using System; using System.Collections.Generic; using System.Linq; using System.Text; using OpenTK; using OpenTK.Graphics.OpenGL; using System.Drawing.Imaging; using System.Drawing; using GMap.NET; using GMap.NET.WindowsForms; namespace ArdupilotMega.Controls { public class OpenGLtest : GLControl { public static OpenGLtest instance; // terrain image Bitmap _terrain = new Bitmap(640,480); int texture = 0; float _angle = 0; double cameraX, cameraY, cameraZ; // camera coordinates double lookX, lookY, lookZ; // camera look-at coordinates double step = 1 / 1200.0; // image zoom level int zoom = 11; RectLatLng area = new RectLatLng(-35.04286,117.84262,0.1,0.1); double _alt = 0; public PointLatLngAlt LocationCenter { get { return new PointLatLngAlt(area.LocationMiddle.Lat, area.LocationMiddle.Lng,_alt,""); } set { if (area.LocationMiddle.Lat == value.Lat && area.LocationMiddle.Lng == value.Lng) return; if (value.Lat == 0 && value.Lng == 0) return; _alt = value.Alt; area = new RectLatLng(value.Lat + 0.15, value.Lng - 0.15, 0.3, 0.3); // Console.WriteLine(area.LocationMiddle + " " + value.ToString()); this.Invalidate(); } } public Vector3 rpy = new Vector3(); public OpenGLtest() { instance = this; InitializeComponent(); GL.GenTextures(1, out texture); } void getImage() { MapType type = MapType.GoogleSatellite; PureProjection prj = null; int maxZoom; GMaps.Instance.AdjustProjection(type, ref prj, out maxZoom); //int zoom = 14; // 12 if (!area.IsEmpty) { try { List tileArea = prj.GetAreaTileList(area, zoom, 0); //string bigImage = zoom + "-" + type + "-vilnius.png"; //Console.WriteLine("Preparing: " + bigImage); //Console.WriteLine("Zoom: " + zoom); //Console.WriteLine("Type: " + type.ToString()); //Console.WriteLine("Area: " + area); var types = GMaps.Instance.GetAllLayersOfType(type); // current area GPoint topLeftPx = prj.FromLatLngToPixel(area.LocationTopLeft, zoom); GPoint rightButtomPx = prj.FromLatLngToPixel(area.Bottom, area.Right, zoom); GPoint pxDelta = new GPoint(rightButtomPx.X - topLeftPx.X, rightButtomPx.Y - topLeftPx.Y); DateTime startimage = DateTime.Now; int padding = 0; { using (Bitmap bmpDestination = new Bitmap(pxDelta.X + padding * 2, pxDelta.Y + padding * 2)) { using (Graphics gfx = Graphics.FromImage(bmpDestination)) { gfx.CompositingMode = System.Drawing.Drawing2D.CompositingMode.SourceOver; // get tiles & combine into one foreach (var p in tileArea) { Console.WriteLine("Downloading[" + p + "]: " + tileArea.IndexOf(p) + " of " + tileArea.Count); foreach (MapType tp in types) { Exception ex; WindowsFormsImage tile = GMaps.Instance.GetImageFrom(tp, p, zoom, out ex) as WindowsFormsImage; if (tile != null) { using (tile) { int x = p.X * prj.TileSize.Width - topLeftPx.X + padding; int y = p.Y * prj.TileSize.Width - topLeftPx.Y + padding; { gfx.DrawImage(tile.Img, x, y, prj.TileSize.Width, prj.TileSize.Height); } } } } if ((DateTime.Now - startimage).TotalMilliseconds > 200) break; } } _terrain = new Bitmap(bmpDestination, 512, 512); GL.BindTexture(TextureTarget.Texture2D, texture); BitmapData data = _terrain.LockBits(new System.Drawing.Rectangle(0, 0, _terrain.Width, _terrain.Height), ImageLockMode.ReadOnly, System.Drawing.Imaging.PixelFormat.Format32bppArgb); //Console.WriteLine("w {0} h {1}",data.Width, data.Height); GL.TexImage2D(TextureTarget.Texture2D, 0, PixelInternalFormat.Rgba, data.Width, data.Height, 0, OpenTK.Graphics.OpenGL.PixelFormat.Bgra, PixelType.UnsignedByte, data.Scan0); _terrain.UnlockBits(data); GL.TexParameter(TextureTarget.Texture2D, TextureParameterName.TextureMinFilter, (int)TextureMinFilter.Linear); GL.TexParameter(TextureTarget.Texture2D, TextureParameterName.TextureMagFilter, (int)TextureMagFilter.Linear); } } if ((DateTime.Now - startimage).TotalMilliseconds > 200) { zoom--; } else { //zoom++; } } catch { } } } const float rad2deg = (float)(180 / Math.PI); const float deg2rad = (float)(1.0 / rad2deg); public Vector3 Normal(Vector3 a, Vector3 b, Vector3 c) { var dir = Vector3.Cross(b - a, c - a); var norm = Vector3.Normalize(dir); return norm; } protected override void OnPaint(System.Windows.Forms.PaintEventArgs e) { if (this.DesignMode) return; if (area.LocationMiddle.Lat == 0 && area.LocationMiddle.Lng == 0) return; _angle+=1f; // area.LocationTopLeft = new PointLatLng(area.LocationTopLeft.Lat + 0.0001,area.LocationTopLeft.Lng); //area.Size = new SizeLatLng(0.1, 0.1); try { base.OnPaint(e); } catch { return; } double heightscale = (step / 90.0) * 4; float scale = 1.0f; float radians = (float)(Math.PI * (rpy.Z * -1) / 180.0f); //radians = 0; float mouseY = (float)(0.1 * scale); cameraX = area.LocationMiddle.Lng; // multiplying by mouseY makes the cameraZ = area.LocationMiddle.Lat; // camera get closer/farther away with mouseY cameraY = (LocationCenter.Alt < srtm.getAltitude(cameraZ, cameraX, 20)) ? (srtm.getAltitude(cameraZ, cameraX, 20)+ 0.2) * heightscale : LocationCenter.Alt * heightscale;// (srtm.getAltitude(lookZ, lookX, 20) + 100) * heighscale; lookX = area.LocationMiddle.Lng + Math.Sin(radians) * mouseY; ; lookY = cameraY; lookZ = area.LocationMiddle.Lat + Math.Cos(radians) * mouseY; ; MakeCurrent(); GL.MatrixMode(MatrixMode.Projection); OpenTK.Matrix4 projection = OpenTK.Matrix4.CreatePerspectiveFieldOfView(60 * deg2rad, 1f, 0.00001f, 5000.0f); GL.LoadMatrix(ref projection); Matrix4 modelview = Matrix4.LookAt((float)cameraX, (float)cameraY, (float)cameraZ, (float)lookX, (float)lookY, (float)lookZ, 0,1,0); GL.MatrixMode(MatrixMode.Modelview); // roll modelview = Matrix4.Mult(modelview,Matrix4.CreateRotationZ (rpy.X * deg2rad)); // pitch modelview = Matrix4.Mult(modelview, Matrix4.CreateRotationX(rpy.Y * -deg2rad)); GL.LoadMatrix(ref modelview); GL.ClearColor(Color.Blue); GL.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit); GL.LightModel(LightModelParameter.LightModelAmbient,new float[] {1f,1f,1f,1f}); GL.Enable(EnableCap.Texture2D); GL.BindTexture(TextureTarget.Texture2D, texture); /* GL.Begin(BeginMode.LineStrip); GL.Color3(Color.White); GL.Vertex3(0, 0, 0); GL.Vertex3(area.Bottom, 0, area.Left); GL.Vertex3(lookX, lookY, lookZ); //GL.Vertex3(cameraX, cameraY, cameraZ); GL.End(); */ System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch(); sw.Start(); zoom = 11; getImage(); sw.Stop(); Console.WriteLine("img " +sw.ElapsedMilliseconds); sw.Start(); double increment = step * 5; double cleanup = area.Bottom % increment; double cleanup2 = area.Left % increment; for (double z = (area.Bottom - cleanup); z < area.Top - step; z += increment) { //Makes OpenGL draw a triangle at every three consecutive vertices GL.Begin(BeginMode.TriangleStrip); for (double x = (area.Left - cleanup2); x < area.Right - step; x += increment) { int heightl = srtm.getAltitude(z, area.Right + area.Left - x, 20); // Console.WriteLine(x + " " + z); GL.Color3(Color.White); // int heightl = 0; double scale2 = (Math.Abs(x - area.Left) / area.WidthLng);// / (float)_terrain.Width; double scale3 = (Math.Abs(z - area.Bottom) / area.HeightLat);// / (float)_terrain.Height; double imgx = 1 - scale2; double imgy = 1 - scale3; // GL.Color3(Color.Red); //GL.Color3(_terrain.GetPixel(imgx, imgy)); GL.TexCoord2(imgx,imgy); GL.Vertex3(x, heightl * heightscale, z); // _terrain.GetPixel(x, z).R try { heightl = srtm.getAltitude(z + increment, area.Right + area.Left - x, 20); //scale2 = (Math.Abs(x - area.Left) / area.WidthLng) * (float)_terrain.Width; scale3 = (Math.Abs(((z + increment) - area.Bottom)) / area.HeightLat);// / (float)_terrain.Height; imgx = 1- scale2; imgy = 1 - scale3; // GL.Color3(Color.Green); //GL.Color3(_terrain.GetPixel(imgx, imgy)); GL.TexCoord2(imgx,imgy); GL.Vertex3(x, heightl * heightscale, z + increment); // Console.WriteLine(x + " " + (z + step)); } catch { break; } } GL.End(); } GL.Enable(EnableCap.Blend); GL.DepthMask(false); GL.BlendFunc(BlendingFactorSrc.SrcAlpha, BlendingFactorDest.One); GL.DepthMask(true); GL.Disable(EnableCap.Blend); GL.Flush(); sw.Stop(); Console.WriteLine("GL "+sw.ElapsedMilliseconds); this.SwapBuffers(); //this.Invalidate(); } private void InitializeComponent() { this.SuspendLayout(); // // OpenGLtest // this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); this.Name = "OpenGLtest"; this.Load += new System.EventHandler(this.test_Load); this.Resize += new System.EventHandler(this.test_Resize); this.ResumeLayout(false); } private void test_Load(object sender, EventArgs e) { GL.Enable(EnableCap.DepthTest); // GL.Enable(EnableCap.Light0); GL.Enable(EnableCap.Lighting); GL.Enable(EnableCap.ColorMaterial); GL.Enable(EnableCap.Normalize); //GL.Enable(EnableCap.LineSmooth); //GL.Enable(EnableCap.PointSmooth); //GL.Enable(EnableCap.PolygonSmooth); GL.ShadeModel(ShadingModel.Smooth); GL.Enable(EnableCap.CullFace); GL.Enable(EnableCap.Texture2D); } private void test_Resize(object sender, EventArgs e) { MakeCurrent(); GL.Viewport(0, 0, this.Width, this.Height); this.Invalidate(); } } }