工程结构

    • 需求
  • 加载机场和飞机
  • 创建飞机历史航迹
  • 设置飞机视角跟随 并设置飞行路径
  • 创建飞机飞行彩带
  • 计算飞机飞行姿态
  • TrailerCallback.h
  • TrailerCallback.cpp
  • CreateTrackCallbcak.h
  • CreateTrackCallbcak.cpp
  • BuildRader.h
  • BuildRader.cpp
  • BuildRaderCallback.cpp
  • BuildRaderCallback.h

  • #BuildRader/BuildRaderCallback 主要用来处理雷达相关操作
  • #CreateTrackCallback 主要是用来实时绘制飞机历史轨迹
  • #TrailerCallback 主要是飞机飞行彩带
  • #ViewerWidget 主要是窗体相关，并初始化

需求

首先我们在场景中加载一个机场模型、一个飞机模型，将飞机沿着跑道方向放置于机场之中，根据我们设置的关键点的位置信息飞机，飞行过程中有雷达扫描飞机下方，飞机尾带跟随飞机运动，并实时绘制飞机的历史航迹。

加载机场和飞机

void CViewerWidget::addAirport()
{m_rpCoordSystem = new osg::CoordinateSystemNode;    //创建坐标系节点 m_rpCoordSystem->setEllipsoidModel(new osg::EllipsoidModel());    //设置设置椭圆体模型//加载机场m_rpnodeAirport = osgDB::readNodeFile("D:/Code/src/model/airport.ive");m_rpmtAirport = new osg::MatrixTransform;m_rpmtAirport->addChild(m_rpnodeAirport);m_rpRoot->addChild(m_rpmtAirport);//设置机场矩阵osg::Matrixd mtTemp;m_rpCoordSystem->getEllipsoidModel()->computeLocalToWorldTransformFromLatLongHeight(osg::DegreesToRadians(34.3762), osg::DegreesToRadians(109.1263),460 , mtTemp);m_rpmtAirport->setMatrix(mtTemp);    //根据经、维、高得到飞机场想要的矩阵//加载飞机m_rpnodeAirFly = osgDB::readNodeFile("D:/Code/src/model/B737.ive");m_rpmtFlyself = new osg::MatrixTransform;m_rpmtFlyself->setMatrix(osg::Matrixd::scale(10, 10, 10)*osg::Matrixd::rotate(3*osg::PI_4,osg::Vec3(0, 0, 1)));m_rpmtFlyself->getOrCreateStateSet()->setMode(GL_RESCALE_NORMAL, osg::StateAttribute::ON);    //设置属性，光照法线m_rpmtFlyself->addChild(m_rpnodeAirFly);m_rpmtFlyself->addChild(m_pBuildRader->BuildRader(500,300).get());m_rpmtFly = new osg::MatrixTransform;m_rpmtFly->addChild(m_rpmtFlyself);m_rpRoot->addChild(m_rpmtFly);//设置飞机矩阵m_rpCoordSystem->getEllipsoidModel()->computeLocalToWorldTransformFromLatLongHeight(osg::DegreesToRadians(34.3834), osg::DegreesToRadians(109.1347), 537, mtTemp);m_rpmtFly->setMatrix(mtTemp);
}

创建飞机历史航迹

void CViewerWidget::BuildHistoryRoute(osg::MatrixTransform* scaler ,float lineWidth)
{osg::ref_ptr<osg::Group> rpgroup = new osg::Group;scaler->addUpdateCallback(new CreateTrackCallback(rpgroup,scaler,lineWidth));m_rpRoot->addChild(rpgroup);
}

