public override void RotationYawPitchRoll(Angle yaw, Angle pitch, Angle roll)
{
if (!World.Settings.cameraSmooth)
{
base.RotationYawPitchRoll(yaw, pitch, roll);
this._targetOrientation = m_Orientation;
this._targetLatitude = _latitude;
this._targetLongitude = _longitude;
this._targetHeading = _heading;
return;
}
_targetOrientation = Quaternion4d.EulerToQuaternion(yaw.Radians, pitch.Radians, roll.Radians) * _targetOrientation;
Vector3d v = Quaternion4d.QuaternionToEulerV3D(_targetOrientation);
if (!double.IsNaN(v.Y))
{
this._targetLatitude.Radians = v.Y;
}
if (!double.IsNaN(v.X))
{
this._targetLongitude.Radians = v.X;
}
if (Math.Abs(roll.Radians) > double.Epsilon)
{
this._targetHeading.Radians = v.Z;
}
}
protected void SlerpToTargetOrientation(double percent)
{
double c = Quaternion4d.Dot(m_Orientation, _targetOrientation);
if (c > 1.0)
{
c = 1.0;
}
else if (c < -1.0)
{
c = -1.0;
}
angle = Angle.FromRadians(Math.Acos(c));
m_Orientation = Quaternion4d.Slerp(m_Orientation, this._targetOrientation, percent);
Vector3d v = Quaternion4d.QuaternionToEulerV3D(m_Orientation);
if (!double.IsNaN(v.Y))
{
this._latitude.Radians = v.Y;
this._longitude.Radians = v.X;
this._heading.Radians = v.Z;
}
this._tilt += (this._targetTilt - this._tilt) * percent;
this._bank += (this._targetBank - this._bank) * percent;
this._distance += (this._targetDistance - this._distance) * percent;
ComputeAltitude(this._distance, this._tilt);
this._fov += (this._targetFov - this._fov) * percent;
}
public override void RotationYawPitchRoll(Angle yaw, Angle pitch, Angle roll)
{
//if (World.Settings.Project == Projection.Perspective)
//{
if (World.Settings.cameraHasMomentum)
{
_latitudeMomentum += pitch / 100;
_longitudeMomentum += yaw / 100;
_headingMomentum += roll / 100;
}
this._targetOrientation = Quaternion4d.EulerToQuaternion(yaw.Radians, pitch.Radians, roll.Radians) * _targetOrientation;
Vector3d v = Quaternion4d.QuaternionToEulerV3D(_targetOrientation);
if (!double.IsNaN(v.Y))
{
this._targetLatitude.Radians = v.Y;
this._targetLongitude.Radians = v.X;
if (!World.Settings.cameraTwistLock)
{
_targetHeading.Radians = v.Z;
}
}
base.RotationYawPitchRoll(yaw, pitch, roll);
//}
}
public virtual void Update(Device device)
{
this.viewPort = device.Viewport;
Vector3d p = Quaternion4d.QuaternionToEulerV3D(m_Orientation);
if (!double.IsNaN(p.Y))
{
this._latitude.Radians = p.Y;
}
if (!double.IsNaN(p.X))
{
this._longitude.Radians = p.X;
}
if (!double.IsNaN(p.Z))
{
this._heading.Radians = p.Z;
}
m_Orientation = Quaternion4d.EulerToQuaternion(_longitude.Radians, _latitude.Radians, _heading.Radians);
ComputeProjectionMatrix(viewPort);
ComputeViewMatrix();
Matrix proh = (Matrix)ConvertDX.FromMatrix4d(m_ProjectionMatrix);
device.Transform.Projection = proh;
device.Transform.View = (Matrix)ConvertDX.FromMatrix4d(m_ViewMatrix);
//TODO JHJ 默认就是单位矩阵
//device.Transform.World = (Matrix)ConvertDX.FromMatrix4d(m_WorldMatrix);
ViewFrustum.Update(
Matrix4d.Multiply(m_WorldMatrix,
Matrix4d.Multiply(m_ViewMatrix, m_ProjectionMatrix)));
// Old view range (used in quadtile logic)
double factor = (this._altitude) / this._worldRadius;
if (factor > 1)
{
viewRange = Angle.FromRadians(Math.PI);
}
else
{
viewRange = Angle.FromRadians(Math.Abs(Math.Asin((this._altitude) / this._worldRadius)) * 2);
}
// True view range
if (factor < 1)
{
trueViewRange = Angle.FromRadians(Math.Abs(Math.Asin((this._distance) / this._worldRadius)) * 2);
}
else
{
trueViewRange = Angle.FromRadians(Math.PI);
}
}
const int DoubleTapDelay = 3000; // Double tap max time (ms)
/// <summary>
/// Initializes a new instance of the <see cref= "T:WorldWind.Camera.CameraBase"/> class.
