|
|
|
|
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
|
|
|
|
|
|
|
|
|
|
|
<html>
|
|
|
|
|
|
<head>
|
|
|
|
|
|
<meta http-equiv="content-type" content="text/html; charset=utf-8" />
|
|
|
|
|
|
<!-- <head> -->
|
|
|
|
|
|
<!-- QGroundControl -->
|
|
|
|
|
|
<title>QGroundControl Google Earth View</title>
|
|
|
|
|
|
<!-- *** Replace the key below below with your own API key, available at http://code.google.com/apis/maps/signup.html *** -->
|
|
|
|
|
|
<!--<script type="text/javascript" src="https://getfirebug.com/firebug-lite-beta.js"></script>-->
|
|
|
|
|
|
<script type="text/javascript" src="https://www.google.com/jsapi?key=ABQIAAAA5Q6wxQ6lxKS8haLVdUJaqhSjosg_0jiTTs2iXtkDVG0n0If1mBRHzhWw5VqBZX-j4NuzoVpU-UaHVg"></script>
|
|
|
|
|
|
<script type="text/javascript">
|
|
|
|
|
|
google.load("earth", "1", { 'language': 'en'});
|
|
|
|
|
|
var ge = null;
|
|
|
|
|
|
var initialized = false;
|
|
|
|
|
|
var currAircraft = 0;
|
|
|
|
|
|
var followEnabled = false;
|
|
|
|
|
|
var lineAltitudeOffset = 0.5; ///< 0.5 m higher than waypoint, prevents the line from entering the ground
|
|
|
|
|
|
|
|
|
|
|
|
var lastLat = [];
|
|
|
|
|
|
var lastLon = [];
|
|
|
|
|
|
var lastAlt = [];
|
|
|
|
|
|
var currLat = 47.3769;
|
|
|
|
|
|
var currLon = 8.549444;
|
|
|
|
|
|
var currAlt = 470;
|
|
|
|
|
|
|
|
|
|
|
|
var currentCameraLatitude = 0;
|
|
|
|
|
|
var currentCameraLongitude = 0;
|
|
|
|
|
|
var currentCameraAltitude = 0;
|
|
|
|
|
|
|
|
|
|
|
|
var currFollowHeading = 0.0;
|
|
|
|
|
|
|
|
|
|
|
|
var homeLat = 0;
|
|
|
|
|
|
var homeLon = 0;
|
|
|
|
|
|
var homeAlt = 0;
|
|
|
|
|
|
var homeViewRange = 800;
|
|
|
|
|
|
var homeLocation = null;
|
|
|
|
|
|
var homeGroundLevel = 0;
|
|
|
|
|
|
|
|
|
|
|
|
var currViewRange = 50.0; ///<< The current viewing range from this position (in meters)
|
|
|
|
|
|
var currTilt = 40.0; ///<< The tilt angle (in degrees)
|
|
|
|
|
|
var currFollowTilt = 40.0;
|
|
|
|
|
|
var currView = null;
|
|
|
|
|
|
var distanceMode = 0;
|
|
|
|
|
|
|
|
|
|
|
|
var viewMode = 0;
|
|
|
|
|
|
var lastTilt = currTilt;
|
|
|
|
|
|
var lastRoll = 0;
|
|
|
|
|
|
var lastHeading = 0;
|
|
|
|
|
|
|
|
|
|
|
|
var M_PI = 3.14159265;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
var planeOrient;
|
|
|
|
|
|
var planeLoc;
|
|
|
|
|
|
|
|
|
|
|
|
var aircraft = [];
|
|
|
|
|
|
var aircraftLocations = [];
|
|
|
|
|
|
var aircraftLastLocations = [];
|
|
|
|
|
|
var aircraftScaleFactors = [];
|
|
|
|
|
|
var aircraftLinks = [];
|
|
|
|
|
|
var aircraftModels = [];
|
|
|
|
|
|
var attitudes = [];
|
|
|
|
|
|
var locations = [];
|
|
|
|
|
|
var trails = [];
|
|
|
|
|
|
var trailPlacemarks = [];
|
|
|
|
|
|
var trailsVisible = [];
|
|
|
|
|
|
var trailColors = [];
|
|
|
|
|
|
var waypoints = [];
|
|
|
|
|
|
|
|
|
|
|
|
var waypointLines = [];
|
|
|
|
|
|
var waypointLinePlacemarks = [];
|
|
|
|
|
|
var waypointLineColors = [];
|
|
|
|
|
|
//var waypointLines = [];
|
|
|
|
|
|
//var trailPlacemarks[id];
|
|
|
|
|
|
var lineStyle;
|
|
|
|
|
|
|
|
|
|
|
|
// Aircraft class
|
|
|
|
|
|
var planeColor = '6600ffff';
|
|
|
|
|
|
|
|
|
|
|
|
// Enable / disable dragging
|
|
|
|
|
|
var draggingAllowed = true;
|
|
|
|
|
|
|
|
|
|
|
|
// Waypoint interaction flags
|
|
|
|
|
|
var dragInfo = null;
|
|
|
|
|
|
|
|
|
|
|
|
var dragWaypointIndex = "";
|
|
|
|
|
|
var dragWaypointLatitude = 0;
|
|
|
|
|
|
var dragWaypointLongitude = 0;
|
|
|
|
|
|
var dragWaypointAltitude = 0;
|
|
|
|
|
|
var dragWaypointPending = false;
|
|
|
|
|
|
|
|
|
|
|
|
// Waypoint creation flags
|
|
|
|
|
|
var newWaypointLatitude = 0;
|
|
|
|
|
|
var newWaypointLongitude = 0;
|
|
|
|
|
|
var newWaypointAltitude = 0;
|
|
|
|
|
|
var newWaypointPending = false;
|
|
|
|
|
|
|
|
|
|
|
|
var clickMode = 0;
|
|
|
|
|
|
|
|
|
|
|
|
var homePlacemark = null;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Data / heightmap
|
|
|
|
|
|
var heightMapPlacemark = null;
|
|
|
|
|
|
var heightMapModel = null;
|
|
|
|
|
|
|
|
|
|
|
|
function getGlobal(variable)
|
|
|
|
|
|
{
|
|
|
|
|
|
return variable;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function getDraggingAllowed()
|
|
|
|
|
|
{
|
|
|
|
|
|
return draggingAllowed;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function setDistanceMode(mode)
|
|
|
|
|
|
{
|
|
|
|
|
|
