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>
40 #include <simgear/scene/model/location.hxx>
41 #include <simgear/scene/model/placement.hxx>
42 #include <simgear/math/vector.hxx>
44 #include <Main/globals.hxx>
45 #include <Scenery/scenery.hxx>
46 #include <Model/acmodel.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,
135 bool at_model, int at_model_index, double at_model_damping,
136 double x_offset_m, double y_offset_m, double z_offset_m,
137 double heading_offset_deg, double pitch_offset_deg,
138 double roll_offset_deg, double fov_deg,
139 double target_x_offset_m, double target_y_offset_m,
140 double target_z_offset_m, double near_m ):
152 _damped_pitch_deg(0),
153 _scaling_type(FG_SCALING_MAX)
155 sgdZeroVec3(_absolute_view_pos);
157 _from_model = from_model;
158 _from_model_index = from_model_index;
159 _at_model = at_model;
160 _at_model_index = at_model_index;
161 _damp = at_model_damping;
162 _x_offset_m = x_offset_m;
163 _y_offset_m = y_offset_m;
164 _z_offset_m = z_offset_m;
165 _heading_offset_deg = heading_offset_deg;
166 _pitch_offset_deg = pitch_offset_deg;
167 _roll_offset_deg = roll_offset_deg;
168 _goal_heading_offset_deg = heading_offset_deg;
169 _goal_pitch_offset_deg = pitch_offset_deg;
170 _goal_roll_offset_deg = roll_offset_deg;
176 _target_x_offset_m = target_x_offset_m;
177 _target_y_offset_m = target_y_offset_m;
178 _target_z_offset_m = target_z_offset_m;
179 _ground_level_nearplane_m = near_m;
180 // a reasonable guess for init, so that the math doesn't blow up
185 FGViewer::~FGViewer( void ) {
192 _location = (SGLocation *) globals->get_aircraft_model()->get3DModel()->getSGLocation();
194 _location = (SGLocation *) new SGLocation;
196 if ( _type == FG_LOOKAT ) {
198 _target_location = (SGLocation *) globals->get_aircraft_model()->get3DModel()->getSGLocation();
200 _target_location = (SGLocation *) new SGLocation;
215 FGViewer::setType ( int type )
224 FGViewer::setLongitude_deg (double lon_deg)
231 FGViewer::setLatitude_deg (double lat_deg)
238 FGViewer::setAltitude_ft (double alt_ft)
245 FGViewer::setPosition (double lon_deg, double lat_deg, double alt_ft)
254 FGViewer::setTargetLongitude_deg (double lon_deg)
257 _target_lon_deg = lon_deg;
261 FGViewer::setTargetLatitude_deg (double lat_deg)
264 _target_lat_deg = lat_deg;
268 FGViewer::setTargetAltitude_ft (double alt_ft)
271 _target_alt_ft = alt_ft;
275 FGViewer::setTargetPosition (double lon_deg, double lat_deg, double alt_ft)
278 _target_lon_deg = lon_deg;
279 _target_lat_deg = lat_deg;
280 _target_alt_ft = alt_ft;
284 FGViewer::setRoll_deg (double roll_deg)
287 _roll_deg = roll_deg;
291 FGViewer::setPitch_deg (double pitch_deg)
294 _pitch_deg = pitch_deg;
298 FGViewer::setHeading_deg (double heading_deg)
301 _heading_deg = heading_deg;
305 FGViewer::setOrientation (double roll_deg, double pitch_deg, double heading_deg)
308 _roll_deg = roll_deg;
309 _pitch_deg = pitch_deg;
310 _heading_deg = heading_deg;
314 FGViewer::setTargetRoll_deg (double target_roll_deg)
317 _target_roll_deg = target_roll_deg;
