Beispiel #1
0
        /// <summary>
        /// Converts a global mappos to a local under a roi
        /// </summary>
        /// <param name="result"></param>
        /// <returns></returns>
        public bool ToLocal(MapPos result)
        {
            if (result.node != null)        // Already local
            {
                return(true);
            }

            if (_topRoi == null)
            {
                return(false);
            }

            RoiNode roi = _topRoi.GetClosestRoiNode(result.position);

            result.node = roi;

            // Remove roiNode position as offset - Go to local RoiNode based coordinate system

            if (roi != null && roi.IsValid())
            {
                result.position -= roi.Position;

                return(true);
            }
            return(false);   // We failed to convert
        }
Beispiel #2
0
        public bool GetGroundPosition(Vec3D position, Vec3 direction, out MapPos result, ClampFlags flags = ClampFlags.DEFAULT)
        {
            result = new MapPos();

            // Coordinate is now in world Cartesian coordinates (Roi Position)

            Vec3D origo = new Vec3D(0, 0, 0);       // Set used origo

            Intersector isect = new Intersector();

            // Check camera frustrum -----------------------------------------------------------

            if (_camera != null && _camera.IsValid())
            {
                origo = _camera.Position;

                if ((flags & ClampFlags.FRUSTRUM_CULL) != 0)
                {
                    isect.SetCamera(_camera);
                }
            }

            // Adjust intersector to use origo as center
            position = position - origo;

            isect.SetStartPosition((Vec3)position);
            isect.SetDirection(direction);

            if (isect.Intersect(_currentMap, IntersectQuery.NEAREST_POINT | IntersectQuery.NORMAL | ((flags & ClampFlags.WAIT_FOR_DATA) != 0 ? IntersectQuery.WAIT_FOR_DYNAMIC_DATA : 0), 1, true, origo))
            {
                IntersectorResult res = isect.GetResult();

                IntersectorData data = res.GetData(0);

                result.position = data.position + origo;

                result.normal = data.normal;

                result.clamped = true;
            }

            isect.Dispose();   // Drop handle and ignore GC

            if (_topRoi != null)
            {
                RoiNode roi = _topRoi.GetClosestRoiNode(result.position);
                result.node = roi;

                // Remove roiNode position as offset - Go to local RoiNode based coordinate system

                if (roi != null && roi.IsValid())
                {
                    result.position -= roi.Position;
                }
            }

            return(true);
        }
Beispiel #3
0
        public Vec3D LocalToWorld(MapPos mappos)
        {
            Vec3D result = mappos.position;

            RoiNode roi = mappos.node as RoiNode;

            if (roi != null && roi.IsValid())
            {
                result += roi.Position;
            }

            return(new Vec3D(result.x, result.y, -result.z));
        }
Beispiel #4
0
        public bool LocalToWorld(MapPos pos, out CartPos result)
        {
            Vec3D position = pos.position;

            RoiNode roi = pos.node as RoiNode;

            if (roi != null && roi.IsValid())   // Convert to a global position
            {
                position += roi.Position;
            }

            return(GlobalToWorld(position, out result));
        }
Beispiel #5
0
        public Vec3D GlobalPosition(Vec3 enu_offset = default)
        {
            Vec3D result = position;

            RoiNode roi = node as RoiNode;

            // If we are a roi node based position we add roi position as local origin

            if (roi != null && roi.IsValid())
            {
                result += roi.Position;
            }

            result += local_orientation * enu_offset;

            return(result);
        }
Beispiel #6
0
        private void MapToRoi(MapPos result)
        {
            if (_topRoi == null)
            {
                return;
            }

            RoiNode roi = _topRoi.GetClosestRoiNode(result.position);

            result.node = roi;

            // Remove roiNode position as offset - Go to local RoiNode based coordinate system

            if (roi != null && roi.IsValid())
            {
                result.position -= roi.Position;
            }
        }
Beispiel #7
0
        public bool GetCartPos(MapPos pos, out CartPos result)
        {
            Coordinate converter = new Coordinate();