设置飞机视角跟随 并设置飞行路径

void CViewerWidget::DoAPreLine()
{osg::ref_ptr<osg::Vec4Array> rpvaTemp = new osg::Vec4Array;rpvaTemp->push_back(osg::Vec4(109.1347, 34.3834, 537, 50));rpvaTemp->push_back(osg::Vec4(109.1174, 34.3686, 567, 500));rpvaTemp->push_back(osg::Vec4(109.1173, 34.3685, 566, 800));rpvaTemp->push_back(osg::Vec4(108.8794, 34.1944, 3000, 800));rpvaTemp->push_back(osg::Vec4(107.1302, 34.3941, 5000, 500));rpvaTemp->push_back(osg::Vec4(108.9387, 34.9202, 8000, 200));rpvaTemp->push_back(osg::Vec4(109.5066, 34.51, 3000, 200));rpvaTemp->push_back(osg::Vec4(109.1347, 34.3834, 537, 200));m_rpAnimationPath = CreateAirPath(rpvaTemp);
}void CViewerWidget::DoPreLine()
{m_rpmtFly->setUpdateCallback(new osg::AnimationPathCallback(m_rpAnimationPath, 0.0, 1.0));//设置视角跟踪m_rpEarthManipulator->setViewpoint(osgEarth::Viewpoint(109.1347, 34.3834,0,24.261,-21.6,1000),5);m_rpEarthManipulator->setTetherNode(m_rpnodeAirFly);
}

创建飞机飞行彩带

void CViewerWidget::BuildRibbon( int size, osg::MatrixTransform* scaler ,int ribbonWidth)
{osg::ref_ptr<osg::Geometry> rpgeom = new osg::Geometry;//设置顶点osg::ref_ptr<osg::Vec3Array> rpvec3Vertex = new osg::Vec3Array(size);//设置颜色osg::ref_ptr<osg::Vec4Array> rpvec4Color = new osg::Vec4Array(size);for(unsigned int i = 0;i <size-1;i+=2){(*rpvec3Vertex)[i] = osg::Vec3(0,0,0);(*rpvec3Vertex)[i+1] = osg::Vec3(0,0,0);float falpha = sinf(osg::PI * (float)i / (float)size);(*rpvec4Color)[i] = osg::Vec4(m_vec3RibbonColor,falpha);(*rpvec4Color)[i+1] = osg::Vec4(m_vec3RibbonColor,falpha);}//场景数据动态改变rpgeom->setDataVariance(osg::Object::DYNAMIC);//禁用显示列表，动态更新不安全rpgeom->setUseDisplayList(false);//使用VBO模式rpgeom->setUseVertexBufferObjects(true);rpgeom->setVertexArray(rpvec3Vertex);rpgeom->setColorArray(rpvec4Color);rpgeom->setColorBinding(osg::Geometry::BIND_PER_VERTEX);rpgeom->addPrimitiveSet(new osg::DrawArrays(GL_QUAD_STRIP,0,size));osg::ref_ptr<osg::Geode> rpgeode = new osg::Geode;rpgeode->addDrawable(rpgeom);//灯光、透明度rpgeom->getOrCreateStateSet()->setMode(GL_LIGHTING,osg::StateAttribute::OFF);rpgeom->getOrCreateStateSet()->setMode(GL_BLEND,osg::StateAttribute::ON);rpgeom->getOrCreateStateSet()->setRenderingHint(osg::StateSet::TRANSPARENT_BIN);scaler->addUpdateCallback(new CTrailerCallback(rpgeom,size,ribbonWidth));m_rpRoot->addChild(rpgeode);
}

