|
|
|
|
@ -0,0 +1,759 @@
@@ -0,0 +1,759 @@
|
|
|
|
|
<!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 = 0; |
|
|
|
|
var lastLon = 0; |
|
|
|
|
var lastAlt = 0; |
|
|
|
|
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 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) |
|
|
|
|
{ |
|
|
|
|
planePlacemark = ge.createPlacemark(''); |
|
|
|
|
planePlacemark.setName('aircraft'); |
|
|
|
|
planeModel = ge.createModel(''); |
|
|
|
|
ge.getFeatures().appendChild(planePlacemark); |
|
|
|
|
planeLoc = ge.createLocation(''); |
|
|
|
|
planeModel.setLocation(planeLoc); |
|
|
|
|
planeLink = ge.createLink(''); |
|
|
|
|
planeOrient = ge.createOrientation(''); |
|
|
|
|
planeModel.setOrientation(planeOrient); |
|
|
|
|
|
|
|
|
|
var factor = 1.0; |
|
|
|
|
|
|
|
|
|
//planeLink.setHref('http://www.asl.ethz.ch/people/rudink/senseSoarDummy.dae'); |
|
|
|
|
planeLink.setHref('http://qgroundcontrol.org/_media/users/models/sfly-hex.dae'); |
|
|
|
|
factor = 1.0/1000.0; |
|
|
|
|
//planeLink.setHref('http://qgroundcontrol.org/_media/users/models/ascent-park-glider.dae'); |
|
|
|
|
planeModel.setLink(planeLink); |
|
|
|
|
var scale = planeModel.getScale(); |
|
|
|
|
scale.set(scale.getX()*factor, scale.getY()*factor, scale.getZ()*factor) |
|
|
|
|
planeModel.setScale(scale); |
|
|
|
|
planeModel.setAltitudeMode (ge.ALTITUDE_ABSOLUTE); |
|
|
|
|
|
|
|
|
|
planeLoc.setLatitude(currLat); |
|
|
|
|
planeLoc.setLongitude(currLon); |
|
|
|
|
planeLoc.setAltitude(currAlt); |
|
|
|
|
|
|
|
|
|
planePlacemark.setGeometry(planeModel); |
|
|
|
|
|
|
|
|
|
// Write into global structure |
|
|
|
|
aircraft[id] = planePlacemark; |
|
|
|
|
attitudes[id] = planeOrient; |
|
|
|
|
aircraftLocations[id] = planeLoc; |
|
|
|
|
aircraftLastLocations[id] = ge.createLocation(''); |
|
|
|
|
|
|
|
|
|
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); |
|
|
|
|
|
|
|
|
|
enableEventListener(); |
|
|
|
|
document.getElementById('JScript_initialized').setAttribute('value','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); |
|
|
|
|
|
|
|
|
|
initialized = true; |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw) |
|
|
|
|
{ |
|
|
|
|
if (id == currAircraft) |
|
|
|
|
{ |
|
|
|
|
if (lastLat == 0) |
|
|
|
|
{ |
|
|
|
|
lastLat = currLat; |
|
|
|
|
lastLon = currLon; |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
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 = lastLat*0.5+currLat*0.5; |
|
|
|
|
lastLon = lastLon*0.5+currLon*0.5; |
|
|
|
|
lastAlt = lastAlt*0.5+currAlt*0.5; |
|
|
|
|
|
|
|
|
|
planeOrient.setRoll(+((roll/M_PI))*180.0); |
|
|
|
|
planeOrient.setTilt(-((pitch/M_PI))*180.0); |
|
|
|
|
planeOrient.setHeading(((yaw/M_PI))*180.0-90.0); |
|
|
|
|
planeModel.setOrientation(planeOrient); |
|
|
|
|
|
|
|
|
|
currFollowHeading = currFollowHeading*0.95+0.05*(((yaw/M_PI))*180.0); |
|
|
|
|
|
|
|
|
|
planeLoc.setLatitude(lastLat); |
|
|
|
|
planeLoc.setLongitude(lastLon); |
|
|
|
|
planeLoc.setAltitude(lastAlt); |
|
|
|
|
planeModel.setLocation(planeLoc); |
|
|
|
|
|
|
|
|
|
if (followEnabled) 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); |
|
|
|
|
currView.setLongitude(lastLon); |
|
|
|
|
|
|
|
|
|
if (distanceMode == 1) |
|
|
|
|
{ |
|
|
|
|
var groundAltitude = ge.getGlobe().getGroundAltitude(lastLat, lastLon); |
|
|
|
|
currView.setAltitude(groundAltitude); |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
if (distanceMode == 0) currView.setAltitude(lastAlt); |
|
|
|
|
|
|
|
|
|
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> |
pixhawk
14 years ago