1 // viewer.cxx -- class for managing a viewer in the flightgear world.
3 // Written by Curtis Olson, started August 1997.
4 // overhaul started October 2000.
5 // partially rewritten by Jim Wilson jim@kelcomaine.com using interface
6 // by David Megginson March 2002
8 // Copyright (C) 1997 - 2000 Curtis L. Olson - curt@flightgear.org
10 // This program is free software; you can redistribute it and/or
11 // modify it under the terms of the GNU General Public License as
12 // published by the Free Software Foundation; either version 2 of the
13 // License, or (at your option) any later version.
15 // This program is distributed in the hope that it will be useful, but
16 // WITHOUT ANY WARRANTY; without even the implied warranty of
17 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
18 // General Public License for more details.
20 // You should have received a copy of the GNU General Public License
21 // along with this program; if not, write to the Free Software
22 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
27 #include <simgear/compiler.h>
29 #include "fg_props.hxx"
35 #include <simgear/debug/logstream.hxx>
36 #include <simgear/constants.h>
37 #include <simgear/math/point3d.hxx>
38 #include <simgear/math/polar3d.hxx>
39 #include <simgear/math/sg_geodesy.hxx>
41 #include <Scenery/scenery.hxx>
43 #include <simgear/math/vector.hxx>
44 #include <Main/globals.hxx>
45 #include <Model/acmodel.hxx>
46 #include <Model/model.hxx>
51 //////////////////////////////////////////////////////////////////
52 // Norman's Optimized matrix rotators! //
53 //////////////////////////////////////////////////////////////////
56 // Since these are pure rotation matrices we can save some bookwork
57 // by considering them to be 3x3 until the very end -- NHV
58 static void MakeVIEW_OFFSET( sgMat4 dst,
59 const float angle1, const sgVec3 axis1,
60 const float angle2, const sgVec3 axis2 )
62 // make rotmatrix1 from angle and axis
63 float s = (float) sin ( angle1 ) ;
64 float c = (float) cos ( angle1 ) ;
65 float t = SG_ONE - c ;
68 float tmp = t * axis1[0];
69 mat1[0][0] = tmp * axis1[0] + c ;
70 mat1[0][1] = tmp * axis1[1] + s * axis1[2] ;
71 mat1[0][2] = tmp * axis1[2] - s * axis1[1] ;
74 mat1[1][0] = tmp * axis1[0] - s * axis1[2] ;
75 mat1[1][1] = tmp * axis1[1] + c ;
76 mat1[1][2] = tmp * axis1[2] + s * axis1[0] ;
79 mat1[2][0] = tmp * axis1[0] + s * axis1[1] ;
80 mat1[2][1] = tmp * axis1[1] - s * axis1[0] ;
81 mat1[2][2] = tmp * axis1[2] + c ;
83 // make rotmatrix2 from angle and axis
84 s = (float) sin ( angle2 ) ;
85 c = (float) cos ( angle2 ) ;
90 mat2[0][0] = tmp * axis2[0] + c ;
91 mat2[0][1] = tmp * axis2[1] + s * axis2[2] ;
92 mat2[0][2] = tmp * axis2[2] - s * axis2[1] ;
95 mat2[1][0] = tmp * axis2[0] - s * axis2[2] ;
96 mat2[1][1] = tmp * axis2[1] + c ;
97 mat2[1][2] = tmp * axis2[2] + s * axis2[0] ;
100 mat2[2][0] = tmp * axis2[0] + s * axis2[1] ;
101 mat2[2][1] = tmp * axis2[1] - s * axis2[0] ;
102 mat2[2][2] = tmp * axis2[2] + c ;
105 for ( int j = 0 ; j < 3 ; j++ ) {
106 dst[0][j] = mat2[0][0] * mat1[0][j] +
107 mat2[0][1] * mat1[1][j] +
108 mat2[0][2] * mat1[2][j];
110 dst[1][j] = mat2[1][0] * mat1[0][j] +
111 mat2[1][1] * mat1[1][j] +
112 mat2[1][2] * mat1[2][j];
114 dst[2][j] = mat2[2][0] * mat1[0][j] +
115 mat2[2][1] * mat1[1][j] +
116 mat2[2][2] * mat1[2][j];
118 // fill in 4x4 matrix elements
129 ////////////////////////////////////////////////////////////////////////
130 // Implementation of FGViewer.
