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Elphel
x3domlet
Commits
64db9f96
Commit
64db9f96
authored
Jun 09, 2017
by
Oleg Dzhimiev
Browse files
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Email Patches
Plain Diff
got rid of INIT_HEADING, it's all matrix operations now
parent
43da7d62
Changes
4
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Showing
4 changed files
with
209 additions
and
165 deletions
+209
-165
leaflet_init.js
js/leaflet_init.js
+1
-1
ui_init.js
js/ui_init.js
+49
-73
x3dom_functions.js
js/x3dom_functions.js
+138
-78
x3dom_init.js
js/x3dom_init.js
+21
-13
No files found.
js/leaflet_init.js
View file @
64db9f96
...
@@ -80,7 +80,7 @@ LeafletObject.prototype.initialize = function(){
...
@@ -80,7 +80,7 @@ LeafletObject.prototype.initialize = function(){
'https://{s}.google.com/vt/lyrs=s&x={x}&y={y}&z={z}'
,
'https://{s}.google.com/vt/lyrs=s&x={x}&y={y}&z={z}'
,
{
{
maxZoom
:
this
.
_settings
.
maxzoom
,
maxZoom
:
this
.
_settings
.
maxzoom
,
attribution
:
'
Thanks to comrade Google for our happy childhood
'
,
attribution
:
'
Google imagery
'
,
subdomains
:[
'mt0'
,
'mt1'
,
'mt2'
,
'mt3'
],
subdomains
:[
'mt0'
,
'mt1'
,
'mt2'
,
'mt3'
],
}
}
);
);
...
...
js/ui_init.js
View file @
64db9f96
...
@@ -43,9 +43,6 @@ var Data = {
...
@@ -43,9 +43,6 @@ var Data = {
var
Scene
;
var
Scene
;
var
Map
;
var
Map
;
// this var needs to go
var
INIT_HEADING
=
0
;
var
SETTINGS
=
{
var
SETTINGS
=
{
'pointer'
:
false
,
'pointer'
:
false
,
'highlight'
:
false
,
'highlight'
:
false
,
...
@@ -158,8 +155,6 @@ function light_init(){
...
@@ -158,8 +155,6 @@ function light_init(){
fov
:
fov
||
0
,
fov
:
fov
||
0
,
});
});
INIT_HEADING
=
heading
;
var
element
=
document
.
getElementById
(
'x3d_id'
);
var
element
=
document
.
getElementById
(
'x3d_id'
);
Scene
=
new
X3DOMObject
(
element
,
Data
,{});
Scene
=
new
X3DOMObject
(
element
,
Data
,{});
...
@@ -268,38 +263,31 @@ function x3d_initial_camera_placement(){
...
@@ -268,38 +263,31 @@ function x3d_initial_camera_placement(){
// Altitude is relative. Do not care.
// Altitude is relative. Do not care.
// Roll
// Heading,Tilt,Roll
var
x
=
new
x3dom
.
fields
.
SFVec3f
(
1
,
0
,
0
);
var
Mh
=
x3dom
.
fields
.
SFMatrix4f
.
rotationZ
(
heading
);
var
qr
=
x3dom
.
fields
.
Quaternion
.
axisAngle
(
x
,
roll
);
var
Mt
=
x3dom
.
fields
.
SFMatrix4f
.
rotationY
(
tilt
);
var
Mr
=
qr
.
toMatrix
();
var
Mr
=
x3dom
.
fields
.
SFMatrix4f
.
rotationX
(
roll
);
// 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
();
// rw = real world with North
// rw = real world with North
// w = virtual world = x3dom frame reference
// w = virtual world = x3dom frame reference
var
Rw_rw
=
T
.
inverse
().
mult
(
R
).
mult
(
T
);
// proper Euler rotation
var
M_rw2w
=
Rw_rw
.
inverse
();
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
// _rw - real world
// _w - virt world
// _w - virt world
var
Rc_rw
=
T
.
inverse
().
mult
(
Mh
).
mult
(
T
);
var
Rc_w
=
M_rw2w
.
mult
(
Rc_rw
);
// exclude roll?
//var Rm_w = M_rw2w.mult(Rm_rw);
//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
// store matrices
Data
.
camera
.
Matrices
=
{
Data
.
camera
.
Matrices
=
{
Ah
:
heading
,
Ah
:
heading
,
...
