all moved to a separate function

js/x3dom_deltas.js

@@ -73,9 +73,14 @@ function Av_func(mark,pars){
 
   var e2_model = W2M.multMatrixVec(e2_world);
 
-  x3dom_draw_line("soup0","white", new x3dom.fields.SFVec3f(0,0,0), e1_model);
-  x3dom_draw_line("soup1","white", new x3dom.fields.SFVec3f(0,0,0), e2_model);
-  x3dom_draw_line("soup2","white", e1_model, e2_model);
+  //x3dom_draw_line("soup0","white", new x3dom.fields.SFVec3f(0,0,0), e1_model);
+  //x3dom_draw_line("soup1","white", new x3dom.fields.SFVec3f(0,0,0), e2_model);
+  //x3dom_draw_line("soup2","white", e1_model, e2_model);
+
+  // world axes are correct - verified
+  //x3dom_draw_line("soup0","red",   e1_model, e1_model.add(W2M.multMatrixVec(new x3dom.fields.SFVec3f(10,0,0))));
+  //x3dom_draw_line("soup1","green", e1_model, e1_model.add(W2M.multMatrixVec(new x3dom.fields.SFVec3f(0,10,0))));
+  //x3dom_draw_line("soup2","blue",  e1_model, e1_model.add(W2M.multMatrixVec(new x3dom.fields.SFVec3f(0,0,10))));
 
   console.log("MARK-on-MODEL in WORLD: "+e1_world.toString());
 
@@ -87,8 +92,8 @@ function Av_func(mark,pars){
   // point in Model
   // from 0,0,0
   var e1_d = x3dom_3d_distance(e1_world.x,e1_world.y,e1_world.z,false);
-  var e1_k = 20;
-  //var e1_k = 1;
+  //var e1_k = 20;
+  var e1_k = 1;
   var e1_abc = [e1_k*0.00038*e1_d, e1_k*0.00038*e1_d, 2*e1_k*e1_d*e1_d/10000];
   //var e1_abc = [e1_k*0.00038*e1_d, e1_k*0.00038*e1_d, e1_k*e1_d*e1_d/25000];
 
@@ -109,6 +114,7 @@ function Av_func(mark,pars){
   },transparency=0.5);
   */
 
+
   var RE1 = x3dom.fields.SFMatrix4f.identity();
   RE1.setValue(xa1,ya1,za1);
   // and so RE1 is in the world coordinates
@@ -142,7 +148,7 @@ function Av_func(mark,pars){
   var C1 = RE1xJE1.mult(RE1xJE1.transpose());
   var C2 = RE2xJE2.mult(RE2xJE2.transpose());
   var C = C1.add(C2);
-  var C = C1.add(C1);
+  //var C = C1.add(C1);
   //var C = C2.add(C2);
 
   Cn = matrix_x3dom_to_numeric(C);
@@ -159,7 +165,7 @@ function Av_func(mark,pars){
   var RESmatrix = new x3dom.fields.SFMatrix4f(
                vec0.x, vec1.x, vec2.x, 0,
                vec0.y, vec1.y, vec2.y, 0,
-               vec0.z, vec1.x, vec2.z, 0,
+               vec0.z, vec1.z, vec2.z, 0,
                     0,      0,      0, 1
              );
   //RESmatrix = RESmatrix.transpose();
@@ -173,12 +179,21 @@ function Av_func(mark,pars){
 
   var A = RESaxes.inverse().mult(RESmatrix.transpose());
 
-  x3dom_draw_ellipsoid_by_semiaxes_and_center("ec1","gold",{
+  x3dom_draw_ellipsoid_by_semiaxes_and_center("ec1","red",{
     O:  W2M.multMatrixVec(e2_world),
     Ox: W2M.multMatrixVec(RESmatrix.transpose().e0().multiply(es_a)),
     Oy: W2M.multMatrixVec(RESmatrix.transpose().e1().multiply(es_b)),
     Oz: W2M.multMatrixVec(RESmatrix.transpose().e2().multiply(es_c))
-  },transparency=0.7);
+  },transparency=0.8);
+
+  // and so, the error vector is E=Av
+  var Av = A.multMatrixVec(v);
+  // draw the vector
+  x3dom_draw_line("err0","gold", e1_model, e1_model.add(W2M.multMatrixVec(Av)));
+
+  // Is it correct? The direction seems right for close and far objects
+
+  //
 
 }
 
@@ -223,217 +238,6 @@ function x3dom_delta_markers(){
 
   return 0;
 