计算飞机飞行姿态

//根据输入的控制点，输出一个路径，格式为（经、纬、高、速）
osg::AnimationPath* CViewerWidget::CreateAirPath( osg::Vec4Array* ctrl )
{osg::ref_ptr<osg::AnimationPath> rpAnimationPath = new osg::AnimationPath;rpAnimationPath->setLoopMode(osg::AnimationPath::NO_LOOPING);double dshuiPingAngle= 0.0;     //水平方向需要转的角度double dchuiZhiAngle = 0.0;    //垂直方向需要转的角度double time = 0;osg::Matrix matrix;//当前点osg::Vec3d Vec3positionCur;//下一点osg::Vec3d Vec3positionNext;for(osg::Vec4Array::iterator iter = ctrl->begin(); iter != ctrl->end(); iter++){//下一个点osg::Vec4Array::iterator iter2 = iter;iter2 ++;//如果只有两个点if(iter2 == ctrl->end()){break;}//将经纬度转换到世界坐标系里面  为了计算竖直方向的坐标double x, y, z;m_rpCoordSystem->getEllipsoidModel()->convertLatLongHeightToXYZ(osg::DegreesToRadians(iter->y()), osg::DegreesToRadians(iter->x()), iter->z(), x, y, z);Vec3positionCur = osg::Vec3(x, y, z);m_rpCoordSystem->getEllipsoidModel()->convertLatLongHeightToXYZ(osg::DegreesToRadians(iter2->y()), osg::DegreesToRadians(iter2->x()), iter2->z(), x, y, z);Vec3positionNext = osg::Vec3(x, y, z);//求出水平夹角 经度相同if(iter->x() == iter2->x()){dshuiPingAngle = osg::PI_2;            }else{dshuiPingAngle = atan((iter2->y() - iter->y())/(iter2->x() - iter->x()));if(iter2->x() > iter->x()){dshuiPingAngle += osg::PI;}}//求垂直夹角 高度一致if(iter->z() == iter2->z()){dchuiZhiAngle = 0;}else{//经纬度一致，高度不一致if(0 == sqrt(pow(dGetDis(Vec3positionCur, Vec3positionNext), 2)) - pow((iter2->z() - iter->z()), 2)){dchuiZhiAngle = osg::PI_2;}else{//求出高度差dchuiZhiAngle = atan((iter2->z() - iter->z()) /  sqrt(pow(dGetDis(Vec3positionCur, Vec3positionNext), 2)) - pow((iter2->z() - iter->z()), 2) );}if(dchuiZhiAngle>=osg::PI_2){dchuiZhiAngle = osg::PI_2;}if(dchuiZhiAngle <= -osg::PI_2){dchuiZhiAngle = -osg::PI_2;}}//求飞机的变换矩阵m_rpCoordSystem->getEllipsoidModel()->computeLocalToWorldTransformFromLatLongHeight(osg::DegreesToRadians(iter->y()), osg::DegreesToRadians(iter->x()), iter->z(), matrix);m_quatRotation.makeRotate(0, osg::Vec3(1.0, 0.0, 0.0), dchuiZhiAngle+osg::PI_2, osg::Vec3(0.0, 1.0, 0.0), dshuiPingAngle-osg::PI_4, osg::Vec3(0.0, 0.0, 1.0));matrix.preMultRotate(m_quatRotation);rpAnimationPath->insert(time, osg::AnimationPath::ControlPoint(Vec3positionCur, matrix.getRotate()));//把下一个点的时间求出来time += dGetRunTime(Vec3positionCur, Vec3positionNext, iter2->w());}//只有两个点时rpAnimationPath->insert(time, osg::AnimationPath::ControlPoint(Vec3positionNext, matrix.getRotate()));return rpAnimationPath.release();
}
double CViewerWidget::dGetRunTime( osg::Vec3d from,osg::Vec3d to,double speed )
{if(speed == 0){return 1000000000;}else{return dGetDis(from,to)/speed;}
}double CViewerWidget::dGetDis( osg::Vec3d from,osg::Vec3d to )
{return std::sqrt( (to.x() - from.x())*(to.x() - from.x()) +  (to.y() - from.y())*(to.y() - from.y()) + (to.z() - from.z())*(to.z() - from.z()));
}

其中飞机飞行姿态的计算，如何从当前点到下一个点，这里输入的位置信息osg::Vec4Array* ctrl是经度、维度、高度、速度，在这里我们需要计算飞机机头左右的转向角和飞机机头向上、向下的俯仰角，为了方便理解，我画了一个草图