131 ////////////////////////////////////////////////////////////////////////
134 FGViewer::FGViewer( fgViewType Type, bool from_model, int from_model_index, bool at_model, int at_model_index, double x_offset_m, double y_offset_m, double z_offset_m, double near_m ):
146 _pitch_offset_deg(0),
147 _heading_offset_deg(0),
148 _goal_pitch_offset_deg(0.0),
149 _goal_heading_offset_deg(0.0),
150 _scaling_type(FG_SCALING_MAX),
153 sgdZeroVec3(_absolute_view_pos);
155 _from_model = from_model;
156 _from_model_index = from_model_index;
157 _at_model = at_model;
158 _at_model_index = at_model_index;
159 _x_offset_m = x_offset_m;
160 _y_offset_m = y_offset_m;
161 _z_offset_m = z_offset_m;
162 _ground_level_nearplane_m = near_m;
163 //a reasonable guess for init, so that the math doesn't blow up
168 FGViewer::~FGViewer( void ) {
175 _location = (FGLocation *) globals->get_aircraft_model()->get3DModel()->getFGLocation();
177 _location = (FGLocation *) new FGLocation;
179 if ( _type == FG_LOOKAT ) {
181 _target_location = (FGLocation *) globals->get_aircraft_model()->get3DModel()->getFGLocation();
183 _target_location = (FGLocation *) new FGLocation;
198 FGViewer::setType ( int type )
207 FGViewer::setLongitude_deg (double lon_deg)
214 FGViewer::setLatitude_deg (double lat_deg)
221 FGViewer::setAltitude_ft (double alt_ft)
228 FGViewer::setPosition (double lon_deg, double lat_deg, double alt_ft)
237 FGViewer::setTargetLongitude_deg (double lon_deg)
240 _target_lon_deg = lon_deg;
244 FGViewer::setTargetLatitude_deg (double lat_deg)
247 _target_lat_deg = lat_deg;
251 FGViewer::setTargetAltitude_ft (double alt_ft)
254 _target_alt_ft = alt_ft;
258 FGViewer::setTargetPosition (double lon_deg, double lat_deg, double alt_ft)
261 _target_lon_deg = lon_deg;
262 _target_lat_deg = lat_deg;
263 _target_alt_ft = alt_ft;
267 FGViewer::setRoll_deg (double roll_deg)
270 _roll_deg = roll_deg;
274 FGViewer::setPitch_deg (double pitch_deg)
277 _pitch_deg = pitch_deg;
281 FGViewer::setHeading_deg (double heading_deg)
284 _heading_deg = heading_deg;
288 FGViewer::setOrientation (double roll_deg, double pitch_deg, double heading_deg)
291 _roll_deg = roll_deg;
292 _pitch_deg = pitch_deg;
293 _heading_deg = heading_deg;
297 FGViewer::setTargetRoll_deg (double target_roll_deg)
300 _target_roll_deg = target_roll_deg;
304 FGViewer::setTargetPitch_deg (double target_pitch_deg)
307 _target_pitch_deg = target_pitch_deg;
311 FGViewer::setTargetHeading_deg (double target_heading_deg)
314 _target_heading_deg = target_heading_deg;
318 FGViewer::setTargetOrientation (double target_roll_deg, double target_pitch_deg, double target_heading_deg)
321 _target_roll_deg = target_roll_deg;
322 _target_pitch_deg = target_pitch_deg;
323 _target_heading_deg = target_heading_deg;
327 FGViewer::setXOffset_m (double x_offset_m)
330 _x_offset_m = x_offset_m;
334 FGViewer::setYOffset_m (double y_offset_m)
337 _y_offset_m = y_offset_m;
341 FGViewer::setZOffset_m (double z_offset_m)
344 _z_offset_m = z_offset_m;
348 FGViewer::setPositionOffsets (double x_offset_m, double y_offset_m, double z_offset_m)
351 _x_offset_m = x_offset_m;
352 _y_offset_m = y_offset_m;
353 _z_offset_m = z_offset_m;
357 FGViewer::setRollOffset_deg (double roll_offset_deg)