/// </summary>
/// <param name="targetPosition"></param>
/// <param name="radius">Planet's radius in meters</param>
public CameraBase(Vector3d targetPosition, double radius)
{
this._worldRadius = radius;
this._distance = 2 * _worldRadius;
this._altitude = this._distance;
maximumAltitude = 7 * _worldRadius;
this.m_Orientation = Quaternion4d.EulerToQuaternion(0, 0, 0);
}
public static Quaternion4d Squad(
Quaternion4d q1,
Quaternion4d a,
Quaternion4d b,
Quaternion4d c,
double t)
{
return(Slerp(
Slerp(q1, c, t), Slerp(a, b, t), 2 * t * (1.0 - t)));
}
public World(string name, Vector3d position, Quaternion4d orientation, System.Windows.Forms.Control control, TerrainAccessor terrainAccessor)
{
this._name = name;
m_worldradius = EarthRadius;
this.position = position;
this.orientation = orientation;
MeterPerDegree = SMath.MeterPerDegree();
this._terrainAccessor = terrainAccessor;
this.RenderLayerList = new GeoLayerList();
m_OverlayList = new WidgetRoot(control);
}
public override bool Equals(object obj)
{
if (obj is Quaternion4d)
{
Quaternion4d q = (Quaternion4d)obj;
return(q == this);
}
else
{
return(false);
}
}
//TODO JHJ 可以设置镜头初始位置 orientation 带动画 从0，0 旋转到目标位置
public MomentumCamera(Vector3d targetPosition, double radius, Quaternion4d quanternion, bool isanimation)
: this(targetPosition, radius)
{
if (isanimation)
{
this.TargetOrientation = quanternion;
}
else
{
this.TargetOrientation = this.CurrentOrientation = quanternion;
}
}
/// <summary>
/// Initializes a new instance of the <see cref= "T:WorldWind.Camera.WorldCamera"/> class.
/// </summary>
/// <param name="targetPosition"></param>
/// <param name="radius"></param>
public WorldCamera(Vector3d targetPosition, double radius)
: base(targetPosition, radius)
{
this._targetOrientation = m_Orientation;
this._targetDistance = this._distance;
this._targetAltitude = this._altitude;
this._targetTilt = this._tilt;
this._targetFov = this._fov;
//TODO JHJ 修改参数传递问题
_targetLongitude = _longitude;
_targetLatitude = _latitude;
_targetHeading = _heading;
}
/// <summary>
/// Transforms a rotation in quaternion form to a set of Euler angles
/// </summary>
/// <returns>The rotation transformed to Euler angles, X=Yaw, Y=Pitch, Z=Roll (radians)</returns>
public static Vector3d QuaternionToEulerV3D(Quaternion4d q)
{
double q0 = q.W;
double q1 = q.X;
double q2 = q.Y;
double q3 = q.Z;
double x = Math.Atan2(2 * (q2 * q3 + q0 * q1), (q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3));
double y = Math.Asin(-2 * (q1 * q3 - q0 * q2));
double z = Math.Atan2(2 * (q1 * q2 + q0 * q3), (q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3));
return(new Vector3d(x, y, z));
}
public bool EpsilonTest(Quaternion4d q)
{
if (Math.Abs(q.X - this.X) < CameraBase.dEpsilonTestValue &&
Math.Abs(q.Y - this.Y) < CameraBase.dEpsilonTestValue &&