321 FGViewer::setTargetPitch_deg (double target_pitch_deg)
324 _target_pitch_deg = target_pitch_deg;
328 FGViewer::setTargetHeading_deg (double target_heading_deg)
331 _target_heading_deg = target_heading_deg;
335 FGViewer::setTargetOrientation (double target_roll_deg, double target_pitch_deg, double target_heading_deg)
338 _target_roll_deg = target_roll_deg;
339 _target_pitch_deg = target_pitch_deg;
340 _target_heading_deg = target_heading_deg;
344 FGViewer::setXOffset_m (double x_offset_m)
347 _x_offset_m = x_offset_m;
351 FGViewer::setYOffset_m (double y_offset_m)
354 _y_offset_m = y_offset_m;
358 FGViewer::setZOffset_m (double z_offset_m)
361 _z_offset_m = z_offset_m;
365 FGViewer::setTargetXOffset_m (double target_x_offset_m)
368 _target_x_offset_m = target_x_offset_m;
372 FGViewer::setTargetYOffset_m (double target_y_offset_m)
375 _target_y_offset_m = target_y_offset_m;
379 FGViewer::setTargetZOffset_m (double target_z_offset_m)
382 _target_z_offset_m = target_z_offset_m;
386 FGViewer::setPositionOffsets (double x_offset_m, double y_offset_m, double z_offset_m)
389 _x_offset_m = x_offset_m;
390 _y_offset_m = y_offset_m;
391 _z_offset_m = z_offset_m;
395 FGViewer::setRollOffset_deg (double roll_offset_deg)
398 _roll_offset_deg = roll_offset_deg;
402 FGViewer::setPitchOffset_deg (double pitch_offset_deg)
405 _pitch_offset_deg = pitch_offset_deg;
409 FGViewer::setHeadingOffset_deg (double heading_offset_deg)
412 _heading_offset_deg = heading_offset_deg;
416 FGViewer::setGoalRollOffset_deg (double goal_roll_offset_deg)
419 _goal_roll_offset_deg = goal_roll_offset_deg;
423 FGViewer::setGoalPitchOffset_deg (double goal_pitch_offset_deg)
426 _goal_pitch_offset_deg = goal_pitch_offset_deg;
427 if ( _goal_pitch_offset_deg < -90 ) {
428 _goal_pitch_offset_deg = -90.0;
430 if ( _goal_pitch_offset_deg > 90.0 ) {
431 _goal_pitch_offset_deg = 90.0;
437 FGViewer::setGoalHeadingOffset_deg (double goal_heading_offset_deg)
440 _goal_heading_offset_deg = goal_heading_offset_deg;
441 while ( _goal_heading_offset_deg < 0.0 ) {
442 _goal_heading_offset_deg += 360;
444 while ( _goal_heading_offset_deg > 360 ) {
445 _goal_heading_offset_deg -= 360;
450 FGViewer::setOrientationOffsets (double roll_offset_deg, double pitch_offset_deg, double heading_offset_deg)
453 _roll_offset_deg = roll_offset_deg;
454 _pitch_offset_deg = pitch_offset_deg;
455 _heading_offset_deg = heading_offset_deg;
459 FGViewer::get_absolute_view_pos ()
463 return _absolute_view_pos;
467 FGViewer::getRelativeViewPos ()
471 return _relative_view_pos;
475 FGViewer::getZeroElevViewPos ()
479 return _zero_elev_view_pos;
483 FGViewer::updateFromModelLocation (SGLocation * location)
485 sgCopyMat4(LOCAL, location->getCachedTransformMatrix());
489 FGViewer::updateAtModelLocation (SGLocation * location)
492 location->getCachedTransformMatrix());
496 FGViewer::recalcOurOwnLocation (SGLocation * location, double lon_deg, double lat_deg, double alt_ft,
497 double roll_deg, double pitch_deg, double heading_deg)
499 // update from our own data...