distanceMode = mode;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function setDraggingAllowed(allowed)
|
|
|
|
|
|
{
|
|
|
|
|
|
draggingAllowed = allowed;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function sampleCurrentPosition()
|
|
|
|
|
|
{
|
|
|
|
|
|
var thisView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
|
|
|
|
|
|
currentCameraLatitude = thisView.getLatitude();
|
|
|
|
|
|
currentCameraLongitude = thisView.getLongitude();
|
|
|
|
|
|
currentCameraGroundAltitude = ge.getGlobe().getGroundAltitude(currentCameraLatitude, currentCameraLongitude);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function enableSetHomeMode()
|
|
|
|
|
|
{
|
|
|
|
|
|
clickMode = 1;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function setLookAtLatLon(lat, lon)
|
|
|
|
|
|
{
|
|
|
|
|
|
// Keep the current altitude above ground, just move the position
|
|
|
|
|
|
currView = ge.getView().copyAsLookAt(ge.ALTITUDE_RELATIVE_TO_GROUND);
|
|
|
|
|
|
currView.setLatitude(lat);
|
|
|
|
|
|
currView.setLongitude(lon);
|
|
|
|
|
|
ge.getView().setAbstractView(currView);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function setNewWaypointPending(pending)
|
|
|
|
|
|
{
|
|
|
|
|
|
newWaypointPending = pending;
|
|
|
|
|
|
document.getElementById('JScript_newWaypointPending').setAttribute('value',pending);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function setDragWaypointPending(pending)
|
|
|
|
|
|
{
|
|
|
|
|
|
dragWaypointPending = pending;
|
|
|
|
|
|
document.getElementById('JScript_dragWaypointPending').setAttribute('value',pending);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function isInitialized()
|
|
|
|
|
|
{
|
|
|
|
|
|
return initialized;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
function init()
|
|
|
|
|
|
{
|
|
|
|
|
|
google.earth.createInstance("map3d", initCallback, failureCallback);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function setFollowEnabled(enable)
|
|
|
|
|
|
{
|
|
|
|
|
|
followEnabled = enable;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function enableEventListener()
|
|
|
|
|
|
{
|
|
|
|
|
|
// listen for mousedown on the window (look specifically for point placemarks)
|
|
|
|
|
|
google.earth.addEventListener(ge.getWindow(), 'mousedown', function(event)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (clickMode == 1)
|
|
|
|
|
|
{
|
|
|
|
|
|
// Set home mode
|
|
|
|
|
|
dragWaypointIndex = 'HOME';
|
|
|
|
|
|
document.getElementById('JScript_dragWaypointIndex').setAttribute('value',dragWaypointIndex);
|
|
|
|
|
|
dragWaypointLatitude = event.getLatitude();
|
|
|
|
|
|
dragWaypointLongitude = event.getLongitude();
|
|
|
|
|
|
dragWaypointAltitude = ge.getGlobe().getGroundAltitude(dragWaypointLatitude, dragWaypointLongitude);
|
|
|
|
|
|
dragWaypointPending = true;
|
|
|
|
|
|
document.getElementById('JScript_dragWaypointLatitude').setAttribute('value',dragWaypointLatitude);
|
|
|
|
|
|
document.getElementById('JScript_dragWaypointLongitude').setAttribute('value',dragWaypointLongitude);
|
|
|
|
|
|
document.getElementById('JScript_dragWaypointAltitude').setAttribute('value',dragWaypointAltitude);
|
|
|
|
|
|
document.getElementById('JScript_dragWaypointPending').setAttribute('value',true);
|
|
|
|
|
|
setGCSHome(dragWaypointLatitude, dragWaypointLongitude, dragWaypointAltitude);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (event.getTarget().getType() == 'KmlPlacemark' &&
|
|
|
|
|
|
event.getTarget().getGeometry().getType() == 'KmlPoint') {
|
|
|
|
|
|
var placemark = event.getTarget();
|
|
|
|
|
|
event.preventDefault();
|
|
|
|
|
|
if (draggingAllowed)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (clickMode == 0)
|
|
|
|
|
|
{
|
|
|
|
|
|
dragInfo = {
|
|
|
|
|
|
placemark: event.getTarget(),
|
|
|
|
|
|
dragged: false
|
|
|
|
|
|
};
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
// listen for mousemove on the globe
|
|
|
|
|
|
google.earth.addEventListener(ge.getGlobe(), 'mousemove', function(event)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (draggingAllowed && (clickMode == 0))
|
|
|
|
|
|
{
|
|
|
|
|
|
if (dragInfo)
|
|
|
|
|
|
{
|
|
|
|
|
|
event.preventDefault();
|
|
|
|
|
|
var point = dragInfo.placemark.getGeometry();
|
|
|
|
|
|
point.setLatitude(event.getLatitude());
|
|
|
|
|
|
point.setLongitude(event.getLongitude());
|
|
|
|
|
|
dragInfo.dragged = true;
