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 _heading_offset_deg = heading_offset_deg;
296 FGViewer::setGoalRollOffset_deg (double goal_roll_offset_deg)
299 _goal_roll_offset_deg = goal_roll_offset_deg;
303 FGViewer::setGoalPitchOffset_deg (double goal_pitch_offset_deg)
306 _goal_pitch_offset_deg = goal_pitch_offset_deg;
307 if ( _goal_pitch_offset_deg < -90 ) {
308 _goal_pitch_offset_deg = -90.0;
310 if ( _goal_pitch_offset_deg > 90.0 ) {
311 _goal_pitch_offset_deg = 90.0;
317 FGViewer::setGoalHeadingOffset_deg (double goal_heading_offset_deg)
320 _goal_heading_offset_deg = goal_heading_offset_deg;
321 while ( _goal_heading_offset_deg < 0.0 ) {
322 _goal_heading_offset_deg += 360;
324 while ( _goal_heading_offset_deg > 360 ) {
325 _goal_heading_offset_deg -= 360;
330 FGViewer::setOrientationOffsets (double roll_offset_deg, double pitch_offset_deg, double heading_offset_deg)
333 _roll_offset_deg = roll_offset_deg;
334 _pitch_offset_deg = pitch_offset_deg;
335 _heading_offset_deg = heading_offset_deg;
338 // recalc() is done every time one of the setters is called (making the
339 // cached data "dirty") on the next "get". It calculates all the outputs
344 if (_type == FG_LOOKFROM) {
353 // recalculate for LookFrom view type...
355 FGViewer::recalcLookFrom ()
357 // Update location data ...
359 SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
360 _position = placement->getPosition();
362 _heading_deg = placement->getHeadingDeg();
363 _pitch_deg = placement->getPitchDeg();
364 _roll_deg = placement->getRollDeg();
367 double head = _heading_deg;
368 double pitch = _pitch_deg;
369 double roll = _roll_deg;
370 if ( !_from_model ) {
371 // update from our own data...
372 setDampTarget(roll, pitch, head);
373 getDampOutput(roll, pitch, head);
376 // The rotation rotating from the earth centerd frame to
377 // the horizontal local frame
378 SGQuatd hlOr = SGQuatd::fromLonLat(_position);
380 // The rotation from the horizontal local frame to the basic view orientation
381 SGQuatd hlToBody = SGQuatd::fromYawPitchRollDeg(head, pitch, roll);
383 // The rotation offset, don't know why heading is negative here ...
385 = SGQuatd::fromYawPitchRollDeg(-_heading_offset_deg, _pitch_offset_deg,
388 // Compute the eyepoints orientation and position
389 // wrt the earth centered frame - that is global coorinates
390 SGQuatd ec2body = hlOr*hlToBody;
392 // The cartesian position of the basic view coordinate
393 SGVec3d position = SGVec3d::fromGeod(_position);
395 // This is rotates the x-forward, y-right, z-down coordinate system the where
396 // simulation runs into the OpenGL camera system with x-right, y-up, z-back.
397 SGQuatd q(-0.5, -0.5, 0.5, 0.5);
399 _absolute_view_pos = position + (ec2body*q).backTransform(_offset_m);
400 mViewOrientation = ec2body*mViewOffsetOr*q;
404 FGViewer::recalcLookAt ()
406 // The geodetic position of our target to look at
408 SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
409 _target = placement->getPosition();
410 _target_heading_deg = placement->getHeadingDeg();
411 _target_pitch_deg = placement->getPitchDeg();
412 _target_roll_deg = placement->getRollDeg();
414 // if not model then calculate our own target position...
415 setDampTarget(_target_roll_deg, _target_pitch_deg, _target_heading_deg);
416 getDampOutput(_target_roll_deg, _target_pitch_deg, _target_heading_deg);
419 SGQuatd geodTargetOr = SGQuatd::fromYawPitchRollDeg(_target_heading_deg,
422 SGQuatd geodTargetHlOr = SGQuatd::fromLonLat(_target);
426 SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
427 _position = placement->getPosition();
428 _heading_deg = placement->getHeadingDeg();
429 _pitch_deg = placement->getPitchDeg();
430 _roll_deg = placement->getRollDeg();
432 // update from our own data, just the rotation here...
433 setDampTarget(_roll_deg, _pitch_deg, _heading_deg);
434 getDampOutput(_roll_deg, _pitch_deg, _heading_deg);
436 SGQuatd geodEyeOr = SGQuatd::fromYawPitchRollDeg(_heading_deg, _pitch_deg, _roll_deg);
437 SGQuatd geodEyeHlOr = SGQuatd::fromLonLat(_position);
439 // the rotation offset, don't know why heading is negative here ...
441 SGQuatd::fromYawPitchRollDeg(-_heading_offset_deg + 180, _pitch_offset_deg,
444 // Offsets to the eye position
445 SGVec3d eyeOff(-_offset_m.z(), _offset_m.x(), -_offset_m.y());
446 SGQuatd ec2eye = geodEyeHlOr*geodEyeOr;
447 SGVec3d eyeCart = SGVec3d::fromGeod(_position);
448 eyeCart += (ec2eye*mViewOffsetOr).backTransform(eyeOff);
450 SGVec3d atCart = SGVec3d::fromGeod(_target);
452 // add target offsets to at_position...
