw.x*p_rw.x+p_rw.z*p_rw.z))*180/Math.PI;
sk = 0;
var result = {
......@@ -166,53 +182,40 @@ function x3dom_getCameraPosOr(round){
var elem = Scene.element;
var vm = elem.runtime.viewMatrix().inverse();
var m = elem.runtime.viewMatrix().inverse();
var tr = vm.e3();
var tr = m.e3();
var x = tr.x;
var y = tr.y;
var z = tr.z;
var R0 = Data.camera.Matrices.R0;
var T0 = x3dom_toYawPitchRoll();
var R = vm;
m = T0.mult(R0).mult(m).mult(T0.inverse());
// double check below, random correct result?
var ypr = x3dom_YawPitchRoll(m);
//var mat = Data.camera.Matrices.Rw_rw;
var mat = Data.camera.Matrices.M_rw2w;
var T = x3dom_C2E();
ypr.yaw = (180/Math.PI*ypr.yaw+360)%360;
ypr.pitch *= 180/Math.PI;
ypr.roll *= 180/Math.PI;
mat = T.mult(mat).mult(vm).mult(T.inverse());
var test = x3dom_YawPitchRoll(mat);
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;
//x3dom_matrix_test();
if (!round){
return {
x: x,
y: y,
z: z,
a: az,
e: el,
s: sk
x: tr.x,
y: tr.y,
z: tr.z,
a: ypr.yaw,
e: ypr.pitch,
s: ypr.roll
};
}else{
return {
x: x.toFixed(2),
y: y.toFixed(2),
z: z.toFixed(2),
a: az.toFixed(1),
e: el.toFixed(1),
s: sk.toFixed(1)
x: tr.x.toFixed(2),
y: tr.y.toFixed(2),
z: tr.z.toFixed(2),
a: ypr.yaw.toFixed(1),
e: ypr.pitch.toFixed(1),
s: ypr.roll.toFixed(1)
};
}
......@@ -228,7 +231,7 @@ function x3dom_setUpRight(){
var at = from.subtract(mat.e2());
//var up = new x3dom.fields.SFVec3f(0, 1, 0);
var up = Data.camera.Matrices.V_trueUp_w;
var up = Data.camera.Matrices.Up0;
var s = mat.e2().cross(up).normalize();
......@@ -253,7 +256,7 @@ function x3dom_setUpRight(){
viewpoint.attr("centerOfRotation",mat.e3().toString());
viewpoint.attr("orientation",AA[0].toString()+" "+AA[1]);
Data.camera.Matrices.Rc_w = mat;
Data.camera.Matrices.RC_w = mat;
}
......@@ -300,7 +303,7 @@ function x3dom_rotation(delta_a){
viewpoint.attr("position",from.toString());
viewpoint.attr("centerOfRotation",from.toString());
Data.camera.Matrices.Rc_w = newmat;
Data.camera.Matrices.RC_w = newmat;
}
......@@ -337,31 +340,42 @@ function x3dom_translation(dx,dy,dz){
viewpoint.attr("position",newfrom.toString());
viewpoint.attr("centerOfRotation",newfrom.toString());
Data.camera.Matrices.Rc_w = newmat;
Data.camera.Matrices.RC_w = newmat;
}
function x3dom_altelev(alt,elev){
console.log(elev);
//x3dom_matrix_test();
var mat = Scene.element.runtime.viewMatrix().inverse();
var R0 = Data.camera.Matrices.R0;
var T = x3dom_toYawPitchRoll();
var m_rw = T.mult(R0).mult(mat).mult(T.inverse());
var ypr = x3dom_YawPitchRoll(m_rw);
var from = mat.e3();
from.y = alt;
// convert to W2C*C2W
var az = Math.atan2(mat._02,mat._22);
var az = ypr.yaw;
var el = elev;
var sk = Math.atan2(mat._10,mat._11);
var sk = ypr.roll;
