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 - http://www.flightgear.org/~curt
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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
30 #include <simgear/compiler.h>
33 #include "fg_props.hxx"
35 #include <simgear/debug/logstream.hxx>
36 #include <simgear/constants.h>
37 #include <simgear/scene/model/placement.hxx>
39 #include <Main/globals.hxx>
40 #include <Scenery/scenery.hxx>
41 #include <Model/acmodel.hxx>
45 #include "CameraGroup.hxx"
47 using namespace flightgear;
49 ////////////////////////////////////////////////////////////////////////
50 // Implementation of FGViewer.
51 ////////////////////////////////////////////////////////////////////////
54 FGViewer::FGViewer( fgViewType Type, bool from_model, int from_model_index,
55 bool at_model, int at_model_index,
56 double damp_roll, double damp_pitch, double damp_heading,
57 double x_offset_m, double y_offset_m, double z_offset_m,
58 double heading_offset_deg, double pitch_offset_deg,
59 double roll_offset_deg,
60 double fov_deg, double aspect_ratio_multiplier,
61 double target_x_offset_m, double target_y_offset_m,
62 double target_z_offset_m, double near_m, bool internal ):
67 _scaling_type(FG_SCALING_MAX),
69 _cameraGroup(CameraGroup::getDefault())
71 _absolute_view_pos = SGVec3d(0, 0, 0);
73 _from_model = from_model;
74 _from_model_index = from_model_index;
76 _at_model_index = at_model_index;
80 _dampFactor = SGVec3d::zeros();
81 _dampOutput = SGVec3d::zeros();
82 _dampTarget = SGVec3d::zeros();
85 _dampFactor[0] = 1.0 / pow(10.0, fabs(damp_roll));
87 _dampFactor[1] = 1.0 / pow(10.0, fabs(damp_pitch));
88 if (damp_heading > 0.0)
89 _dampFactor[2] = 1.0 / pow(10.0, fabs(damp_heading));
91 _offset_m.x() = x_offset_m;
92 _offset_m.y() = y_offset_m;
93 _offset_m.z() = z_offset_m;
94 _heading_offset_deg = heading_offset_deg;
95 _pitch_offset_deg = pitch_offset_deg;
96 _roll_offset_deg = roll_offset_deg;
97 _goal_heading_offset_deg = heading_offset_deg;
98 _goal_pitch_offset_deg = pitch_offset_deg;
99 _goal_roll_offset_deg = roll_offset_deg;
106 _aspect_ratio_multiplier = aspect_ratio_multiplier;
107 _target_offset_m.x() = target_x_offset_m;
108 _target_offset_m.y() = target_y_offset_m;
109 _target_offset_m.z() = target_z_offset_m;
110 _ground_level_nearplane_m = near_m;
111 // a reasonable guess for init, so that the math doesn't blow up
116 FGViewer::~FGViewer( void ) {
135 FGViewer::setType ( int type )
144 FGViewer::setInternal ( bool internal )
146 _internal = internal;
150 FGViewer::setPosition (double lon_deg, double lat_deg, double alt_ft)
153 _position = SGGeod::fromDegFt(lon_deg, lat_deg, alt_ft);
157 FGViewer::setTargetPosition (double lon_deg, double lat_deg, double alt_ft)
160 _target = SGGeod::fromDegFt(lon_deg, lat_deg, alt_ft);
164 FGViewer::setRoll_deg (double roll_deg)
167 _roll_deg = roll_deg;
171 FGViewer::setPitch_deg (double pitch_deg)
174 _pitch_deg = pitch_deg;
178 FGViewer::setHeading_deg (double heading_deg)
181 _heading_deg = heading_deg;
185 FGViewer::setOrientation (double roll_deg, double pitch_deg, double heading_deg)
188 _roll_deg = roll_deg;
189 _pitch_deg = pitch_deg;
190 _heading_deg = heading_deg;
194 FGViewer::setTargetRoll_deg (double target_roll_deg)
197 _target_roll_deg = target_roll_deg;
201 FGViewer::setTargetPitch_deg (double target_pitch_deg)
204 _target_pitch_deg = target_pitch_deg;
208 FGViewer::setTargetHeading_deg (double target_heading_deg)
211 _target_heading_deg = target_heading_deg;
215 FGViewer::setTargetOrientation (double target_roll_deg, double target_pitch_deg, double target_heading_deg)
218 _target_roll_deg = target_roll_deg;
