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.
6 // Copyright (C) 1997 - 2000 Curtis L. Olson - curt@flightgear.org
8 // This program is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU General Public License as
10 // published by the Free Software Foundation; either version 2 of the
11 // License, or (at your option) any later version.
13 // This program is distributed in the hope that it will be useful, but
14 // WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // General Public License for more details.
18 // You should have received a copy of the GNU General Public License
19 // along with this program; if not, write to the Free Software
20 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
25 #include <simgear/compiler.h>
31 #include <plib/ssg.h> // plib include
33 #include <simgear/constants.h>
34 #include <simgear/debug/logstream.hxx>
35 #include <simgear/math/point3d.hxx>
36 #include <simgear/math/polar3d.hxx>
37 #include <simgear/math/vector.hxx>
39 #include <Aircraft/aircraft.hxx>
40 #include <Cockpit/panel.hxx>
41 #include <Scenery/scenery.hxx>
43 #include "options.hxx"
48 FGViewer::FGViewer( void ) {
51 #define USE_FAST_VIEWROT
52 #ifdef USE_FAST_VIEWROT
53 // VIEW_ROT = LARC_TO_SSG * ( VIEWo * VIEW_OFFSET )
54 // This takes advantage of the fact that VIEWo and VIEW_OFFSET
55 // only have entries in the upper 3x3 block
56 // and that LARC_TO_SSG is just a shift of rows NHV
57 inline static void fgMakeViewRot( sgMat4 dst, const sgMat4 m1, const sgMat4 m2 )
59 for ( int j = 0 ; j < 3 ; j++ ) {
60 dst[2][j] = m2[0][0] * m1[0][j] +
64 dst[0][j] = m2[1][0] * m1[0][j] +
68 dst[1][j] = m2[2][0] * m1[0][j] +
82 // Initialize a view structure
83 void FGViewer::Init( void ) {
84 FG_LOG( FG_VIEW, FG_INFO, "Initializing View parameters" );
86 view_offset = goal_view_offset = globals->get_options()->get_default_view_offset();
87 sgSetVec3( pilot_offset, 0.0, 0.0, 0.0 );
89 winWidth = globals->get_options()->get_xsize();
90 winHeight = globals->get_options()->get_ysize();
92 set_win_ratio( winHeight / winWidth );
94 #ifndef USE_FAST_VIEWROT
95 // This never changes -- NHV
96 LARC_TO_SSG[0][0] = 0.0;
97 LARC_TO_SSG[0][1] = 1.0;
98 LARC_TO_SSG[0][2] = -0.0;
99 LARC_TO_SSG[0][3] = 0.0;
101 LARC_TO_SSG[1][0] = 0.0;
102 LARC_TO_SSG[1][1] = 0.0;
103 LARC_TO_SSG[1][2] = 1.0;
104 LARC_TO_SSG[1][3] = 0.0;
106 LARC_TO_SSG[2][0] = 1.0;
107 LARC_TO_SSG[2][1] = -0.0;
108 LARC_TO_SSG[2][2] = 0.0;
109 LARC_TO_SSG[2][3] = 0.0;
111 LARC_TO_SSG[3][0] = 0.0;
112 LARC_TO_SSG[3][1] = 0.0;
113 LARC_TO_SSG[3][2] = 0.0;
114 LARC_TO_SSG[3][3] = 1.0;
115 #endif // USE_FAST_VIEWROT
117 force_update_fov_math();
121 #define USE_FAST_LOCAL
122 #ifdef USE_FAST_LOCAL
123 inline static void fgMakeLOCAL( sgMat4 dst, const double Theta,
124 const double Phi, const double Psi)
126 SGfloat cosTheta = (SGfloat) cos(Theta);
127 SGfloat sinTheta = (SGfloat) sin(Theta);
128 SGfloat cosPhi = (SGfloat) cos(Phi);
129 SGfloat sinPhi = (SGfloat) sin(Phi);
130 SGfloat sinPsi = (SGfloat) sin(Psi) ;
131 SGfloat cosPsi = (SGfloat) cos(Psi) ;
133 dst[0][0] = cosPhi * cosTheta;
134 dst[0][1] = sinPhi * cosPsi + cosPhi * -sinTheta * -sinPsi;
135 dst[0][2] = sinPhi * sinPsi + cosPhi * -sinTheta * cosPsi;
138 dst[1][0] = -sinPhi * cosTheta;
139 dst[1][1] = cosPhi * cosPsi + -sinPhi * -sinTheta * -sinPsi;
140 dst[1][2] = cosPhi * sinPsi + -sinPhi * -sinTheta * cosPsi;
141 dst[1][3] = SG_ZERO ;
143 dst[2][0] = sinTheta;
144 dst[2][1] = cosTheta * -sinPsi;
145 dst[2][2] = cosTheta * cosPsi;