var Mh = x3dom.fields.SFMatrix4f.rotationZ(az);
var Mt = x3dom.fields.SFMatrix4f.rotationY(el);
var Mr = x3dom.fields.SFMatrix4f.rotationX(sk);
var R = Mh.mult(Mt).mult(Mr);
var R_rw = T.inverse().mult(R).mult(T);
var R_w = R0.inverse().mult(R_rw);
var matx = x3dom.fields.SFMatrix4f.rotationX(el);
var maty = x3dom.fields.SFMatrix4f.rotationY(az);
var matz = x3dom.fields.SFMatrix4f.rotationZ(sk);
var matt = x3dom.fields.SFMatrix4f.translation(from);
var newmat = matt.mult(maty).mult(matx).mult(matz);
var newmat = matt.mult(R_w);
var Q = new x3dom.fields.Quaternion(0,0,1,0);
Q.setValue(newmat);
......@@ -372,7 +386,7 @@ 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;
Data.camera.Matrices.RC_w = newmat;
}
/**
......@@ -380,31 +394,54 @@ function x3dom_altelev(alt,elev){
*/
function x3dom_matrix_test(){
console.log("begin==================================");
var viewpoint = $(Scene.element).find("Viewpoint");
console.log("Viewpoint DOM element");
console.log("position: "+viewpoint.attr("position"));
console.log("orientation: "+viewpoint.attr("orientation"));
var mat = Scene.element.runtime.viewMatrix().inverse();
/*
* 1. view matrix:
* - from world to camera
* - cols - world basis in camera coords
* 2. view matrix inverted:
* - from camera to world
* - cols - camera basis in world coords
* - rotation matrix by def, order is not conv:
* - yx'z" vs zy'x"
*/
var mat = Scene.element.runtime.viewMatrix();
console.log("inversed viewMatrix");
console.log("1. View Matrix from runtime");
console.log(mat.toString());
var from = mat.e3();
var at = from.subtract(mat.e2());
var up = mat.e1();
var mat_i = mat.inverse();
console.log("matrix from from-at-up");
console.log("2. Inverted View Matrix");
console.log(mat_i.toString());
var newmat = x3dom.fields.SFMatrix4f.lookAt(from, at, up);
var from = mat_i.e3();
var at = from.subtract(mat_i.e2());
var up = mat_i.e1();
console.log(newmat.toString());
console.log("3. From-At-Up");
var mat_fau = x3dom.fields.SFMatrix4f.lookAt(from, at, up);
console.log(mat_fau.toString());
var T = x3dom_toYawPitchRoll();
var mat_eul = T.mult(mat_i).mult(T.inverse());
var eangles = x3dom_YawPitchRoll_degs(mat_eul);
console.log(eangles);
var R = mat;
var az = Math.atan2(R._02,R._22)*180/Math.PI;
//az = (az+INIT_HEADING+360)%360;
//az = (az+360)%360;
var el = -Math.asin(R._12)*180/Math.PI;
var sk = Math.atan2(R._10,R._11)*180/Math.PI;
......@@ -425,38 +462,62 @@ function x3dom_matrix_test(){
console.log(newmat.toString());
console.log("end==================================");
}
/**
* Transform to calculate conventional Euler angles for z-y'-x" = z-y-z
* unrelated: what's x3dom's native getWCtoCCMatrix()? canvas-to-world?