  1. 其中，飞机在A点 ，下一个关键点在B点，首先，我们要明白飞机怎样才能飞到B点，首先，飞机机头要进行水平转向一定的角度和AC同向，然后向上垂直转向，和AB同向，这样，才可以按照航迹正确的飞到B点。
  2. 首先我们计算飞机的水平转向的角度，角度1的tan值等于A B两点的维度差的值/经度差的值，其中要进行考虑，经度相同时，成90度直角。
  3. 然后计算飞机的垂直转向角度，首先考虑，经纬度不一致，高度一致，然后考虑经纬度一致，高度不一致，也就是第二个点在第一个点正上方的特殊情况。角度2的tan值就等于A B 两点的高度差/距离。

TrailerCallback.h

#pragma once#include <osgViewer/Viewer>
#include <osgEarth/MapNode>
#include <osg/AnimationPath>
#include <osgEarth/Utils>
#include <QBoxLayout>
#include <QTimer>
#include <QWidget>
#include <osgEarthUtil/EarthManipulator>
#include <osgParticle/FireEffect>
#include <osg/Geometry>
#include <osg/Geode>
#include <osg/ShapeDrawable>
#include <osgGA/GUIEventHandler>
#include <math.h>
#include <iostream>
#include <fstream>class CTrailerCallback:public osg::NodeCallback
{public:CTrailerCallback(osg::Geometry* ribbon, int size,int ribbonWidth);~CTrailerCallback();virtual void operator()(osg::Node* node, osg::NodeVisitor* nv);private:osg::observer_ptr<osg::Geometry> m_opGeometryRibbon;int m_nsize;int m_nwidth;
};

TrailerCallback.cpp


#include "TrailerCallback.h"CTrailerCallback::CTrailerCallback( osg::Geometry* ribbon, int size,int ribbonWidth )
{m_opGeometryRibbon = ribbon;m_nsize = size;m_nwidth = ribbonWidth;
}void CTrailerCallback::operator()( osg::Node* node, osg::NodeVisitor* nv )
{osg::MatrixTransform* pmtTrans = dynamic_cast<osg::MatrixTransform*> (node);if(pmtTrans && m_opGeometryRibbon.valid()){osg::Matrix mtx = pmtTrans->getMatrix();osg::Vec3Array* pvec3Vertex = dynamic_cast<osg::Vec3Array*>(m_opGeometryRibbon->getVertexArray());for(unsigned int i = 0;i<m_nsize-3;i+=2){(*pvec3Vertex)[i] = (*pvec3Vertex)[i+2];(*pvec3Vertex)[i+1] = (*pvec3Vertex)[i+3];}(*pvec3Vertex)[m_nsize-2] = osg::Vec3(0.0f,-m_nwidth,0.0f)* mtx;(*pvec3Vertex)[m_nsize-1] = osg::Vec3(0.0f,m_nwidth,0.0f)* mtx;pvec3Vertex->dirty();m_opGeometryRibbon->dirtyBound();}traverse(node,nv);
}CTrailerCallback::~CTrailerCallback()
{}

CreateTrackCallbcak.h

#pragma once#include <osgViewer/Viewer>
#include <osgEarth/MapNode>
#include <osg/AnimationPath>
#include <osgEarth/Utils>
#include <QBoxLayout>
#include <QTimer>
#include <QWidget>
#include <osgEarthUtil/EarthManipulator>
#include <osgParticle/FireEffect>
#include <osg/Geometry>
#include <osg/Geode>
#include <osg/ShapeDrawable>
#include <osgGA/GUIEventHandler>
#include <math.h>
#include <iostream>
#include <fstream>
#include <osg/LineWidth>//自定义轨道回调类
class CreateTrackCallback:public osg::NodeCallback
{public:CreateTrackCallback(osg::Group* root,osg::MatrixTransform* scaler,float ribbonWidth);~CreateTrackCallback();osg::ref_ptr<osg::Geode> BuildTrack(osg::Vec3 m_Vec3LatPoint,osg::Vec3 m_Vec3CurPoint);virtual void operator()(osg::Node* node,osg::NodeVisitor* nv);//上一帧模型位置坐标点osg::Vec3 m_Vec3LastPosition;//当前模型位置坐标点osg::Vec3 m_Vec3CurPosition;    osg::observer_ptr<osg::Geometry> m_opGeometryRibbon;osg::ref_ptr<osg::MatrixTransform> m_rpmtFly;osg::Group* m_proot;int m_nsize;int m_nwidth;
};

