[osg][osgEarth][原]基于OE自定义自由飞行漫游器（第二版）

在初级版上，进行新的漫游方式调整

头文件：

#pragma once
//南水之源  20180101
#include <osgGA/CameraManipulator>
#include <osgEarth/MapNode>
#include <osgEarth/Viewpoint>
#include <osgEarth/GeoData>

class EarthWalkManipulator :public osgGA::CameraManipulator
{
public:
    EarthWalkManipulator();
    ~EarthWalkManipulator();

    //所有漫游器都必须实现的4个纯虚函数  
    virtual void setByMatrix(const osg::Matrixd& matrix) {}  //设置相机的位置姿态矩阵  
    virtual void setByInverseMatrix(const osg::Matrixd& matrix) {}  //设置相机的视图矩阵  
    virtual osg::Matrixd getMatrix() const;  //获取相机的姿态矩阵 
    virtual osg::Matrixd getInverseMatrix() const;   //获取相机的视图矩阵 

    //所有操作在这里响应
    virtual bool handle(const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter& us);

    // Attach a node to the manipulator.
    virtual void setNode(osg::Node*);
    virtual osg::Node* getNode();
    bool established();

    virtual void computeHomePosition();

    /**
    * Sets the camera position, optionally moving it there over time.
    */
    //virtual void setViewpoint(const osgEarth::Viewpoint& vp, double duration_s = 0.0);
    virtual void home(double /*unused*/);
    virtual void home(const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter& us);


    void addMouseEvent(const osgGA::GUIEventAdapter& ea);
    bool calcMovement(const osgGA::GUIEventAdapter& ea); 
    
    void flushMouseEventStack();
protected:
    osg::Vec3   _eye;               //视点位置  
    osg::Quat    _rotate;            //旋转姿态 
    osg::ref_ptr<osg::Node>  _root;

    osg::observer_ptr<osg::Node> _node;
    osg::observer_ptr<osgEarth::MapNode>   _mapNode;

    osg::ref_ptr<const osgEarth::SpatialReference> _srs;

    float        _speed;                //速度
    bool        _transversal;        //横移
    // Internal event stack comprising last two mouse events.
    osg::ref_ptr<const osgGA::GUIEventAdapter> _ga_t1;
    osg::ref_ptr<const osgGA::GUIEventAdapter> _ga_t0;
};

实现：

//南水之源  20180101
#include "EarthWalkManipulator.h"
#include <osgViewerViewer>

#include <osgDBReadFile>
#include <osgMatrixTransform>


using namespace osgEarth;

EarthWalkManipulator::EarthWalkManipulator()
{
    _eye = osg::Vec3d(0, 0, 0);
    _speed = 1.0;
    _transversal = false;
}

EarthWalkManipulator::~EarthWalkManipulator()
{
}

//获取相机的姿态矩阵 
osg::Matrixd EarthWalkManipulator::getMatrix() const
{
    osg::Matrix mat;
    mat.setRotate(_rotate);//先旋转
    mat.postMultTranslate(_eye);//再平移
    return mat;
}

osg::Matrixd EarthWalkManipulator::getInverseMatrix() const
{
    osg::Matrix mat;
    mat.setRotate(-_rotate);
    mat.preMultTranslate(-_eye);
    return mat;
    //return osg::Matrixd::inverse(getMatrix());
}


void EarthWalkManipulator::computeHomePosition()
{
}

void
EarthWalkManipulator::home(double unused)
{
    //经纬度0,0点姿态
    //_eye = osg::Vec3d(20078236, 0, 0);
    //_speed = 10.0;
    //osg::Matrix mHomeAttitude = osg::Matrix::lookAt(osg::Vec3d(0,0,0),osg::Vec3d(-1,0,0), osg::Vec3d(0,0,1));

    //使用中国南海上空的姿态
    _eye = osg::Vec3d(-4814692, 9236103, 5911710);
    _speed = 10.0;
    osg::Matrix mHomeAttitude = osg::Matrix::lookAt(osg::Vec3d(0, 0, 0), osg::Vec3d(0.4, -0.77, -0.495), osg::Vec3d(0.228, -0.439, 0.869));

