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Add a flag (hardcoded right now) that lets you switch between osgEart…
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…h or a simple fixed scene
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@peabody124
peabody124 committed Nov 8, 2012
1 parent 554327d commit 854d268
Showing 1 changed file with 128 additions and 38 deletions.
166 changes: 128 additions & 38 deletions visualization.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,8 @@
#include <osg/Point>
#include <osg/Geometry>
#include <osg/Texture2D>
#include <osg/Depth>
#include <osg/StateSet>
#include <osg/TexEnv>
#include <osg/GLExtensions>
#include <osg/Material>
Expand Down Expand Up @@ -103,8 +105,15 @@ struct global_struct {
//! The composite viewer for the scene
osg::ref_ptr<osgViewer::CompositeViewer> viewer;

//! The position that locates the UAV
//! Whether we are rendering in earth or closed scene
bool earth;

//! The position that locates the UAV when rendering in earth
osg::ref_ptr<osgEarth::Util::ObjectLocatorNode> uavPos;

//! The position that locates the UAV when rendering in simple scenes
osg::ref_ptr<osg::PositionAttitudeTransform> pat;

//! The attitude of the UAV
osg::ref_ptr<osg::MatrixTransform> uavAttitudeAndScale;
//! The UAV node
Expand Down Expand Up @@ -233,29 +242,102 @@ osg::Node* createAirplane(struct global_struct *g)
}

/**
* Update the position of the UAV
* Create a simple scene to fly around
*/
void updatePosition(struct global_struct *g, double *NED, double *quat)
osg::Node *makeBase( void )
{
double angle = 0;
int i, c;
float theta;
float ir = 20.0f;

osg::Vec3Array *coords = new osg::Vec3Array(19);
osg::Vec2Array *tcoords = new osg::Vec2Array(19);
osg::Vec4Array *colors = new osg::Vec4Array(1);

(*colors)[0].set(1.0f,1.0f,1.0f,1.0f);

c = 0;
(*coords)[c].set(0.0f,0.0f,0.0f);
(*tcoords)[c].set(0.0f,0.0f);

for( i = 0; i <= 18; i++ )
{
theta = osg::DegreesToRadians((float)i * 20.0);

(*coords)[c].set(ir * cosf( theta ), ir * sinf( theta ), 0.0f);
(*tcoords)[c].set((*coords)[c][0]/36.0f,(*coords)[c][1]/36.0f);

c++;
}

osg::Geometry *geom = new osg::Geometry;

geom->setVertexArray( coords );

geom->setTexCoordArray( 0, tcoords );

geom->setColorArray( colors );
geom->setColorBinding( osg::Geometry::BIND_OVERALL );

geom->addPrimitiveSet( new osg::DrawArrays(osg::PrimitiveSet::TRIANGLE_FAN,0,19) );

osg::Texture2D *tex = new osg::Texture2D;

tex->setImage(osgDB::readImageFile("Images/water.rgb"));
tex->setWrap( osg::Texture2D::WRAP_S, osg::Texture2D::REPEAT );
tex->setWrap( osg::Texture2D::WRAP_T, osg::Texture2D::REPEAT );

osg::StateSet *dstate = new osg::StateSet;
dstate->setMode( GL_LIGHTING, osg::StateAttribute::OFF );
dstate->setTextureAttributeAndModes(0, tex, osg::StateAttribute::ON );

const double HOME[] = {42.349273, -71.100549, 0};
double T[3];
double LLA[3];
double lat, alt;
dstate->setTextureAttribute(0, new osg::TexEnv );

lat = HOME[0] * M_PI / 180.0;
alt = HOME[2];
// clear the depth to the far plane.
osg::Depth* depth = new osg::Depth;
depth->setFunction(osg::Depth::ALWAYS);
depth->setRange(1.0,1.0);
dstate->setAttributeAndModes(depth,osg::StateAttribute::ON );

T[0] = alt+6.378137E6f;
T[1] = cos(lat)*(alt+6.378137E6);
T[2] = -1.0;
dstate->setRenderBinDetails(-1,"RenderBin");