360 _roll_offset_deg = roll_offset_deg;
364 FGViewer::setPitchOffset_deg (double pitch_offset_deg)
367 _pitch_offset_deg = pitch_offset_deg;
371 FGViewer::setHeadingOffset_deg (double heading_offset_deg)
374 _heading_offset_deg = heading_offset_deg;
378 FGViewer::setGoalRollOffset_deg (double goal_roll_offset_deg)
381 _goal_roll_offset_deg = goal_roll_offset_deg;
385 FGViewer::setGoalPitchOffset_deg (double goal_pitch_offset_deg)
388 _goal_pitch_offset_deg = goal_pitch_offset_deg;
389 if ( _goal_pitch_offset_deg < -90 ) {
390 _goal_pitch_offset_deg = -90.0;
392 if ( _goal_pitch_offset_deg > 90.0 ) {
393 _goal_pitch_offset_deg = 90.0;
399 FGViewer::setGoalHeadingOffset_deg (double goal_heading_offset_deg)
402 _goal_heading_offset_deg = goal_heading_offset_deg;
403 while ( _goal_heading_offset_deg < 0.0 ) {
404 _goal_heading_offset_deg += 360;
406 while ( _goal_heading_offset_deg > 360 ) {
407 _goal_heading_offset_deg -= 360;
412 FGViewer::setOrientationOffsets (double roll_offset_deg, double pitch_offset_deg, double heading_offset_deg)
415 _roll_offset_deg = roll_offset_deg;
416 _pitch_offset_deg = pitch_offset_deg;
417 _heading_offset_deg = heading_offset_deg;
421 FGViewer::get_absolute_view_pos ()
425 return _absolute_view_pos;
429 FGViewer::getRelativeViewPos ()
433 return _relative_view_pos;
437 FGViewer::getZeroElevViewPos ()
441 return _zero_elev_view_pos;
445 FGViewer::updateFromModelLocation (FGLocation * location)
447 sgCopyMat4(LOCAL, location->getCachedTransformMatrix());
451 FGViewer::recalcOurOwnLocation (FGLocation * location, double lon_deg, double lat_deg, double alt_ft,
452 double roll_deg, double pitch_deg, double heading_deg)
454 // update from our own data...
455 location->setPosition( lon_deg, lat_deg, alt_ft );
456 location->setOrientation( roll_deg, pitch_deg, heading_deg );
457 sgCopyMat4(LOCAL, location->getTransformMatrix());
460 // recalc() is done every time one of the setters is called (making the
461 // cached data "dirty") on the next "get". It calculates all the outputs
466 if (_type == FG_LOOKFROM) {
475 // recalculate for LookFrom view type...
477 FGViewer::recalcLookFrom ()
480 sgVec3 right, forward;
482 sgVec3 position_offset; // eye position offsets (xyz)
486 // Update location data...
488 // update or data from model location
489 updateFromModelLocation(_location);
491 // update from our own data...
492 recalcOurOwnLocation( _location, _lon_deg, _lat_deg, _alt_ft,
493 _roll_deg, _pitch_deg, _heading_deg );
496 // copy data from location class to local items...
499 // make sg vectors view up, right and forward vectors from LOCAL
500 sgSetVec3( _view_up, LOCAL[2][0], LOCAL[2][1], LOCAL[2][2] );
501 sgSetVec3( right, LOCAL[1][0], LOCAL[1][1], LOCAL[1][2] );
502 sgSetVec3( forward, -LOCAL[0][0], -LOCAL[0][1], -LOCAL[0][2] );
505 // Note that when in "lookfrom" view the "view up" vector is always applied
506 // to the viewer. View up is based on verticle of the aircraft itself. (see
507 // "LOCAL" matrix above)
509 // Orientation Offsets matrix
510 MakeVIEW_OFFSET( VIEW_OFFSET,
511 _heading_offset_deg * SG_DEGREES_TO_RADIANS, _view_up,
512 _pitch_offset_deg * SG_DEGREES_TO_RADIANS, right );
514 // Make the VIEW matrix.