219 _target_pitch_deg = target_pitch_deg;
220 _target_heading_deg = target_heading_deg;
224 FGViewer::setXOffset_m (double x_offset_m)
227 _offset_m.x() = x_offset_m;
231 FGViewer::setYOffset_m (double y_offset_m)
234 _offset_m.y() = y_offset_m;
238 FGViewer::setZOffset_m (double z_offset_m)
241 _offset_m.z() = z_offset_m;
245 FGViewer::setTargetXOffset_m (double target_x_offset_m)
248 _target_offset_m.x() = target_x_offset_m;
252 FGViewer::setTargetYOffset_m (double target_y_offset_m)
255 _target_offset_m.y() = target_y_offset_m;
259 FGViewer::setTargetZOffset_m (double target_z_offset_m)
262 _target_offset_m.z() = target_z_offset_m;
266 FGViewer::setPositionOffsets (double x_offset_m, double y_offset_m, double z_offset_m)
269 _offset_m.x() = x_offset_m;
270 _offset_m.y() = y_offset_m;
271 _offset_m.z() = z_offset_m;
275 FGViewer::setRollOffset_deg (double roll_offset_deg)
278 _roll_offset_deg = roll_offset_deg;
282 FGViewer::setPitchOffset_deg (double pitch_offset_deg)
285 _pitch_offset_deg = pitch_offset_deg;
289 FGViewer::setHeadingOffset_deg (double heading_offset_deg)
292 if (_at_model && (_offset_m.x() == 0.0)&&(_offset_m.z() == 0.0))
294 /* avoid optical effects (e.g. rotating sky) when "looking at" with
295 * heading offsets x==z==0 (view heading cannot change). */
296 _heading_offset_deg = 0.0;
299 _heading_offset_deg = heading_offset_deg;
303 FGViewer::setGoalRollOffset_deg (double goal_roll_offset_deg)
306 _goal_roll_offset_deg = goal_roll_offset_deg;
310 FGViewer::setGoalPitchOffset_deg (double goal_pitch_offset_deg)
313 _goal_pitch_offset_deg = goal_pitch_offset_deg;
314 if ( _goal_pitch_offset_deg < -90 ) {
315 _goal_pitch_offset_deg = -90.0;
317 if ( _goal_pitch_offset_deg > 90.0 ) {
318 _goal_pitch_offset_deg = 90.0;
324 FGViewer::setGoalHeadingOffset_deg (double goal_heading_offset_deg)
327 if (_at_model && (_offset_m.x() == 0.0)&&(_offset_m.z() == 0.0))
329 /* avoid optical effects (e.g. rotating sky) when "looking at" with
330 * heading offsets x==z==0 (view heading cannot change). */
331 _goal_heading_offset_deg = 0.0;
335 _goal_heading_offset_deg = goal_heading_offset_deg;
336 while ( _goal_heading_offset_deg < 0.0 ) {
337 _goal_heading_offset_deg += 360;
339 while ( _goal_heading_offset_deg > 360 ) {
340 _goal_heading_offset_deg -= 360;
345 FGViewer::setOrientationOffsets (double roll_offset_deg, double pitch_offset_deg, double heading_offset_deg)
348 _roll_offset_deg = roll_offset_deg;
349 _pitch_offset_deg = pitch_offset_deg;
350 _heading_offset_deg = heading_offset_deg;
353 // recalc() is done every time one of the setters is called (making the
354 // cached data "dirty") on the next "get". It calculates all the outputs
359 if (_type == FG_LOOKFROM) {
368 // recalculate for LookFrom view type...
370 FGViewer::recalcLookFrom ()
372 // Update location data ...
374 SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
375 _position = placement->getPosition();
377 _heading_deg = placement->getHeadingDeg();
378 _pitch_deg = placement->getPitchDeg();
379 _roll_deg = placement->getRollDeg();
382 double head = _heading_deg;
383 double pitch = _pitch_deg;
384 double roll = _roll_deg;
385 if ( !_from_model ) {
386 // update from our own data...
387 setDampTarget(roll, pitch, head);
388 getDampOutput(roll, pitch, head);
391 // The rotation rotating from the earth centerd frame to
392 // the horizontal local frame
393 SGQuatd hlOr = SGQuatd::fromLonLat(_position);
395 // The rotation from the horizontal local frame to the basic view orientation
396 SGQuatd hlToBody = SGQuatd::fromYawPitchRollDeg(head, pitch, roll);
398 // The rotation offset, don't know why heading is negative here ...
