1 // viewer_rph.cxx -- class for managing a Roll/Pitch/Heading viewer in
2 // the flightgear world.
4 // Written by Curtis Olson, started August 1997.
5 // overhaul started October 2000.
7 // Copyright (C) 1997 - 2000 Curtis L. Olson - curt@flightgear.org
9 // This program is free software; you can redistribute it and/or
10 // modify it under the terms of the GNU General Public License as
11 // published by the Free Software Foundation; either version 2 of the
12 // License, or (at your option) any later version.
14 // This program is distributed in the hope that it will be useful, but
15 // WITHOUT ANY WARRANTY; without even the implied warranty of
16 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
17 // General Public License for more details.
19 // You should have received a copy of the GNU General Public License
20 // along with this program; if not, write to the Free Software
21 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
26 #include <simgear/compiler.h>
32 #include <plib/ssg.h> // plib include
34 #include <simgear/constants.h>
35 #include <simgear/debug/logstream.hxx>
36 #include <simgear/math/point3d.hxx>
37 #include <simgear/math/polar3d.hxx>
38 #include <simgear/math/vector.hxx>
40 #include <Scenery/scenery.hxx>
42 #include "globals.hxx"
43 #include "viewer_rph.hxx"
47 FGViewerRPH::FGViewerRPH( void )
49 set_reverse_view_offset(false);
50 #ifndef USE_FAST_VIEWROT
51 // This never changes -- NHV
52 LARC_TO_SSG[0][0] = 0.0;
53 LARC_TO_SSG[0][1] = 1.0;
54 LARC_TO_SSG[0][2] = -0.0;
55 LARC_TO_SSG[0][3] = 0.0;
57 LARC_TO_SSG[1][0] = 0.0;
58 LARC_TO_SSG[1][1] = 0.0;
59 LARC_TO_SSG[1][2] = 1.0;
60 LARC_TO_SSG[1][3] = 0.0;
62 LARC_TO_SSG[2][0] = 1.0;
63 LARC_TO_SSG[2][1] = -0.0;
64 LARC_TO_SSG[2][2] = 0.0;
65 LARC_TO_SSG[2][3] = 0.0;
67 LARC_TO_SSG[3][0] = 0.0;
68 LARC_TO_SSG[3][1] = 0.0;
69 LARC_TO_SSG[3][2] = 0.0;
70 LARC_TO_SSG[3][3] = 1.0;
71 #endif // USE_FAST_VIEWROT
75 #define USE_FAST_VIEWROT
76 #ifdef USE_FAST_VIEWROT
77 // VIEW_ROT = LARC_TO_SSG * ( VIEWo * VIEW_OFFSET )
78 // This takes advantage of the fact that VIEWo and VIEW_OFFSET
79 // only have entries in the upper 3x3 block
80 // and that LARC_TO_SSG is just a shift of rows NHV
81 inline static void fgMakeViewRot( sgMat4 dst, const sgMat4 m1, const sgMat4 m2 )
83 for ( int j = 0 ; j < 3 ; j++ ) {
84 dst[2][j] = m2[0][0] * m1[0][j] +
88 dst[0][j] = m2[1][0] * m1[0][j] +
92 dst[1][j] = m2[2][0] * m1[0][j] +
107 #define USE_FAST_LOCAL
108 #ifdef USE_FAST_LOCAL
109 inline static void fgMakeLOCAL( sgMat4 dst, const double Theta,
110 const double Phi, const double Psi)
112 SGfloat cosTheta = (SGfloat) cos(Theta);
113 SGfloat sinTheta = (SGfloat) sin(Theta);
114 SGfloat cosPhi = (SGfloat) cos(Phi);
115 SGfloat sinPhi = (SGfloat) sin(Phi);
116 SGfloat sinPsi = (SGfloat) sin(Psi) ;
117 SGfloat cosPsi = (SGfloat) cos(Psi) ;
119 dst[0][0] = cosPhi * cosTheta;
120 dst[0][1] = sinPhi * cosPsi + cosPhi * -sinTheta * -sinPsi;
121 dst[0][2] = sinPhi * sinPsi + cosPhi * -sinTheta * cosPsi;
124 dst[1][0] = -sinPhi * cosTheta;
125 dst[1][1] = cosPhi * cosPsi + -sinPhi * -sinTheta * -sinPsi;
126 dst[1][2] = cosPhi * sinPsi + -sinPhi * -sinTheta * cosPsi;
127 dst[1][3] = SG_ZERO ;
129 dst[2][0] = sinTheta;
130 dst[2][1] = cosTheta * -sinPsi;
131 dst[2][2] = cosTheta * cosPsi;
142 // convert sgMat4 to MAT3 and print
143 static void print_sgMat4( sgMat4 &in) {
145 for ( i = 0; i < 4; i++ ) {
146 for ( j = 0; j < 4; j++ ) {
147 printf("%10.4f ", in[i][j]);
154 // Update the view parameters
155 void FGViewerRPH::update() {
157 sgVec3 minus_z, forward;
160 // calculate the cartesion coords of the current lat/lon/0 elev
161 Point3D p = Point3D( geod_view_pos[0],
165 tmp = sgPolarToCart3d(p) - scenery.center;
166 sgSetVec3( zero_elev, tmp[0], tmp[1], tmp[2] );
168 // calculate view position in current FG view coordinate system
169 // p.lon & p.lat are already defined earlier, p.radius was set to
170 // the sea level radius, so now we add in our altitude.