Math.Abs(q.Z - this.Z) < CameraBase.dEpsilonTestValue &&
Math.Abs(q.W - this.W) < 4.0 * CameraBase.dEpsilonTestValue)
{
return(true);
}
else
{
return(false);
}
}
public static Quaternion4d Slerp(Quaternion4d q0, Quaternion4d q1, double t)
{
double cosom = q0.X * q1.X + q0.Y * q1.Y + q0.Z * q1.Z + q0.W * q1.W;
double tmp0, tmp1, tmp2, tmp3;
if (cosom < 0.0)
{
cosom = -cosom;
tmp0 = -q1.X;
tmp1 = -q1.Y;
tmp2 = -q1.Z;
tmp3 = -q1.W;
}
else
{
tmp0 = q1.X;
tmp1 = q1.Y;
tmp2 = q1.Z;
tmp3 = q1.W;
}
/* calc coeffs */
double scale0, scale1;
if ((1.0 - cosom) > double.Epsilon)
{
// standard case (slerp)
double omega = Math.Acos(cosom);
double sinom = Math.Sin(omega);
scale0 = Math.Sin((1.0 - t) * omega) / sinom;
scale1 = Math.Sin(t * omega) / sinom;
}
else
{
/* just lerp */
scale0 = 1.0 - t;
scale1 = t;
}
Quaternion4d q = new Quaternion4d();
q.X = scale0 * q0.X + scale1 * tmp0;
q.Y = scale0 * q0.Y + scale1 * tmp1;
q.Z = scale0 * q0.Z + scale1 * tmp2;
q.W = scale0 * q0.W + scale1 * tmp3;
return(q);
}
/// <summary>
/// Pan the camera using delta values
/// </summary>
/// <param name="lat">Latitude offset</param>
/// <param name="lon">Longitude offset</param>
public override void Pan(Angle lat, Angle lon)
{
if (World.Settings.cameraHasMomentum)
{
_latitudeMomentum += lat / 100;
_longitudeMomentum += lon / 100;
}
if (Angle.IsNaN(lat))
{
lat = this._targetLatitude;
}
if (Angle.IsNaN(lon))
{
lon = this._targetLongitude;
}
lat += _targetLatitude;
lon += _targetLongitude;
if (Math.Abs(lat.Radians) > Math.PI / 2 - 1e-3)
{
lat.Radians = Math.Sign(lat.Radians) * (Math.PI / 2 - 1e-3);
}
this._targetOrientation = Quaternion4d.EulerToQuaternion(
lon.Radians,
lat.Radians,
_targetHeading.Radians);
Vector3d v = Quaternion4d.QuaternionToEulerV3D(this._targetOrientation);
if (!double.IsNaN(v.Y))
{
_targetLatitude.Radians = v.Y;
_targetLongitude.Radians = v.X;
_targetHeading.Radians = v.Z;
if (!World.Settings.cameraSmooth)
{
_latitude = _targetLatitude;
_longitude = _targetLongitude;
_heading = _targetHeading;
m_Orientation = _targetOrientation;
}
}
}
public virtual void RotationYawPitchRoll(Angle yaw, Angle pitch, Angle roll)
{
m_Orientation = Quaternion4d.EulerToQuaternion(yaw.Radians, pitch.Radians, roll.Radians) * m_Orientation;
Vector3d p = Quaternion4d.QuaternionToEulerV3D(m_Orientation);
if (!double.IsNaN(p.Y))
{
_latitude.Radians = p.Y;
}
if (!double.IsNaN(p.X))
{
_longitude.Radians = p.X;
}
if (Math.Abs(roll.Radians) > double.Epsilon)
{
_heading.Radians = p.Z;
}
}
//the below functions have not been certified to work properly
public static Quaternion4d Exp(Quaternion4d q)
{
double sinom;
double om = Math.Sqrt(q.X * q.X + q.Y * q.Y + q.Z * q.Z);
if (Math.Abs(om) < double.Epsilon)
{
sinom = 1.0;
}
else
{
sinom = Math.Sin(om) / om;
}
q.X = q.X * sinom;
q.Y = q.Y * sinom;
q.Z = q.Z * sinom;