515 sgSetVec4(VIEW[0], right[0], right[1], right[2],SG_ZERO);
516 sgSetVec4(VIEW[1], forward[0], forward[1], forward[2],SG_ZERO);
517 sgSetVec4(VIEW[2], _view_up[0], _view_up[1], _view_up[2],SG_ZERO);
518 sgSetVec4(VIEW[3], SG_ZERO, SG_ZERO, SG_ZERO,SG_ONE);
520 // rotate matrix to get a matrix to apply Eye Position Offsets
521 sgMat4 VIEW_UP; // L0 forward L1 right L2 up
522 sgCopyVec4(VIEW_UP[0], LOCAL[1]);
523 sgCopyVec4(VIEW_UP[1], LOCAL[2]);
524 sgCopyVec4(VIEW_UP[2], LOCAL[0]);
525 sgZeroVec4(VIEW_UP[3]);
527 // Eye Position Offsets to vector
528 sgSetVec3( position_offset, _x_offset_m, _y_offset_m, _z_offset_m );
529 sgXformVec3( position_offset, position_offset, VIEW_UP);
531 // add the offsets including rotations to the translation vector
532 sgAddVec3( _view_pos, position_offset );
534 // multiply the OFFSETS (for heading and pitch) into the VIEW
535 sgPostMultMat4(VIEW, VIEW_OFFSET);
537 // add the position data to the matrix
538 sgSetVec4(VIEW[3], _view_pos[0], _view_pos[1], _view_pos[2],SG_ONE);
543 FGViewer::recalcLookAt ()
547 sgVec3 eye_pos, at_pos;
548 sgVec3 position_offset; // eye position offsets (xyz)
550 // The position vectors originate from the view point or target location
551 // depending on the type of view.
555 // Update location data for target...
557 // update or data from model location
558 updateFromModelLocation(_target_location);
560 // if not model then calculate our own target position...
561 recalcOurOwnLocation( _target_location, _target_lon_deg, _target_lat_deg, _target_alt_ft,
562 _target_roll_deg, _target_pitch_deg, _target_heading_deg );
564 // calculate the "at" target object positon relative to eye or view's tile center...
566 sgdSetVec3(dVec3, _location->get_tile_center()[0], _location->get_tile_center()[1], _location->get_tile_center()[2]);
567 sgdSubVec3(dVec3, _target_location->get_absolute_view_pos(), dVec3 );
568 sgSetVec3(at_pos, dVec3[0], dVec3[1], dVec3[2]);
570 // Update location data for eye...
572 // update or data from model location
573 updateFromModelLocation(_location);
575 // update from our own data, just the rotation here...
576 recalcOurOwnLocation( _location, _lon_deg, _lat_deg, _alt_ft,
577 _roll_deg, _pitch_deg, _heading_deg );
579 // save the eye positon...
580 sgCopyVec3(eye_pos, _location->get_view_pos());
582 // copy data from location class to local items...
585 // make sg vectors view up, right and forward vectors from LOCAL
586 sgSetVec3( _view_up, LOCAL[2][0], LOCAL[2][1], LOCAL[2][2] );
587 sgSetVec3( right, LOCAL[1][0], LOCAL[1][1], LOCAL[1][2] );
589 // Note that when in "lookat" view the "world up" vector is always applied
590 // to the viewer. World up is based on verticle at a given lon/lat (see
591 // matrix "UP" above).
593 // Orientation Offsets matrix
594 MakeVIEW_OFFSET( VIEW_OFFSET,
595 (_heading_offset_deg -_heading_deg) * SG_DEGREES_TO_RADIANS, _world_up,
596 _pitch_offset_deg * SG_DEGREES_TO_RADIANS, right );
598 // add in the Orientation Offsets here
599 sgSetVec3( position_offset, _x_offset_m, _y_offset_m, _z_offset_m );
600 sgXformVec3( position_offset, position_offset, UP);
602 sgXformVec3( position_offset, position_offset, VIEW_OFFSET );
604 // add the Position offsets from object to the eye position
605 sgAddVec3( eye_pos, eye_pos, position_offset );
607 // Make the VIEW matrix for a "LOOKAT".
608 sgMakeLookAtMat4( VIEW, eye_pos, at_pos, _view_up );
612 // copy results from location class to viewer...
613 // FIXME: some of these should be changed to reference directly to FGLocation...