    _rotate = mHomeAttitude.getRotate();
    flushMouseEventStack();
}

void
EarthWalkManipulator::home(const osgGA::GUIEventAdapter&, osgGA::GUIActionAdapter& us)
{
    home(0.0);
    us.requestRedraw();
}

void
EarthWalkManipulator::setNode(osg::Node* node)
{
    // you can only set the node if it has not already been set, OR if you are setting
    // it to NULL. (So to change it, you must first set it to NULL.) This is to prevent
    // OSG from overwriting the node after you have already set on manually.
    if (node == 0L || !_node.valid())
    {
        _root = node;
        _node = node;
        _mapNode = 0L;
        _srs = 0L;

        established();

        osg::Matrix matrixGood1;
        GeoPoint point1(_srs, 0, 0, 10000.0);
        point1.createLocalToWorld(matrixGood1);

        _eye = matrixGood1.getTrans();

        osg::Vec3d worldup;
        point1.createWorldUpVector(worldup);

        osg::Matrix mat;
        matrixGood1.getRotate().get(mat);
        osg::Vec3d eye, center, up;
        mat.getLookAt(eye, center, up);
        mat.makeLookAt(eye, -worldup, up);

        _rotate = mat.getRotate();

    }
}

osg::Node*
EarthWalkManipulator::getNode()
{
    return _node.get();
}

bool EarthWalkManipulator::handle(const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter& us)
{
    switch (ea.getEventType())
    {
    case(osgGA::GUIEventAdapter::FRAME):
    {
        osg::Vec3d  v3Eye, v3Center, v3Up;
        v3Eye = _eye;//使用相机实际位置
        osg::Vec3d v3EyeLonLat;
        _srs->transformFromWorld(v3Eye, v3EyeLonLat);

        if (!_transversal && v3EyeLonLat.z() < 10000000)//距离地面1千万米以内需要矫正
        {
            //先获取当前位置的经纬度，再获取当前正上，正北
            osg::Matrix mRealAttitude;

            if (v3EyeLonLat.z() < 0)//v3EyeLonLat.z()是眼点实际海拔
                v3EyeLonLat.z() = 100;//将海拔0以下的物体拉到海拔100米

            GeoPoint gEyeGeo(_srs, v3EyeLonLat.x(), v3EyeLonLat.y(), v3EyeLonLat.z());
            gEyeGeo.createLocalToWorld(mRealAttitude);

            osg::Vec3d v3HorizonUp;//指天向量
            gEyeGeo.createWorldUpVector(v3HorizonUp);

            _rotate.get(mRealAttitude);//要使用当前相机的姿态
            mRealAttitude.getLookAt(v3Eye, v3Center, v3Up);//获取新的位置和姿态

            osg::Vec3 v3Direction = v3Center - v3Eye;
            mRealAttitude.makeLookAt(osg::Vec3d(0, 0, 0), v3Direction, v3HorizonUp);
            float fCosAngle = (v3Direction*v3HorizonUp / v3Direction.length()) / v3HorizonUp.length();
            if(abs(fCosAngle) < 0.9)//在cos@小于0.9的时候矫正
                _rotate = mRealAttitude.getRotate();
        }
        