*/
function x3dom_C2E(){
function x3dom_YawPitchRoll(m){
var yaw = Math.atan2(m._10,m._00);
var pitch = -Math.asin(m._20);
var roll = Math.atan2(m._21,m._22);
return {
yaw: yaw,
pitch: pitch,
roll: roll
};
}
function x3dom_toYawPitchRoll(){
return new x3dom.fields.SFMatrix4f(
0, 0, 1, 0,
0, 0,-1, 0,
1, 0, 0, 0,
0, 1, 0, 0,
0,-1, 0, 0,
0, 0, 0, 1,
);
}
function x3dom_E2C(){
return x3dom_C2E().inverse();
}
function x3dom_YawPitchRoll(m){
function x3dom_YawPitchRoll_degs(m){
var yaw = Math.atan2(m._10,m._00);
var pitch = -Math.asin(m._20);
var roll = Math.atan2(m._21,m._22);
return {
yaw: yaw,
pitch: pitch,
roll: roll
yaw: yaw*180/Math.PI,
pitch: pitch*180/Math.PI,
roll: roll*180/Math.PI
};
}
/*
function x3dom_YawPitchRoll_2_degs(m){
var pitch = Math.PI+Math.asin(m._20);
var roll = Math.atan2(m._21/Math.cos(pitch),m._22/Math.cos(pitch));
var yaw = Math.atan2(m._10/Math.cos(pitch),m._00/Math.cos(pitch));
return {
yaw: yaw*180/Math.PI,
pitch: pitch*180/Math.PI,
roll: roll*180/Math.PI
};
}
*/
function x3dom_delta_map2scene(p0,p1){
var pi = new L.LatLng(p0.lat,p1.lng);
......@@ -470,9 +531,8 @@ function x3dom_delta_map2scene(p0,p1){
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);
var M0 = Data.camera.Matrices.R0.inverse();
var dp_w = M0.multMatrixVec(dp_rw);
return dp_w;
......
js/x3dom_init.js
View file @ 64db9f96
......@@ -862,23 +862,27 @@ X3DOMObject.Marker.drag = function(dx,dy){
X3DOMObject.Marker.slide = function(index,x,y,z){
var c = Data.markers[index];
var R0 = Data.camera.Matrices.R0;
//var T = x3dom_toYawPitchRoll();
c.x = x;
c.y = y;
c.z = z;
var p_w = new x3dom.fields.SFVec3f(x,y,z);
var p_rw = R0.multMatrixVec(p_w);
var azimuth = Math.atan2(c.x,-c.z)*180/Math.PI;
//var initial_heading = Data.camera.heading;
var distance = Math.sqrt(c.x*c.x+c.z*c.z);
var distance = Math.sqrt(p_rw.x*p_rw.x+p_rw.z*p_rw.z);
var angle = Math.atan2(p_rw.x,-p_rw.z)*180/Math.PI;
var p1_ll = Map.marker._latlng;
var p2_ll = p1_ll.CoordinatesOf(azimuth+INIT_HEADING,distance);
var p2_ll = p1_ll.CoordinatesOf(angle,distance);
var c = Data.markers[index];
c.x = x;
c.y = y;
c.z = z;
c.latitude = p2_ll.lat;
c.longitude = p2_ll.lng;
c.altitude = c.y;
//d_x3d - map distance calculated from the model
c.d_x3d = distance;
X3DOMObject.displayMarkInfo(index);
......@@ -971,10 +975,14 @@ X3DOMObject.PointerMarker.prototype._registerEvents = function(){
new X3DOMObject.Marker(mark.x,mark.y,mark.z);
// Create marker on the map
var azimuth = Math.atan2(mark.x,-mark.z)*180/Math.PI;
var distance = Math.sqrt(mark.x*mark.x+mark.z*mark.z);
var R0 = Data.camera.Matrices.R0;
var p_w = new x3dom.fields.SFVec3f(mark.x,mark.y,mark.z);
var p_rw = R0.multMatrixVec(p_w);
var distance = Math.sqrt(p_rw.x*p_rw.x+p_rw.z*p_rw.z);
var angle = Math.atan2(p_rw.x,-p_rw.z)*180/Math.PI;
Camera.createMeasureMarker(azimuth+INIT_HEADING,distance);
Camera.createMeasureMarker(angle,distance);
var map_mark = Camera._measureMarkers[Camera._measureMarkers.length-1];
......
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