@@ -308,25 +296,23 @@ function x3d_initial_camera_placement(){
...
@@ -308,25 +296,23 @@ function x3d_initial_camera_placement(){
R_h_eul
:
Mh
,
R_h_eul
:
Mh
,
R_t_eul
:
Mt
,
R_t_eul
:
Mt
,
R_r_eul
:
Mr
,
R_r_eul
:
Mr
,
Rw_rw
:
Rw_rw
,
R0
:
R0
,
M_rw2w
:
M_rw2w
,
Up0
:
RC_w
.
e1
(),
V_trueUp_w
:
Rc_w
.
e1
(),
RC_w
:
RC_w
,
Rc_w
:
Rc_w
,
//Rm_w: Rm_w
};
};
// set view
// set view
var
Q
=
new
x3dom
.
fields
.
Quaternion
(
0
,
0
,
1
,
0
);
var
Q
=
new
x3dom
.
fields
.
Quaternion
(
0
,
0
,
1
,
0
);
Q
.
setValue
(
R
c
_w
);
Q
.
setValue
(
R
C
_w
);
var
AA
=
Q
.
toAxisAngle
();
var
AA
=
Q
.
toAxisAngle
();
var
viewpoint
=
$
(
Scene
.
element
).
find
(
"Viewpoint"
);
var
viewpoint
=
$
(
Scene
.
element
).
find
(
"Viewpoint"
);
viewpoint
.
attr
(
"orientation"
,
AA
[
0
].
toString
()
+
" "
+
AA
[
1
]);
viewpoint
.
attr
(
"orientation"
,
AA
[
0
].
toString
()
+
" "
+
AA
[
1
]);
viewpoint
.
attr
(
"position"
,
R
c
_w
.
e3
().
toString
());
viewpoint
.
attr
(
"position"
,
R
C
_w
.
e3
().
toString
());
viewpoint
.
attr
(
"centerOfRotation"
,
R
c
_w
.
e3
().
toString
());
viewpoint
.
attr
(
"centerOfRotation"
,
R
C
_w
.
e3
().
toString
());
// update every time
// update every time
Data
.
camera
.
Matrices
.
R
c_w
=
Rc
_w
;
Data
.
camera
.
Matrices
.
R
C_w
=
RC
_w
;
}
}
...
@@ -588,28 +574,19 @@ function leaf_mousemove_hc(){
...
@@ -588,28 +574,19 @@ function leaf_mousemove_hc(){
function
leaf_mousemove_nohc
(
e
){
function
leaf_mousemove_nohc
(
e
){
var
Camera
=
Map
.
marker
;
var
Camera
=
Map
.
marker
;
//old
var
p0
=
new
L
.
LatLng
(
Data
.
camera
.
latitude
,
Data
.
camera
.
longitude
);
var
p0
=
new
L
.
LatLng
(
Data
.
camera
.
latitude
,
Data
.
camera
.
longitude
);
var
p1
=
new
L
.
LatLng
(
Camera
.
_latlng
.
lat
,
Camera
.
_latlng
.
lng
);
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
;
var
dh
=
Camera
.
_heading
-
Math
.
PI
/
180
*
Data
.
camera
.
heading
;
//console.log(Camera._heading);
Data
.
camera
.
heading
=
Camera
.
_heading
*
180
/
Math
.
PI
;
Data
.
camera
.
latitude
=
Camera
.
_latlng
.
lat
;
Data
.
camera
.
heading
=
Camera
.
_heading
*
180
/
Math
.
PI
;
Data
.
camera
.
longitude
=
Camera
.
_latlng
.
lng
;
var
newheading
=
Data
.
camera
.
heading
-
INIT_HEADING
;
if
((
p0
.
lat
!=
p1
.
lat
)
||
(
p0
.
lng
!=
p1
.
lng
)){
if
((
p0
.
lat
!=
p1
.
lat
)
||
(
p0
.
lng
!=
p1
.
lng
)){
//console.log("translation");
leaf_translation_v1
(
p0
,
p1
);
leaf_translation_v1
(
p0
,
p1
);
}
else
{
}
else
{
//leaf_rotation_v1(newheading,dh);
x3dom_rotation
(
dh
);
x3dom_rotation
(
dh
);
}
}
...
@@ -669,42 +646,41 @@ function x3d_mouseMove(){
...