    }break;
    case(osgGA::GUIEventAdapter::PUSH):
    {
    }break;
    case(osgGA::GUIEventAdapter::RELEASE):
    {
        flushMouseEventStack();
    }break;
    case(osgGA::GUIEventAdapter::DRAG):
    {
        if (calcMovement(ea))//根据鼠标在屏幕中的位置调整相机转向
        {
            us.requestRedraw();
            return true;
        }
    };
    case(osgGA::GUIEventAdapter::SCROLL)://由于已经每帧都调整姿态，所以手动滚动不需要了
    {
        osg::Vec3   v3Direction;         //视点方向  
        osg::Matrix mCameraQuat;
        osg::Vec3d  v3Eye, v3Center, v3Up;
        _rotate.get(mCameraQuat);
        mCameraQuat.getLookAt(v3Eye, v3Center, v3Up);//这里的v3Eye不是实际相机的位置，而是0，0，0
        v3Direction = v3Center - v3Eye;
        v3Direction.normalize();
        osg::Vec3d v3CrossVector = v3Up^v3Direction;
        v3CrossVector.normalize();
        switch (ea.getScrollingMotion())
        {
        case osgGA::GUIEventAdapter::ScrollingMotion::SCROLL_UP://逆时针旋转相机
        {
            _eye += v3Direction * _speed;
        }break;
        case osgGA::GUIEventAdapter::ScrollingMotion::SCROLL_DOWN://顺时针旋转相机
        {
            _eye -= v3Direction * _speed;
        }break;
        }
        return true;
    }break;
    case (osgGA::GUIEventAdapter::KEYDOWN):
    {
        osg::Vec3   v3Direction;         //视点方向  
        osg::Matrix mCameraQuat;
        osg::Vec3d  v3Eye, v3Center, v3Up;
        _rotate.get(mCameraQuat);
        mCameraQuat.getLookAt(v3Eye, v3Center, v3Up);//这里的v3Eye不是实际相机的位置，而是0，0，0
        v3Direction = v3Center - v3Eye;
        v3Direction.normalize();
        osg::Vec3d v3CrossVector = v3Up^v3Direction;
        v3CrossVector.normalize();
        if (ea.getKey() == 'q' || ea.getKey() == 'Q' || ea.getKey() == osgGA::GUIEventAdapter::KEY_Page_Up)//往头部前进
        {
            _eye += v3Up * _speed;
        }
        if (ea.getKey() == 'e' || ea.getKey() == 'E' || ea.getKey() == osgGA::GUIEventAdapter::KEY_Page_Down)//往尾部后退
        {
            _eye -= v3Up * _speed;
        }
        if (ea.getKey() == 'w' || ea.getKey() == 'W' || ea.getKey() == osgGA::GUIEventAdapter::KEY_Up)//前进
        {
            _eye += v3Direction * _speed;
        }
        if (ea.getKey() == 's' || ea.getKey() == 'S' || ea.getKey() == osgGA::GUIEventAdapter::KEY_Down)//后退
        {
            _eye -= v3Direction * _speed;
        }
        if (ea.getKey() == 'a' || ea.getKey() == 'A' || ea.getKey() == osgGA::GUIEventAdapter::KEY_Left)//左移
        {
            _transversal = true;
            _eye += v3CrossVector * _speed;
        }
        if (ea.getKey() == 'd' || ea.getKey() == 'D' || ea.getKey() == osgGA::GUIEventAdapter::KEY_Right)//右移
        {
            _transversal = true;
            _eye -= v3CrossVector * _speed;
        }
        if (ea.getKey() == '-' || ea.getKey() == '_')//减10倍移动速度
        {
            _speed /= 10.0;
            if (_speed < 1.0)
            {
                _speed = 1.0;
            }
        }
        if (ea.getKey() == '=' || ea.getKey() == '+')//加10倍移动速度
        {
            _speed *= 10.0;
            if (_speed > 100000.0)
            {
                _speed = 100000.0;
            }
        }

        if (ea.getKey() == 'h' || ea.getKey() == 'H')//在当前经纬度，姿态回正：1.视点向地面 2.头部向正北
        {
            v3Eye = _eye;//使用相机实际位置
            osg::Vec3d v3EyeLonLat;
            _srs->transformFromWorld(v3Eye, v3EyeLonLat);
            //先获取当前位置的经纬度，再获取当前正上，正北
            osg::Matrix mRealAttitude;

            if (v3EyeLonLat.z() < 0)//v3EyeLonLat.z()是眼点实际海拔
                v3EyeLonLat.z() = 100;//将海拔0以下的物体拉到海拔100米

            GeoPoint gEyeGeo(_srs, v3EyeLonLat.x(), v3EyeLonLat.y(), v3EyeLonLat.z());
            gEyeGeo.createLocalToWorld(mRealAttitude);

            osg::Vec3d v3HorizonUp;//指天向量
            gEyeGeo.createWorldUpVector(v3HorizonUp);
            
            _eye = mRealAttitude.getTrans();

            mRealAttitude.getLookAt(v3Eye, v3Center, v3Up);//获取新的位置和姿态

            osg::Matrix mDeviationAttitude;//向北位置偏移0.00001纬度，为了计算正北方向
            GeoPoint gDeviationEyeGeo(_srs, v3EyeLonLat.x(), v3EyeLonLat.y() + 0.00001, v3EyeLonLat.z());
            gDeviationEyeGeo.createLocalToWorld(mDeviationAttitude);
            osg::Vec3d v3DeviationNorthPoint = mDeviationAttitude.getTrans();
            osg::Vec3d v3NorthHeadUp = v3DeviationNorthPoint - v3Eye;
            v3NorthHeadUp.normalize();//指北向量

