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>
32 #include "fg_props.hxx"
34 #include <simgear/debug/logstream.hxx>
35 #include <simgear/constants.h>
36 #include <simgear/scene/model/placement.hxx>
38 #include <Main/globals.hxx>
39 #include <Scenery/scenery.hxx>
40 #include <Model/acmodel.hxx>
44 #include "CameraGroup.hxx"
46 using namespace flightgear;
48 ////////////////////////////////////////////////////////////////////////
49 // Implementation of FGViewer.
50 ////////////////////////////////////////////////////////////////////////
53 FGViewer::FGViewer( fgViewType Type, bool from_model, int from_model_index,
54 bool at_model, int at_model_index,
55 double damp_roll, double damp_pitch, double damp_heading,
56 double x_offset_m, double y_offset_m, double z_offset_m,
57 double heading_offset_deg, double pitch_offset_deg,
58 double roll_offset_deg,
59 double fov_deg, double aspect_ratio_multiplier,
60 double target_x_offset_m, double target_y_offset_m,
61 double target_z_offset_m, double near_m, bool internal ):
66 _scaling_type(FG_SCALING_MAX),
68 _cameraGroup(CameraGroup::getDefault())
70 _absolute_view_pos = SGVec3d(0, 0, 0);
72 _from_model = from_model;
73 _from_model_index = from_model_index;
75 _at_model_index = at_model_index;
79 _dampFactor = SGVec3d::zeros();
80 _dampOutput = SGVec3d::zeros();
81 _dampTarget = SGVec3d::zeros();
84 _dampFactor[0] = 1.0 / pow(10.0, fabs(damp_roll));
86 _dampFactor[1] = 1.0 / pow(10.0, fabs(damp_pitch));
87 if (damp_heading > 0.0)
88 _dampFactor[2] = 1.0 / pow(10.0, fabs(damp_heading));
90 _offset_m.x() = x_offset_m;
91 _offset_m.y() = y_offset_m;
92 _offset_m.z() = z_offset_m;
93 _heading_offset_deg = heading_offset_deg;
94 _pitch_offset_deg = pitch_offset_deg;
95 _roll_offset_deg = roll_offset_deg;
96 _goal_heading_offset_deg = heading_offset_deg;
97 _goal_pitch_offset_deg = pitch_offset_deg;
98 _goal_roll_offset_deg = roll_offset_deg;
105 _aspect_ratio_multiplier = aspect_ratio_multiplier;
106 _target_offset_m.x() = target_x_offset_m;
107 _target_offset_m.y() = target_y_offset_m;
108 _target_offset_m.z() = target_z_offset_m;
109 _ground_level_nearplane_m = near_m;
110 // a reasonable guess for init, so that the math doesn't blow up
115 FGViewer::~FGViewer( void ) {
134 FGViewer::setType ( int type )
143 FGViewer::setInternal ( bool internal )
145 _internal = internal;
149 FGViewer::setPosition (double lon_deg, double lat_deg, double alt_ft)
152 _position = SGGeod::fromDegFt(lon_deg, lat_deg, alt_ft);
156 FGViewer::setTargetPosition (double lon_deg, double lat_deg, double alt_ft)
159 _target = SGGeod::fromDegFt(lon_deg, lat_deg, alt_ft);
163 FGViewer::setRoll_deg (double roll_deg)
166 _roll_deg = roll_deg;
170 FGViewer::setPitch_deg (double pitch_deg)
173 _pitch_deg = pitch_deg;
177 FGViewer::setHeading_deg (double heading_deg)
180 _heading_deg = heading_deg;
184 FGViewer::setOrientation (double roll_deg, double pitch_deg, double heading_deg)
187 _roll_deg = roll_deg;
188 _pitch_deg = pitch_deg;
189 _heading_deg = heading_deg;
193 FGViewer::setTargetRoll_deg (double target_roll_deg)
196 _target_roll_deg = target_roll_deg;
200 FGViewer::setTargetPitch_deg (double target_pitch_deg)
203 _target_pitch_deg = target_pitch_deg;
207 FGViewer::setTargetHeading_deg (double target_heading_deg)
210 _target_heading_deg = target_heading_deg;
