/**
* Rotate the oriented bounding box of the 3D image about the specified axis with the specified
* angle.
*
* @param transform The transform and its matrix by which to rotate the image.
*/
public void rotateFrameBy(Transform3D transform) {
double rY, rX, rZ;
double sinrX, sinrY, sinrZ, cosrX, cosrY, cosrZ;
Matrix3d matrix = new Matrix3d();
transform.get(matrix);
rY = -Math.asin(matrix.m02);
if (Math.cos(rY) != 0) {
rX = -Math.atan2(matrix.m12, matrix.m22);
rZ = Math.atan2(matrix.m01, matrix.m00);
} else {
rX = -Math.atan2(matrix.m10, matrix.m11);
rZ = 0;
}
cosrX = Math.cos(rX);
sinrX = Math.sin(rX);
cosrY = Math.cos(rY);
sinrY = Math.sin(rY);
cosrZ = Math.cos(rZ);
sinrZ = Math.sin(rZ);
matrix.m00 = cosrZ * cosrY;
matrix.m01 = -sinrZ * cosrY;
matrix.m02 = sinrY;
matrix.m10 = (cosrZ * sinrY * sinrX) + (sinrZ * cosrX);
matrix.m11 = (-sinrZ * sinrY * sinrX) + (cosrZ * cosrX);
matrix.m12 = -cosrY * sinrX;
matrix.m20 = (-cosrZ * sinrY * cosrX) + (sinrZ * sinrX);
matrix.m21 = (sinrZ * sinrY * cosrX) + (cosrZ * sinrX);
matrix.m22 = cosrY * cosrX;
m_kRotate.set(matrix);
m_akAxis[0] = new Vector3f(1.0f, 0.0f, 0.0f);
m_akAxis[1] = new Vector3f(0.0f, 1.0f, 0.0f);
m_akAxis[2] = new Vector3f(0.0f, 0.0f, 1.0f);
for (int i = 0; i < 3; i++) {
m_kRotate.transform(m_akAxis[i]);
}
orthonormalize(m_akAxis);
for (int i = 0; i < 3; i++) {
setAxis(i, m_akAxis[i]);
}
}
public void rotateAroundPointer(double x_rot, double y_rot) {
if (hTerrain < 0) hTerrain = 0;
if (Math.abs(point_dist * Math.sin(x_rot)) > hTerrain / 10)
x_rot = Math.asin(hTerrain / point_dist / 10) * (x_rot >= 0 ? 1 : -1);
if (Math.abs(point_dist * Math.sin(y_rot)) > hTerrain / 10)
y_rot = Math.asin(hTerrain / point_dist / 10) * (y_rot >= 0 ? 1 : -1);
// translateSideway(dist*Math.sin(x_rot))
double d_x = point_dist * Math.sin(x_rot);
lla = globe.getEllipsoid().forwGeodesic(lat, lon, -d_x * Math.cos(ha), az + Math.PI / 2., lla);
lat = lla.lat;
lon = lla.lon;
az = Ellipsoid.adjlonPos(lla.az + Math.PI / 2.);
// translateUpDown(dist*Math.sin(y_rot));
double d_y = point_dist * Math.sin(y_rot);
hEllps += d_y * Math.sin(Math.PI / 2. + ha);
lla = globe.getEllipsoid().forwGeodesic(lat, lon, d_y * Math.cos(Math.PI / 2. + ha), az, lla);
lat = lla.lat;
lon = lla.lon;
az = Ellipsoid.adjlonPos(lla.az + Math.PI);
// translateForward(dist*(1-Math.cos(x_rot))*(1-Math.cos(y_rot)));
double d_xy = point_dist * (1 - Math.cos(x_rot)) * (1 - Math.cos(y_rot));
hEllps += d_xy * Math.sin(ha);
lla = globe.getEllipsoid().forwGeodesic(lat, lon, d_xy * Math.cos(ha), az, lla);
lat = lla.lat;
lon = lla.lon;
az = Ellipsoid.adjlonPos(lla.az + Math.PI + x_rot);
ha -= y_rot;
if (ha > Math.PI / 2) ha = Math.PI / 2;
if (ha < -Math.PI / 2) ha = -Math.PI / 2;
ele_changed = lat_changed = lon_changed = az_changed = ha_changed = true;
h = Double.MAX_VALUE;
}