q.W = Math.Cos(om);
return(q);
}
public override void SetPosition(double lat, double lon, double heading, double _altitude, double tilt, double bank)
{
if (double.IsNaN(lat))
{
lat = this._latitude.Degrees;
}
if (double.IsNaN(lon))
{
lon = this._longitude.Degrees;
}
if (double.IsNaN(heading))
{
heading = this._heading.Degrees;
}
if (double.IsNaN(bank))
{
bank = _targetBank.Degrees;
}
this._targetOrientation = Quaternion4d.EulerToQuaternion(
SMath.DegreesToRadians(lon),
SMath.DegreesToRadians(lat),
SMath.DegreesToRadians(heading));
Vector3d v = Quaternion4d.QuaternionToEulerV3D(this._targetOrientation);
this._targetLatitude.Radians = v.Y;
this._targetLongitude.Radians = v.X;
this._targetHeading.Radians = v.Z;
if (!double.IsNaN(tilt))
{
this.Tilt = Angle.FromDegrees(tilt);
}
if (!double.IsNaN(_altitude))
{
Altitude = _altitude;
}
this.Bank = Angle.FromDegrees(bank);
}
/// <summary>
/// Sets camera position.
/// </summary>
/// <param name="lat">Latitude in decimal degrees</param>
/// <param name="lon">Longitude in decimal degrees</param>
/// <param name="heading">Heading in decimal degrees</param>
/// <param name="_altitude">Altitude above ground level in meters</param>
/// <param name="tilt">Tilt in decimal degrees</param>
/// <param name="bank">Camera bank (roll) in decimal degrees</param>
public virtual void SetPosition(double lat, double lon, double heading, double _altitude, double tilt, double bank)
{
if (double.IsNaN(lat))
{
lat = this._latitude.Degrees;
}
if (double.IsNaN(lon))
{
lon = this._longitude.Degrees;
}
if (double.IsNaN(heading))
{
heading = this._heading.Degrees;
}
if (double.IsNaN(bank))
{
bank = this._bank.Degrees;
}
m_Orientation = Quaternion4d.EulerToQuaternion(
SMath.DegreesToRadians(lon),
SMath.DegreesToRadians(lat),
SMath.DegreesToRadians(heading));
Vector3d p = Quaternion4d.QuaternionToEulerV3D(m_Orientation);
_latitude.Radians = p.Y;
_longitude.Radians = p.X;
_heading.Radians = p.Z;
if (!double.IsNaN(tilt))
{
Tilt = Angle.FromDegrees(tilt);
}
if (!double.IsNaN(_altitude))
{
this.Altitude = _altitude;
}
this.Bank = Angle.FromDegrees(bank);
}
private void InitWorld()
{
Vector3 v = SMath.SphericalToCartesian(startlatitude, startlongitude, World.EarthRadius);
v.Z = (float)startAltitude * 1.0f;
Quaternion4d q = Quaternion4d.EulerToQuaternion(SMath.DegreesToRadians(startlongitude), SMath.DegreesToRadians(startlatitude), 0);
Quaternion qz = Quaternion.RotationAxis(new Vector3(0, 0, 1), (float)SMath.DegreesToRadians(startlatitude));
//q.W = qz.W;
//q.X = qz.X;
//q.Y = qz.Y;
//q.Z = qz.Z;
//TerrainTileService terrainTileService = new TerrainTileService("http://worldwind25.arc.nasa.gov/tile/tile.aspx", "100", 20, 150, "bil", 8, Path.Combine(EarthSetting.CachePath, "Earth\\TerrainAccessor\\SRTM"));
