Hi Wojtek,
Use the the coordinateSystemNode:
osg::CoordinateSystemNode* csn = new osg::CoordinateSystemNode();
csn->setEllipsoidModel(new osg::EllipsoidModel());
osg::Matrixd local_frame = csn->computeLocalCoordinateFrame(position);
//where position is your global position
The resulting matrix describes the position and orientation in the
world-frame-
Hence the inverse will contain the local rotation. So in theory:
Quat q = your_world_rotation;//from the model_view
Mat local_frame_inv = inverse(local_frame);
Quat q_local = local_frame_inv * q;
The q_local will then represent the local rotation which you then can
decompose into the HPR.
HTH
Sebastian
Hi,
How to get local rotation angles when camera is set by setViewMatrixAsLookAt?
I've got two camera modes:
1) Camera is set by global position and local angles
Code:
osg::Matrix worldMatrix;
ellipsoid->computeLocalToWorldTransformFromLatLongHeight(longitude, latitude,
height, worldMatrix);
osg::Vec3 yawAxis( 0.f, 0.f, 1.f );
osg::Vec3 pitchAxis( 1.f, 0.f, 0.f );
osg::Vec3 rollAxis( 0.f, 1.f, 0.f );
//roll,pitch, yaw - local angles
osg::Matrix rotationMat = osg::Matrix::rotate(roll, rollAxis)// Roll
* osg::Matrix::rotate(pitch, pitchAxis)// Pitch
* osg::Matrix::rotate( yaw, yawAxis);// Yaw
camera>setViewMatrix(osg::Matrix::inverse(rotationMat * worldMatrix));
2) Camera is set by global eyepos, globalcenter and up vector
Code:
ECEFpnt (position in global) is calcualted from lot, lan, alt
osg::Vec3f upVec = ellipsoid->computeLocalUpVector(ECEFpnt.x(), ECEFpnt.y(),
ECEFpnt.z());
camera->setViewMatrixAsLookAt(ECEFpnt, groundPosECEF, upVec);
How to get camera local angles in this case?!?!?
From Mat -> angles I will use
Code:
osg::Vec3d getHPRfromQuat(osg::Quat quat)
{
double qx = quat.x();
double qy = quat.y();
double qz = quat.z();
double qw = quat.w();
double sqx = qx * qx;
double sqy = qy * qy;
double sqz = qz * qz;
double sqw = qw * qw;
double term1 = 2*(qx*qy+qw*qz);
double term2 = sqw+sqx-sqy-sqz;
double term3 = -2*(qx*qz-qw*qy);
double term4 = 2*(qw*qx+qy*qz);
double term5 = sqw - sqx - sqy + sqz;
double heading = atan2(term1, term2);
double pitch = atan2(term4, term5);
double roll = asin(term3);
return osg::Vec3d( heading, pitch, roll );
}
but I need local rotationMat! How!?:)
Thank you!
Cheers,
Wojtek[/code]
------------------
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http://forum.openscenegraph.org/viewtopic.php?p=67164#67164
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