@@ -669,42 +646,41 @@ function x3d_mouseMove(){
var
Camera
=
Map
.
marker
;
var
Camera
=
Map
.
marker
;
//var initial_heading = Data.camera.heading;
var
mat
=
Scene
.
element
.
runtime
.
viewMatrix
().
inverse
();
//var initial_heading = INIT_HEADING;
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
dp_w
=
mat
.
e3
();
var
dz
;
if
(
Scene
.
old_view_translation
==
null
){
if
(
Scene
.
old_view_translation
!=
null
){
dx
=
0
;
dp_w
=
dp_w
.
subtract
(
Scene
.
old_view_translation
);
dz
=
0
;
}
else
{
dx
=
d
.
x
-
Scene
.
old_view_translation
.
x
;
dz
=
d
.
z
-
Scene
.
old_view_translation
.
z
;
}
}
var
distance
=
Math
.
sqrt
(
dx
*
dx
+
dz
*
dz
);
// from w to rw
var
angle
=
180
/
Math
.
PI
*
Math
.
atan2
(
dx
,
-
dz
);
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
initial_coordinates
=
[
Data
.
camera
.
latitude
,
Data
.
camera
.
longitude
];
var
p0
=
new
L
.
LatLng
(
initial_coordinates
[
0
],
initial_coordinates
[
1
]);
//Camera._latlng;
var
p0
=
new
L
.
LatLng
(
initial_coordinates
[
0
],
initial_coordinates
[
1
]);
//Camera._latlng;
var
p1
=
p0
.
CoordinatesOf
(
angle
,
distance
);
var
p1
=
p0
.
CoordinatesOf
(
angle
+
INIT_HEADING
,
distance
);
Map
.
marker
.
setBasePoint
(
p1
);
Map
.
marker
.
setBasePoint
(
p1
);
Map
.
marker
.
_syncMeasureMarkersToBasePoint
();
Map
.
marker
.
_syncMeasureMarkersToBasePoint
();
Data
.
camera
.
latitude
=
p1
.
lat
;
Data
.
camera
.
latitude
=
p1
.
lat
;
Data
.
camera
.
longitude
=
p1
.
lng
;
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){
...
@@ -79,6 +79,8 @@ function x3dom_getXYPosOr(cnvx,cnvy,round){
var
shootRay
=
elem
.
runtime
.
shootRay
(
cnvx
,
cnvy
);
var
shootRay
=
elem
.
runtime
.
shootRay
(
cnvx
,
cnvy
);
var
valid_distance
=
true
;
if
(
shootRay
.
pickPosition
!=
null
){
if
(
shootRay
.
pickPosition
!=
null
){
var
index
=
Scene
.
highlighted_marker_index
;
var
index
=
Scene
.
highlighted_marker_index
;
...
@@ -124,11 +126,25 @@ function x3dom_getXYPosOr(cnvx,cnvy,round){
...
@@ -124,11 +126,25 @@ function x3dom_getXYPosOr(cnvx,cnvy,round){
dist_xz
=
null
;
dist_xz
=
null
;
dist_xyz
=
null
;
dist_xyz
=
null
;
valid_distance
=
false
;
}
}
az
=
Math
.
atan2
(
x
,
-
z
)
*
180
/
Math
.
PI
;
var
R0
=
Data
.
camera
.
Matrices
.
R0
;
az
=
(
az
+
INIT_HEADING
+
360
)
%
360
;
var
p_w
=
new
x3dom
.
fields
.
SFVec3f
(
x
,
y
,
z
);
el
=
Math
.
atan2
(
y
,
Math
.
sqrt
(
x
*
x
+
z
*
z
))
*
180
/
Math
.
PI
;
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
(
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
;
sk
=
0
;
var
result
=
{
var
result
=
{
...
@@ -166,53 +182,40 @@ function x3dom_getCameraPosOr(round){
...
@@ -166,53 +182,40 @@ function x3dom_getCameraPosOr(round){
var
elem
=
Scene
.
element
;
var
elem
=
Scene
.
element
;
var
v
m
=
elem
.
runtime
.
viewMatrix
().
inverse
();
var
m
=
elem
.
runtime
.
viewMatrix
().
inverse
();
var
tr
=
v
m
.
e3
();
var
tr
=
m
.
e3
();
var
x
=
tr
.
x
;
var
R0
=
Data
.
camera
.