214 FGViewer::setTargetOrientation (double target_roll_deg, double target_pitch_deg, double target_heading_deg)
217 _target_roll_deg = target_roll_deg;
218 _target_pitch_deg = target_pitch_deg;
219 _target_heading_deg = target_heading_deg;
223 FGViewer::setXOffset_m (double x_offset_m)
226 _offset_m.x() = x_offset_m;
230 FGViewer::setYOffset_m (double y_offset_m)
233 _offset_m.y() = y_offset_m;
237 FGViewer::setZOffset_m (double z_offset_m)
240 _offset_m.z() = z_offset_m;
244 FGViewer::setTargetXOffset_m (double target_x_offset_m)
247 _target_offset_m.x() = target_x_offset_m;
251 FGViewer::setTargetYOffset_m (double target_y_offset_m)
254 _target_offset_m.y() = target_y_offset_m;
258 FGViewer::setTargetZOffset_m (double target_z_offset_m)
261 _target_offset_m.z() = target_z_offset_m;
265 FGViewer::setPositionOffsets (double x_offset_m, double y_offset_m, double z_offset_m)
268 _offset_m.x() = x_offset_m;
269 _offset_m.y() = y_offset_m;
270 _offset_m.z() = z_offset_m;
274 FGViewer::setRollOffset_deg (double roll_offset_deg)
277 _roll_offset_deg = roll_offset_deg;
281 FGViewer::setPitchOffset_deg (double pitch_offset_deg)
284 _pitch_offset_deg = pitch_offset_deg;
288 FGViewer::setHeadingOffset_deg (double heading_offset_deg)
291 _heading_offset_deg = heading_offset_deg;
295 FGViewer::setGoalRollOffset_deg (double goal_roll_offset_deg)
298 _goal_roll_offset_deg = goal_roll_offset_deg;
302 FGViewer::setGoalPitchOffset_deg (double goal_pitch_offset_deg)
305 _goal_pitch_offset_deg = goal_pitch_offset_deg;
306 if ( _goal_pitch_offset_deg < -90 ) {
307 _goal_pitch_offset_deg = -90.0;
309 if ( _goal_pitch_offset_deg > 90.0 ) {
310 _goal_pitch_offset_deg = 90.0;
316 FGViewer::setGoalHeadingOffset_deg (double goal_heading_offset_deg)
319 _goal_heading_offset_deg = goal_heading_offset_deg;
320 while ( _goal_heading_offset_deg < 0.0 ) {
321 _goal_heading_offset_deg += 360;
323 while ( _goal_heading_offset_deg > 360 ) {
324 _goal_heading_offset_deg -= 360;
329 FGViewer::setOrientationOffsets (double roll_offset_deg, double pitch_offset_deg, double heading_offset_deg)
332 _roll_offset_deg = roll_offset_deg;
333 _pitch_offset_deg = pitch_offset_deg;
334 _heading_offset_deg = heading_offset_deg;
337 // recalc() is done every time one of the setters is called (making the
338 // cached data "dirty") on the next "get". It calculates all the outputs
343 if (_type == FG_LOOKFROM) {
352 // recalculate for LookFrom view type...
354 FGViewer::recalcLookFrom ()
356 // Update location data ...
358 SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
359 _position = placement->getPosition();
361 _heading_deg = placement->getHeadingDeg();
362 _pitch_deg = placement->getPitchDeg();
363 _roll_deg = placement->getRollDeg();
366 double head = _heading_deg;
367 double pitch = _pitch_deg;
368 double roll = _roll_deg;
369 if ( !_from_model ) {
370 // update from our own data...
371 setDampTarget(roll, pitch, head);
372 getDampOutput(roll, pitch, head);
375 // The rotation rotating from the earth centerd frame to
376 // the horizontal local frame
377 SGQuatd hlOr = SGQuatd::fromLonLat(_position);
379 // The rotation from the horizontal local frame to the basic view orientation
380 SGQuatd hlToBody = SGQuatd::fromYawPitchRollDeg(head, pitch, roll);
382 // The rotation offset, don't know why heading is negative here ...