|
|
|
|
|
|
dragWaypointIndex = dragInfo.placemark.getDescription();
|
|
|
|
|
|
document.getElementById('JScript_dragWaypointIndex').setAttribute('value',dragWaypointIndex);
|
|
|
|
|
|
dragWaypointLatitude = event.getLatitude();
|
|
|
|
|
|
dragWaypointLongitude = event.getLongitude();
|
|
|
|
|
|
dragWaypointAltitude = point.getAltitude();
|
|
|
|
|
|
dragWaypointPending = true;
|
|
|
|
|
|
document.getElementById('JScript_dragWaypointLatitude').setAttribute('value',dragWaypointLatitude);
|
|
|
|
|
|
document.getElementById('JScript_dragWaypointLongitude').setAttribute('value',dragWaypointLongitude);
|
|
|
|
|
|
document.getElementById('JScript_dragWaypointAltitude').setAttribute('value',dragWaypointAltitude);
|
|
|
|
|
|
document.getElementById('JScript_dragWaypointPending').setAttribute('value',true);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
// listen for mouseup on the window
|
|
|
|
|
|
google.earth.addEventListener(ge.getWindow(), 'mouseup', function(event)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (draggingAllowed && (clickMode == 0))
|
|
|
|
|
|
{
|
|
|
|
|
|
if (dragInfo) {
|
|
|
|
|
|
if (dragInfo.dragged)
|
|
|
|
|
|
{
|
|
|
|
|
|
// if the placemark was dragged, prevent balloons from popping up
|
|
|
|
|
|
event.preventDefault();
|
|
|
|
|
|
// Get drag end location
|
|
|
|
|
|
dragWaypointIndex = dragInfo.placemark.getDescription();
|
|
|
|
|
|
document.getElementById('JScript_dragWaypointIndex').setAttribute('value',dragWaypointIndex);
|
|
|
|
|
|
var point = dragInfo.placemark.getGeometry();
|
|
|
|
|
|
dragWaypointLatitude = event.getLatitude();
|
|
|
|
|
|
dragWaypointLongitude = event.getLongitude();
|
|
|
|
|
|
dragWaypointAltitude = point.getAltitude();
|
|
|
|
|
|
dragWaypointPending = true;
|
|
|
|
|
|
document.getElementById('JScript_dragWaypointLatitude').setAttribute('value',dragWaypointLatitude);
|
|
|
|
|
|
document.getElementById('JScript_dragWaypointLongitude').setAttribute('value',dragWaypointLongitude);
|
|
|
|
|
|
document.getElementById('JScript_dragWaypointAltitude').setAttribute('value',dragWaypointAltitude);
|
|
|
|
|
|
document.getElementById('JScript_dragWaypointPending').setAttribute('value',true);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
dragInfo = null;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
clickMode = 0;
|
|
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
// Listen for wp creation request on the globe
|
|
|
|
|
|
|
|
|
|
|
|
google.earth.addEventListener(ge.getGlobe(), 'dblclick', function(event){
|
|
|
|
|
|
if (draggingAllowed)
|
|
|
|
|
|
{
|
|
|
|
|
|
event.preventDefault();
|
|
|
|
|
|
newWaypointLatitude = event.getLatitude();
|
|
|
|
|
|
newWaypointLongitude = event.getLongitude();
|
|
|
|
|
|
newWaypointAltitude = ge.getGlobe().getGroundAltitude(newWaypointLatitude, newWaypointLongitude);
|
|
|
|
|
|
newWaypointPending = true;
|
|
|
|
|
|
document.getElementById('JScript_newWaypointLatitude').setAttribute('value',newWaypointLatitude);
|
|
|
|
|
|
document.getElementById('JScript_newWaypointLongitude').setAttribute('value',newWaypointLongitude);
|
|
|
|
|
|
document.getElementById('JScript_newWaypointAltitude').setAttribute('value',newWaypointAltitude);
|
|
|
|
|
|
document.getElementById('JScript_newWaypointPending').setAttribute('value',true);
|
|
|
|
|
|
}
|
|
|
|
|
|
});
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
function setCurrAircraft(id)
|
|
|
|
|
|
{
|
|
|
|
|
|
currAircraft = id;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function setGCSHome(lat, lon, alt)
|
|
|
|
|
|
{
|
|
|
|
|
|
// Only update if position actually changed
|
|
|
|
|
|
if (lat != homeLat || lon != homeLon || alt != homeAlt)
|
|
|
|
|
|
{
|
|
|
|
|
|
homeLat = lat;
|
|
|
|
|
|
homeLon = lon;
|
|
|
|
|
|
homeAlt = alt;
|
|
|
|
|
|
|
|
|
|
|
|
if (homePlacemark == null)
|
|
|
|
|
|
{
|
|
|
|
|
|
var placemark = ge.createPlacemark('');
|
|
|
|
|
|
var icon = ge.createIcon('');
|
|
|
|
|
|
icon.setHref('http://google-maps-icons.googlecode.com/files/blackH.png');
|
|
|
|
|
|
var style = ge.createStyle('');
|
|
|
|
|
|
style.getIconStyle().setIcon(icon);
|
|
|
|
|
|
//style.getIconStyle().setScale(0.5);
|
|
|
|
|
|
placemark.setStyleSelector(style);
|
|
|
|
|
|
placemark.setDescription('HOME');
|
|
|
|
|
|
|
|
|
|
|
|
// Set the placemark's location.