Matrices
.
R0
;
var
y
=
tr
.
y
;
var
T0
=
x3dom_toYawPitchRoll
();
var
z
=
tr
.
z
;
var
R
=
vm
;
m
=
T0
.
mult
(
R0
).
mult
(
m
).
mult
(
T0
.
inverse
());
// double check below, random correct result?
//var mat = Data.camera.Matrices.Rw_rw;
var
mat
=
Data
.
camera
.
Matrices
.
M_rw2w
;
var
T
=
x3dom_C2E
();
mat
=
T
.
mult
(
mat
).
mult
(
vm
).
mult
(
T
.
inverse
());
var
ypr
=
x3dom_YawPitchRoll
(
m
);
var
test
=
x3dom_YawPitchRoll
(
mat
);
test
.
yaw
=
(
-
180
/
Math
.
PI
*
test
.
yaw
+
360
)
%
360
;
ypr
.
yaw
=
(
180
/
Math
.
PI
*
ypr
.
yaw
+
360
)
%
360
;
test
.
pitch
*=
180
/
Math
.
PI
;
ypr
.
pitch
*=
180
/
Math
.
PI
;
test
.
roll
*=
180
/
Math
.
PI
;
ypr
.
roll
*=
180
/
Math
.
PI
;
//console.log(test);
az
=
test
.
yaw
;
//x3dom_matrix_test();
el
=
test
.
pitch
;
sk
=
test
.
roll
;
if
(
!
round
){
if
(
!
round
){
return
{
return
{
x
:
x
,
x
:
tr
.
x
,
y
:
y
,
y
:
tr
.
y
,
z
:
z
,
z
:
tr
.
z
,
a
:
az
,
a
:
ypr
.
yaw
,
e
:
el
,
e
:
ypr
.
pitch
,
s
:
sk
s
:
ypr
.
roll
};
};
}
else
{
}
else
{
return
{
return
{
x
:
x
.
toFixed
(
2
),
x
:
tr
.
x
.
toFixed
(
2
),
y
:
y
.
toFixed
(
2
),
y
:
tr
.
y
.
toFixed
(
2
),
z
:
z
.
toFixed
(
2
),
z
:
tr
.
z
.
toFixed
(
2
),
a
:
az
.
toFixed
(
1
),
a
:
ypr
.
yaw
.
toFixed
(
1
),
e
:
el
.
toFixed
(
1
),
e
:
ypr
.
pitch
.
toFixed
(
1
),
s
:
sk
.
toFixed
(
1
)
s
:
ypr
.
roll
.
toFixed
(
1
)
};
};
}
}
...
@@ -228,7 +231,7 @@ function x3dom_setUpRight(){
...
@@ -228,7 +231,7 @@ function x3dom_setUpRight(){
var
at
=
from
.
subtract
(
mat
.
e2
());
var
at
=
from
.
subtract
(
mat
.
e2
());
//var up = new x3dom.fields.SFVec3f(0, 1, 0);
//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
();
var
s
=
mat
.
e2
().
cross
(
up
).
normalize
();
...
@@ -253,7 +256,7 @@ function x3dom_setUpRight(){
...
@@ -253,7 +256,7 @@ function x3dom_setUpRight(){
viewpoint
.
attr
(
"centerOfRotation"
,
mat
.
e3
().
toString
());
viewpoint
.
attr
(
"centerOfRotation"
,
mat
.
e3
().
toString
());
viewpoint
.
attr
(
"orientation"
,
AA
[
0
].
toString
()
+
" "
+
AA
[
1
]);
viewpoint
.
attr
(
"orientation"
,
AA
[
0
].
toString
()
+
" "
+
AA
[
1
]);
Data
.
camera
.
Matrices
.
R
c
_w
=
mat
;
Data
.
camera
.
Matrices
.
R
C
_w
=
mat
;
}
}
...
@@ -300,7 +303,7 @@ function x3dom_rotation(delta_a){
...
@@ -300,7 +303,7 @@ function x3dom_rotation(delta_a){
viewpoint
.
attr
(
"position"
,
from
.
toString
());
viewpoint
.
attr
(
"position"
,
from
.
toString
());
viewpoint
.
attr
(
"centerOfRotation"
,
from
.
toString
());
viewpoint
.
attr
(
"centerOfRotation"
,
from
.
toString
());
Data
.
camera
.
