OSG一个terrain相机

bool TerrainManipulator::performMovementMiddleMouseButton( const double eventTimeDelta, const double dx, const double dy )
{
    // pan model.
    double scale = -0.3f * _distance * getThrowScale( eventTimeDelta );

    Matrixd rotation_matrix;
    rotation_matrix.makeRotate(_rotation);

    // compute look vector.
    Vec3d sideVector = getSideVector(rotation_matrix);

    // CoordinateFrame coordinateFrame = getCoordinateFrame(_center);
    // Vec3d localUp = getUpVector(coordinateFrame);
    Vec3d localUp = _previousUp;
    Vec3d forwardVector =localUp^sideVector;
    sideVector = forwardVector^localUp;

    forwardVector.normalize();
    sideVector.normalize();

    Vec3d dv = forwardVector * (dy*scale) + sideVector * (dx*scale);
    _center += dv;

    // need to recompute the intersection point along the look vector.
    bool hitFound = false;
    if (_node.valid())
    {
        // now reorientate the coordinate frame to the frame coords.
        CoordinateFrame coordinateFrame =  getCoordinateFrame(_center);


        // need to reintersect with the terrain
        double distance = _node->getBound().radius()*0.25f;


        Vec3d ip1;
        Vec3d ip2;
        bool hit_ip1 = intersect(_center, _center + getUpVector(coordinateFrame) * distance, ip1);
        bool hit_ip2 = intersect(_center, _center - getUpVector(coordinateFrame) * distance, ip2);
/*        if (hit_ip1)
        {
            if (hit_ip2)
            {
                _center = (_center-ip1).length2() < (_center-ip2).length2() ?
                            ip1 :
                            ip2;


                hitFound = true;
            }
            else
            {
                _center = ip1;
                hitFound = true;
            }
        }
        else if (hit_ip2)
        {
            _center = ip2;
            hitFound = true;
        }
*/
        if (!hitFound)
        {            
            OSG_INFO<<"TerrainManipulator unable to intersect with terrain."<<std::endl;
        }

        coordinateFrame = getCoordinateFrame(_center);
        Vec3d new_localUp = getUpVector(coordinateFrame);




        Quat pan_rotation;
        pan_rotation.makeRotate(localUp,new_localUp);


        if (!pan_rotation.zeroRotation())
        {
            _rotation = _rotation * pan_rotation;
            _previousUp = new_localUp;
            //OSG_NOTICE<<"Rotating from "<<localUp<<" to "<<new_localUp<<"  angle = "<<acos(localUp*new_localUp/(localUp.length()*new_localUp.length()))<<std::endl;


            //clampOrientation();
        }
        else
        {
            OSG_INFO<<"New up orientation nearly inline - no need to rotate"<<std::endl;
        }
    }

    return true;
}