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 ):
151 _scaling_type(FG_SCALING_MAX)
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;
160 _damp = _damp_alt = 0.0;
161 if (at_model_damping > 0.0) {
162 _damp = 1 - 1.0 / pow(10, at_model_damping);
163 _damp_alt = _damp * _damp * _damp * _damp;
164 } else if (at_model_damping < 0.0)
165 _damp = 1 - 1.0 / pow(10, -at_model_damping);
167 _x_offset_m = x_offset_m;
168 _y_offset_m = y_offset_m;
169 _z_offset_m = z_offset_m;
170 _heading_offset_deg = heading_offset_deg;
171 _pitch_offset_deg = pitch_offset_deg;
172 _roll_offset_deg = roll_offset_deg;
173 _goal_heading_offset_deg = heading_offset_deg;
174 _goal_pitch_offset_deg = pitch_offset_deg;
175 _goal_roll_offset_deg = roll_offset_deg;
181 _target_x_offset_m = target_x_offset_m;
182 _target_y_offset_m = target_y_offset_m;
183 _target_z_offset_m = target_z_offset_m;
184 _ground_level_nearplane_m = near_m;
185 // a reasonable guess for init, so that the math doesn't blow up
190 FGViewer::~FGViewer( void ) {
197 _location = (SGLocation *) globals->get_aircraft_model()->get3DModel()->getSGLocation();
199 _location = (SGLocation *) new SGLocation;
201 if ( _type == FG_LOOKAT ) {
203 _target_location = (SGLocation *) globals->get_aircraft_model()->get3DModel()->getSGLocation();
205 _target_location = (SGLocation *) new SGLocation;
220 FGViewer::setType ( int type )
229 FGViewer::setLongitude_deg (double lon_deg)
236 FGViewer::setLatitude_deg (double lat_deg)
243 FGViewer::setAltitude_ft (double alt_ft)
250 FGViewer::setPosition (double lon_deg, double lat_deg, double alt_ft)
259 FGViewer::setTargetLongitude_deg (double lon_deg)
262 _target_lon_deg = lon_deg;
266 FGViewer::setTargetLatitude_deg (double lat_deg)
269 _target_lat_deg = lat_deg;
273 FGViewer::setTargetAltitude_ft (double alt_ft)
276 _target_alt_ft = alt_ft;
280 FGViewer::setTargetPosition (double lon_deg, double lat_deg, double alt_ft)
283 _target_lon_deg = lon_deg;
284 _target_lat_deg = lat_deg;
285 _target_alt_ft = alt_ft;
289 FGViewer::setRoll_deg (double roll_deg)
292 _roll_deg = roll_deg;
296 FGViewer::setPitch_deg (double pitch_deg)
299 _pitch_deg = pitch_deg;
303 FGViewer::setHeading_deg (double heading_deg)
306 _heading_deg = heading_deg;
310 FGViewer::setOrientation (double roll_deg, double pitch_deg, double heading_deg)
313 _roll_deg = roll_deg;
314 _pitch_deg = pitch_deg;
315 _heading_deg = heading_deg;
319 FGViewer::setTargetRoll_deg (double target_roll_deg)
322 _target_roll_deg = target_roll_deg;
326 FGViewer::setTargetPitch_deg (double target_pitch_deg)
329 _target_pitch_deg = target_pitch_deg;
333 FGViewer::setTargetHeading_deg (double target_heading_deg)
336 _target_heading_deg = target_heading_deg;
