1 // model.cxx - manage a 3D aircraft model.
2 // Written by David Megginson, started 2002.
4 // This file is in the Public Domain, and comes with no warranty.
13 #include <simgear/compiler.h>
14 #include <simgear/debug/logstream.hxx>
15 #include <simgear/misc/exception.hxx>
16 #include <simgear/misc/sg_path.hxx>
18 #include "globals.hxx"
19 #include "fg_props.hxx"
20 #include "viewmgr.hxx"
23 extern unsigned long int fgSimTime; // FIXME: this is ugly
25 extern ssgRoot * scene; // FIXME: from main.cxx
27 FGAircraftModel current_model; // FIXME: add to globals
31 find_named_node (ssgEntity * node, const string &name)
33 char * node_name = node->getName();
34 if (node_name != 0 && name == node_name)
36 else if (node->isAKindOf(ssgTypeBranch())) {
37 int nKids = node->getNumKids();
38 for (int i = 0; i < nKids; i++) {
40 find_named_node(((ssgBranch*)node)->getKid(i), name);
48 FGAircraftModel::FGAircraftModel ()
50 _selector(new ssgSelector),
51 _position(new ssgTransform)
55 FGAircraftModel::~FGAircraftModel ()
57 // since the nodes are attached to the scene graph, they'll be
58 // deleted automatically
62 FGAircraftModel::init ()
64 // TODO: optionally load an XML file with a pointer to the 3D object
65 // and placement and animation info
69 SG_LOG(SG_INPUT, SG_INFO, "Initializing aircraft 3D model");
71 // Load the 3D aircraft object itself
72 SGPath path = globals->get_fg_root();
73 path.append(fgGetString("/sim/model/path", "Models/Geometry/glider.ac"));
75 if (path.str().substr(path.str().size() - 4, 4) == ".xml") {
76 readProperties(path.str(), &props);
77 if (props.hasValue("/path")) {
79 path.append(props.getStringValue("/path"));
81 path = globals->get_fg_root();
82 path.append("Models/Geometry/glider.ac");
86 ssgTexturePath((char *)path.dir().c_str());
87 _model = ssgLoad((char *)path.c_str());
89 _model = ssgLoad((char *)"Models/Geometry/glider.ac");
91 throw sg_exception("Failed to load an aircraft model");
95 vector<SGPropertyNode *> animation_nodes =
96 props.getChildren("animation");
97 for (int i = 0; i < animation_nodes.size(); i++) {
98 vector<SGPropertyNode *> name_nodes =
99 animation_nodes[i]->getChildren("object-name");
100 if (name_nodes.size() < 1) {
101 SG_LOG(SG_INPUT, SG_ALERT, "No object-name given for transformation");
103 for (int j = 0; j < name_nodes.size(); j++) {
104 _animations.push_back(read_animation(name_nodes[j]->getStringValue(),
105 animation_nodes[i]));
110 // Set up the alignment node
111 ssgTransform * align = new ssgTransform;
112 align->addKid(_model);
116 float h_rot = props.getFloatValue("/offsets/heading-deg", 0.0);
117 float p_rot = props.getFloatValue("/offsets/roll-deg", 0.0);
118 float r_rot = props.getFloatValue("/offsets/pitch-deg", 0.0);
119 float x_off = props.getFloatValue("/offsets/x-m", 0.0);
120 float y_off = props.getFloatValue("/offsets/y-m", 0.0);
121 float z_off = props.getFloatValue("/offsets/z-m", 0.0);
122 sgMakeRotMat4(rot_matrix, h_rot, p_rot, r_rot);
123 sgMakeTransMat4(off_matrix, x_off, y_off, z_off);
124 sgMultMat4(res_matrix, off_matrix, rot_matrix);
125 align->setTransform(res_matrix);
127 // Set up the position node
128 _position->addKid(align);
130 // Set up the selector node
131 _selector->addKid(_position);
132 _selector->clrTraversalMaskBits(SSGTRAV_HOT);
133 scene->addKid(_selector);
137 FGAircraftModel::bind ()
142 FGAircraftModel::unbind ()
147 FGAircraftModel::update (int dt)
149 _current_timestamp.stamp();
150 long elapsed_ms = (_current_timestamp - _last_timestamp) / 1000;
151 _last_timestamp.stamp();
153 if (globals->get_viewmgr()->get_current() == 0) {
154 _selector->select(false);
156 for (int i = 0; i < _animations.size(); i++)
157 do_animation(_animations[i], elapsed_ms);
159 _selector->select(true);
160 FGViewerRPH *pilot_view =
161 (FGViewerRPH *)globals->get_viewmgr()->get_view( 0 );
164 sgMakeTransMat4( sgTRANS, pilot_view->get_view_pos() );
167 sgSetVec3( ownship_up, 0.0, 0.0, 1.0);
170 sgMakeRotMat4( sgROT, -90.0, ownship_up );
173 sgCopyMat4( sgTUX, sgROT );
174 sgPostMultMat4( sgTUX, pilot_view->get_VIEW_ROT() );
175 sgPostMultMat4( sgTUX, sgTRANS );
178 sgSetCoord( &tuxpos, sgTUX );
179 _position->setTransform( &tuxpos );