400 = SGQuatd::fromYawPitchRollDeg(-_heading_offset_deg, _pitch_offset_deg,
403 // Compute the eyepoints orientation and position
404 // wrt the earth centered frame - that is global coorinates
405 SGQuatd ec2body = hlOr*hlToBody;
407 // The cartesian position of the basic view coordinate
408 SGVec3d position = SGVec3d::fromGeod(_position);
410 // This is rotates the x-forward, y-right, z-down coordinate system the where
411 // simulation runs into the OpenGL camera system with x-right, y-up, z-back.
412 SGQuatd q(-0.5, -0.5, 0.5, 0.5);
414 _absolute_view_pos = position + (ec2body*q).backTransform(_offset_m);
415 mViewOrientation = ec2body*mViewOffsetOr*q;
419 FGViewer::recalcLookAt ()
421 // The geodetic position of our target to look at
423 SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
424 _target = placement->getPosition();
425 _target_heading_deg = placement->getHeadingDeg();
426 _target_pitch_deg = placement->getPitchDeg();
427 _target_roll_deg = placement->getRollDeg();
429 // if not model then calculate our own target position...
430 setDampTarget(_target_roll_deg, _target_pitch_deg, _target_heading_deg);
431 getDampOutput(_target_roll_deg, _target_pitch_deg, _target_heading_deg);
434 SGQuatd geodTargetOr = SGQuatd::fromYawPitchRollDeg(_target_heading_deg,
437 SGQuatd geodTargetHlOr = SGQuatd::fromLonLat(_target);
441 SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
442 _position = placement->getPosition();
443 _heading_deg = placement->getHeadingDeg();
444 _pitch_deg = placement->getPitchDeg();
445 _roll_deg = placement->getRollDeg();
447 // update from our own data, just the rotation here...
448 setDampTarget(_roll_deg, _pitch_deg, _heading_deg);
449 getDampOutput(_roll_deg, _pitch_deg, _heading_deg);
451 SGQuatd geodEyeOr = SGQuatd::fromYawPitchRollDeg(_heading_deg, _pitch_deg, _roll_deg);
452 SGQuatd geodEyeHlOr = SGQuatd::fromLonLat(_position);
454 // the rotation offset, don't know why heading is negative here ...
456 SGQuatd::fromYawPitchRollDeg(-_heading_offset_deg + 180, _pitch_offset_deg,
459 // Offsets to the eye position
460 SGVec3d eyeOff(-_offset_m.z(), _offset_m.x(), -_offset_m.y());
461 SGQuatd ec2eye = geodEyeHlOr*geodEyeOr;
462 SGVec3d eyeCart = SGVec3d::fromGeod(_position);
463 eyeCart += (ec2eye*mViewOffsetOr).backTransform(eyeOff);
465 SGVec3d atCart = SGVec3d::fromGeod(_target);
467 // add target offsets to at_position...
468 SGVec3d target_pos_off(-_target_offset_m.z(), _target_offset_m.x(),
469 -_target_offset_m.y());
470 target_pos_off = (geodTargetHlOr*geodTargetOr).backTransform(target_pos_off);
471 atCart += target_pos_off;
472 eyeCart += target_pos_off;
474 // Compute the eyepoints orientation and position
475 // wrt the earth centered frame - that is global coorinates
476 _absolute_view_pos = eyeCart;
478 // the view direction
479 SGVec3d dir = normalize(atCart - eyeCart);
481 SGVec3d up = ec2eye.backTransform(SGVec3d(0, 0, -1));
482 // rotate -dir to the 2-th unit vector
483 // rotate up to 1-th unit vector
484 // Note that this matches the OpenGL camera coordinate system
485 // with x-right, y-up, z-back.