Matrices
.
R
c
_w
=
newmat
;
Data
.
camera
.
Matrices
.
R
C
_w
=
newmat
;
}
}
...
@@ -337,31 +340,42 @@ function x3dom_translation(dx,dy,dz){
...
@@ -337,31 +340,42 @@ function x3dom_translation(dx,dy,dz){
viewpoint
.
attr
(
"position"
,
newfrom
.
toString
());
viewpoint
.
attr
(
"position"
,
newfrom
.
toString
());
viewpoint
.
attr
(
"centerOfRotation"
,
newfrom
.
toString
());
viewpoint
.
attr
(
"centerOfRotation"
,
newfrom
.
toString
());
Data
.
camera
.
Matrices
.
R
c
_w
=
newmat
;
Data
.
camera
.
Matrices
.
R
C
_w
=
newmat
;
}
}
function
x3dom_altelev
(
alt
,
elev
){
function
x3dom_altelev
(
alt
,
elev
){
console
.
log
(
elev
);
//x3dom_matrix_test();
//x3dom_matrix_test();
var
mat
=
Scene
.
element
.
runtime
.
viewMatrix
().
inverse
();
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
();
var
from
=
mat
.
e3
();
from
.
y
=
alt
;
from
.
y
=
alt
;
// convert to W2C*C2W
var
az
=
Math
.
atan2
(
mat
.
_02
,
mat
.
_22
);
var
el
=
elev
;
var
sk
=
Math
.
atan2
(
mat
.
_10
,
mat
.
_11
);
var
az
=
ypr
.
yaw
;
var
el
=
elev
;
var
sk
=
ypr
.
roll
;
var
matx
=
x3dom
.
fields
.
SFMatrix4f
.
rotationX
(
el
);
var
Mh
=
x3dom
.
fields
.
SFMatrix4f
.
rotationZ
(
az
);
var
maty
=
x3dom
.
fields
.
SFMatrix4f
.
rotationY
(
az
);
var
Mt
=
x3dom
.
fields
.
SFMatrix4f
.
rotationY
(
el
);
var
matz
=
x3dom
.
fields
.
SFMatrix4f
.
rotationZ
(
sk
);
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
matt
=
x3dom
.
fields
.
SFMatrix4f
.
translation
(
from
);
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
);
var
Q
=
new
x3dom
.
fields
.
Quaternion
(
0
,
0
,
1
,
0
);
Q
.
setValue
(
newmat
);
Q
.
setValue
(
newmat
);
...
@@ -372,7 +386,7 @@ function x3dom_altelev(alt,elev){
...
@@ -372,7 +386,7 @@ function x3dom_altelev(alt,elev){
viewpoint
.
attr
(
"centerOfRotation"
,
newmat
.
e3
().
toString
());
viewpoint
.
attr
(
"centerOfRotation"
,
newmat
.
e3
().
toString
());
viewpoint
.
attr
(
"orientation"
,
AA
[
0
].
toString
()
+
" "
+
AA
[
1
]);
viewpoint
.
attr
(
"orientation"
,
AA
[
0
].
toString
()
+
" "
+
AA
[
1
]);
Data
.
camera
.
Matrices
.
R
c
_w
=
newmat
;
Data
.
camera
.
Matrices
.
R
C
_w
=
newmat
;
}
}
/**
/**
...
@@ -380,31 +394,54 @@ function x3dom_altelev(alt,elev){
...
@@ -380,31 +394,54 @@ function x3dom_altelev(alt,elev){
*/
*/
function
x3dom_matrix_test
(){
function
x3dom_matrix_test
(){
console
.
log
(
"begin=================================="
);
var
viewpoint
=
$
(
Scene
.
element
).
find
(
"Viewpoint"
);
var
viewpoint
=
$
(
Scene
.
element
).
find
(
"Viewpoint"
);
console
.
log
(
"Viewpoint DOM element"
);
console
.
log
(
"Viewpoint DOM element"
);
console
.
log
(
"position: "
+
viewpoint
.
attr
(
"position"
));
console
.
log
(
"position: "
+
viewpoint
.
attr
(
"position"
));
console
.
log
(
"orientation: "
+
viewpoint
.
attr
(
"orientation"
));
console
.
