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>
41 #include <Scenery/scenery.hxx>
42 //#include <Main/location.hxx>
44 #include <simgear/math/vector.hxx>
45 #include <Main/globals.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, bool at_model, int at_model_index, double x_offset_m, double y_offset_m, double z_offset_m, double near_m ):
135 _scaling_type(FG_SCALING_MAX),
147 _heading_offset_deg(0),
148 _pitch_offset_deg(0),
150 _goal_heading_offset_deg(0.0),
151 _goal_pitch_offset_deg(0.0)
153 sgdZeroVec3(_absolute_view_pos);
155 _from_model = from_model;
156 _from_model_index = from_model_index;
157 _at_model = at_model;
158 _at_model_index = at_model_index;
159 _x_offset_m = x_offset_m;
160 _y_offset_m = y_offset_m;
161 _z_offset_m = z_offset_m;
162 _ground_level_nearplane_m = near_m;
163 //a reasonable guess for init, so that the math doesn't blow up
168 FGViewer::~FGViewer( void ) {
175 _location = (FGLocation *) globals->get_aircraft_model()->get3DModel()->getFGLocation();
177 _location = (FGLocation *) new FGLocation;
179 if ( _type == FG_LOOKAT ) {
181 _target_location = (FGLocation *) globals->get_aircraft_model()->get3DModel()->getFGLocation();
183 _target_location = (FGLocation *) new FGLocation;
198 FGViewer::setType ( int type )
207 FGViewer::setLongitude_deg (double lon_deg)
214 FGViewer::setLatitude_deg (double lat_deg)
221 FGViewer::setAltitude_ft (double alt_ft)
228 FGViewer::setPosition (double lon_deg, double lat_deg, double alt_ft)
237 FGViewer::setTargetLongitude_deg (double lon_deg)
240 _target_lon_deg = lon_deg;
244 FGViewer::setTargetLatitude_deg (double lat_deg)
247 _target_lat_deg = lat_deg;
251 FGViewer::setTargetAltitude_ft (double alt_ft)
254 _target_alt_ft = alt_ft;
258 FGViewer::setTargetPosition (double lon_deg, double lat_deg, double alt_ft)
261 _target_lon_deg = lon_deg;
262 _target_lat_deg = lat_deg;
263 _target_alt_ft = alt_ft;
267 FGViewer::setRoll_deg (double roll_deg)
270 _roll_deg = roll_deg;
274 FGViewer::setPitch_deg (double pitch_deg)
277 _pitch_deg = pitch_deg;
281 FGViewer::setHeading_deg (double heading_deg)
284 _heading_deg = heading_deg;
288 FGViewer::setOrientation (double roll_deg, double pitch_deg, double heading_deg)
291 _roll_deg = roll_deg;
292 _pitch_deg = pitch_deg;
293 _heading_deg = heading_deg;
297 FGViewer::setTargetRoll_deg (double target_roll_deg)
300 _target_roll_deg = target_roll_deg;
304 FGViewer::setTargetPitch_deg (double target_pitch_deg)
307 _target_pitch_deg = target_pitch_deg;
311 FGViewer::setTargetHeading_deg (double target_heading_deg)
314 _target_heading_deg = target_heading_deg;
318 FGViewer::setTargetOrientation (double target_roll_deg, double target_pitch_deg, double target_heading_deg)
321 _target_roll_deg = target_roll_deg;
322 _target_pitch_deg = target_pitch_deg;
323 _target_heading_deg = target_heading_deg;
327 FGViewer::setXOffset_m (double x_offset_m)
330 _x_offset_m = x_offset_m;
334 FGViewer::setYOffset_m (double y_offset_m)
337 _y_offset_m = y_offset_m;
341 FGViewer::setZOffset_m (double z_offset_m)
344 _z_offset_m = z_offset_m;
348 FGViewer::setPositionOffsets (double x_offset_m, double y_offset_m, double z_offset_m)
351 _x_offset_m = x_offset_m;
352 _y_offset_m = y_offset_m;
353 _z_offset_m = z_offset_m;
357 FGViewer::setRollOffset_deg (double roll_offset_deg)
360 _roll_offset_deg = roll_offset_deg;
364 FGViewer::setPitchOffset_deg (double pitch_offset_deg)
367 _pitch_offset_deg = pitch_offset_deg;
371 FGViewer::setHeadingOffset_deg (double heading_offset_deg)
374 _heading_offset_deg = heading_offset_deg;
378 FGViewer::setGoalRollOffset_deg (double goal_roll_offset_deg)
381 _goal_roll_offset_deg = goal_roll_offset_deg;
385 FGViewer::setGoalPitchOffset_deg (double goal_pitch_offset_deg)
388 _goal_pitch_offset_deg = goal_pitch_offset_deg;