340 FGViewer::setTargetOrientation (double target_roll_deg, double target_pitch_deg, double target_heading_deg)
343 _target_roll_deg = target_roll_deg;
344 _target_pitch_deg = target_pitch_deg;
345 _target_heading_deg = target_heading_deg;
349 FGViewer::setXOffset_m (double x_offset_m)
352 _x_offset_m = x_offset_m;
356 FGViewer::setYOffset_m (double y_offset_m)
359 _y_offset_m = y_offset_m;
363 FGViewer::setZOffset_m (double z_offset_m)
366 _z_offset_m = z_offset_m;
370 FGViewer::setTargetXOffset_m (double target_x_offset_m)
373 _target_x_offset_m = target_x_offset_m;
377 FGViewer::setTargetYOffset_m (double target_y_offset_m)
380 _target_y_offset_m = target_y_offset_m;
384 FGViewer::setTargetZOffset_m (double target_z_offset_m)
387 _target_z_offset_m = target_z_offset_m;
391 FGViewer::setPositionOffsets (double x_offset_m, double y_offset_m, double z_offset_m)
394 _x_offset_m = x_offset_m;
395 _y_offset_m = y_offset_m;
396 _z_offset_m = z_offset_m;
400 FGViewer::setRollOffset_deg (double roll_offset_deg)
403 _roll_offset_deg = roll_offset_deg;
407 FGViewer::setPitchOffset_deg (double pitch_offset_deg)
410 _pitch_offset_deg = pitch_offset_deg;
414 FGViewer::setHeadingOffset_deg (double heading_offset_deg)
417 _heading_offset_deg = heading_offset_deg;
421 FGViewer::setGoalRollOffset_deg (double goal_roll_offset_deg)
424 _goal_roll_offset_deg = goal_roll_offset_deg;
428 FGViewer::setGoalPitchOffset_deg (double goal_pitch_offset_deg)
431 _goal_pitch_offset_deg = goal_pitch_offset_deg;
432 if ( _goal_pitch_offset_deg < -90 ) {
433 _goal_pitch_offset_deg = -90.0;
435 if ( _goal_pitch_offset_deg > 90.0 ) {
436 _goal_pitch_offset_deg = 90.0;
442 FGViewer::setGoalHeadingOffset_deg (double goal_heading_offset_deg)
445 _goal_heading_offset_deg = goal_heading_offset_deg;
446 while ( _goal_heading_offset_deg < 0.0 ) {
447 _goal_heading_offset_deg += 360;
449 while ( _goal_heading_offset_deg > 360 ) {
450 _goal_heading_offset_deg -= 360;
455 FGViewer::setOrientationOffsets (double roll_offset_deg, double pitch_offset_deg, double heading_offset_deg)
458 _roll_offset_deg = roll_offset_deg;
459 _pitch_offset_deg = pitch_offset_deg;
460 _heading_offset_deg = heading_offset_deg;
464 FGViewer::get_absolute_view_pos ()
468 return _absolute_view_pos;
472 FGViewer::getRelativeViewPos ()
476 return _relative_view_pos;
480 FGViewer::getZeroElevViewPos ()
484 return _zero_elev_view_pos;
488 FGViewer::updateFromModelLocation (SGLocation * location)
490 sgCopyMat4(LOCAL, location->getCachedTransformMatrix());
494 FGViewer::updateAtModelLocation (SGLocation * location)
497 location->getCachedTransformMatrix());
501 FGViewer::recalcOurOwnLocation (SGLocation * location, double lon_deg, double lat_deg, double alt_ft,
502 double roll_deg, double pitch_deg, double heading_deg)
504 // update from our own data...