156 // Update the view volume, position, and orientation
157 void FGViewer::UpdateViewParams( const FGInterface& f ) {
160 if ( ! fgPanelVisible() ) {
161 xglViewport(0, 0 , (GLint)(winWidth), (GLint)(winHeight) );
164 int((current_panel->getViewHeight() - current_panel->getYOffset())
165 * (winHeight / 768.0));
166 glViewport(0, (GLint)(winHeight - view_h),
167 (GLint)(winWidth), (GLint)(view_h) );
172 // convert sgMat4 to MAT3 and print
173 static void print_sgMat4( sgMat4 &in) {
175 for ( i = 0; i < 4; i++ ) {
176 for ( j = 0; j < 4; j++ ) {
177 printf("%10.4f ", in[i][j]);
184 // Update the view parameters
185 void FGViewer::UpdateViewMath( const FGInterface& f ) {
188 sgVec3 v0, minus_z, sgvec, forward;
192 ssgSetFOV( globals->get_options()->get_fov(),
193 globals->get_options()->get_fov() * win_ratio );
197 scenery.center = scenery.next_center;
199 // printf("scenery center = %.2f %.2f %.2f\n", scenery.center.x,
200 // scenery.center.y, scenery.center.z);
202 // calculate the cartesion coords of the current lat/lon/0 elev
203 p = Point3D( f.get_Longitude(),
204 f.get_Lat_geocentric(),
205 f.get_Sea_level_radius() * FEET_TO_METER );
207 cur_zero_elev = sgPolarToCart3d(p) - scenery.center;
209 // calculate view position in current FG view coordinate system
210 // p.lon & p.lat are already defined earlier, p.radius was set to
211 // the sea level radius, so now we add in our altitude.
212 if ( f.get_Altitude() * FEET_TO_METER >
213 (scenery.cur_elev + 0.5 * METER_TO_FEET) ) {
214 p.setz( p.radius() + f.get_Altitude() * FEET_TO_METER );
216 p.setz( p.radius() + scenery.cur_elev + 0.5 * METER_TO_FEET );
219 abs_view_pos = sgPolarToCart3d(p);
221 view_pos = abs_view_pos - scenery.center;
223 FG_LOG( FG_VIEW, FG_DEBUG, "Polar view pos = " << p );
224 FG_LOG( FG_VIEW, FG_DEBUG, "Absolute view pos = " << abs_view_pos );
225 FG_LOG( FG_VIEW, FG_DEBUG, "Relative view pos = " << view_pos );
227 // code to calculate LOCAL matrix calculated from Phi, Theta, and
228 // Psi (roll, pitch, yaw) in case we aren't running LaRCsim as our
231 #ifdef USE_FAST_LOCAL
233 fgMakeLOCAL( LOCAL, f.get_Theta(), f.get_Phi(), -f.get_Psi() );
235 #else // USE_TEXT_BOOK_METHOD
238 sgSetVec3( rollvec, 0.0, 0.0, 1.0 );
240 sgMakeRotMat4( PHI, f.get_Phi() * RAD_TO_DEG, rollvec );
243 sgSetVec3( pitchvec, 0.0, 1.0, 0.0 );
244 sgMat4 THETA; // pitch
245 sgMakeRotMat4( THETA, f.get_Theta() * RAD_TO_DEG, pitchvec );
249 // sgMultMat4( ROT, PHI, THETA );
250 sgCopyMat4( ROT, PHI );
251 sgPostMultMat4( ROT, THETA );
254 sgSetVec3( yawvec, 1.0, 0.0, 0.0 );
256 sgMakeRotMat4( PSI, -f.get_Psi() * RAD_TO_DEG, yawvec );
259 // sgMultMat4( LOCAL, ROT, PSI );
260 sgCopyMat4( LOCAL, ROT );
261 sgPostMultMat4( LOCAL, PSI );
265 // cout << "LOCAL matrix" << endl;
266 // print_sgMat4( LOCAL );
269 f.get_Longitude() * RAD_TO_DEG,
271 -f.get_Latitude() * RAD_TO_DEG );
273 sgSetVec3( local_up, UP[0][0], UP[0][1], UP[0][2] );
274 // sgXformVec3( local_up, UP );
275 // cout << "Local Up = " << local_up[0] << "," << local_up[1] << ","
276 // << local_up[2] << endl;
278 // Alternative method to Derive local up vector based on
279 // *geodetic* coordinates
280 // alt_up = sgPolarToCart(FG_Longitude, FG_Latitude, 1.0);
281 // printf( " Alt Up = (%.4f, %.4f, %.4f)\n",
282 // alt_up.x, alt_up.y, alt_up.z);
284 // VIEWo = LOCAL * UP
285 // sgMultMat4( VIEWo, LOCAL, UP );
286 sgCopyMat4( VIEWo, LOCAL );
287 sgPostMultMat4( VIEWo, UP );
288 // cout << "VIEWo matrix" << endl;
289 // print_sgMat4( VIEWo );
291 // generate the sg view up and forward vectors