389 if ( _goal_pitch_offset_deg < -90 ) {
390 _goal_pitch_offset_deg = -90.0;
392 if ( _goal_pitch_offset_deg > 90.0 ) {
393 _goal_pitch_offset_deg = 90.0;
399 FGViewer::setGoalHeadingOffset_deg (double goal_heading_offset_deg)
402 _goal_heading_offset_deg = goal_heading_offset_deg;
403 while ( _goal_heading_offset_deg < 0.0 ) {
404 _goal_heading_offset_deg += 360;
406 while ( _goal_heading_offset_deg > 360 ) {
407 _goal_heading_offset_deg -= 360;
412 FGViewer::setOrientationOffsets (double roll_offset_deg, double pitch_offset_deg, double heading_offset_deg)
415 _roll_offset_deg = roll_offset_deg;
416 _pitch_offset_deg = pitch_offset_deg;
417 _heading_offset_deg = heading_offset_deg;
421 FGViewer::get_absolute_view_pos ()
425 return _absolute_view_pos;
429 FGViewer::getRelativeViewPos ()
433 return _relative_view_pos;
437 FGViewer::getZeroElevViewPos ()
441 return _zero_elev_view_pos;
445 FGViewer::updateFromModelLocation (FGLocation * location)
447 sgCopyMat4(LOCAL, location->getCachedTransformMatrix());
448 _lon_deg = location->getLongitude_deg();
449 _lat_deg = location->getLatitude_deg();
450 _alt_ft = location->getAltitudeASL_ft();
451 _roll_deg = location->getRoll_deg();
452 _pitch_deg = location->getPitch_deg();
453 _heading_deg = location->getHeading_deg();
454 sgCopyVec3(_zero_elev_view_pos, location->get_zero_elev());
455 sgCopyVec3(_relative_view_pos, location->get_view_pos());
456 sgdCopyVec3(_absolute_view_pos, location->get_absolute_view_pos());
457 sgCopyMat4(UP, location->getCachedUpMatrix());
458 sgCopyVec3(_world_up, location->get_world_up());
459 // these are the vectors that the sun and moon code like to get...
460 sgCopyVec3(_surface_east, location->get_surface_east());
461 sgCopyVec3(_surface_south, location->get_surface_south());
465 FGViewer::recalcOurOwnLocation (double lon_deg, double lat_deg, double alt_ft,
466 double roll_deg, double pitch_deg, double heading_deg)
468 // update from our own data...
469 _location->setPosition( lon_deg, lat_deg, alt_ft );
470 _location->setOrientation( roll_deg, pitch_deg, heading_deg );
471 sgCopyMat4(LOCAL, _location->getTransformMatrix());
472 sgCopyVec3(_zero_elev_view_pos, _location->get_zero_elev());
473 sgCopyVec3(_relative_view_pos, _location->get_view_pos());
474 sgdCopyVec3(_absolute_view_pos, _location->get_absolute_view_pos());
475 // these are the vectors that the sun and moon code like to get...
476 sgCopyVec3(_surface_east, _location->get_surface_east());
477 sgCopyVec3(_surface_south, _location->get_surface_south());
480 // recalc() is done every time one of the setters is called (making the
481 // cached data "dirty") on the next "get". It calculates all the outputs
486 sgVec3 minus_z, right, forward, tilt;
487 sgMat4 tmpROT; // temp rotation work matrices
488 sgVec3 eye_pos, at_pos;
489 sgVec3 position_offset; // eye position offsets (xyz)
491 // The position vectors originate from the view point or target location
492 // depending on the type of view.
494 if (_type == FG_LOOKFROM) {
497 // update or data from model location
498 updateFromModelLocation(_location);
500 // update from our own data...
501 recalcOurOwnLocation( _lon_deg, _lat_deg, _alt_ft,
502 _roll_deg, _pitch_deg, _heading_deg );
503 // get world up data from just recalced location
504 sgCopyMat4(UP, _location->getUpMatrix());
505 sgCopyVec3(_world_up, _location->get_world_up());
512 // update or data from model location
513 updateFromModelLocation(_location);
515 // update from our own data, just the rotation here...
516 recalcOurOwnLocation( _lon_deg, _lat_deg, _alt_ft,
517 _roll_deg, _pitch_deg, _heading_deg );
518 // get world up data from just recalced location
519 sgCopyMat4(UP, _location->getUpMatrix());
520 sgCopyVec3(_world_up, _location->get_world_up());
522 // save they eye positon...
