Hi,
As Robert said, you can use an intersection to get the normal of the terrain,
after that you can use an osg::Quat, to save the rotation above the
terrain of the
tank. I Put here a simplified example:
class Tank {
osg::Quat rotation;
osg::Vec3d position;
osg::Vec3d getUp();
osg::Vec3d getHeading();
... other stuff...
}
after you hit the terrain, you can calculate the rotation
of the tank doing:
.... intersection stuff ...
osg::Vec3d up = tank->getUp();
osg::Vec3d normal = intersection.localIntersectionNormal;
osg::Quat rot;
rot.makeRotate(up, normal);
if(!rot.zeroRotation())
tank->rotation*=rot;
.... other actions ....
so the last you need to know is how to get the UP of the tank
in every single step of calculation. The method I found was using
some useful helper math classes inside osg:
osg::Vec3d Tank::getUp() {
osg::Matrix mat;
mat.setRotate(this->rotation);
osg::Vec3d v(0,0,1);
osg::Vec3d up = osg::Matrix::transform3x3(v,mat);
up.normalize();
return up;
}
Using an osg::PositionAttitudeTransform, you can manage the
position of the tank, and the rotation of the tank.
Rafa.
On 5/22/07, Robert Osfield <[EMAIL PROTECTED]> wrote:
You could intersect the terrain using
osgUtil::LineSegmentIntersection/IntersectionVisitor. Use three/four
intersections or just pick out the normal of the polygon from one
intersection.
On 5/22/07, HEMANTH <[EMAIL PROTECTED]> wrote:
>
> Hi,
>
> I want to simulate a vehicle on a terrain in OSG.but I am not able
> figure out how to simualte the pitch,yaw and roll of the vehicle according
> to the height of the terrain at a particular point.I mean the robot
> orientation should be changed according to the height of the terrain.
>
> Is there any way of doing this ?
>
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Rafael Gaitán Linares
Instituto de Automática e Informática Industrial http://www.ai2.upv.es
Ciudad Politécnica de la Innovación
Universidad Politécnica de Valencia
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