|
|
|
|
|
|
homeLocation = ge.createPoint('');
|
|
|
|
|
|
homeLocation.setLatitude(lat);
|
|
|
|
|
|
homeLocation.setLongitude(lon);
|
|
|
|
|
|
homeLocation.setAltitude(alt);
|
|
|
|
|
|
placemark.setGeometry(homeLocation);
|
|
|
|
|
|
|
|
|
|
|
|
// Add the placemark to Earth.
|
|
|
|
|
|
ge.getFeatures().appendChild(placemark);
|
|
|
|
|
|
|
|
|
|
|
|
homePlacemark = placemark;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
var location = ge.createPoint('');
|
|
|
|
|
|
if (location.getLatitude() != lat || location.getLongitude() != lon || location.getAltitude() != alt)
|
|
|
|
|
|
{
|
|
|
|
|
|
location.setLatitude(lat);
|
|
|
|
|
|
location.setLongitude(lon);
|
|
|
|
|
|
location.setAltitude(alt);
|
|
|
|
|
|
homePlacemark.setGeometry(location);
|
|
|
|
|
|
homePlacemark.setDescription('HOME');
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
homeGroundLevel = ge.getGlobe().getGroundAltitude(lat,lon);
|
|
|
|
|
|
if (homeGroundLevel == 0)
|
|
|
|
|
|
{
|
|
|
|
|
|
homeGroundLevel = alt;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function updateWaypointListLength(id, len)
|
|
|
|
|
|
{
|
|
|
|
|
|
// Delete any non-needed waypoints
|
|
|
|
|
|
if (waypoints.length > len)
|
|
|
|
|
|
{
|
|
|
|
|
|
var initialLength = waypoints.length;
|
|
|
|
|
|
for (var i=len; i<initialLength; i++)
|
|
|
|
|
|
{
|
|
|
|
|
|
var placemark = waypoints.pop();
|
|
|
|
|
|
ge.getFeatures().removeChild(placemark);
|
|
|
|
|
|
waypointLines[id].getCoordinates().pop();
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function updateWaypoint(id, index, lat, lon, alt, action)
|
|
|
|
|
|
{
|
|
|
|
|
|
// Check if waypoint exists
|
|
|
|
|
|
if (waypoints.length > index)
|
|
|
|
|
|
{
|
|
|
|
|
|
// Waypoint exists
|
|
|
|
|
|
// Set the placemark's location.
|
|
|
|
|
|
var location = ge.createPoint('');
|
|
|
|
|
|
location.setLatitude(lat);
|
|
|
|
|
|
location.setLongitude(lon);
|
|
|
|
|
|
location.setAltitude(alt);
|
|
|
|
|
|
waypoints[index].setGeometry(location);
|
|
|
|
|
|
waypoints[index].setDescription(index+"");
|
|
|
|
|
|
|
|
|
|
|
|
// Set the WP line location
|
|
|
|
|
|
waypointLines[id].getCoordinates().setLatLngAlt(index, lat, lon, alt);
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
// Waypoint does not exist yet
|
|
|
|
|
|
var placemark = ge.createPlacemark('');
|
|
|
|
|
|
var icon = ge.createIcon('');
|
|
|
|
|
|
var numberstring = index;
|
|
|
|
|
|
if (index < 10) numberstring = '0' + numberstring
|
|
|
|
|
|
icon.setHref('http://google-maps-icons.googlecode.com/files/red' + numberstring +'.png');
|
|
|
|
|
|
var style = ge.createStyle('');
|
|
|
|
|
|
//console.log('WP ICON created:' + 'http://google-maps-icons.googlecode.com/files/red' + numberstring +'.png');
|
|
|
|
|
|
style.getIconStyle().setIcon(icon);
|
|
|
|
|
|
//style.getIconStyle().setScale(0.5);
|
|
|
|
|
|
placemark.setStyleSelector(style);
|
|
|
|
|
|
placemark.setDescription(index+"");
|
|
|
|
|
|
|
|
|
|
|
|
// Set the placemark's location.