523 sgCopyVec3(eye_pos, _location->get_view_pos());
524 // save the eye rotation before getting target values!!!
525 sgCopyMat4(tmpROT, LOCAL);
528 // update or data from model location
529 updateFromModelLocation(_target_location);
531 // if not model then calculate our own target position...
532 recalcOurOwnLocation( _target_lon_deg, _target_lat_deg, _target_alt_ft,
533 _target_roll_deg, _target_pitch_deg, _target_heading_deg );
535 // restore the eye rotation (the from position rotation)
536 sgCopyMat4(LOCAL, tmpROT);
540 // the coordinates generated by the above "recalcPositionVectors"
541 sgCopyVec3(_zero_elev, _zero_elev_view_pos);
542 sgCopyVec3(_view_pos, _relative_view_pos);
545 // Doing this last recalc here for published values...where the airplane is
546 // This should be per aircraft or model (for published values) before
547 // multiple FDM can be done.
548 // This info should come directly from the model (not through viewer),
549 // because in some cases there is no model directly assigned as a lookfrom
550 // position. The problem that arises is related to the FDM interface looking
551 // indirectly to the viewer to find the altitude of the aircraft on the runway.
553 // Note that recalcPositionVectors can be removed from viewer when this
554 // issue is addressed.
557 recalcPositionVectors(fgGetDouble("/position/longitude-deg"),
558 fgGetDouble("/position/latitude-deg"),
559 fgGetDouble("/position/altitude-ft"));
562 // make sg vectors view up, right and forward vectors from LOCAL
563 sgSetVec3( _view_up, LOCAL[2][0], LOCAL[2][1], LOCAL[2][2] );
564 sgSetVec3( right, LOCAL[1][0], LOCAL[1][1], LOCAL[1][2] );
565 sgSetVec3( forward, -LOCAL[0][0], -LOCAL[0][1], -LOCAL[0][2] );
567 if (_type == FG_LOOKAT) {
569 // Note that when in "lookat" view the "world up" vector is always applied
570 // to the viewer. World up is based on verticle at a given lon/lat (see
571 // matrix "UP" above).
573 // Orientation Offsets matrix
574 MakeVIEW_OFFSET( VIEW_OFFSET,
575 (_heading_offset_deg -_heading_deg) * SG_DEGREES_TO_RADIANS, _world_up,
576 _pitch_offset_deg * SG_DEGREES_TO_RADIANS, right );
578 // add in the Orientation Offsets here
579 sgSetVec3( position_offset, _x_offset_m, _y_offset_m, _z_offset_m );
580 sgXformVec3( position_offset, position_offset, UP);
582 sgXformVec3( position_offset, position_offset, VIEW_OFFSET );
584 // add the Position offsets from object to the eye position
585 sgAddVec3( eye_pos, eye_pos, position_offset );
587 // at position (what we are looking at)
588 sgCopyVec3( at_pos, _view_pos );
590 // Make the VIEW matrix for a "LOOKAT".
591 sgMakeLookAtMat4( VIEW, eye_pos, at_pos, _view_up );
594 if (_type == FG_LOOKFROM) {
596 // Note that when in "lookfrom" view the "view up" vector is always applied
597 // to the viewer. View up is based on verticle of the aircraft itself. (see
598 // "LOCAL" matrix above)
600 // Orientation Offsets matrix
601 MakeVIEW_OFFSET( VIEW_OFFSET,
602 _heading_offset_deg * SG_DEGREES_TO_RADIANS, _view_up,
603 _pitch_offset_deg * SG_DEGREES_TO_RADIANS, right );
605 // Make the VIEW matrix.