507 static FGViewer *last = 0;
509 _damped_alt_ft = alt_ft;
510 _damped_roll_deg = roll_deg;
511 _damped_pitch_deg = pitch_deg;
512 _damped_heading_deg = heading_deg;
517 d = _damped_roll_deg - roll_deg;
519 _damped_roll_deg -= 360.0;
521 _damped_roll_deg += 360.0;
523 d = _damped_pitch_deg - pitch_deg;
525 _damped_pitch_deg -= 360.0;
527 _damped_pitch_deg += 360.0;
529 d = _damped_heading_deg - heading_deg;
531 _damped_heading_deg -= 360.0;
533 _damped_heading_deg += 360.0;
536 roll_deg = _damped_roll_deg = roll_deg * d + _damped_roll_deg * _damp;
537 pitch_deg = _damped_pitch_deg = pitch_deg * d + _damped_pitch_deg * _damp;
538 heading_deg = _damped_heading_deg = heading_deg * d + _damped_heading_deg * _damp;
541 alt_ft = _damped_alt_ft = alt_ft * (1 - _damp_alt) + _damped_alt_ft * _damp_alt;
543 location->setPosition( lon_deg, lat_deg, alt_ft );
544 location->setOrientation( roll_deg, pitch_deg, heading_deg );
546 location->getTransformMatrix(globals->get_scenery()->get_center()));
549 // recalc() is done every time one of the setters is called (making the
550 // cached data "dirty") on the next "get". It calculates all the outputs
555 if (_type == FG_LOOKFROM) {
564 // recalculate for LookFrom view type...
566 FGViewer::recalcLookFrom ()
569 sgVec3 right, forward;
571 sgVec3 position_offset; // eye position offsets (xyz)
575 // Update location data...
577 // update or data from model location
578 updateFromModelLocation(_location);
580 // update from our own data...
581 recalcOurOwnLocation( _location, _lon_deg, _lat_deg, _alt_ft,
582 _roll_deg, _pitch_deg, _heading_deg );
585 // copy data from location class to local items...
588 // make sg vectors view up, right and forward vectors from LOCAL
589 sgSetVec3( _view_up, LOCAL[2][0], LOCAL[2][1], LOCAL[2][2] );
590 sgSetVec3( right, LOCAL[1][0], LOCAL[1][1], LOCAL[1][2] );
591 sgSetVec3( forward, -LOCAL[0][0], -LOCAL[0][1], -LOCAL[0][2] );
594 // Note that when in "lookfrom" view the "view up" vector is always applied
595 // to the viewer. View up is based on verticle of the aircraft itself. (see
596 // "LOCAL" matrix above)
598 // Orientation Offsets matrix
599 MakeVIEW_OFFSET( VIEW_OFFSET,
600 _heading_offset_deg * SG_DEGREES_TO_RADIANS, _view_up,
601 _pitch_offset_deg * SG_DEGREES_TO_RADIANS, right );
603 // Make the VIEW matrix.
604 sgSetVec4(VIEW[0], right[0], right[1], right[2],SG_ZERO);
605 sgSetVec4(VIEW[1], forward[0], forward[1], forward[2],SG_ZERO);
606 sgSetVec4(VIEW[2], _view_up[0], _view_up[1], _view_up[2],SG_ZERO);
607 sgSetVec4(VIEW[3], SG_ZERO, SG_ZERO, SG_ZERO,SG_ONE);
609 // rotate model or local matrix to get a matrix to apply Eye Position Offsets
610 sgMat4 VIEW_UP; // L0 forward L1 right L2 up
611 sgCopyVec4(VIEW_UP[0], LOCAL[1]);
612 sgCopyVec4(VIEW_UP[1], LOCAL[2]);
613 sgCopyVec4(VIEW_UP[2], LOCAL[0]);
614 sgZeroVec4(VIEW_UP[3]);
616 // Eye Position Offsets to vector
617 sgSetVec3( position_offset, _x_offset_m, _y_offset_m, _z_offset_m );
618 sgXformVec3( position_offset, position_offset, VIEW_UP);
620 // add the offsets including rotations to the translation vector
621 sgAddVec3( _view_pos, position_offset );
623 // multiply the OFFSETS (for heading and pitch) into the VIEW
624 sgPostMultMat4(VIEW, VIEW_OFFSET);
626 // add the position data to the matrix
627 sgSetVec4(VIEW[3], _view_pos[0], _view_pos[1], _view_pos[2],SG_ONE);
632 FGViewer::recalcLookAt ()
636 sgVec3 eye_pos, at_pos;
637 sgVec3 position_offset; // eye position offsets (xyz)
638 sgVec3 target_position_offset; // target position offsets (xyz)
640 // The position vectors originate from the view point or target location
641 // depending on the type of view.