            Vec3D position = pos.position;

            result = new CartPos();

            // Check possibly local 3D under a roiNode

            RoiNode roi = pos.node as RoiNode;

            if (roi != null && roi.IsValid())
            {
                position += roi.Position;
            }

            switch (_mapType)
            {
            case MapType.UNKNOWN:
            {
                return(false);
            }

            case MapType.UTM:

                UTMPos utmpos = new UTMPos(_utmZone, _north, -(position.z + _origin.z), position.x + _origin.x, position.y + _origin.y);

                converter.SetUTMPos(utmpos);

                break;

            case MapType.GEOCENTRIC:

                CartPos cartpos = new CartPos(position.x + _origin.x, position.y + _origin.y, position.z + _origin.z);

                converter.SetCartPos(cartpos);

                break;
            }

            return(converter.GetCartPos(out result));
        }
Beispiel #8
0
        /// <summary>
        /// Converts a local mappos under a roi to a global position
        /// </summary>
        /// <param name="result"></param>
        /// <returns></returns>
        public bool ToGlobal(MapPos result)
        {
            if (result.node == null)    // Already global
            {
                return(true);
            }

            // Remove roiNode position as offset - Go to local RoiNode based coordinate system

            RoiNode roi = result.node as RoiNode;

            if (roi != null && roi.IsValid())
            {
                result.position += roi.Position;

                result.node = null;

                return(true);
            }

            return(false);   // We failed to convert
        }
Beispiel #9
0
        public bool UpdatePosition(MapPos result, GroundClampType groundClamp = GroundClampType.NONE, ClampFlags flags = ClampFlags.DEFAULT)
        {
            if (_currentMap == null)    // No map
            {
                return(false);
            }

            if (groundClamp != GroundClampType.NONE)
            {
                // Add ROINode position as offset   - Go to global 3D coordinate system as we need to clamp in global 3D

                RoiNode roi = result.node as RoiNode;

                if (roi != null && roi.IsValid())
                {
                    result.position += roi.Position;
                }

                Intersector isect = new Intersector();

                Vec3D origo = new Vec3D(0, 0, 0);

                // Check camera frustrum -----------------------------------------------------------

                if (_camera != null && _camera.IsValid())
                {
                    origo = _camera.Position;

                    if ((flags & ClampFlags.FRUSTRUM_CULL) != 0)
                    {
                        isect.SetCamera(_camera);
                    }
                }

                if ((flags & ClampFlags.ISECT_LOD_QUALITY) != 0)                // Lets stand in the ray to get highest quality
                {
                    origo = result.position;
                }

                Vec3 up = new Vec3(result.local_orientation.v13, result.local_orientation.v23, result.local_orientation.v33);

                // TODO: Fix this....
                if (up.x == 0 && up.y == 0 && up.z == 0)
                {
                    up.y = 1;
                }

                isect.SetStartPosition((Vec3)(result.position - origo) + 10000.0f * up);
                isect.SetDirection(-up);

                if (isect.Intersect(_currentMap, IntersectQuery.NEAREST_POINT |
                                    IntersectQuery.NORMAL |
                                    ((flags & ClampFlags.WAIT_FOR_DATA) != 0 ? IntersectQuery.WAIT_FOR_DYNAMIC_DATA : 0) |
                                    ((flags & ClampFlags.UPDATE_DATA) != 0 ? IntersectQuery.UPDATE_DYNAMIC_DATA : 0)
                                    , 1, true, origo))
                {
                    IntersectorResult res = isect.GetResult();