|
|
|
|
|
|
var location = ge.createPoint('');
|
|
|
|
|
|
location.setLatitude(lat);
|
|
|
|
|
|
location.setLongitude(lon);
|
|
|
|
|
|
location.setAltitude(alt+lineAltitudeOffset);
|
|
|
|
|
|
placemark.setGeometry(location);
|
|
|
|
|
|
|
|
|
|
|
|
// Add the placemark to Earth.
|
|
|
|
|
|
ge.getFeatures().appendChild(placemark);
|
|
|
|
|
|
waypoints[index] = placemark;
|
|
|
|
|
|
|
|
|
|
|
|
// Add LineString points
|
|
|
|
|
|
waypointLines[id].getCoordinates().pushLatLngAlt(lat, lon, alt);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function createAircraft(id, type, color)
|
|
|
|
|
|
{
|
|
|
|
|
|
aircraft[id] = ge.createPlacemark('');
|
|
|
|
|
|
aircraft[id].setName('aircraft');
|
|
|
|
|
|
aircraftModels[id] = ge.createModel('');
|
|
|
|
|
|
ge.getFeatures().appendChild(aircraft[id]);
|
|
|
|
|
|
aircraftLocations[id] = ge.createLocation('');
|
|
|
|
|
|
aircraftModels[id].setLocation(aircraftLocations[id]);
|
|
|
|
|
|
aircraftLinks[id] = ge.createLink('');
|
|
|
|
|
|
attitudes[id] = ge.createOrientation('');
|
|
|
|
|
|
aircraftModels[id].setOrientation(attitudes[id]);
|
|
|
|
|
|
|
|
|
|
|
|
aircraftScaleFactors[id] = 1.0;
|
|
|
|
|
|
|
|
|
|
|
|
//planeLink.setHref('http://www.asl.ethz.ch/people/rudink/senseSoarDummy.dae');
|
|
|
|
|
|
aircraftLinks[id].setHref('http://qgroundcontrol.org/_media/users/models/sfly-hex.dae');
|
|
|
|
|
|
aircraftScaleFactors[id] = 1.0/1000.0;
|
|
|
|
|
|
//planeLink.setHref('http://qgroundcontrol.org/_media/users/models/ascent-park-glider.dae');
|
|
|
|
|
|
aircraftModels[id].setLink(aircraftLinks[id]);
|
|
|
|
|
|
var scale = aircraftModels[id].getScale();
|
|
|
|
|
|
scale.set(scale.getX()*aircraftScaleFactors[id], scale.getY()*aircraftScaleFactors[id], scale.getZ()*aircraftScaleFactors[id])
|
|
|
|
|
|
aircraftModels[id].setScale(scale);
|
|
|
|
|
|
aircraftModels[id].setAltitudeMode (ge.ALTITUDE_ABSOLUTE);
|
|
|
|
|
|
|
|
|
|
|
|
aircraftLocations[id].setLatitude(currLat);
|
|
|
|
|
|
aircraftLocations[id].setLongitude(currLon);
|
|
|
|
|
|
aircraftLocations[id].setAltitude(currAlt);
|
|
|
|
|
|
|
|
|
|
|
|
aircraft[id].setGeometry(aircraftModels[id]);
|
|
|
|
|
|
|
|
|
|
|
|
// Write into global structure
|
|
|
|
|
|
aircraftLastLocations[id] = aircraftLocations[id];
|
|
|
|
|
|
lastLat[id] = 0;
|
|
|
|
|
|
lastLon[id] = 0;
|
|
|
|
|
|
lastAlt[id] = 0;
|
|
|
|
|
|
|
|
|
|
|
|
createTrail(id, color);
|
|
|
|
|
|
createWaypointLine(id, color);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function createTrail(id, color)
|
|
|
|
|
|
{
|
|
|
|
|
|
trailPlacemarks[id] = ge.createPlacemark('');
|
|
|
|
|
|
// Create the placemark
|
|
|
|
|
|
// Create the LineString; set it to extend down to the ground
|
|
|
|
|
|
// and set the altitude mode
|
|
|
|
|
|
trails[id] = ge.createLineString('');
|
|
|
|
|
|
trailPlacemarks[id].setGeometry(trails[id]);
|
|
|
|
|
|
trails[id].setExtrude(false);
|
|
|
|
|
|
trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
|
|
|
|
|
|
|
|
|
|
|
|
// Create a style and set width and color of line
|
|
|
|
|
|
trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
|
|
|
|
|
|
lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
|
|
|
|
|
|
lineStyle.setWidth(5);
|
|
|
|
|
|
trailColors[id] = color;
|
|
|
|
|
|
lineStyle.getColor().set('00000000'); // aabbggrr format
|
|
|
|
|
|
|
|
|
|
|
|
trailsVisible[id] = false;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function createWaypointLine(id, color)
|
|
|
|
|
|
{
|
|
|
|
|
|
// Create the placemark
|
|
|
|
|
|
waypointLinePlacemarks[id] = ge.createPlacemark('');
|
|
|
|
|
|
// Create the LineString; set it to extend down to the ground
|
|
|
|
|
|
// and set the altitude mode
|
|
|
|