645 // Update location data for target...
647 // update or data from model location
648 updateAtModelLocation(_target_location);
650 // if not model then calculate our own target position...
651 recalcOurOwnLocation( _target_location, _target_lon_deg, _target_lat_deg, _target_alt_ft,
652 _target_roll_deg, _target_pitch_deg, _target_heading_deg );
654 // calculate the "at" target object positon relative to eye or view's tile center...
656 sgdSetVec3(dVec3, _location->get_tile_center()[0], _location->get_tile_center()[1], _location->get_tile_center()[2]);
658 _target_location->get_absolute_view_pos(globals->get_scenery()->get_center()),
660 sgSetVec3(at_pos, dVec3[0], dVec3[1], dVec3[2]);
662 // Update location data for eye...
664 // update or data from model location
665 updateFromModelLocation(_location);
667 // update from our own data, just the rotation here...
668 recalcOurOwnLocation( _location, _lon_deg, _lat_deg, _alt_ft,
669 _roll_deg, _pitch_deg, _heading_deg );
671 // save the eye positon...
672 sgCopyVec3(eye_pos, _location->get_view_pos());
674 // copy data from location class to local items...
677 // make sg vectors view up, right and forward vectors from LOCAL
678 sgSetVec3( _view_up, LOCAL[2][0], LOCAL[2][1], LOCAL[2][2] );
679 sgSetVec3( right, LOCAL[1][0], LOCAL[1][1], LOCAL[1][2] );
681 // rotate model or local matrix to get a matrix to apply Eye Position Offsets
682 sgMat4 VIEW_UP; // L0 forward L1 right L2 up
683 sgCopyVec4(VIEW_UP[0], LOCAL[1]);
684 sgCopyVec4(VIEW_UP[1], LOCAL[2]);
685 sgCopyVec4(VIEW_UP[2], LOCAL[0]);
686 sgZeroVec4(VIEW_UP[3]);
688 // get Orientation Offsets matrix
689 MakeVIEW_OFFSET( VIEW_OFFSET,
690 (_heading_offset_deg - 180) * SG_DEGREES_TO_RADIANS, _view_up,
691 _pitch_offset_deg * SG_DEGREES_TO_RADIANS, right );
693 // add in the position offsets
694 sgSetVec3( position_offset, _y_offset_m, _x_offset_m, _z_offset_m );
695 sgXformVec3( position_offset, position_offset, VIEW_UP);
697 // apply the Orientation offsets
698 sgXformVec3( position_offset, position_offset, VIEW_OFFSET );
700 // add the Position offsets from object to the eye position
701 sgAddVec3( eye_pos, eye_pos, position_offset );
703 // add target offsets to at_position...
704 sgSetVec3(target_position_offset, _target_z_offset_m, _target_x_offset_m,
705 _target_y_offset_m );
706 sgXformVec3(target_position_offset, target_position_offset, ATLOCAL);
707 sgAddVec3( at_pos, at_pos, target_position_offset);
709 sgAddVec3( eye_pos, eye_pos, target_position_offset);
711 // Make the VIEW matrix for a "LOOKAT".
712 sgMakeLookAtMat4( VIEW, eye_pos, at_pos, _view_up );
716 // copy results from location class to viewer...
717 // FIXME: some of these should be changed to reference directly to SGLocation...
719 FGViewer::copyLocationData()
721 // Get our friendly vectors from the eye location...
722 sgCopyVec3(_zero_elev_view_pos, _location->get_zero_elev());
723 sgCopyVec3(_relative_view_pos, _location->get_view_pos());
724 sgdCopyVec3(_absolute_view_pos,
725 _location->get_absolute_view_pos(globals->get_scenery()->get_center()));
726 sgCopyMat4(UP, _location->getCachedUpMatrix());
727 sgCopyVec3(_world_up, _location->get_world_up());
728 // these are the vectors that the sun and moon code like to get...