log
(
"orientation: "
+
viewpoint
.
attr
(
"orientation"
));
/*
* 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
();
var
mat
=
Scene
.
element
.
runtime
.
viewMatrix
().
inverse
();
console
.
log
(
"1. View Matrix from runtime"
);
console
.
log
(
mat
.
toString
());
console
.
log
(
"inversed viewMatrix"
);
var
mat_i
=
mat
.
inverse
();
console
.
log
(
mat
.
toString
());
var
from
=
mat
.
e3
();
console
.
log
(
"2. Inverted View Matrix"
);
var
at
=
from
.
subtract
(
mat
.
e2
());
console
.
log
(
mat_i
.
toString
());
var
up
=
mat
.
e1
();
console
.
log
(
"matrix from from-at-up"
);
var
from
=
mat_i
.
e3
();
var
at
=
from
.
subtract
(
mat_i
.
e2
());
var
up
=
mat_i
.
e1
();
var
newmat
=
x3dom
.
fields
.
SFMatrix4f
.
lookAt
(
from
,
at
,
up
);
console
.
log
(
"3. From-At-Up"
);
console
.
log
(
newmat
.
toString
());
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
R
=
mat
;
var
az
=
Math
.
atan2
(
R
.
_02
,
R
.
_22
)
*
180
/
Math
.
PI
;
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
el
=
-
Math
.
asin
(
R
.
_12
)
*
180
/
Math
.
PI
;
var
sk
=
Math
.
atan2
(
R
.
_10
,
R
.
_11
)
*
180
/
Math
.
PI
;
var
sk
=
Math
.
atan2
(
R
.
_10
,
R
.
_11
)
*
180
/
Math
.
PI
;
...
@@ -425,38 +462,62 @@ function x3dom_matrix_test(){
...
@@ -425,38 +462,62 @@ function x3dom_matrix_test(){
console
.
log
(
newmat
.
toString
());
console
.
log
(
newmat
.
toString
());
console
.
log
(
"end=================================="
);
}
}
/**
/**
* Transform to calculate conventional Euler angles for z-y'-x" = z-y-z
* Transform to calculate conventional Euler angles for z-y'-x" = z-y-z
* unrelated: what's x3dom's native getWCtoCCMatrix()? canvas-to-world?
* 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
(
return
new
x3dom
.
fields
.
SFMatrix4f
(
0
,
0
,
1
,
0
,
0
,
0
,
-
1
,
0
,
1
,
0
,
0
,
0
,
1
,
0
,
0
,
0
,
0
,
1
,
0
,
0
,
0
,
-
1
,
0
,
0
,
0
,
0
,
0
,
1
,
0
,
0
,
0
,
1
,
);
);
}
}
function
x3dom_E2C
(){
function
x3dom_YawPitchRoll_degs
(
m
){
return
x3dom_C2E
().
inverse
();
}
function
x3dom_YawPitchRoll
(
m
){
var
yaw
=
Math
.
atan2
(
m
.
_10
,
m
.
_00
);
var
yaw
=
Math
.
atan2
(
m
.
_10
,
m
.
_00
);
var
pitch
=
-
Math
.
asin
(
m
.
_20
);
var
pitch
=
-
Math
.
asin
(
m
.
_20
);
var
roll
=
Math
.
atan2
(
m
.
_21
,
m
.
_22
);
var
roll
=
Math
.
atan2
(
m
.
_21
,
m
.
_22
);
return
{
return
{
yaw
:
yaw
,
yaw
:
yaw
*
180
/
Math
.
PI
,
pitch
:
pitch
,
pitch
:
pitch
*
180
/
Math
.
PI
,
roll
:
roll
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
){
function
x3dom_delta_map2scene
(
p0
,
p1
){
var
pi
=
new
L
.
LatLng
(
p0
.
lat
,
p1
.
lng
);
var
pi
=
new
L
.
LatLng
(
p0
.
lat
,
p1
.
lng
);
...
@@ -469,10 +530,9 @@ function x3dom_delta_map2scene(p0,p1){
...