|
|
waypointLines[id] = ge.createLineString('');
|
|
|
|
|
|
waypointLinePlacemarks[id].setGeometry(waypointLines[id]);
|
|
|
|
|
|
waypointLines[id].setExtrude(false);
|
|
|
|
|
|
waypointLines[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
|
|
|
|
|
|
|
|
|
|
|
|
// Add LineString points
|
|
|
|
|
|
//lineString.getCoordinates().pushLatLngAlt(48.754, -121.835, 700);
|
|
|
|
|
|
|
|
|
|
|
|
// Create a style and set width and color of line
|
|
|
|
|
|
waypointLinePlacemarks[id].setStyleSelector(ge.createStyle(''));
|
|
|
|
|
|
lineStyle = waypointLinePlacemarks[id].getStyleSelector().getLineStyle();
|
|
|
|
|
|
lineStyle.setWidth(15);
|
|
|
|
|
|
waypointLineColors[id] = color;
|
|
|
|
|
|
lineStyle.getColor().set(color); // aabbggrr format
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Create a style and set width and color of line
|
|
|
|
|
|
//waypointLinePlacemarks[id].setStyleSelector(ge.createStyle(''));
|
|
|
|
|
|
//lineStyle = waypointLinePlacemarks[id].getStyleSelector().getLineStyle();
|
|
|
|
|
|
//lineStyle.setWidth(15);
|
|
|
|
|
|
//lineStyle.getColor().set(waypointLineColors[id]); // aabbggrr format
|
|
|
|
|
|
//lineStyle.getColor().set(color); // aabbggrr format
|
|
|
|
|
|
|
|
|
|
|
|
// Add the feature to Earth
|
|
|
|
|
|
ge.getFeatures().appendChild(waypointLinePlacemarks[id]);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function clearTrail(id)
|
|
|
|
|
|
{
|
|
|
|
|
|
ge.getFeatures().removeChild(trailPlacemarks[id]);
|
|
|
|
|
|
trailPlacemarks[id] = null;
|
|
|
|
|
|
var isVisible = trailsVisible[id];
|
|
|
|
|
|
createTrail(id, trailColors[id]);
|
|
|
|
|
|
if (isVisible)
|
|
|
|
|
|
{
|
|
|
|
|
|
showTrail(id);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function hideTrail(id)
|
|
|
|
|
|
{
|
|
|
|
|
|
trailsVisible[id] = false;
|
|
|
|
|
|
ge.getFeatures().removeChild(trailPlacemarks[id]);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function showTrail(id)
|
|
|
|
|
|
{
|
|
|
|
|
|
ge.getFeatures().appendChild(trailPlacemarks[id]);
|
|
|
|
|
|
trailsVisible[id] = true;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function setViewRange(dist)
|
|
|
|
|
|
{
|
|
|
|
|
|
currViewRange = dist;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function addTrailPosition(id, lat, lon, alt)
|
|
|
|
|
|
{
|
|
|
|
|
|
//trails[id].setExtrude(false);
|
|
|
|
|
|
//trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
|
|
|
|
|
|
|
|
|
|
|
|
// Add LineString points
|
|
|
|
|
|
trails[id].getCoordinates().pushLatLngAlt(lat, lon, alt);
|
|
|
|
|
|
|
|
|
|
|
|
// Create a style and set width and color of line
|
|
|
|
|
|
trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
|
|
|
|
|
|
lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
|
|
|
|
|
|
lineStyle.setWidth(5);
|
|
|
|
|
|
lineStyle.getColor().set(trailColors[id]); // aabbggrr format
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function initCallback(object)
|
|
|
|
|
|
{
|
|
|
|
|
|
ge = object;
|
|
|
|
|
|
ge.getWindow().setVisibility(true);
|
|
|
|
|
|
ge.getOptions().setStatusBarVisibility(true);
|
|
|
|
|
|
ge.getOptions().setScaleLegendVisibility(true);
|
|
|
|
|
|
//ge.getOptions().setFlyToSpeed(5.0);
|
|
|
|
|
|
ge.getOptions().setFlyToSpeed(ge.SPEED_TELEPORT);
|
|
|
|
|
|
ge.getNavigationControl().setVisibility(ge.VISIBILITY_AUTO);
|
|
|
|
|
|
|
|
|
|
|
|
ge.getLayerRoot().enableLayerById(ge.LAYER_TERRAIN, true);
|
|
|
|
|
|
ge.getLayerRoot().enableLayerById(ge.LAYER_BUILDINGS, true);
|
|
|
|
|
|
ge.getLayerRoot().enableLayerById(ge.LAYER_BORDERS, true);
|
|
|
|
|
|
ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Load heightmap
|
|
|
|
|
|
// http://www.inf.ethz.ch/personal/lomeier/data/untex-environment.dae