171 if ( geod_view_pos[2] > (scenery.cur_elev + 0.5 * METER_TO_FEET) ) {
172 p.setz( p.radius() + geod_view_pos[2] );
174 p.setz( p.radius() + scenery.cur_elev + 0.5 * METER_TO_FEET );
177 tmp = sgPolarToCart3d(p);
178 sgdSetVec3( abs_view_pos, tmp[0], tmp[1], tmp[2] );
180 // view_pos = abs_view_pos - scenery.center;
182 sgdSetVec3( sc, scenery.center.x(), scenery.center.y(), scenery.center.z());
184 sgdSubVec3( vp, abs_view_pos, sc );
185 sgSetVec3( view_pos, vp );
187 FG_LOG( FG_VIEW, FG_DEBUG, "sea level radius = " << sea_level_radius );
188 FG_LOG( FG_VIEW, FG_DEBUG, "Polar view pos = " << p );
189 FG_LOG( FG_VIEW, FG_DEBUG, "Absolute view pos = "
190 << abs_view_pos[0] << ","
191 << abs_view_pos[1] << ","
192 << abs_view_pos[2] );
193 FG_LOG( FG_VIEW, FG_DEBUG, "(RPH) Relative view pos = "
194 << view_pos[0] << "," << view_pos[1] << "," << view_pos[2] );
196 // code to calculate LOCAL matrix calculated from Phi, Theta, and
197 // Psi (roll, pitch, yaw) in case we aren't running LaRCsim as our
200 #ifdef USE_FAST_LOCAL
202 fgMakeLOCAL( LOCAL, rph[1], rph[0], -rph[2] );
204 #else // USE_TEXT_BOOK_METHOD
207 sgSetVec3( rollvec, 0.0, 0.0, 1.0 );
209 sgMakeRotMat4( PHI, rph[0] * RAD_TO_DEG, rollvec );
212 sgSetVec3( pitchvec, 0.0, 1.0, 0.0 );
213 sgMat4 THETA; // pitch
214 sgMakeRotMat4( THETA, rph[1] * RAD_TO_DEG, pitchvec );
218 // sgMultMat4( ROT, PHI, THETA );
219 sgCopyMat4( ROT, PHI );
220 sgPostMultMat4( ROT, THETA );
223 sgSetVec3( yawvec, 1.0, 0.0, 0.0 );
224 sgMat4 PSI; // heading
225 sgMakeRotMat4( PSI, -rph[2] * RAD_TO_DEG, yawvec );
228 // sgMultMat4( LOCAL, ROT, PSI );
229 sgCopyMat4( LOCAL, ROT );
230 sgPostMultMat4( LOCAL, PSI );
232 #endif // USE_FAST_LOCAL
234 // cout << "LOCAL matrix" << endl;
235 // print_sgMat4( LOCAL );
238 geod_view_pos[0] * RAD_TO_DEG,
240 -geod_view_pos[1] * RAD_TO_DEG );
242 sgSetVec3( world_up, UP[0][0], UP[0][1], UP[0][2] );
243 // sgXformVec3( world_up, UP );
244 // cout << "World Up = " << world_up[0] << "," << world_up[1] << ","
245 // << world_up[2] << endl;
247 // Alternative method to Derive world up vector based on
248 // *geodetic* coordinates
249 // alt_up = sgPolarToCart(FG_Longitude, FG_Latitude, 1.0);
250 // printf( " Alt Up = (%.4f, %.4f, %.4f)\n",
251 // alt_up.x, alt_up.y, alt_up.z);
253 // VIEWo = LOCAL * UP
254 // sgMultMat4( VIEWo, LOCAL, UP );
255 sgCopyMat4( VIEWo, LOCAL );
256 sgPostMultMat4( VIEWo, UP );
257 // cout << "VIEWo matrix" << endl;
258 // print_sgMat4( VIEWo );
260 // generate the sg view up and forward vectors
261 sgSetVec3( view_up, VIEWo[0][0], VIEWo[0][1], VIEWo[0][2] );
262 // cout << "view = " << view[0] << ","
263 // << view[1] << "," << view[2] << endl;
264 sgSetVec3( forward, VIEWo[2][0], VIEWo[2][1], VIEWo[2][2] );