@@ -469,10 +530,9 @@ function x3dom_delta_map2scene(p0,p1){
if
(
p1
.
lng
<
p0
.
lng
)
dp_rw
.
x
=
-
dp_rw
.
x
;
if
(
p1
.
lng
<
p0
.
lng
)
dp_rw
.
x
=
-
dp_rw
.
x
;
if
(
p1
.
lat
>
p0
.
lat
)
dp_rw
.
z
=
-
dp_rw
.
z
;
if
(
p1
.
lat
>
p0
.
lat
)
dp_rw
.
z
=
-
dp_rw
.
z
;
// rotate, not transform - because rotated is the camera
var
M0
=
Data
.
camera
.
Matrices
.
R0
.
inverse
();
var
mat
=
Data
.
camera
.
Matrices
.
Rw_rw
;
var
dp_w
=
M0
.
multMatrixVec
(
dp_rw
);
var
dp_w
=
mat
.
multMatrixVec
(
dp_rw
);
return
dp_w
;
return
dp_w
;
...
...
js/x3dom_init.js
View file @
64db9f96
...
@@ -861,24 +861,28 @@ X3DOMObject.Marker.drag = function(dx,dy){
...
@@ -861,24 +861,28 @@ X3DOMObject.Marker.drag = function(dx,dy){
X3DOMObject
.
Marker
.
slide
=
function
(
index
,
x
,
y
,
z
){
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
;
var
p_w
=
new
x3dom
.
fields
.
SFVec3f
(
x
,
y
,
z
);
c
.
y
=
y
;
var
p_rw
=
R0
.
multMatrixVec
(
p_w
);
c
.
z
=
z
;
var
azimuth
=
Math
.
atan2
(
c
.
x
,
-
c
.
z
)
*
180
/
Math
.
PI
;
var
distance
=
Math
.
sqrt
(
p_rw
.
x
*
p_rw
.
x
+
p_rw
.
z
*
p_rw
.
z
);
//var initial_heading = Data.camera.heading;
var
angle
=
Math
.
atan2
(
p_rw
.
x
,
-
p_rw
.
z
)
*
180
/
Math
.
PI
;
var
distance
=
Math
.
sqrt
(
c
.
x
*
c
.
x
+
c
.
z
*
c
.
z
);
var
p1_ll
=
Map
.
marker
.
_latlng
;
var
p1_ll
=
Map
.
marker
.
_latlng
;
var
p2_ll
=
p1_ll
.
CoordinatesOf
(
a
zimuth
+
INIT_HEADING
,
distance
);
var
p2_ll
=
p1_ll
.
CoordinatesOf
(
a
ngle
,
distance
);
var
c
=
Data
.
markers
[
index
];
c
.
x
=
x
;
c
.
y
=
y
;
c
.
z
=
z
;
c
.
latitude
=
p2_ll
.
lat
;
c
.
latitude
=
p2_ll
.
lat
;
c
.
longitude
=
p2_ll
.
lng
;
c
.
longitude
=
p2_ll
.
lng
;
c
.
altitude
=
c
.
y
;
c
.
altitude
=
c
.
y
;
//d_x3d - map distance calculated from the model
c
.
d_x3d
=
distance
;
c
.
d_x3d
=
distance
;
X3DOMObject
.
displayMarkInfo
(
index
);
X3DOMObject
.
displayMarkInfo
(
index
);
...
@@ -971,10 +975,14 @@ X3DOMObject.PointerMarker.prototype._registerEvents = function(){
...
@@ -971,10 +975,14 @@ X3DOMObject.PointerMarker.prototype._registerEvents = function(){
new
X3DOMObject
.
Marker
(
mark
.
x
,
mark
.
y
,
mark
.
z
);
new
X3DOMObject
.
Marker
(
mark
.
x
,
mark
.
y
,
mark
.
z
);
// Create marker on the map
// Create marker on the map
var
azimuth
=
Math
.
atan2
(
mark
.
x
,
-
mark
.
z
)
*
180
/
Math
.
PI
;
var
R0
=
Data
.
camera
.
Matrices
.
R0
;
var
distance
=
Math
.
sqrt
(
mark
.
x
*
mark
.
x
+
mark
.
z
*
mark
.
z
);
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
(
a
zimuth
+
INIT_HEADING
,
distance
);
Camera
.
createMeasureMarker
(
a
ngle
,
distance
);
var
map_mark
=
Camera
.
_measureMarkers
[
Camera
.
_measureMarkers
.
length
-
1
];
var
map_mark
=
Camera
.
_measureMarkers
[
Camera
.
_measureMarkers
.
length
-
1
];
...
...
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