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Improved rendering of sensor frusta.

sensor-dev
Chris Laurel 2010-11-29 23:07:07 +00:00
parent 3616bdf92d
commit 9d35943b50
1 changed files with 61 additions and 7 deletions
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68
src/celengine/sensorgeometry.cpp
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@ -13,7 +13,9 @@
#include "texmanager.h"
#include "astro.h"
#include "body.h"
#include "vecgl.h"
#include "celmath/mathlib.h"
#include "celmath/intersect.h"
#include <Eigen/Core>
#include <algorithm>
#include <cassert>
@ -52,6 +54,8 @@ SensorGeometry::setFOVs(double horizontalFov, double verticalFov)
}
/** Render the sensor geometry.
*/
void
SensorGeometry::render(RenderContext& rc, double tsec)
{
@ -75,24 +79,74 @@ SensorGeometry::render(RenderContext& rc, double tsec)
Quaterniond q = m_observer->getOrientation(jd);
unsigned int sectionCount = 24;
Vector3d profile[sectionCount];
Vector3d footprint[sectionCount];
Quaterniond obsOrientation = m_observer->getOrientation(jd).conjugate();
Quaterniond targetOrientation = m_target->getOrientation(jd).conjugate();
Vector3d origin = targetOrientation.conjugate() * -pos;
Ellipsoidd targetEllipsoid(m_target->getSemiAxes().cast<double>());
glDisable(GL_LIGHTING);
glDisable(GL_BLEND);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glDepthMask(GL_FALSE);
glDisable(GL_TEXTURE_2D);
glColor4f(1.0f, 0.0f, 0.0f, 1.0f);
glBegin(GL_LINES);
glPushMatrix();
// 'Undo' the rotation of the parent body. We are assuming that the observer is
// the body to which the sensor geometry is attached.
glRotate(obsOrientation.conjugate());
// Compute the profile of the frustum; the profile is extruded over the range
// of the sensor (or to the intersection) when rendering.
for (unsigned int i = 0; i < sectionCount; ++i)
{
double t = double(i) / double(sectionCount);
double theta = t * PI * 2.0;
Vector3d v = Vector3d(cos(theta) * m_horizontalFov, sin(theta) * m_verticalFov, 1.0).normalized();
glVertex3d(0.0, 0.0, 0.0);
glVertex3dv(v.data());
profile[i] = obsOrientation * Vector3d(cos(theta) * m_horizontalFov, -sin(theta) * m_verticalFov, 1.0).normalized();
}
// Compute the 'footprint' of the sensor by finding the intersection of all rays with
// the target body. The rendering will not be correct unless the sensor frustum
for (unsigned int i = 0; i < sectionCount; ++i)
{
double t = double(i) / double(sectionCount);
double theta = t * PI * 2.0;
Vector3d direction = profile[i];
Vector3d testDirection = targetOrientation.conjugate() * direction;
double distance = 0.0;
testIntersection(Ray3d(origin, testDirection), targetEllipsoid, distance);
footprint[i] = distance * direction;
}
// Draw the frustum
glColor4f(0.0, 1.0f, 0.0, 0.3f);
glBegin(GL_TRIANGLE_FAN);
glVertex3d(0.0, 0.0, 0.0);
for (unsigned int i = 0; i < sectionCount; ++i)
{
glVertex3dv(footprint[i].data());
}
glVertex3dv(footprint[0].data());
glEnd();
// Draw the footprint outline
glColor4f(0.0, 1.0f, 0.0, 1.0f);
glBegin(GL_LINE_LOOP);
for (unsigned int i = 0; i < sectionCount; ++i)
{
glVertex3dv(footprint[i].data());
}
glEnd();
glPopMatrix();
glEnable(GL_LIGHTING);
}
@ -107,5 +161,5 @@ SensorGeometry::isOpaque() const
bool
SensorGeometry::isNormalized() const
{
return true;
return false;
}