486 mViewOrientation = SGQuatd::fromRotateTo(-dir, 2, up, 1);
490 FGViewer::setDampTarget(double roll, double pitch, double heading)
492 _dampTarget = SGVec3d(roll, pitch, heading);
496 FGViewer::getDampOutput(double& roll, double& pitch, double& heading)
498 roll = _dampOutput[0];
499 pitch = _dampOutput[1];
500 heading = _dampOutput[2];
505 FGViewer::updateDampOutput(double dt)
507 static FGViewer *last_view = 0;
508 if ((last_view != this) || (dt > 1.0)) {
509 _dampOutput = _dampTarget;
514 const double interval = 0.01;
515 while (dt > interval) {
517 for (unsigned int i=0; i<3; ++i) {
518 if (_dampFactor[i] <= 0.0) {
519 // axis is un-damped, set output to target directly
520 _dampOutput[i] = _dampTarget[i];
524 double d = _dampOutput[i] - _dampTarget[i];
526 _dampOutput[i] -= 360.0;
527 } else if (d < -180.0) {
528 _dampOutput[i] += 360.0;
531 _dampOutput[i] = (_dampTarget[i] * _dampFactor[i]) +
532 (_dampOutput[i] * (1.0 - _dampFactor[i]));
533 } // of axis iteration
536 } // of dt subdivision by interval
540 FGViewer::get_h_fov()
542 switch (_scaling_type) {
543 case FG_SCALING_WIDTH: // h_fov == fov
546 if (_aspect_ratio < 1.0) {
552 atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS)
553 / (_aspect_ratio*_aspect_ratio_multiplier))
554 * SG_RADIANS_TO_DEGREES * 2;
565 FGViewer::get_v_fov()
567 switch (_scaling_type) {
568 case FG_SCALING_WIDTH: // h_fov == fov
570 atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS)
571 * (_aspect_ratio*_aspect_ratio_multiplier))
572 * SG_RADIANS_TO_DEGREES * 2;
574 if (_aspect_ratio < 1.0) {
577 atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS)
578 * (_aspect_ratio*_aspect_ratio_multiplier))
579 * SG_RADIANS_TO_DEGREES * 2;
591 FGViewer::update (double dt)
593 updateDampOutput(dt);
596 int dt_ms = int(dt * 1000);
597 for ( i = 0; i < dt_ms; i++ ) {
598 if ( fabs( _goal_heading_offset_deg - _heading_offset_deg) < 1 ) {
599 setHeadingOffset_deg( _goal_heading_offset_deg );
602 // move current_view.headingoffset towards
603 // current_view.goal_view_offset
604 if ( _goal_heading_offset_deg > _heading_offset_deg )
606 if ( _goal_heading_offset_deg - _heading_offset_deg < 180 ){
607 incHeadingOffset_deg( 0.5 );
609 incHeadingOffset_deg( -0.5 );
612 if ( _heading_offset_deg - _goal_heading_offset_deg < 180 ){
613 incHeadingOffset_deg( -0.5 );
615 incHeadingOffset_deg( 0.5 );
618 if ( _heading_offset_deg > 360 ) {
619 incHeadingOffset_deg( -360 );
620 } else if ( _heading_offset_deg < 0 ) {
621 incHeadingOffset_deg( 360 );
626 for ( i = 0; i < dt_ms; i++ ) {
627 if ( fabs( _goal_pitch_offset_deg - _pitch_offset_deg ) < 1 ) {
628 setPitchOffset_deg( _goal_pitch_offset_deg );
631 // move current_view.pitch_offset_deg towards
632 // current_view.goal_pitch_offset
633 if ( _goal_pitch_offset_deg > _pitch_offset_deg )
635 incPitchOffset_deg( 1.0 );
637 incPitchOffset_deg( -1.0 );
639 if ( _pitch_offset_deg > 90 ) {
640 setPitchOffset_deg(90);
641 } else if ( _pitch_offset_deg < -90 ) {
642 setPitchOffset_deg( -90 );
648 for ( i = 0; i < dt_ms; i++ ) {
649 if ( fabs( _goal_roll_offset_deg - _roll_offset_deg ) < 1 ) {
650 setRollOffset_deg( _goal_roll_offset_deg );
653 // move current_view.roll_offset_deg towards
654 // current_view.goal_roll_offset
655 if ( _goal_roll_offset_deg > _roll_offset_deg )
657 incRollOffset_deg( 1.0 );
659 incRollOffset_deg( -1.0 );
661 if ( _roll_offset_deg > 90 ) {
662 setRollOffset_deg(90);
663 } else if ( _roll_offset_deg < -90 ) {
664 setRollOffset_deg( -90 );
669 if( fgGetBool( "/sim/rendering/draw-otw", true ) ) {
670 _cameraGroup->update(toOsg(_absolute_view_pos), toOsg(mViewOrientation));
671 _cameraGroup->setCameraParameters(get_v_fov(), get_aspect_ratio());