292 sgSetVec3( view_up, VIEWo[0][0], VIEWo[0][1], VIEWo[0][2] );
293 // cout << "view = " << view[0] << ","
294 // << view[1] << "," << view[2] << endl;
295 sgSetVec3( forward, VIEWo[2][0], VIEWo[2][1], VIEWo[2][2] );
296 // cout << "forward = " << forward[0] << ","
297 // << forward[1] << "," << forward[2] << endl;
299 // generate the pilot offset vector in world coordinates
300 sgVec3 pilot_offset_world;
301 sgSetVec3( pilot_offset_world,
302 pilot_offset[2], pilot_offset[1], -pilot_offset[0] );
303 sgXformVec3( pilot_offset_world, pilot_offset_world, VIEWo );
305 // generate the view offset matrix
306 sgMakeRotMat4( VIEW_OFFSET, view_offset * RAD_TO_DEG, view_up );
307 // cout << "VIEW_OFFSET matrix" << endl;
308 // print_sgMat4( VIEW_OFFSET );
309 sgXformVec3( view_forward, forward, VIEW_OFFSET );
310 // cout << "view_forward = " << view_forward[0] << ","
311 // << view_forward[1] << "," << view_forward[2] << endl;
313 // VIEW_ROT = LARC_TO_SSG * ( VIEWo * VIEW_OFFSET )
314 #ifdef USE_FAST_VIEWROT
315 fgMakeViewRot( VIEW_ROT, VIEW_OFFSET, VIEWo );
317 // sgMultMat4( VIEW_ROT, VIEW_OFFSET, VIEWo );
318 // sgPreMultMat4( VIEW_ROT, LARC_TO_SSG );
319 sgCopyMat4( VIEW_ROT, VIEWo );
320 sgPostMultMat4( VIEW_ROT, VIEW_OFFSET );
321 sgPreMultMat4( VIEW_ROT, LARC_TO_SSG );
323 // cout << "VIEW_ROT matrix" << endl;
324 // print_sgMat4( VIEW_ROT );
327 sgSetVec3( trans_vec,
328 view_pos.x() + pilot_offset_world[0],
329 view_pos.y() + pilot_offset_world[1],
330 view_pos.z() + pilot_offset_world[2] );
332 // VIEW = VIEW_ROT * TRANS
333 sgCopyMat4( VIEW, VIEW_ROT );
334 sgPostMultMat4ByTransMat4( VIEW, trans_vec );
336 //!!!!!!!!!!!!!!!!!!!
337 // THIS IS THE EXPERIMENTAL VIEWING ANGLE SHIFTER
338 // THE MAJORITY OF THE WORK IS DONE IN GUI.CXX
339 // this in gui.cxx for now just testing
340 extern float quat_mat[4][4];
341 sgPreMultMat4( VIEW, quat_mat);
342 // !!!!!!!!!! testing
344 // make a vector to the current view position
345 sgSetVec3( v0, view_pos.x(), view_pos.y(), view_pos.z() );
347 // Given a vector pointing straight down (-Z), map into onto the
348 // local plane representing "horizontal". This should give us the
349 // local direction for moving "south".
350 sgSetVec3( minus_z, 0.0, 0.0, -1.0 );
352 sgmap_vec_onto_cur_surface_plane(local_up, v0, minus_z, surface_south);
353 sgNormalizeVec3(surface_south);
354 // cout << "Surface direction directly south " << surface_south[0] << ","
355 // << surface_south[1] << "," << surface_south[2] << endl;
357 // now calculate the surface east vector
358 #define USE_FAST_SURFACE_EAST
359 #ifdef USE_FAST_SURFACE_EAST
361 sgNegateVec3(local_down, local_up);
362 sgVectorProductVec3(surface_east, surface_south, local_down);
366 sgMakeRotMat4( TMP, FG_PI_2 * RAD_TO_DEG, local_up );
368 sgMakeRotMat4( TMP, FG_PI_2 * RAD_TO_DEG, view_up );
369 #endif // USE_LOCAL_UP
370 // cout << "sgMat4 TMP" << endl;
371 // print_sgMat4( TMP );
372 sgXformVec3(surface_east, surface_south, TMP);
373 #endif // USE_FAST_SURFACE_EAST
374 // cout << "Surface direction directly east " << surface_east[0] << ","
375 // << surface_east[1] << "," << surface_east[2] << endl;
376 // cout << "Should be close to zero = "
377 // << sgScalarProductVec3(surface_south, surface_east) << endl;
381 void FGViewer::CurrentNormalInLocalPlane(sgVec3 dst, sgVec3 src) {
383 sgSetVec3(tmp, src[0], src[1], src[2] );
385 sgTransposeNegateMat4 ( TMP, UP ) ;
386 sgXformVec3(tmp, tmp, TMP);
387 sgSetVec3(dst, tmp[2], tmp[1], tmp[0] );
392 FGViewer::~FGViewer( void ) {