384 = SGQuatd::fromYawPitchRollDeg(-_heading_offset_deg, _pitch_offset_deg,
387 // Compute the eyepoints orientation and position
388 // wrt the earth centered frame - that is global coorinates
389 SGQuatd ec2body = hlOr*hlToBody;
391 // The cartesian position of the basic view coordinate
392 SGVec3d position = SGVec3d::fromGeod(_position);
394 // This is rotates the x-forward, y-right, z-down coordinate system the where
395 // simulation runs into the OpenGL camera system with x-right, y-up, z-back.
396 SGQuatd q(-0.5, -0.5, 0.5, 0.5);
398 _absolute_view_pos = position + (ec2body*q).backTransform(_offset_m);
399 mViewOrientation = ec2body*mViewOffsetOr*q;
403 FGViewer::recalcLookAt ()
405 // The geodetic position of our target to look at
407 SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
408 _target = placement->getPosition();
409 _target_heading_deg = placement->getHeadingDeg();
410 _target_pitch_deg = placement->getPitchDeg();
411 _target_roll_deg = placement->getRollDeg();
413 // if not model then calculate our own target position...
414 setDampTarget(_target_roll_deg, _target_pitch_deg, _target_heading_deg);
415 getDampOutput(_target_roll_deg, _target_pitch_deg, _target_heading_deg);
418 SGQuatd geodTargetOr = SGQuatd::fromYawPitchRollDeg(_target_heading_deg,
421 SGQuatd geodTargetHlOr = SGQuatd::fromLonLat(_target);
425 SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
426 _position = placement->getPosition();
427 _heading_deg = placement->getHeadingDeg();
428 _pitch_deg = placement->getPitchDeg();
429 _roll_deg = placement->getRollDeg();
431 // update from our own data, just the rotation here...
432 setDampTarget(_roll_deg, _pitch_deg, _heading_deg);
433 getDampOutput(_roll_deg, _pitch_deg, _heading_deg);
435 SGQuatd geodEyeOr = SGQuatd::fromYawPitchRollDeg(_heading_deg, _pitch_deg, _roll_deg);
436 SGQuatd geodEyeHlOr = SGQuatd::fromLonLat(_position);
438 // the rotation offset, don't know why heading is negative here ...
440 SGQuatd::fromYawPitchRollDeg(-_heading_offset_deg + 180, _pitch_offset_deg,
443 // Offsets to the eye position
444 SGVec3d eyeOff(-_offset_m.z(), _offset_m.x(), -_offset_m.y());
445 SGQuatd ec2eye = geodEyeHlOr*geodEyeOr;
446 SGVec3d eyeCart = SGVec3d::fromGeod(_position);
447 eyeCart += (ec2eye*mViewOffsetOr).backTransform(eyeOff);
449 SGVec3d atCart = SGVec3d::fromGeod(_target);
451 // add target offsets to at_position...
452 SGVec3d target_pos_off(-_target_offset_m.z(), _target_offset_m.x(),
453 -_target_offset_m.y());
454 target_pos_off = (geodTargetHlOr*geodTargetOr).backTransform(target_pos_off);
455 atCart += target_pos_off;
456 eyeCart += target_pos_off;
458 // Compute the eyepoints orientation and position
459 // wrt the earth centered frame - that is global coorinates
460 _absolute_view_pos = eyeCart;
462 // the view direction
463 SGVec3d dir = normalize(atCart - eyeCart);
465 SGVec3d up = ec2eye.backTransform(SGVec3d(0, 0, -1));
466 // rotate -dir to the 2-th unit vector
467 // rotate up to 1-th unit vector
468 // Note that this matches the OpenGL camera coordinate system
469 // with x-right, y-up, z-back.