503 d = roll_deg - _damped_roll_deg;
505 _damped_roll_deg += 360.0;
507 _damped_roll_deg -= 360.0;
509 d = pitch_deg - _damped_pitch_deg;
511 _damped_pitch_deg += 360.0;
513 _damped_pitch_deg -= 360.0;
515 d = heading_deg - _damped_heading_deg;
517 _damped_heading_deg += 360.0;
519 _damped_heading_deg -= 360.0;
521 static bool firstrun = true;
523 _damped_heading_deg = _target_location->getHeading_deg();
528 roll_deg = _damped_roll_deg = roll_deg * d + _damped_roll_deg * _damp;
529 pitch_deg = _damped_pitch_deg = pitch_deg * d + _damped_pitch_deg * _damp;
530 heading_deg = _damped_heading_deg = heading_deg * d + _damped_heading_deg * _damp;
532 location->setPosition( lon_deg, lat_deg, alt_ft );
533 location->setOrientation( roll_deg, pitch_deg, heading_deg );
535 location->getTransformMatrix(globals->get_scenery()->get_center()));
538 // recalc() is done every time one of the setters is called (making the
539 // cached data "dirty") on the next "get". It calculates all the outputs
544 if (_type == FG_LOOKFROM) {
553 // recalculate for LookFrom view type...
555 FGViewer::recalcLookFrom ()
558 sgVec3 right, forward;
560 sgVec3 position_offset; // eye position offsets (xyz)
564 // Update location data...
566 // update or data from model location
567 updateFromModelLocation(_location);
569 // update from our own data...
570 recalcOurOwnLocation( _location, _lon_deg, _lat_deg, _alt_ft,
571 _roll_deg, _pitch_deg, _heading_deg );
574 // copy data from location class to local items...
577 // make sg vectors view up, right and forward vectors from LOCAL
578 sgSetVec3( _view_up, LOCAL[2][0], LOCAL[2][1], LOCAL[2][2] );
579 sgSetVec3( right, LOCAL[1][0], LOCAL[1][1], LOCAL[1][2] );
580 sgSetVec3( forward, -LOCAL[0][0], -LOCAL[0][1], -LOCAL[0][2] );
583 // Note that when in "lookfrom" view the "view up" vector is always applied
584 // to the viewer. View up is based on verticle of the aircraft itself. (see
585 // "LOCAL" matrix above)
587 // Orientation Offsets matrix
588 MakeVIEW_OFFSET( VIEW_OFFSET,
589 _heading_offset_deg * SG_DEGREES_TO_RADIANS, _view_up,
590 _pitch_offset_deg * SG_DEGREES_TO_RADIANS, right );
592 // Make the VIEW matrix.
593 sgSetVec4(VIEW[0], right[0], right[1], right[2],SG_ZERO);
594 sgSetVec4(VIEW[1], forward[0], forward[1], forward[2],SG_ZERO);
595 sgSetVec4(VIEW[2], _view_up[0], _view_up[1], _view_up[2],SG_ZERO);
596 sgSetVec4(VIEW[3], SG_ZERO, SG_ZERO, SG_ZERO,SG_ONE);
598 // rotate model or local matrix to get a matrix to apply Eye Position Offsets
599 sgMat4 VIEW_UP; // L0 forward L1 right L2 up
600 sgCopyVec4(VIEW_UP[0], LOCAL[1]);
601 sgCopyVec4(VIEW_UP[1], LOCAL[2]);
602 sgCopyVec4(VIEW_UP[2], LOCAL[0]);
603 sgZeroVec4(VIEW_UP[3]);
605 // Eye Position Offsets to vector
606 sgSetVec3( position_offset, _x_offset_m, _y_offset_m, _z_offset_m );
607 sgXformVec3( position_offset, position_offset, VIEW_UP);
609 // add the offsets including rotations to the translation vector
610 sgAddVec3( _view_pos, position_offset );
612 // multiply the OFFSETS (for heading and pitch) into the VIEW
613 sgPostMultMat4(VIEW, VIEW_OFFSET);
615 // add the position data to the matrix
616 sgSetVec4(VIEW[3], _view_pos[0], _view_pos[1], _view_pos[2],SG_ONE);
621 FGViewer::recalcLookAt ()
625 sgVec3 eye_pos, at_pos;
626 sgVec3 position_offset; // eye position offsets (xyz)
627 sgVec3 target_position_offset; // target position offsets (xyz)
629 // The position vectors originate from the view point or target location
630 // depending on the type of view.
634 // Update location data for target...
636 // update or data from model location
637 updateAtModelLocation(_target_location);
639 // if not model then calculate our own target position...