|
|
|
|
|
|
|
|
|
|
|
|
/*heightMapPlacemark = ge.createPlacemark('');
|
|
|
|
|
|
heightMapPlacemark.setName('aircraft');
|
|
|
|
|
|
heightMapModel = ge.createModel('');
|
|
|
|
|
|
ge.getFeatures().appendChild(heightMapPlacemark);
|
|
|
|
|
|
planeLoc = ge.createLocation('');
|
|
|
|
|
|
heightMapModel.setLocation(planeLoc);
|
|
|
|
|
|
planeLink = ge.createLink('');
|
|
|
|
|
|
planeOrient = ge.createOrientation('');
|
|
|
|
|
|
heightMapModel.setOrientation(planeOrient);
|
|
|
|
|
|
|
|
|
|
|
|
planeLink.setHref('http://www.inf.ethz.ch/personal/lomeier/data/untex-environment.dae');
|
|
|
|
|
|
heightMapModel.setLink(planeLink);
|
|
|
|
|
|
var scale = heightMapModel.getScale();
|
|
|
|
|
|
var factor = 1.0;//1.0/1000.0;
|
|
|
|
|
|
scale.set(scale.getX()*factor, scale.getY()*factor, scale.getZ()*factor)
|
|
|
|
|
|
heightMapModel.setScale(scale);
|
|
|
|
|
|
heightMapModel.setAltitudeMode (ge.ALTITUDE_ABSOLUTE);
|
|
|
|
|
|
|
|
|
|
|
|
planeLoc.setLatitude(currLat);
|
|
|
|
|
|
planeLoc.setLongitude(currLon);
|
|
|
|
|
|
planeLoc.setAltitude(currAlt);
|
|
|
|
|
|
|
|
|
|
|
|
heightMapPlacemark.setGeometry(heightMapModel);*/
|
|
|
|
|
|
enableEventListener();
|
|
|
|
|
|
document.getElementById('JScript_initialized').setAttribute('value','true');
|
|
|
|
|
|
initialized = true;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (lastLat[id] == 0)
|
|
|
|
|
|
{
|
|
|
|
|
|
lastLat[id] = lat;
|
|
|
|
|
|
lastLon[id] = lon;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (id == currAircraft)
|
|
|
|
|
|
{
|
|
|
|
|
|
currFollowHeading = currFollowHeading*0.95+0.05*(((yaw/M_PI))*180.0);
|
|
|
|
|
|
currLat = lat;
|
|
|
|
|
|
currLon = lon;
|
|
|
|
|
|
var trueGroundAlt = ge.getGlobe().getGroundAltitude(lat, lon);
|
|
|
|
|
|
if (trueGroundAlt < alt)
|
|
|
|
|
|
{
|
|
|
|
|
|
currAlt = alt;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
currAlt = trueGroundAlt+0.1;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// Interpolate between t-1 and t and set new states
|
|
|
|
|
|
//lastLat[id] = lastLat[id]*0.5+lat*0.5;
|
|
|
|
|
|
//lastLon[id] = lastLon[id]*0.5+lon*0.5;
|
|
|
|
|
|
//lastAlt[id] = lastAlt[id]*0.5+alt*0.5;
|
|
|
|
|
|
|
|
|
|
|
|
lastLat[id] = lastLat[id]*0.5+lat*0.5;
|
|
|
|
|
|
lastLon[id] = lastLon[id]*0.5+lon*0.5;
|
|
|
|
|
|
lastAlt[id] = lastAlt[id]*0.5+alt*0.5;
|
|
|
|
|
|
|
|
|
|
|
|
attitudes[id].setRoll(+((roll/M_PI))*180.0);
|
|
|
|
|
|
attitudes[id].setTilt(-((pitch/M_PI))*180.0);
|
|
|
|
|
|
attitudes[id].setHeading(((yaw/M_PI))*180.0-90.0);
|
|
|
|
|
|
aircraftModels[id].setOrientation(attitudes[id]);
|
|
|
|
|
|
|
|
|
|
|
|
aircraftLocations[id].setLatitude(lastLat[id]);
|
|
|
|
|
|
aircraftLocations[id].setLongitude(lastLon[id]);
|
|
|
|
|
|
aircraftLocations[id].setAltitude(lastAlt[id]);
|
|
|
|
|
|
aircraftModels[id].setLocation(aircraftLocations[id]);
|
|
|
|
|
|
|
|
|
|
|
|
if (followEnabled && id == currAircraft) updateFollowAircraft();
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function enableDaylight(enabled)
|
|
|
|
|
|
{
|
|
|
|
|
|
if(enabled)
|
|
|
|
|
|
{
|
|
|
|
|
|
ge.getSun().setVisibility(true);
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
ge.getSun().setVisibility(false);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function enableAtmosphere(enabled)
|
|
|
|
|
|
{
|
|
|
|
|
|
ge.getOptions().setAtmosphereVisibility(enabled);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function goHome()
|
|
|
|
|
|
{
|
|
|
|
|
|
var currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
|
|
|
|
|
|
currView.setLatitude(homeLat);
|
|
|
|
|
|
currView.setLongitude(homeLon);
|
|
|
|
|
|
currView.setAltitude(homeAlt);
|
|
|
|
|
|
