public double GetAltitude(LatPos pos, ClampFlags flags = ClampFlags.DEFAULT)
{
MapPos mapPos;
if (!GetPosition(pos, out mapPos, GroundClampType.GROUND, flags))
{
return(0);
}
LatPos updatedPos;
if (!GetPosition(mapPos, out updatedPos))
{
return(0);
}
return(updatedPos.altitude);
}
public bool GetScreenGroundPosition(int x, int y, uint size_x, uint size_y, out MapPos result, ClampFlags flags = ClampFlags.DEFAULT)
{
result = new MapPos();
Vec3D position;
Vec3 direction;
if (!GetScreenVectors(x, y, size_x, size_y, out position, out direction))
{
return(false);
}
Intersector isect = new Intersector();
if ((flags & ClampFlags.FRUSTRUM_CULL) != 0 && _camera != null && _camera.IsValid())
{
isect.SetCamera(_camera);
if (_camera.RoiPosition)
{
position = position - _camera.Position;
}
}
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, _camera.Position))
{
IntersectorResult res = isect.GetResult();
IntersectorData data = res.GetData(0);
result.position = data.position;
if (_camera.RoiPosition)
{
result.position = result.position + _camera.Position;
}
result.normal = data.normal;
result.clamped = true;
}
isect.Dispose(); // Drop handle and ignore GC
if (_topRoi != null)
{
result.roiNode = _topRoi.GetClosestRoiNode(result.position);
// Remove roiNode position as offset - Go to local RoiNode based coordinate system
if (result.roiNode != null && result.roiNode.IsValid())
{
result.position -= result.roiNode.Position;
}
}
return(true);
}
public bool GetPosition(LatPos pos, out MapPos result, GroundClampType groundClamp = GroundClampType.NONE, ClampFlags flags = ClampFlags.DEFAULT)
{
Coordinate converter = new Coordinate();
converter.SetLatPos(pos);
result = new MapPos
{
local_orientation = new Matrix3(new Vec3(1, 0, 0), new Vec3(0, 0, -1), new Vec3(0, 1, 0)) // East North Up vectors
};
// Convert to global 3D coordinate in appropriate target system
switch (_mapType)
{
case MapType.UNKNOWN:
{
return(false);
}
case MapType.UTM:
UTMPos utmpos;
if (!converter.GetUTMPos(out utmpos))
{
Message.Send("Controller", MessageLevel.WARNING, "Failed to convert to UTM");
return(false);
}
result.position = new Vec3D(utmpos.easting, utmpos.h, -utmpos.northing) - _origin;
// Possibly compensate for zone and north as well XXX
break;
case MapType.GEOCENTRIC:
CartPos cartpos;
if (!converter.GetCartPos(out cartpos))
{
Message.Send("Controller", MessageLevel.WARNING, "Failed to convert to Geocentric");
return(false);
}
result.local_orientation = converter.GetOrientationMatrix(cartpos);
result.position = new Vec3D(cartpos.x, cartpos.y, cartpos.z) - _origin;
break;
}
// We have now global 3D coordinates
// Check possibly local 3D under a roiNode
if (_topRoi != null)
{
result.roiNode = _topRoi.GetClosestRoiNode(result.position);
// Remove roiNode position as offset - Go to local RoiNode based coordinate system
if (result.roiNode != null && result.roiNode.IsValid())
{
result.position -= result.roiNode.Position;
}
}
return(UpdatePosition(ref result, groundClamp, flags));
}
public bool UpdatePosition(ref MapPos result, GroundClampType groundClamp = GroundClampType.NONE, ClampFlags flags = ClampFlags.DEFAULT)
{
if (groundClamp != GroundClampType.NONE)
{
// Add ROINode position as offset - Go to global 3D coordinate system as we need to clamp in global 3D
if (result.roiNode != null && result.roiNode.IsValid())
{
result.position += result.roiNode.Position;
}
Intersector isect = new Intersector();
Vec3D eyePos = new Vec3D(0, 0, 0);
if (_camera != null && _camera.IsValid())
{
eyePos = _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
{
eyePos = 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 - eyePos) + 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), 1, true, eyePos))
{
IntersectorResult res = isect.GetResult();
IntersectorData data = res.GetData(0);
result.position.x = data.position.x + eyePos.x;