TerrainTileService terrainTileService = new TerrainTileService("http://worldwind25.arc.nasa.gov/tile/tile.aspx", "100", 1, 150, "bil", 6, @"D:\空间数据\重庆H48\bil29107");
TerrainAccessor terrainAccessor = new NltTerrainAccessor("Earth", -180, -90, 180, 90, terrainTileService, null);
World _world = new World("Earth", new Vector3d(0, 0, 0), q, this.worldViewer1, terrainAccessor);
this.worldViewer1.CurrentWorld = _world;
this.worldViewer1.ResetSize();
}
public static Quaternion4d Ln(Quaternion4d q)
{
double t = 0;
double s = Math.Sqrt(q.X * q.X + q.Y * q.Y + q.Z * q.Z);
double om = Math.Atan2(s, q.W);
if (Math.Abs(s) < double.Epsilon)
{
t = 0.0f;
}
else
{
t = om / s;
}
q.X = q.X * t;
q.Y = q.Y * t;
q.Z = q.Z * t;
q.W = 0.0f;
return(q);
}
protected void NoSlerpToTargetOrientation()
{
m_Orientation = this._targetOrientation;
Vector3d v = Quaternion4d.QuaternionToEulerV3D(m_Orientation);
if (!double.IsNaN(v.Y))
{
this._latitude.Radians = v.Y;
this._longitude.Radians = v.X;
this._heading.Radians = v.Z;
}
//TODO JHJ 修改参数传递问题 镜头可以指定开始位置
_targetLatitude = _latitude;
_targetLongitude = _longitude;
_targetHeading = _heading;
this._tilt = this._targetTilt;
this._bank = this._targetBank;
this._distance = this._targetDistance;
ComputeAltitude(this._distance, this._tilt);
this._fov = this._targetFov;
}
public static void SquadSetup(
ref Quaternion4d outA,
ref Quaternion4d outB,
ref Quaternion4d outC,
Quaternion4d q0,
Quaternion4d q1,
Quaternion4d q2,
Quaternion4d q3)
{
q0 = q0 + q1;
q0.Normalize();
q2 = q2 + q1;
q2.Normalize();
q3 = q3 + q1;
q3.Normalize();
q1.Normalize();
outA = q1 * Exp(-0.25 * (Ln(Exp(q1) * q2) + Ln(Exp(q1) * q0)));
outB = q2 * Exp(-0.25 * (Ln(Exp(q2) * q3) + Ln(Exp(q2) * q1)));
outC = q2;
}
/// <summary>
/// Pan the camera using delta values
/// </summary>
/// <param name="lat">Latitude offset</param>
/// <param name="lon">Longitude offset</param>
public virtual void Pan(Angle lat, Angle lon)
{
if (Angle.IsNaN(lat))
{
lat = this._latitude;
}
if (Angle.IsNaN(lon))
{
lon = this._longitude;
}
lat += _latitude;
lon += _longitude;
// this._orientation = SMath.EulerToQuaternion(
// lon.Radians,
// lat.Radians,
// _heading.Radians);
m_Orientation = Quaternion4d.EulerToQuaternion(
lon.Radians, lat.Radians, _heading.Radians);
Vector3d p = Quaternion4d.QuaternionToEulerV3D(m_Orientation);
// Vector3d v = SMath.QuaternionToEuler(this._orientation);
// if(!double.IsNaN(v.Y))
// {
// this._latitude.Radians = v.Y;
// this._longitude.Radians = v.X;
// }
if (!double.IsNaN(p.Y))
{
_latitude.Radians = p.Y;
_longitude.Radians = p.X;
}
}
public static double Dot(Quaternion4d a, Quaternion4d b)
{
return(a.X * b.X + a.Y * b.Y + a.Z * b.Z + a.W * b.W);
}
public static double Norm(Quaternion4d q)
{
return(q.X * q.X + q.Y * q.Y + q.Z * q.Z + q.W * q.W);
}
public static double Abs(Quaternion4d q)
{
return(Math.Sqrt(Norm(q)));
}