640 recalcOurOwnLocation( _target_location, _target_lon_deg, _target_lat_deg, _target_alt_ft,
641 _target_roll_deg, _target_pitch_deg, _target_heading_deg );
643 // calculate the "at" target object positon relative to eye or view's tile center...
645 sgdSetVec3(dVec3, _location->get_tile_center()[0], _location->get_tile_center()[1], _location->get_tile_center()[2]);
647 _target_location->get_absolute_view_pos(globals->get_scenery()->get_center()),
649 sgSetVec3(at_pos, dVec3[0], dVec3[1], dVec3[2]);
651 // Update location data for eye...
653 // update or data from model location
654 updateFromModelLocation(_location);
656 // update from our own data, just the rotation here...
657 recalcOurOwnLocation( _location, _lon_deg, _lat_deg, _alt_ft,
658 _roll_deg, _pitch_deg, _heading_deg );
660 // save the eye positon...
661 sgCopyVec3(eye_pos, _location->get_view_pos());
663 // copy data from location class to local items...
666 // make sg vectors view up, right and forward vectors from LOCAL
667 sgSetVec3( _view_up, LOCAL[2][0], LOCAL[2][1], LOCAL[2][2] );
668 sgSetVec3( right, LOCAL[1][0], LOCAL[1][1], LOCAL[1][2] );
670 // rotate model or local matrix to get a matrix to apply Eye Position Offsets
671 sgMat4 VIEW_UP; // L0 forward L1 right L2 up
672 sgCopyVec4(VIEW_UP[0], LOCAL[1]);
673 sgCopyVec4(VIEW_UP[1], LOCAL[2]);
674 sgCopyVec4(VIEW_UP[2], LOCAL[0]);
675 sgZeroVec4(VIEW_UP[3]);
677 // get Orientation Offsets matrix
678 MakeVIEW_OFFSET( VIEW_OFFSET,
679 (_heading_offset_deg - 180) * SG_DEGREES_TO_RADIANS, _view_up,
680 _pitch_offset_deg * SG_DEGREES_TO_RADIANS, right );
682 // add in the position offsets
683 sgSetVec3( position_offset, _y_offset_m, _x_offset_m, _z_offset_m );
684 sgXformVec3( position_offset, position_offset, VIEW_UP);
686 // apply the Orientation offsets
687 sgXformVec3( position_offset, position_offset, VIEW_OFFSET );
689 // add the Position offsets from object to the eye position
690 sgAddVec3( eye_pos, eye_pos, position_offset );
692 // add target offsets to at_position...
693 sgSetVec3(target_position_offset, _target_z_offset_m, _target_x_offset_m,
694 _target_y_offset_m );
695 sgXformVec3(target_position_offset, target_position_offset, ATLOCAL);
696 sgAddVec3( at_pos, at_pos, target_position_offset);
698 sgAddVec3( eye_pos, eye_pos, target_position_offset);
700 // Make the VIEW matrix for a "LOOKAT".
701 sgMakeLookAtMat4( VIEW, eye_pos, at_pos, _view_up );
705 // copy results from location class to viewer...
706 // FIXME: some of these should be changed to reference directly to SGLocation...
708 FGViewer::copyLocationData()
710 // Get our friendly vectors from the eye location...
711 sgCopyVec3(_zero_elev_view_pos, _location->get_zero_elev());
712 sgCopyVec3(_relative_view_pos, _location->get_view_pos());
713 sgdCopyVec3(_absolute_view_pos,
714 _location->get_absolute_view_pos(globals->get_scenery()->get_center()));
715 sgCopyMat4(UP, _location->getCachedUpMatrix());
716 sgCopyVec3(_world_up, _location->get_world_up());
717 // these are the vectors that the sun and moon code like to get...
718 sgCopyVec3(_surface_east, _location->get_surface_east());
719 sgCopyVec3(_surface_south, _location->get_surface_south());
721 // Update viewer's postion data for the eye location...
