2 #include <Include/fg_constants.h>
5 MAT3mat R_Phi, R_Theta, R_Psi, R_Lat, R_Lon, T_view;
6 MAT3mat TMP, AIRCRAFT, WORLD, EYE_TO_WORLD, WORLD_TO_EYE;
7 MAT3hvec vec, eye, vec1;
10 double FG_Theta = 0.00;
12 // double FG_Latitude = 33.3528917 * DEG_TO_RAD;
13 double FG_Latitude = 0.0;
14 // double FG_Longitude = -110.6642444 * DEG_TO_RAD;
15 double FG_Longitude = 90.0 * DEG_TO_RAD;
16 // double view_pos[] = {2936.3222, 1736.9243, 3689.5359, 1.0};
17 double view_pos[] = {0.0, 0.0, 0.0, 1.0};
20 MAT3_SET_HVEC(vec, 0.0, 0.0, -1.0, 1.0);
21 MAT3rotate(R_Phi, vec, FG_Phi);
22 printf("Roll matrix (Phi)\n");
23 MAT3print(R_Phi, stdout);
26 MAT3_SET_HVEC(vec, 1.0, 0.0, 0.0, 1.0);
27 MAT3rotate(R_Theta, vec, FG_Theta);
28 printf("\nPitch matrix (Theta)\n");
29 MAT3print(R_Theta, stdout);
32 MAT3_SET_HVEC(vec, 0.0, -1.0, 0.0, 1.0);
33 MAT3rotate(R_Psi, vec, FG_PI + FG_Psi);
34 printf("\nYaw matrix (Psi)\n");
35 MAT3print(R_Psi, stdout);
38 MAT3_SET_HVEC(vec, 1.0, 0.0, 0.0, 1.0);
39 // R_Lat = rotate about X axis
40 MAT3rotate(R_Lat, vec, FG_Latitude);
41 printf("\nLatitude matrix\n");
42 MAT3print(R_Lat, stdout);
45 MAT3_SET_HVEC(vec, 0.0, 0.0, 1.0, 1.0);
46 // R_Lon = rotate about Z axis
47 MAT3rotate(R_Lon, vec, FG_Longitude - FG_PI_2 );
48 printf("\nLongitude matrix\n");
49 MAT3print(R_Lon, stdout);
51 // View position in scenery centered coordinates
52 MAT3translate(T_view, view_pos);
53 printf("\nTranslation matrix\n");
54 MAT3print(T_view, stdout);
56 // aircraft roll/pitch/yaw
57 MAT3mult(TMP, R_Phi, R_Theta);
58 MAT3mult(AIRCRAFT, TMP, R_Psi);
59 printf("\naircraft roll pitch yaw\n");
60 MAT3print(AIRCRAFT, stdout);
63 MAT3mult(WORLD, R_Lat, R_Lon);
65 MAT3print(WORLD, stdout);
67 MAT3mult(EYE_TO_WORLD, AIRCRAFT, WORLD);
68 MAT3mult(EYE_TO_WORLD, EYE_TO_WORLD, T_view);
69 printf("\nEye to world\n");
70 MAT3print(EYE_TO_WORLD, stdout);
72 MAT3invert(WORLD_TO_EYE, EYE_TO_WORLD);
73 printf("\nWorld to eye\n");
74 MAT3print(WORLD_TO_EYE, stdout);
76 MAT3_SET_HVEC(eye, 0.0, 0.0, 0.0, 1.0);
77 MAT3mult_vec(vec, eye, EYE_TO_WORLD);
78 printf("\neye -> world = %.2f %.2f %.2f\n", vec[0], vec[1], vec[2]);
80 MAT3_SET_HVEC(vec1, 0.0, 6378138.12, 0.0, 1.0);
81 MAT3mult_vec(vec, vec1, EYE_TO_WORLD);
82 printf( "\n+y (eye) -> +y (world) = %.2f %.2f %.2f\n",
83 vec[0], vec[1], vec[2]);
85 MAT3mult_vec(vec1, vec, WORLD_TO_EYE);
86 printf( "\n+y (world) -> +y (eye) = %.2f %.2f %.2f\n",
87 vec1[0], vec1[1], vec1[2]);