LLA[0] = HOME[0] + NED[0] / T[0] * 180.0 / M_PI;
LLA[1] = HOME[1] + NED[1] / T[1] * 180.0 / M_PI;
LLA[2] = HOME[2] + NED[2] / T[2];

g->uavPos->getLocator()->setPosition( osg::Vec3d(LLA[1], LLA[0], LLA[2]) ); // Note this takes longtitude first
geom->setStateSet( dstate );

osg::Geode *geode = new osg::Geode;
geode->addDrawable( geom );

return geode;
}

/**
* Update the position of the UAV
*/
void updatePosition(struct global_struct *g, double *NED, double *quat)
{
double angle = 0;

if (g->earth) {
// If flying in virtual earth then convert from NED to LLA
const double HOME[] = {42.349273, -71.100549, 0};
double T[3];
double LLA[3];
double lat, alt;

lat = HOME[0] * M_PI / 180.0;
alt = HOME[2];

T[0] = alt+6.378137E6f;
T[1] = cos(lat)*(alt+6.378137E6);
T[2] = -1.0;

LLA[0] = HOME[0] + NED[0] / T[0] * 180.0 / M_PI;
LLA[1] = HOME[1] + NED[1] / T[1] * 180.0 / M_PI;
LLA[2] = HOME[2] + NED[2] / T[2];
g->uavPos->getLocator()->setPosition( osg::Vec3d(LLA[1], LLA[0], LLA[2]) ); // Note this takes longtitude first
} else {
g->pat->setPosition(osg::Vec3d(NED[0], NED[1], NED[2]));
}

// Set the attitude (reverse the attitude)
// Have to rotate the axes from OP NED frame to OSG frame (X east, Y north, Z down)
Expand Down Expand Up @@ -294,23 +376,41 @@ struct global_struct * initialize()
g->viewer = NULL;
g->magic = MAGIC_VALUE;

g->earth = false;

// Create a root node
osg::ref_ptr<osg::Group> root = new osg::Group;

osg::Node* earth = osgDB::readNodeFile("/Users/Cotton/Programming/osg/osgearth/tests/boston.earth");
if (earth == NULL) {
diep((char*) "Dude, update your boston.earth path");
}
if (g->earth) {

osg::Node* earth = osgDB::readNodeFile("/Users/Cotton/Programming/osg/osgearth/tests/boston.earth");
if (earth == NULL) {
diep((char*) "Dude, update your boston.earth path");
}

g->mapNode = osgEarth::MapNode::findMapNode( earth );

g->mapNode = osgEarth::MapNode::findMapNode( earth );
osg::Node* airplane = createAirplane(g);
g->uavPos = new osgEarth::Util::ObjectLocatorNode(g->mapNode->getMap());
g->uavPos->getLocator()->setPosition( osg::Vec3d(-71.100549, 42.349273, 200) );
g->uavPos->addChild(airplane);
root->addChild(earth);
root->addChild(g->uavPos);

osg::Node* airplane = createAirplane(g);
g->uavPos = new osgEarth::Util::ObjectLocatorNode(g->mapNode->getMap());
g->uavPos->getLocator()->setPosition( osg::Vec3d(-71.100549, 42.349273, 200) );
g->uavPos->addChild(airplane);
g->manip = new EarthManipulator();
g->viewer->getView(0)->setCameraManipulator(g->manip);
g->manip->setViewpoint( Viewpoint(-71.100549, 42.349273, 200, 180, -25, 350.0), 10.0 );
g->manip->setTetherNode(g->uavPos);

root->addChild(earth);
root->addChild(g->uavPos);
} else {
osg::Node *world = makeBase();
osg::Node* airplane = createAirplane(g);
g->pat = new osg::PositionAttitudeTransform();
g->pat->addChild(airplane);

root->addChild(world);
root->addChild(g->pat);
}

osgUtil::Optimizer optimizer;
optimizer.optimize(root);
Expand All @@ -322,16 +422,6 @@ struct global_struct * initialize()
g->viewer->getView(0)->addEventHandler(new osgViewer::StatsHandler);
g->viewer->getView(0)->addEventHandler(new osgViewer::ThreadingHandler);

g->viewer->realize();

osg::Matrix projectionOffset;
osg::Matrix viewOffset;

g->manip = new EarthManipulator();
g->viewer->getView(0)->setCameraManipulator(g->manip);
g->manip->setViewpoint( Viewpoint(-71.100549, 42.349273, 200, 180, -25, 350.0), 10.0 );
g->manip->setTetherNode(g->uavPos);

g->tracker = new osgGA::NodeTrackerManipulator();
g->tracker->setTrackerMode( osgGA::NodeTrackerManipulator::NODE_CENTER_AND_ROTATION );
g->tracker->setNode(g->uav);
Expand Down

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