722 _lon_deg = _location->getLongitude_deg();
723 _lat_deg = _location->getLatitude_deg();
724 _alt_ft = _location->getAltitudeASL_ft();
725 _roll_deg = _location->getRoll_deg();
726 _pitch_deg = _location->getPitch_deg();
727 _heading_deg = _location->getHeading_deg();
729 // Update viewer's postion data for the target (at object) location
730 if (_type == FG_LOOKAT) {
731 _target_lon_deg = _target_location->getLongitude_deg();
732 _target_lat_deg = _target_location->getLatitude_deg();
733 _target_alt_ft = _target_location->getAltitudeASL_ft();
734 _target_roll_deg = _target_location->getRoll_deg();
735 _target_pitch_deg = _target_location->getPitch_deg();
736 _target_heading_deg = _target_location->getHeading_deg();
739 // copy coordinates to outputs for viewer...
740 sgCopyVec3(_zero_elev, _zero_elev_view_pos);
741 sgCopyVec3(_view_pos, _relative_view_pos);
745 FGViewer::get_h_fov()
747 switch (_scaling_type) {
748 case FG_SCALING_WIDTH: // h_fov == fov
751 if (_aspect_ratio < 1.0) {
756 return atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) / _aspect_ratio) *
757 SG_RADIANS_TO_DEGREES * 2;
768 FGViewer::get_v_fov()
770 switch (_scaling_type) {
771 case FG_SCALING_WIDTH: // h_fov == fov
772 return atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) * _aspect_ratio) *
773 SG_RADIANS_TO_DEGREES * 2;
775 if (_aspect_ratio < 1.0) {
777 return atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) * _aspect_ratio) *
778 SG_RADIANS_TO_DEGREES * 2;
790 FGViewer::update (double dt)
793 int dt_ms = int(dt * 1000);
794 for ( i = 0; i < dt_ms; i++ ) {
795 if ( fabs( _goal_heading_offset_deg - _heading_offset_deg) < 1 ) {
796 setHeadingOffset_deg( _goal_heading_offset_deg );
799 // move current_view.headingoffset towards
800 // current_view.goal_view_offset
801 if ( _goal_heading_offset_deg > _heading_offset_deg )
803 if ( _goal_heading_offset_deg - _heading_offset_deg < 180 ){
804 incHeadingOffset_deg( 0.5 );
806 incHeadingOffset_deg( -0.5 );
809 if ( _heading_offset_deg - _goal_heading_offset_deg < 180 ){
810 incHeadingOffset_deg( -0.5 );
812 incHeadingOffset_deg( 0.5 );
815 if ( _heading_offset_deg > 360 ) {
816 incHeadingOffset_deg( -360 );
817 } else if ( _heading_offset_deg < 0 ) {
818 incHeadingOffset_deg( 360 );
823 for ( i = 0; i < dt_ms; i++ ) {
824 if ( fabs( _goal_pitch_offset_deg - _pitch_offset_deg ) < 1 ) {
825 setPitchOffset_deg( _goal_pitch_offset_deg );
828 // move current_view.pitch_offset_deg towards
829 // current_view.goal_pitch_offset
830 if ( _goal_pitch_offset_deg > _pitch_offset_deg )
832 incPitchOffset_deg( 1.0 );
834 incPitchOffset_deg( -1.0 );
836 if ( _pitch_offset_deg > 90 ) {
837 setPitchOffset_deg(90);
838 } else if ( _pitch_offset_deg < -90 ) {
839 setPitchOffset_deg( -90 );
844 for ( i = 0; i < dt_ms; i++ ) {
845 if ( fabs( _goal_roll_offset_deg - _roll_offset_deg ) < 1 ) {
846 setRollOffset_deg( _goal_roll_offset_deg );
849 // move current_view.roll_offset_deg towards
850 // current_view.goal_roll_offset
851 if ( _goal_roll_offset_deg > _roll_offset_deg )
853 incRollOffset_deg( 1.0 );
855 incRollOffset_deg( -1.0 );
857 if ( _roll_offset_deg > 90 ) {
858 setRollOffset_deg(90);
859 } else if ( _roll_offset_deg < -90 ) {
860 setRollOffset_deg( -90 );