-  var p_mark_ll = new L.LatLng(marker.latitude, marker.longitude);
-  //var p_cam_ll  = Camera._latlng;
-  var p_cam_ll  = new L.LatLng(Data.camera.kml.latitude,Data.camera.kml.longitude);
-
-  var p_model = x3dom_delta_map2scene(p_cam_ll, p_mark_ll);
-  //p_w = x3dom_scene_to_real(p_w.x,p_w.y,p_w.z);
-
-
-  // vertical ellipse's center
-  var e2_c = p_model;
-  // depth ellipse's center
-  var e1_c = new x3dom.fields.SFVec3f(marker.x,marker.y,marker.z);
-
-
-  // E2: draw vertical ellipsoid
-
-  // just a coefficient
-  //var e2_k = 1/2;
-  var e2_k = 1;
-  var e2_abc = [e2_k*1,e2_k*30,e2_k*1];
-  //var e2_scale = e2_abc.join(",");
-  //x3dom_draw_ellipsoid("e2","green",e2_c.toString(),"",e2_scale);
-
-  var R0  = Data.camera.Matrices.R0;
-  var R0i = Data.camera.Matrices.R0.inverse();
-
-  var xa2 = new x3dom.fields.SFVec3f(e2_abc[0],         0,         0);
-  var ya2 = new x3dom.fields.SFVec3f(        0, e2_abc[1],         0);
-  var za2 = new x3dom.fields.SFVec3f(        0,         0, e2_abc[2]);
-
-  /*
-  x3dom_draw_ellipsoid_by_semiaxes_and_center("e2","green",{
-    O:  e2_c,
-    Ox: R0i.multMatrixVec(xa2),
-    Oy: R0i.multMatrixVec(ya2),
-    Oz: R0i.multMatrixVec(za2)
-  },transparency=0.0);
-  */
-
-
-  var RE2 = x3dom.fields.SFMatrix4f.identity();
-  //RE2.setValue(xa,ya,za);
-
-  // draw ellipsoid axes
-  //var xa = new x3dom.fields.SFVec3f(1,0,0);
-  //var ya = new x3dom.fields.SFVec3f(0,1,0);
-  //var za = new x3dom.fields.SFVec3f(0,0,1);
-
-  //x3dom_draw_line("xa","red",  e2_c, e2_c.add(xa.multiply(e2_abc[0])));
-  //x3dom_draw_line("ya","green",e2_c, e2_c.add(ya.multiply(e2_abc[1])));
-  //x3dom_draw_line("za","blue", e2_c, e2_c.add(za.multiply(e2_abc[2])));
-
-  // to 0,0,0
-  //x3dom_draw_line("test0","white", e2_c, new x3dom.fields.SFVec3f(0,0,0));
-
-  //x3dom_draw_line("test1","tomato", new x3dom.fields.SFVec3f(0,0,0), new x3dom.fields.SFVec3f(100,0,0));
-  //x3dom_draw_line("test2","seagreen", new x3dom.fields.SFVec3f(0,0,0), new x3dom.fields.SFVec3f(0,100,0));
-  //x3dom_draw_line("test3","royalblue", new x3dom.fields.SFVec3f(0,0,0), new x3dom.fields.SFVec3f(0,0,100));
-  //x3dom_draw_line("test4","royalblue", e2_c.add(za.multiply(e2_abc[2])), new x3dom.fields.SFVec3f(0,0,100));
-
-  // e1 direction
-  x3dom_draw_line("helper_line0a","white", e1_c, new x3dom.fields.SFVec3f(0,0,0));
-  x3dom_draw_line("helper_line0b","white", e2_c, new x3dom.fields.SFVec3f(0,0,0));
-  // e1 direction from e2_c
-  //x3dom_draw_line("helper_line1","white", e2_c.add(e1_c), e2_c.subtract(e1_c));
-
-  x3dom_draw_line("helper_line3","white", e1_c, e2_c);
-
-  // E1: draw tilted ellipsoid
-
-  var e1_d = x3dom_3d_distance(e1_c.x,e1_c.y,e1_c.z,false);
-  //var e1_k = 20;
-  var e1_k = 1;
-  var e1_abc = [e1_k*0.00038*e1_d,e1_k*0.00038*e1_d,2*e1_k*e1_d*e1_d/10000];
-
-  console.log("e1 abc: "+e1_abc.join(" "));
-
-  // draw ellipsoid axes
-  var e1_dir  = e1_c;
-  e1_dir = R0.multMatrixVec(e1_dir.normalize());
-
-  var xa1 = e1_dir.cross(new x3dom.fields.SFVec3f(0,1,0));
-  var ya1 = xa1.cross(e1_dir);
-  var za1 = e1_dir.negate();
-
-  // next construct rotation matrix
-  // it's in the WORLD coordinates
-  var RE1 = x3dom.fields.SFMatrix4f.identity();
-  RE1.setValue(xa1,ya1,za1);
-
-  //console.log(RE1.toString());
-
-  /*
-  x3dom_draw_ellipsoid_by_semiaxes_and_center("e1b","green",{