615 FGViewer::copyLocationData()
617 // Get our friendly vectors from the eye location...
618 sgCopyVec3(_zero_elev_view_pos, _location->get_zero_elev());
619 sgCopyVec3(_relative_view_pos, _location->get_view_pos());
620 sgdCopyVec3(_absolute_view_pos, _location->get_absolute_view_pos());
621 sgCopyMat4(UP, _location->getCachedUpMatrix());
622 sgCopyVec3(_world_up, _location->get_world_up());
623 // these are the vectors that the sun and moon code like to get...
624 sgCopyVec3(_surface_east, _location->get_surface_east());
625 sgCopyVec3(_surface_south, _location->get_surface_south());
627 // Update viewer's postion data for the eye location...
628 _lon_deg = _location->getLongitude_deg();
629 _lat_deg = _location->getLatitude_deg();
630 _alt_ft = _location->getAltitudeASL_ft();
631 _roll_deg = _location->getRoll_deg();
632 _pitch_deg = _location->getPitch_deg();
633 _heading_deg = _location->getHeading_deg();
635 // Update viewer's postion data for the target (at object) location
636 if (_type == FG_LOOKAT) {
637 _target_lon_deg = _target_location->getLongitude_deg();
638 _target_lat_deg = _target_location->getLatitude_deg();
639 _target_alt_ft = _target_location->getAltitudeASL_ft();
640 _target_roll_deg = _target_location->getRoll_deg();
641 _target_pitch_deg = _target_location->getPitch_deg();
642 _target_heading_deg = _target_location->getHeading_deg();
645 // copy coordinates to outputs for viewer...
646 sgCopyVec3(_zero_elev, _zero_elev_view_pos);
647 sgCopyVec3(_view_pos, _relative_view_pos);
651 FGViewer::get_h_fov()
653 switch (_scaling_type) {
654 case FG_SCALING_WIDTH: // h_fov == fov
657 if (_aspect_ratio < 1.0) {
662 return atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) / _aspect_ratio) *
663 SG_RADIANS_TO_DEGREES * 2;
674 FGViewer::get_v_fov()
676 switch (_scaling_type) {
677 case FG_SCALING_WIDTH: // h_fov == fov
678 return atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) * _aspect_ratio) *
679 SG_RADIANS_TO_DEGREES * 2;
681 if (_aspect_ratio < 1.0) {
683 return atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) * _aspect_ratio) *
684 SG_RADIANS_TO_DEGREES * 2;
696 FGViewer::update (double dt)
699 int dt_ms = int(dt * 1000);
700 for ( i = 0; i < dt_ms; i++ ) {
701 if ( fabs( _goal_heading_offset_deg - _heading_offset_deg) < 1 ) {
702 setHeadingOffset_deg( _goal_heading_offset_deg );
705 // move current_view.headingoffset towards
706 // current_view.goal_view_offset
707 if ( _goal_heading_offset_deg > _heading_offset_deg )
709 if ( _goal_heading_offset_deg - _heading_offset_deg < 180 ){
710 incHeadingOffset_deg( 0.5 );
712 incHeadingOffset_deg( -0.5 );
715 if ( _heading_offset_deg - _goal_heading_offset_deg < 180 ){
716 incHeadingOffset_deg( -0.5 );
718 incHeadingOffset_deg( 0.5 );
721 if ( _heading_offset_deg > 360 ) {
722 incHeadingOffset_deg( -360 );
723 } else if ( _heading_offset_deg < 0 ) {
724 incHeadingOffset_deg( 360 );
729 for ( i = 0; i < dt_ms; i++ ) {
730 if ( fabs( _goal_pitch_offset_deg - _pitch_offset_deg ) < 1 ) {
731 setPitchOffset_deg( _goal_pitch_offset_deg );
734 // move current_view.pitch_offset_deg towards
735 // current_view.goal_pitch_offset
736 if ( _goal_pitch_offset_deg > _pitch_offset_deg )
738 incPitchOffset_deg( 1.0 );
740 incPitchOffset_deg( -1.0 );
742 if ( _pitch_offset_deg > 90 ) {
743 setPitchOffset_deg(90);
744 } else if ( _pitch_offset_deg < -90 ) {
745 setPitchOffset_deg( -90 );