729 sgCopyVec3(_surface_east, _location->get_surface_east());
730 sgCopyVec3(_surface_south, _location->get_surface_south());
732 // Update viewer's postion data for the eye location...
733 _lon_deg = _location->getLongitude_deg();
734 _lat_deg = _location->getLatitude_deg();
735 _alt_ft = _location->getAltitudeASL_ft();
736 _roll_deg = _location->getRoll_deg();
737 _pitch_deg = _location->getPitch_deg();
738 _heading_deg = _location->getHeading_deg();
740 // Update viewer's postion data for the target (at object) location
741 if (_type == FG_LOOKAT) {
742 _target_lon_deg = _target_location->getLongitude_deg();
743 _target_lat_deg = _target_location->getLatitude_deg();
744 _target_alt_ft = _target_location->getAltitudeASL_ft();
745 _target_roll_deg = _target_location->getRoll_deg();
746 _target_pitch_deg = _target_location->getPitch_deg();
747 _target_heading_deg = _target_location->getHeading_deg();
750 // copy coordinates to outputs for viewer...
751 sgCopyVec3(_zero_elev, _zero_elev_view_pos);
752 sgCopyVec3(_view_pos, _relative_view_pos);
756 FGViewer::get_h_fov()
758 switch (_scaling_type) {
759 case FG_SCALING_WIDTH: // h_fov == fov
762 if (_aspect_ratio < 1.0) {
767 return atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) / _aspect_ratio) *
768 SG_RADIANS_TO_DEGREES * 2;
779 FGViewer::get_v_fov()
781 switch (_scaling_type) {
782 case FG_SCALING_WIDTH: // h_fov == fov
783 return atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) * _aspect_ratio) *
784 SG_RADIANS_TO_DEGREES * 2;
786 if (_aspect_ratio < 1.0) {
788 return atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) * _aspect_ratio) *
789 SG_RADIANS_TO_DEGREES * 2;
801 FGViewer::update (double dt)
804 int dt_ms = int(dt * 1000);
805 for ( i = 0; i < dt_ms; i++ ) {
806 if ( fabs( _goal_heading_offset_deg - _heading_offset_deg) < 1 ) {
807 setHeadingOffset_deg( _goal_heading_offset_deg );
810 // move current_view.headingoffset towards
811 // current_view.goal_view_offset
812 if ( _goal_heading_offset_deg > _heading_offset_deg )
814 if ( _goal_heading_offset_deg - _heading_offset_deg < 180 ){
815 incHeadingOffset_deg( 0.5 );
817 incHeadingOffset_deg( -0.5 );
820 if ( _heading_offset_deg - _goal_heading_offset_deg < 180 ){
821 incHeadingOffset_deg( -0.5 );
823 incHeadingOffset_deg( 0.5 );
826 if ( _heading_offset_deg > 360 ) {
827 incHeadingOffset_deg( -360 );
828 } else if ( _heading_offset_deg < 0 ) {
829 incHeadingOffset_deg( 360 );
834 for ( i = 0; i < dt_ms; i++ ) {
835 if ( fabs( _goal_pitch_offset_deg - _pitch_offset_deg ) < 1 ) {
836 setPitchOffset_deg( _goal_pitch_offset_deg );
839 // move current_view.pitch_offset_deg towards
840 // current_view.goal_pitch_offset
841 if ( _goal_pitch_offset_deg > _pitch_offset_deg )
843 incPitchOffset_deg( 1.0 );
845 incPitchOffset_deg( -1.0 );
847 if ( _pitch_offset_deg > 90 ) {
848 setPitchOffset_deg(90);
849 } else if ( _pitch_offset_deg < -90 ) {
850 setPitchOffset_deg( -90 );