-    O:  e2_c,
-    Ox: R0i.multMatrixVec(xa1).multiply(e1_abc[0]),
-    Oy: R0i.multMatrixVec(ya1).multiply(e1_abc[1]),
-    Oz: R0i.multMatrixVec(za1).multiply(e1_abc[2])
-  },transparency=0.0);
-  */
-
-  // now let's get to covariance matrix
-  var JE1 = x3dom_ellipsoid_inertia_tensor_v2(1,e1_abc[0],e1_abc[1],e1_abc[2]);
-  var RE1xJE1 = RE1.mult(JE1);
-
-  var JE2 = x3dom_ellipsoid_inertia_tensor_v2(1,e2_abc[0],e2_abc[1],e2_abc[2]);
-  var RE2xJE2 = RE2.mult(JE2);
-
-  var C1 = RE1xJE1.mult(RE1xJE1.transpose());
-  var C2 = RE2xJE2.mult(RE2xJE2.transpose());
-
-  var C = C1.add(C2);
-  // testing
-  //var C = C1.add(C1);
-
-  Cn = matrix_x3dom_to_numeric(C);
-  Bn = numeric.eig(Cn);
-
-  //console.log(Bn);
-
-  var es_a = Math.sqrt(Bn.lambda.x[0]);
-  var es_b = Math.sqrt(Bn.lambda.x[1]);
-  var es_c = Math.sqrt(Bn.lambda.x[2]);
-
-  console.log("e1 restored abc: "+[es_a,es_b,es_c].join(" "));
-
-  var RESmatrix = new x3dom.fields.SFMatrix4f(
-               Bn.E.x[0][0], Bn.E.x[1][0], Bn.E.x[2][0], 0,
-               Bn.E.x[0][1], Bn.E.x[1][1], Bn.E.x[2][1], 0,
-               Bn.E.x[0][2], Bn.E.x[1][2], Bn.E.x[2][2], 0,
-                          0,            0,            0, 1
-             );
-
-  console.log(RESmatrix.toString());
-
-  var RESaxes = new x3dom.fields.SFMatrix4f(
-               es_a,    0,    0, 0,
-                  0, es_b,    0, 0,
-                  0,    0, es_c, 0,
-                  0,    0,    0, 1
-             );
-
-  var A = RESaxes.inverse().mult(RESmatrix.transpose());
-
-  console.log(RESaxes.toString());
-
-  var RES = RESmatrix.mult(RESaxes);
-
-  var RESt = RES.transpose();
-  console.log("RES");
-  console.log(RES.toString());
-  console.log("RESt");
-  console.log(RESt.toString());
-
-  /*
-  x3dom_draw_ellipsoid_by_semiaxes_and_center("e1c","red",{
-    O:  e2_c,
-    Ox: R0i.multMatrixVec(RESmatrix.transpose().e0()).multiply(es_a),
-    Oy: R0i.multMatrixVec(RESmatrix.transpose().e1()).multiply(es_b),
-    Oz: R0i.multMatrixVec(RESmatrix.transpose().e2()).multiply(es_c)
-  },transparency=0.8);
-  */
-
-  var v = R0.multMatrixVec(e1_c.subtract(e2_c));
-  var Av = A.multMatrixVec(v);
-  var Av_model = R0i.multMatrixVec(Av);
-
-  x3dom_draw_line("helper_lineX","yellow", e2_c, e2_c.add(Av_model));
-
-  // now get error:
-
-  // we have:
-  // 1. e1_c
-  // 2. RES and es_a, es_b, es_c
-
-  // RES x e1_c
-  var RESi = RES.inverse();
-
-  var E = RESi.multMatrixVec(v);
-
-  console.log("delta vector in ellipsoid:");
-  console.log(E.toString());
-
-  E = E.multComponents(new x3dom.fields.SFVec3f(1/es_a, 1/es_b, 1/es_c));
-
-  console.log(E.toString());
-  console.log("E^2 from eigen: " +E.length()*E.length());
-
-  // scale the result ellipsoid so it with touch another marker
-  // and it did - it only tests that the scale is correct
-
-  /*
-  x3dom_draw_ellipsoid_by_semiaxes_and_center("e1d","gold",{
-    O:  e2_c,
-    Ox: RES.e0().multiply(E.length()*es_a),
-    Oy: RES.e1().multiply(E.length()*es_b),
-    Oz: RES.e2().multiply(E.length()*es_c)
-  },transparency=0.7);
-  */
-
-  // alternative calculations where E^2 = delta^T x C^-1 x delta
-  var delta = v;
-  var Ci = C.inverse();
-
-  var Ci_x_delta = Ci.multMatrixVec(delta);
-  var E2 = delta.dot(Ci_x_delta);
-
-  console.log("E^2 from d^T x C^-1 x d: "+E2);
-
-  return 0;
-
 }
 
 /*