result.position.y = data.position.y + eyePos.y;
result.position.z = data.position.z + eyePos.z;
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 (result.roiNode != null && result.roiNode.IsValid())
{
result.position -= result.roiNode.Position;
}
}
return(true);
}
public bool GetMapPosition(LatPos latpos, out MapPos pos, GroundClampType groundClamp, ClampFlags flags = ClampFlags.DEFAULT)
{
return(_controller.GetPosition(latpos, out pos, groundClamp, flags));
}
public bool UpdateMapPosition(ref MapPos pos, GroundClampType groundClamp, ClampFlags flags = ClampFlags.DEFAULT)
{
// Right now this is trivial as we assume same coordinate system between unity and gizmo but we need a double precision conversion
return(_controller.UpdatePosition(ref pos, groundClamp, flags));
}
public double GetAltitude(LatPos pos, ClampFlags flags = ClampFlags.DEFAULT)
{
return(_controller.GetAltitude(pos, flags));
}
public bool GetScreenGroundPosition(int x, int y, uint size_x, uint size_y, out MapPos result, ClampFlags flags = ClampFlags.DEFAULT)
{
return(_controller.GetScreenGroundPosition(x, y, size_x, size_y, out result, flags));
}
public bool SetPosition(MapPos result, CartPos pos, GroundClampType groundClamp = GroundClampType.NONE, ClampFlags flags = ClampFlags.DEFAULT)
{
Coordinate converter = new Coordinate();
converter.SetCartPos(pos);
if (!WorldToMap(converter, ref result.position, ref result.local_orientation))
{
return(false);
}
// Check possibly local 3D under a roiNode
MapToRoi(result);
return(UpdatePosition(result, groundClamp, flags));
}
public bool GetPosition(LatPos pos, out MapPos result, GroundClampType groundClamp = GroundClampType.NONE, ClampFlags flags = ClampFlags.DEFAULT)
{
result = new MapPos
{
local_orientation = new Matrix3(new Vec3(1, 0, 0), new Vec3(0, 0, -1), new Vec3(0, 1, 0)) // East North Up vectors
};
return(SetPosition(result, pos, groundClamp, flags));
}
public bool GetScreenGroundPosition(int x, int y, uint size_x, uint size_y, out MapPos result, ClampFlags flags = ClampFlags.DEFAULT)
{
Vec3D position;
Vec3 direction;
if (!GetScreenVectors(x, y, size_x, size_y, out position, out direction))
{
result = null;
return(false);
}
return(GetGroundPosition(position, direction, out result, flags));
}
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);
}
public bool SetPosition(MapPos result, LatPos pos, GroundClampType groundClamp = GroundClampType.NONE, ClampFlags flags = ClampFlags.DEFAULT)
{
Coordinate converter = new Coordinate();
converter.SetLatPos(pos);
if (!WorldToGlobal(converter, ref result.position, ref result.local_orientation))
{
return(false);
}
ToLocal(result);
return(UpdatePosition(result, groundClamp, flags));
}
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);
}
/// <summary>
/// Get a Local mappos in Global ray direction
/// </summary>
/// <param name="global_position"></param>
/// <param name="direction"></param>
/// <param name="result"></param>
/// <param name="flags"></param>
/// <returns></returns>
public bool GetGroundPosition(Vec3D global_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 for clamp operation
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
global_position = global_position - origo;
isect.SetStartPosition((Vec3)global_position);
isect.SetDirection(direction);
if (isect.Intersect(_currentMap, IntersectQuery.ABC_TRI |
IntersectQuery.NEAREST_POINT |
(flags.HasFlag(ClampFlags.ALIGN_NORMAL_TO_SURFACE) ? IntersectQuery.NORMAL : 0) | //IntersectQuery.NORMAL |
(flags.HasFlag(ClampFlags.WAIT_FOR_DATA) ? IntersectQuery.WAIT_FOR_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;
}
isect.Dispose(); // Drop handle and ignore GC
result.local_orientation = GetLocalOrientation(result.position);
if (result.clampResult == IntersectQuery.NULL)
{
result.normal = result.local_orientation.GetCol(2);
}
return(ToLocal(result));
}