CreateTrackCallbcak.cpp

#include "CreateTrackCallbcak.h"CreateTrackCallback::CreateTrackCallback(osg::Group* root,osg::MatrixTransform* scaler,float lineWidth)
{m_proot = root;m_nwidth = lineWidth;m_rpmtFly = scaler;
}CreateTrackCallback::~CreateTrackCallback( )
{
}void CreateTrackCallback::operator()( osg::Node* node,osg::NodeVisitor* nv )
{osg::MatrixTransform* pmtTrans = dynamic_cast<osg::MatrixTransform*> (node);if(pmtTrans){osg::Matrix mtx = pmtTrans->getMatrix();m_Vec3CurPosition = mtx.getTrans();m_proot->addChild(BuildTrack(m_Vec3LastPosition,m_Vec3CurPosition));    }traverse(node,nv);m_Vec3LastPosition = m_Vec3CurPosition;}osg::ref_ptr<osg::Geode> CreateTrackCallback::BuildTrack(osg::Vec3 m_Vec3LatPoint,osg::Vec3 m_Vec3CurPoint)
{osg::ref_ptr<osg::Geode> rpGeode = new osg::Geode;osg::ref_ptr<osg::Geometry> rpGeom = new osg::Geometry;osg::ref_ptr<osg::TessellationHints> rpHints = new osg::TessellationHints;rpHints->setDetailRatio(0.5f);//顶点数组osg::ref_ptr<osg::Vec3Array> rpVec3Array = new osg::Vec3Array;osg::ref_ptr<osg::Vec4Array> rpVec4Array = new osg::Vec4Array;rpVec3Array->push_back(m_Vec3LatPoint);rpVec3Array->push_back(m_Vec3CurPoint);rpGeom->setVertexArray(rpVec3Array); //设置顶点rpGeom->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES,0,rpVec3Array->size()));    //设置关联方式  线段rpVec4Array->push_back(osg::Vec4f(1,0,0,1.0));rpGeom->setColorArray(rpVec4Array);    //设置顶点颜色rpGeom->setColorBinding(osg::Geometry::BIND_OVERALL); //设置关联方式rpGeom->setDataVariance(osg::Object::DYNAMIC);rpGeom->setUseVertexBufferObjects(true);//设置线宽osg::ref_ptr<osg::LineWidth> lw = new osg::LineWidth(m_nwidth);rpGeom->getOrCreateStateSet()->setAttribute(lw, osg::StateAttribute::ON);rpGeode->getOrCreateStateSet()->setMode(GL_LIGHTING,osg::StateAttribute::OFF);rpGeom->getOrCreateStateSet()->setMode(GL_BLEND,osg::StateAttribute::ON);    //混合色rpGeom->getOrCreateStateSet()->setRenderingHint(osg::StateSet::TRANSPARENT_BIN);    //透明度rpGeode->addDrawable(rpGeom.get());return rpGeode;
}

BuildRader.h

#pragma once#include "BuildRaderCallback.h"
class CBuildRader
{public:CBuildRader(){}~CBuildRader(){}
public://创建雷达圆锥图形osg::ref_ptr<osg::Geode> BuildRader(float fRadius, float fHeight);float m_fHeight;float m_fRadius;CBuildRaderCallback * buildRaderCallback;};