            if (v3EyeLonLat.y() < 89.99999  && v3EyeLonLat.y() > -90.0)
            {
                mRealAttitude.makeLookAt(osg::Vec3d(0, 0, 0), -v3HorizonUp, v3NorthHeadUp);
            }
            _rotate = mRealAttitude.getRotate();
        }
        if (ea.getKey() == 'g' || ea.getKey() == 'G')//在当前经纬度，头部回正：1.视点中心不变 2.头部向天
        {
            v3Eye = _eye;//使用相机实际位置
            osg::Vec3d v3EyeLonLat;
            _srs->transformFromWorld(v3Eye, v3EyeLonLat);
            //先获取当前位置的经纬度，再获取当前正上，正北
            osg::Matrix mRealAttitude;

            if (v3EyeLonLat.z() < 0)//v3EyeLonLat.z()是眼点实际海拔
                v3EyeLonLat.z() = 100;//将海拔0以下的物体拉到海拔100米

            GeoPoint gEyeGeo(_srs, v3EyeLonLat.x(), v3EyeLonLat.y(), v3EyeLonLat.z());
            gEyeGeo.createLocalToWorld(mRealAttitude);

            osg::Vec3d v3HorizonUp;//指天向量
            gEyeGeo.createWorldUpVector(v3HorizonUp);


            _rotate.get(mRealAttitude);//要使用当前相机的姿态
            mRealAttitude.getLookAt(v3Eye, v3Center, v3Up);//获取新的位置和姿态

            osg::Vec3 v3Direction = v3Center - v3Eye;
            mRealAttitude.makeLookAt(osg::Vec3d(0, 0, 0), v3Direction, v3HorizonUp);
            _rotate = mRealAttitude.getRotate();
        }
        if (ea.getKey() == osgGA::GUIEventAdapter::KEY_Shift_L)
        {
            _speed = 1000000.0;
        }
        if (ea.getKey() == osgGA::GUIEventAdapter::KEY_Control_L)
        {
            _speed = 100000.0;
        }
    }break;
    case (osgGA::GUIEventAdapter::KEYUP):
    {
        if (ea.getKey() == osgGA::GUIEventAdapter::KEY_Shift_L)
        {
            _speed = 1000.0;
        }
        if (ea.getKey() == osgGA::GUIEventAdapter::KEY_Control_L )
        {
            _speed = 100.0;
        }

        if (ea.getKey() == 'a' || ea.getKey() == 'A' || ea.getKey() == osgGA::GUIEventAdapter::KEY_Left)//左移
        {
            _transversal = false;
        }
        if (ea.getKey() == 'd' || ea.getKey() == 'D' || ea.getKey() == osgGA::GUIEventAdapter::KEY_Right)//右移
        {
            _transversal = false;
        }
    }break;
    default:
        return false;
    }
}

bool
EarthWalkManipulator::established()
{
    if (_srs.valid() && _mapNode.valid() && _node.valid())
        return true;

    // lock down the observed node:
    osg::ref_ptr<osg::Node> safeNode;
    if (!_node.lock(safeNode))
        return false;

    // find a map node or fail:
    _mapNode = osgEarth::MapNode::findMapNode(safeNode.get());
    if (!_mapNode.valid())
        return false;

    // Cache the SRS.
    _srs = _mapNode->getMapSRS();
    return true;
}

void EarthWalkManipulator::addMouseEvent(const osgGA::GUIEventAdapter& ea)
{
    _ga_t1 = _ga_t0;
    _ga_t0 = &ea;
}

void EarthWalkManipulator::flushMouseEventStack()
{
    _ga_t1 = NULL;
    _ga_t0 = NULL;
}

bool EarthWalkManipulator::calcMovement(const osgGA::GUIEventAdapter& ea)
{
    osg::Quat qat;
    osg::Matrix mat;
    _rotate.get(mat);
    osg::Vec3d eye, center, up;
    mat.getLookAt(eye, center, up);

    osg::Vec3d dirction = center - eye;
    dirction.normalize();
    up.normalize();
    osg::Vec3d cross = dirction^up;
    cross.normalize();

    _ga_t1 = _ga_t0;
    _ga_t0 = &ea;

    if (_ga_t0.get() == NULL || _ga_t1.get() == NULL) return false;

    double x1 = _ga_t0->getXnormalized() - _ga_t1->getXnormalized();
    double y1 = _ga_t0->getYnormalized() - _ga_t1->getYnormalized();

    osg::Vec3d deviation(0, 0, 0);
    deviation += cross * x1;
    deviation += up * y1;

    mat = osg::Matrix::lookAt(eye, deviation + center, up);
    _rotate = mat.getRotate();

    return true;
}