453 SGVec3d target_pos_off(-_target_offset_m.z(), _target_offset_m.x(),
454 -_target_offset_m.y());
455 target_pos_off = (geodTargetHlOr*geodTargetOr).backTransform(target_pos_off);
456 atCart += target_pos_off;
457 eyeCart += target_pos_off;
459 // Compute the eyepoints orientation and position
460 // wrt the earth centered frame - that is global coorinates
461 _absolute_view_pos = eyeCart;
463 // the view direction
464 SGVec3d dir = normalize(atCart - eyeCart);
466 SGVec3d up = ec2eye.backTransform(SGVec3d(0, 0, -1));
467 // rotate -dir to the 2-th unit vector
468 // rotate up to 1-th unit vector
469 // Note that this matches the OpenGL camera coordinate system
470 // with x-right, y-up, z-back.
471 mViewOrientation = SGQuatd::fromRotateTo(-dir, 2, up, 1);
475 FGViewer::setDampTarget(double roll, double pitch, double heading)
477 _dampTarget = SGVec3d(roll, pitch, heading);
481 FGViewer::getDampOutput(double& roll, double& pitch, double& heading)
483 roll = _dampOutput[0];
484 pitch = _dampOutput[1];
485 heading = _dampOutput[2];
490 FGViewer::updateDampOutput(double dt)
492 static FGViewer *last_view = 0;
493 if ((last_view != this) || (dt > 1.0)) {
494 _dampOutput = _dampTarget;
499 const double interval = 0.01;
500 while (dt > interval) {
502 for (unsigned int i=0; i<3; ++i) {
503 if (_dampFactor[i] <= 0.0) {
504 // axis is un-damped, set output to target directly
505 _dampOutput[i] = _dampTarget[i];
509 double d = _dampOutput[i] - _dampTarget[i];
511 _dampOutput[i] -= 360.0;
512 } else if (d < -180.0) {
513 _dampOutput[i] += 360.0;
516 _dampOutput[i] = (_dampTarget[i] * _dampFactor[i]) +
517 (_dampOutput[i] * (1.0 - _dampFactor[i]));
518 } // of axis iteration
521 } // of dt subdivision by interval
525 FGViewer::get_h_fov()
527 switch (_scaling_type) {
528 case FG_SCALING_WIDTH: // h_fov == fov
531 if (_aspect_ratio < 1.0) {
537 atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS)
538 / (_aspect_ratio*_aspect_ratio_multiplier))
539 * SG_RADIANS_TO_DEGREES * 2;
550 FGViewer::get_v_fov()
552 switch (_scaling_type) {
553 case FG_SCALING_WIDTH: // h_fov == fov
555 atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS)
556 * (_aspect_ratio*_aspect_ratio_multiplier))
557 * SG_RADIANS_TO_DEGREES * 2;
559 if (_aspect_ratio < 1.0) {
562 atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS)
563 * (_aspect_ratio*_aspect_ratio_multiplier))
564 * SG_RADIANS_TO_DEGREES * 2;
576 FGViewer::update (double dt)
578 updateDampOutput(dt);
581 int dt_ms = int(dt * 1000);
582 for ( i = 0; i < dt_ms; i++ ) {
583 if ( fabs( _goal_heading_offset_deg - _heading_offset_deg) < 1 ) {
584 setHeadingOffset_deg( _goal_heading_offset_deg );
587 // move current_view.headingoffset towards
588 // current_view.goal_view_offset
589 if ( _goal_heading_offset_deg > _heading_offset_deg )
591 if ( _goal_heading_offset_deg - _heading_offset_deg < 180 ){
592 incHeadingOffset_deg( 0.5 );
594 incHeadingOffset_deg( -0.5 );
597 if ( _heading_offset_deg - _goal_heading_offset_deg < 180 ){
598 incHeadingOffset_deg( -0.5 );
600 incHeadingOffset_deg( 0.5 );
603 if ( _heading_offset_deg > 360 ) {
604 incHeadingOffset_deg( -360 );
605 } else if ( _heading_offset_deg < 0 ) {
606 incHeadingOffset_deg( 360 );
611 for ( i = 0; i < dt_ms; i++ ) {
612 if ( fabs( _goal_pitch_offset_deg - _pitch_offset_deg ) < 1 ) {
613 setPitchOffset_deg( _goal_pitch_offset_deg );
616 // move current_view.pitch_offset_deg towards
617 // current_view.goal_pitch_offset
618 if ( _goal_pitch_offset_deg > _pitch_offset_deg )
620 incPitchOffset_deg( 1.0 );
622 incPitchOffset_deg( -1.0 );
624 if ( _pitch_offset_deg > 90 ) {
625 setPitchOffset_deg(90);
626 } else if ( _pitch_offset_deg < -90 ) {
627 setPitchOffset_deg( -90 );
633 for ( i = 0; i < dt_ms; i++ ) {
634 if ( fabs( _goal_roll_offset_deg - _roll_offset_deg ) < 1 ) {
635 setRollOffset_deg( _goal_roll_offset_deg );
638 // move current_view.roll_offset_deg towards
639 // current_view.goal_roll_offset
640 if ( _goal_roll_offset_deg > _roll_offset_deg )
642 incRollOffset_deg( 1.0 );
644 incRollOffset_deg( -1.0 );
646 if ( _roll_offset_deg > 90 ) {
647 setRollOffset_deg(90);
648 } else if ( _roll_offset_deg < -90 ) {
649 setRollOffset_deg( -90 );
654 _cameraGroup->update(toOsg(_absolute_view_pos), toOsg(mViewOrientation));
655 _cameraGroup->setCameraParameters(get_v_fov(), get_aspect_ratio());