470 mViewOrientation = SGQuatd::fromRotateTo(-dir, 2, up, 1);
474 FGViewer::setDampTarget(double roll, double pitch, double heading)
476 _dampTarget = SGVec3d(roll, pitch, heading);
480 FGViewer::getDampOutput(double& roll, double& pitch, double& heading)
482 roll = _dampOutput[0];
483 pitch = _dampOutput[1];
484 heading = _dampOutput[2];
489 FGViewer::updateDampOutput(double dt)
491 static FGViewer *last_view = 0;
492 if ((last_view != this) || (dt > 1.0)) {
493 _dampOutput = _dampTarget;
498 const double interval = 0.01;
499 while (dt > interval) {
501 for (unsigned int i=0; i<3; ++i) {
502 if (_dampFactor[i] <= 0.0) {
503 // axis is un-damped, set output to target directly
504 _dampOutput[i] = _dampTarget[i];
508 double d = _dampOutput[i] - _dampTarget[i];
510 _dampOutput[i] -= 360.0;
511 } else if (d < -180.0) {
512 _dampOutput[i] += 360.0;
515 _dampOutput[i] = (_dampTarget[i] * _dampFactor[i]) +
516 (_dampOutput[i] * (1.0 - _dampFactor[i]));
517 } // of axis iteration
520 } // of dt subdivision by interval
524 FGViewer::get_h_fov()
526 switch (_scaling_type) {
527 case FG_SCALING_WIDTH: // h_fov == fov
530 if (_aspect_ratio < 1.0) {
536 atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS)
537 / (_aspect_ratio*_aspect_ratio_multiplier))
538 * SG_RADIANS_TO_DEGREES * 2;
549 FGViewer::get_v_fov()
551 switch (_scaling_type) {
552 case FG_SCALING_WIDTH: // h_fov == fov
554 atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS)
555 * (_aspect_ratio*_aspect_ratio_multiplier))
556 * SG_RADIANS_TO_DEGREES * 2;
558 if (_aspect_ratio < 1.0) {
561 atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS)
562 * (_aspect_ratio*_aspect_ratio_multiplier))
563 * SG_RADIANS_TO_DEGREES * 2;
575 FGViewer::update (double dt)
577 updateDampOutput(dt);
580 int dt_ms = int(dt * 1000);
581 for ( i = 0; i < dt_ms; i++ ) {
582 if ( fabs( _goal_heading_offset_deg - _heading_offset_deg) < 1 ) {
583 setHeadingOffset_deg( _goal_heading_offset_deg );
586 // move current_view.headingoffset towards
587 // current_view.goal_view_offset
588 if ( _goal_heading_offset_deg > _heading_offset_deg )
590 if ( _goal_heading_offset_deg - _heading_offset_deg < 180 ){
591 incHeadingOffset_deg( 0.5 );
593 incHeadingOffset_deg( -0.5 );
596 if ( _heading_offset_deg - _goal_heading_offset_deg < 180 ){
597 incHeadingOffset_deg( -0.5 );
599 incHeadingOffset_deg( 0.5 );
602 if ( _heading_offset_deg > 360 ) {
603 incHeadingOffset_deg( -360 );
604 } else if ( _heading_offset_deg < 0 ) {
605 incHeadingOffset_deg( 360 );
610 for ( i = 0; i < dt_ms; i++ ) {
611 if ( fabs( _goal_pitch_offset_deg - _pitch_offset_deg ) < 1 ) {
612 setPitchOffset_deg( _goal_pitch_offset_deg );
615 // move current_view.pitch_offset_deg towards
616 // current_view.goal_pitch_offset
617 if ( _goal_pitch_offset_deg > _pitch_offset_deg )
619 incPitchOffset_deg( 1.0 );
621 incPitchOffset_deg( -1.0 );
623 if ( _pitch_offset_deg > 90 ) {
624 setPitchOffset_deg(90);
625 } else if ( _pitch_offset_deg < -90 ) {
626 setPitchOffset_deg( -90 );
632 for ( i = 0; i < dt_ms; i++ ) {
633 if ( fabs( _goal_roll_offset_deg - _roll_offset_deg ) < 1 ) {
634 setRollOffset_deg( _goal_roll_offset_deg );
637 // move current_view.roll_offset_deg towards
638 // current_view.goal_roll_offset
639 if ( _goal_roll_offset_deg > _roll_offset_deg )
641 incRollOffset_deg( 1.0 );
643 incRollOffset_deg( -1.0 );
645 if ( _roll_offset_deg > 90 ) {
646 setRollOffset_deg(90);
647 } else if ( _roll_offset_deg < -90 ) {
648 setRollOffset_deg( -90 );
653 _cameraGroup->update(toOsg(_absolute_view_pos), toOsg(mViewOrientation));
654 _cameraGroup->setCameraParameters(get_v_fov(), get_aspect_ratio());