265 // cout << "forward = " << forward[0] << ","
266 // << forward[1] << "," << forward[2] << endl;
268 // generate the pilot offset vector in world coordinates
269 sgVec3 pilot_offset_world;
270 sgSetVec3( pilot_offset_world,
271 pilot_offset[2], pilot_offset[1], -pilot_offset[0] );
272 sgXformVec3( pilot_offset_world, pilot_offset_world, VIEWo );
274 // generate the view offset matrix
275 sgMakeRotMat4( VIEW_OFFSET, view_offset * RAD_TO_DEG, view_up );
276 // cout << "VIEW_OFFSET matrix" << endl;
277 // print_sgMat4( VIEW_OFFSET );
278 sgXformVec3( view_forward, forward, VIEW_OFFSET );
279 FG_LOG( FG_VIEW, FG_DEBUG, "(RPH) view forward = "
280 << view_forward[0] << "," << view_forward[1] << ","
281 << view_forward[2] );
283 // VIEW_ROT = LARC_TO_SSG * ( VIEWo * VIEW_OFFSET )
284 #ifdef USE_FAST_VIEWROT
285 fgMakeViewRot( VIEW_ROT, VIEW_OFFSET, VIEWo );
287 // sgMultMat4( VIEW_ROT, VIEW_OFFSET, VIEWo );
288 // sgPreMultMat4( VIEW_ROT, LARC_TO_SSG );
289 sgCopyMat4( VIEW_ROT, VIEWo );
290 sgPostMultMat4( VIEW_ROT, VIEW_OFFSET );
291 sgPreMultMat4( VIEW_ROT, LARC_TO_SSG );
293 // cout << "VIEW_ROT matrix" << endl;
294 // print_sgMat4( VIEW_ROT );
297 sgAddVec3( trans_vec, view_pos, pilot_offset_world );
299 // VIEW = VIEW_ROT * TRANS
300 sgCopyMat4( VIEW, VIEW_ROT );
301 sgPostMultMat4ByTransMat4( VIEW, trans_vec );
303 //!!!!!!!!!!!!!!!!!!!
304 // THIS IS THE EXPERIMENTAL VIEWING ANGLE SHIFTER
305 // THE MAJORITY OF THE WORK IS DONE IN GUI.CXX
306 // this in gui.cxx for now just testing
307 extern float GuiQuat_mat[4][4];
308 sgPreMultMat4( VIEW, GuiQuat_mat);
309 // !!!!!!!!!! testing
311 // Given a vector pointing straight down (-Z), map into onto the
312 // local plane representing "horizontal". This should give us the
313 // local direction for moving "south".
314 sgSetVec3( minus_z, 0.0, 0.0, -1.0 );
316 sgmap_vec_onto_cur_surface_plane(world_up, view_pos, minus_z,
318 sgNormalizeVec3(surface_south);
319 // cout << "Surface direction directly south " << surface_south[0] << ","
320 // << surface_south[1] << "," << surface_south[2] << endl;
322 // now calculate the surface east vector
323 #define USE_FAST_SURFACE_EAST
324 #ifdef USE_FAST_SURFACE_EAST
326 sgNegateVec3(world_down, world_up);
327 sgVectorProductVec3(surface_east, surface_south, world_down);
329 sgMakeRotMat4( TMP, SGD_PI_2 * RAD_TO_DEG, world_up );
330 // cout << "sgMat4 TMP" << endl;
331 // print_sgMat4( TMP );
332 sgXformVec3(surface_east, surface_south, TMP);
333 #endif // USE_FAST_SURFACE_EAST
334 // cout << "Surface direction directly east " << surface_east[0] << ","
335 // << surface_east[1] << "," << surface_east[2] << endl;
336 // cout << "Should be close to zero = "
337 // << sgScalarProductVec3(surface_south, surface_east) << endl;
344 FGViewerRPH::~FGViewerRPH( void ) {