                    IntersectorData data = res.GetData(0);

                    result.position = data.position + origo;

                    result.normal  = data.normal;
                    result.clamped = true;
                }
                else
                {
                    result.normal  = up;
                    result.clamped = false;
                }

                if (groundClamp == GroundClampType.GROUND)
                {
                    result.normal = result.local_orientation.GetCol(2);
                }


                isect.Dispose();    // Drop handle and ignore GC

                // Remove ROINode position as offset - Go to local coordinate system under ROI Node

                if (roi != null && roi.IsValid())
                {
                    result.position -= roi.Position;
                }
            }


            return(true);
        }
Beispiel #10
0
        public bool UpdatePosition(MapPos result, GroundClampType groundClamp = GroundClampType.NONE, ClampFlags flags = ClampFlags.DEFAULT)
        {
            if (_currentMap == null)    // No map
            {
                return(false);
            }

            result.normal = result.local_orientation.GetCol(2);

            if (groundClamp != GroundClampType.NONE)
            {
                // Add ROINode position as offset   - Go to global 3D coordinate system as we need to clamp in global 3D

                RoiNode roi = result.node as RoiNode;

                if (roi != null && roi.IsValid())
                {
                    result.position += roi.Position;
                }

                // The defined down vector

                Vec3 down = new Vec3(-result.local_orientation.v13, -result.local_orientation.v23, -result.local_orientation.v33);


                // Check triangel ground

                if (result.clampResult.HasFlag(IntersectQuery.ABC_TRI))
                {
                    if (Intersect(result.position, down, result.a, result.b, result.c, out Vec3D p))
                    {
                        result.position = p;
                        ToLocal(result);

                        return(true);
                    }
                }

                // Check new intersector


                Intersector isect = new Intersector();

                Vec3D origo = new Vec3D(0, 0, 0);

                // Check camera frustrum -----------------------------------------------------------

                if (_camera != null && _camera.IsValid())
                {
                    origo = _camera.Position;

                    if ((flags & ClampFlags.FRUSTRUM_CULL) != 0)
                    {
                        isect.SetCamera(_camera);
                    }
                }

                if ((flags & ClampFlags.ISECT_LOD_QUALITY) != 0)                // Lets stand in the ray to get highest quality
                {
                    origo = result.position;
                }


                isect.SetStartPosition((Vec3)(result.position - origo) - 10000.0f * down);  // Move backwards
                isect.SetDirection(down);

                if (isect.Intersect(_currentMap, IntersectQuery.NEAREST_POINT | IntersectQuery.ABC_TRI |
                                    (flags.HasFlag(ClampFlags.ALIGN_NORMAL_TO_SURFACE) ? IntersectQuery.NORMAL : 0) |                 //IntersectQuery.NORMAL |
                                    (flags.HasFlag(ClampFlags.WAIT_FOR_DATA) ? IntersectQuery.WAIT_FOR_DYNAMIC_DATA : 0) |
                                    (flags.HasFlag(ClampFlags.UPDATE_DATA) ? IntersectQuery.UPDATE_DYNAMIC_DATA : 0)
                                    , 1, true, origo))
                {
                    IntersectorResult res = isect.GetResult();

                    IntersectorData data = res.GetData(0);

                    result.position = data.coordinate + origo;

                    if ((data.resultMask & IntersectQuery.NORMAL) != 0)
                    {
                        result.normal = data.normal;
                    }

                    if (data.resultMask.HasFlag(IntersectQuery.ABC_TRI))
                    {
                        result.a = data.a + origo;
                        result.b = data.b + origo;
                        result.c = data.c + origo;
                    }

                    result.clampResult = data.resultMask;
                }
                else
                {
                    result.clampResult = IntersectQuery.NULL;
                }

                //if (groundClamp == GroundClampType.GROUND)
                //{
                //    result.normal = result.local_orientation.GetCol(2);
                //}


                isect.Dispose();    // Drop handle and ignore GC

                // Remove ROINode position as offset - Go to local coordinate system under ROI Node

                ToLocal(result);
            }

            result.clampFlags = flags;
            result.clampType  = groundClamp;

            return(true);
        }