184 FGAircraftModel::Animation
185 FGAircraftModel::read_animation (const string &object_name,
186 const SGPropertyNode * node)
190 // Find the object to be animated
191 ssgEntity * target = find_named_node(_model, object_name);
193 SG_LOG(SG_INPUT, SG_INFO, " Target object is " << object_name);
195 animation.type = Animation::None;
196 SG_LOG(SG_INPUT, SG_ALERT, "Object " << object_name
197 << " not found in model");
201 // Figure out the animation type
202 string type_name = node->getStringValue("type");
203 if (type_name == "spin") {
204 SG_LOG(SG_INPUT, SG_INFO, "Reading spin animation");
205 animation.type = Animation::Spin;
206 } else if (type_name == "rotate") {
207 SG_LOG(SG_INPUT, SG_INFO, "Reading rotate animation");
208 animation.type = Animation::Rotate;
209 } else if (type_name == "none") {
210 SG_LOG(SG_INPUT, SG_INFO, "Reading disabled animation");
211 animation.type = Animation::None;
214 animation.type = Animation::None;
215 SG_LOG(SG_INPUT, SG_ALERT, "Unknown animation type " << type_name);
219 // Splice a transform node into the tree
220 animation.transform = new ssgTransform;
221 int nParents = target->getNumParents();
222 animation.transform->addKid(target);
223 for (int i = 0; i < nParents; i++) {
224 ssgBranch * parent = target->getParent(i);
225 parent->replaceKid(target, animation.transform);
230 fgGetNode(node->getStringValue("property", "/null"), true);
232 animation.position = node->getFloatValue("initial-position", 0);
233 animation.offset = node->getFloatValue("offset", 0);
234 if (node->hasValue("min")) {
235 animation.has_min = true;
236 animation.min = node->getFloatValue("min");
238 animation.has_min = false;
240 if (node->hasValue("max")) {
241 animation.has_max = true;
242 animation.max = node->getFloatValue("max");
244 animation.has_max = false;
246 animation.factor = node->getFloatValue("factor", 1);
248 // Get the center and axis
249 animation.center[0] = node->getFloatValue("center/x-m", 0);
250 animation.center[1] = node->getFloatValue("center/y-m", 0);
251 animation.center[2] = node->getFloatValue("center/z-m", 0);
252 animation.axis[0] = node->getFloatValue("axis/x", 0);
253 animation.axis[1] = node->getFloatValue("axis/y", 0);
254 animation.axis[2] = node->getFloatValue("axis/z", 0);
256 sgNormalizeVec3(animation.axis);
262 FGAircraftModel::do_animation (Animation &animation, long elapsed_ms)
264 switch (animation.type) {
265 case Animation::None:
267 case Animation::Spin:
269 float velocity_rpms = (animation.prop->getDoubleValue()
270 * animation.factor / 60000.0);
271 animation.position += (elapsed_ms * velocity_rpms * 360);
272 animation.setRotation();
275 case Animation::Rotate: {
276 animation.position = ((animation.prop->getFloatValue()
279 if (animation.has_min && animation.position < animation.min)
280 animation.position = animation.min;
281 if (animation.has_max && animation.position > animation.max)
282 animation.position = animation.max;
283 animation.setRotation();
292 * Transform to rotate an object around its local axis
293 * from a relative frame of reference at center -- NHV
296 FGAircraftModel::Animation::setRotation()
298 float temp_angle = -position * SG_DEGREES_TO_RADIANS ;
300 float s = (float) sin ( temp_angle ) ;
301 float c = (float) cos ( temp_angle ) ;
302 float t = SG_ONE - c ;
304 // axis was normalized at load time
305 // hint to the compiler to put these into FP registers
311 matrix[0][0] = t * x * x + c ;
312 matrix[0][1] = t * y * x - s * z ;
313 matrix[0][2] = t * z * x + s * y ;
314 matrix[0][3] = SG_ZERO;
316 matrix[1][0] = t * x * y + s * z ;
317 matrix[1][1] = t * y * y + c ;
318 matrix[1][2] = t * z * y - s * x ;
319 matrix[1][3] = SG_ZERO;
321 matrix[2][0] = t * x * z - s * y ;
322 matrix[2][1] = t * y * z + s * x ;
323 matrix[2][2] = t * z * z + c ;
324 matrix[2][3] = SG_ZERO;
326 // hint to the compiler to put these into FP registers
331 matrix[3][0] = x - x*matrix[0][0] - y*matrix[1][0] - z*matrix[2][0];
332 matrix[3][1] = y - x*matrix[0][1] - y*matrix[1][1] - z*matrix[2][1];
333 matrix[3][2] = z - x*matrix[0][2] - y*matrix[1][2] - z*matrix[2][2];
334 matrix[3][3] = SG_ONE;
336 transform->setTransform(matrix);