606 sgSetVec4(VIEW[0], right[0], right[1], right[2],SG_ZERO);
607 sgSetVec4(VIEW[1], forward[0], forward[1], forward[2],SG_ZERO);
608 sgSetVec4(VIEW[2], _view_up[0], _view_up[1], _view_up[2],SG_ZERO);
609 sgSetVec4(VIEW[3], SG_ZERO, SG_ZERO, SG_ZERO,SG_ONE);
611 // rotate matrix to get a matrix to apply Eye Position Offsets
612 sgMat4 VIEW_UP; // L0 forward L1 right L2 up
613 sgCopyVec4(VIEW_UP[0], LOCAL[1]);
614 sgCopyVec4(VIEW_UP[1], LOCAL[2]);
615 sgCopyVec4(VIEW_UP[2], LOCAL[0]);
616 sgZeroVec4(VIEW_UP[3]);
618 // Eye Position Offsets to vector
619 sgSetVec3( position_offset, _x_offset_m, _y_offset_m, _z_offset_m );
620 sgXformVec3( position_offset, position_offset, VIEW_UP);
622 // add the offsets including rotations to the translation vector
623 sgAddVec3( _view_pos, position_offset );
625 // multiply the OFFSETS (for heading and pitch) into the VIEW
626 sgPostMultMat4(VIEW, VIEW_OFFSET);
628 // add the position data to the matrix
629 sgSetVec4(VIEW[3], _view_pos[0], _view_pos[1], _view_pos[2],SG_ONE);
637 FGViewer::recalcPositionVectors (double lon_deg, double lat_deg, double alt_ft) const
639 double sea_level_radius_m;
643 // Convert from geodetic to geocentric
645 sgGeodToGeoc(lat_deg * SGD_DEGREES_TO_RADIANS,
646 alt_ft * SG_FEET_TO_METER,
650 // Calculate the cartesian coordinates
651 // of point directly below at sea level.
652 // aka Zero Elevation Position
653 Point3D p = Point3D(lon_deg * SG_DEGREES_TO_RADIANS,
656 Point3D tmp = sgPolarToCart3d(p) - scenery.get_next_center();
657 sgSetVec3(_zero_elev_view_pos, tmp[0], tmp[1], tmp[2]);
659 // Calculate the absolute view position
660 // in fgfs coordinates.
661 // aka Absolute View Position
662 p.setz(p.radius() + alt_ft * SG_FEET_TO_METER);
663 tmp = sgPolarToCart3d(p);
664 sgdSetVec3(_absolute_view_pos, tmp[0], tmp[1], tmp[2]);
666 // Calculate the relative view position
667 // from the scenery center.
668 // aka Relative View Position
669 sgdVec3 scenery_center;
670 sgdSetVec3(scenery_center,
671 scenery.get_next_center().x(),
672 scenery.get_next_center().y(),
673 scenery.get_next_center().z());
675 sgdSubVec3(view_pos, _absolute_view_pos, scenery_center);
676 sgSetVec3(_relative_view_pos, view_pos);
681 FGViewer::get_h_fov()
683 switch (_scaling_type) {
684 case FG_SCALING_WIDTH: // h_fov == fov
687 if (_aspect_ratio < 1.0) {
692 return atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) / _aspect_ratio) *
693 SG_RADIANS_TO_DEGREES * 2;
701 FGViewer::get_v_fov()
703 switch (_scaling_type) {
704 case FG_SCALING_WIDTH: // h_fov == fov
705 return atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) * _aspect_ratio) *
706 SG_RADIANS_TO_DEGREES * 2;
708 if (_aspect_ratio < 1.0) {
710 return atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) * _aspect_ratio) *
711 SG_RADIANS_TO_DEGREES * 2;
722 FGViewer::update (int dt)
725 for ( i = 0; i < dt; i++ ) {
726 if ( fabs( _goal_heading_offset_deg - _heading_offset_deg) < 1 ) {
727 setHeadingOffset_deg( _goal_heading_offset_deg );
730 // move current_view.headingoffset towards
731 // current_view.goal_view_offset
732 if ( _goal_heading_offset_deg > _heading_offset_deg )
734 if ( _goal_heading_offset_deg - _heading_offset_deg < 180 ){
735 incHeadingOffset_deg( 0.5 );
737 incHeadingOffset_deg( -0.5 );
740 if ( _heading_offset_deg - _goal_heading_offset_deg < 180 ){
741 incHeadingOffset_deg( -0.5 );
743 incHeadingOffset_deg( 0.5 );
746 if ( _heading_offset_deg > 360 ) {
747 incHeadingOffset_deg( -360 );
748 } else if ( _heading_offset_deg < 0 ) {
749 incHeadingOffset_deg( 360 );
754 for ( i = 0; i < dt; i++ ) {
755 if ( fabs( _goal_pitch_offset_deg - _pitch_offset_deg ) < 1 ) {
756 setPitchOffset_deg( _goal_pitch_offset_deg );
759 // move current_view.pitch_offset_deg towards
760 // current_view.goal_pitch_offset
761 if ( _goal_pitch_offset_deg > _pitch_offset_deg )
763 incPitchOffset_deg( 1.0 );
765 incPitchOffset_deg( -1.0 );
767 if ( _pitch_offset_deg > 90 ) {
768 setPitchOffset_deg(90);
769 } else if ( _pitch_offset_deg < -90 ) {
770 setPitchOffset_deg( -90 );