currView.setRange(homeViewRange);
|
|
|
|
|
|
currView.setTilt(currTilt);
|
|
|
|
|
|
ge.getView().setAbstractView(currView);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function setCurrentAircraft(id)
|
|
|
|
|
|
{
|
|
|
|
|
|
currAircraft = id;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/** @brief Set the current view mode
|
|
|
|
|
|
*
|
|
|
|
|
|
* @param mode 0: side map view, 1: top/north map view, 2: fixed chase cam, 3: free chase cam
|
|
|
|
|
|
*/
|
|
|
|
|
|
function setViewMode(mode)
|
|
|
|
|
|
{
|
|
|
|
|
|
var currView = ge.getView().copyAsLookAt(ge.ALTITUDE_RELATIVE_TO_GROUND);
|
|
|
|
|
|
|
|
|
|
|
|
if (mode == 0)
|
|
|
|
|
|
{
|
|
|
|
|
|
currView.setTilt(lastTilt);
|
|
|
|
|
|
currView.setHeading(lastHeading);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (mode == 1 && viewMode != mode)
|
|
|
|
|
|
{
|
|
|
|
|
|
lastTilt = currView.getTilt();
|
|
|
|
|
|
lastHeading = currView.getHeading();
|
|
|
|
|
|
currView.setTilt(0);
|
|
|
|
|
|
currView.setHeading(0);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
viewMode = mode;
|
|
|
|
|
|
|
|
|
|
|
|
ge.getView().setAbstractView(currView);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function updateFollowAircraft()
|
|
|
|
|
|
{
|
|
|
|
|
|
currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
|
|
|
|
|
|
currView.setLatitude(lastLat[currAircraft]);
|
|
|
|
|
|
currView.setLongitude(lastLon[currAircraft]);
|
|
|
|
|
|
|
|
|
|
|
|
if (distanceMode == 1)
|
|
|
|
|
|
{
|
|
|
|
|
|
var groundAltitude = ge.getGlobe().getGroundAltitude(lastLat[currAircraft], lastLon[currAircraft]);
|
|
|
|
|
|
currView.setAltitude(groundAltitude);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (distanceMode == 0) currView.setAltitude(lastAlt[currAircraft]);
|
|
|
|
|
|
|
|
|
|
|
|
currView.setRange(currViewRange);
|
|
|
|
|
|
|
|
|
|
|
|
if (viewMode != 3) // VIEW_MODE_CHASE_FREE
|
|
|
|
|
|
{
|
|
|
|
|
|
currView.setTilt(currFollowTilt);
|
|
|
|
|
|
currView.setHeading(currFollowHeading);
|
|
|
|
|
|
}
|
|
|
|
|
|
ge.getView().setAbstractView(currView);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function failureCallback(object)
|
|
|
|
|
|
{
|
|
|
|
|
|
}
|
|
|
|
|
|
</script>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<style type="text/css">
|
|
|
|
|
|
html, body {
|
|
|
|
|
|
margin: 0;
|
|
|
|
|
|
width: 100%;
|
|
|
|
|
|
height: 100%;
|
|
|
|
|
|
}
|
|
|
|
|
|
</style>
|
|
|
|
|
|
</head>
|
|
|
|
|
|
<body onload='init()' id='body'>
|
|
|
|
|
|
<center>
|
|
|
|
|
|
<div id='map3d' style='margin: 0; spacing: 0; height: 100%; width: 100%'></div>
|
|
|
|
|
|
</center>
|
|
|
|
|
|
<input type="hidden" id="JScript_initialized" value="false" />
|
|
|
|
|
|
<input type="hidden" id="JScript_dragWaypointIndex" value="0" />
|
|
|
|
|
|
<input type="hidden" id="JScript_dragWaypointLatitude" value="0" />
|
|
|
|
|
|
<input type="hidden" id="JScript_dragWaypointLongitude" value="0" />
|
|
|
|
|
|
<input type="hidden" id="JScript_dragWaypointAltitude" value="0" />
|
|
|
|
|
|
<input type="hidden" id="JScript_dragWaypointPending" value="false" />
|
|
|
|
|
|
<input type="hidden" id="JScript_newWaypointLatitude" value="0" />
|
|
|
|
|
|
<input type="hidden" id="JScript_newWaypointLongitude" value="0" />
|
|
|
|
|
|
<input type="hidden" id="JScript_newWaypointAltitude" value="0" />
|
|
|
|
|
|
<input type="hidden" id="JScript_newWaypointPending" value="false" />
|
|
|
|
|
|
<input type="hidden" id="JScript_currentCameraLatitude" value="0" />
|
|
|
|
|
|
<input type="hidden" id="JScript_currentCameraLongitude" value="0" />
|
|
|
|
|
|
<input type="hidden" id="JScript_currentCameraGroundAltitude" value="0" />
|
|
|
|
|
|
</body>
|
|
|
|
|
|
</html>
|