BuildRader.cpp

#include "BuildRader.h"osg::ref_ptr<osg::Geode> CBuildRader::BuildRader( float fRadius, float fHeight )
{buildRaderCallback = new CBuildRaderCallback(2,fRadius,fHeight);osg::ref_ptr<osg::Geode> rpGeode = new osg::Geode;osg::ref_ptr<osg::Geometry> rpGeom = new osg::Geometry;osg::ref_ptr<osg::TessellationHints> rpHints = new osg::TessellationHints;rpHints->setDetailRatio(0.5f);//顶点数组osg::ref_ptr<osg::Vec3Array> rpVec3Array = new osg::Vec3Array;osg::ref_ptr<osg::Vec4Array> rpVec4Array = new osg::Vec4Array;rpVec3Array->push_back(osg::Vec3f(0,0,0));rpVec3Array->push_back(osg::Vec3f(0,0,-fHeight));rpVec3Array->push_back(osg::Vec3f(fRadius,0,-fHeight));rpGeom->setVertexArray(rpVec3Array); //设置顶点rpGeom->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::TRIANGLES,0,rpVec3Array->size()));    //设置关联方式  三角形rpVec4Array->push_back(osg::Vec4f(1,0,0,0.5));rpGeom->setColorArray(rpVec4Array);    //设置顶点颜色rpGeom->setColorBinding(osg::Geometry::BIND_PER_VERTEX); //设置关联方式rpGeom->setDataVariance(osg::Object::DYNAMIC);rpGeom->setUseVertexBufferObjects(true);rpGeom->getOrCreateStateSet()->setMode(GL_LIGHTING,osg::StateAttribute::OFF);//混合色rpGeom->getOrCreateStateSet()->setMode(GL_BLEND,osg::StateAttribute::ON);//透明度rpGeom->getOrCreateStateSet()->setRenderingHint(osg::StateSet::TRANSPARENT_BIN);rpGeode->addDrawable(rpGeom.get());//扫描更新回调函数rpGeode->addUpdateCallback(buildRaderCallback);return rpGeode;
}

BuildRaderCallback.cpp

#include "BuildRaderCallback.h"CBuildRaderCallback::CBuildRaderCallback( float fRotateSpeed,float fRotateRadius,float fRotateHeight )
{m_fSpeed = fRotateSpeed;m_fRadius = fRotateRadius;m_fHeight = fRotateHeight;
}CBuildRaderCallback::~CBuildRaderCallback()
{}void CBuildRaderCallback::operator()( osg::Node* node,osg::NodeVisitor* nv )
{osg::Geode * pGeode = dynamic_cast<osg::Geode *>(node);osg::ref_ptr<osg::Geometry> rpGeo = dynamic_cast<osg::Geometry*> (pGeode->getDrawable(0));//获取顶点数组，设置连接方式osg::ref_ptr<osg::Vec3Array> rpVertexArray = dynamic_cast<osg::Vec3Array*>(rpGeo->getVertexArray());double dRotateTime = nv->getFrameStamp()->getReferenceTime(); //获取当前运行时间rpVertexArray->push_back(rpVertexArray->at(0));rpVertexArray->push_back(rpVertexArray->at(1));rpVertexArray->push_back(osg::Vec3(m_fRadius * cosf(dRotateTime * m_fSpeed),m_fRadius * sinf(dRotateTime * m_fSpeed),-m_fHeight));rpVertexArray->erase(rpVertexArray->begin());rpVertexArray->erase(rpVertexArray->begin());rpVertexArray->erase(rpVertexArray->begin());rpVertexArray->dirty();//更新轨迹traverse(node,nv);
}

BuildRaderCallback.h

#pragma once#include <osgViewer/Viewer>
#include <osgEarth/MapNode>
#include <osg/AnimationPath>
#include <osgEarth/Utils>
#include <QBoxLayout>
#include <QTimer>
#include <QWidget>
#include <osgEarthUtil/EarthManipulator>
#include <osgParticle/FireEffect>
#include <osg/Geometry>
#include <osg/Geode>
#include <osg/ShapeDrawable>
#include <osgGA/GUIEventHandler>
#include <math.h>
#include <iostream>
#include <fstream>//自定义回调类
class CBuildRaderCallback:public osg::NodeCallback
{public:CBuildRaderCallback(float fRotateSpeed,float fRotateRadius,float fRotateHeight);~CBuildRaderCallback();virtual void operator()(osg::Node* node,osg::NodeVisitor* nv);
private:float m_fSpeed; //旋转速度float m_fRadius; //距（0，0，0）距离float m_fHeight;
};

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