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 #ifndef USE_FAST_VIEWROT
50 // This never changes -- NHV
51 LARC_TO_SSG[0][0] = 0.0;
52 LARC_TO_SSG[0][1] = 1.0;
53 LARC_TO_SSG[0][2] = -0.0;
54 LARC_TO_SSG[0][3] = 0.0;
56 LARC_TO_SSG[1][0] = 0.0;
57 LARC_TO_SSG[1][1] = 0.0;
58 LARC_TO_SSG[1][2] = 1.0;
59 LARC_TO_SSG[1][3] = 0.0;
61 LARC_TO_SSG[2][0] = 1.0;
62 LARC_TO_SSG[2][1] = -0.0;
63 LARC_TO_SSG[2][2] = 0.0;
64 LARC_TO_SSG[2][3] = 0.0;
66 LARC_TO_SSG[3][0] = 0.0;
67 LARC_TO_SSG[3][1] = 0.0;
68 LARC_TO_SSG[3][2] = 0.0;
69 LARC_TO_SSG[3][3] = 1.0;
70 #endif // USE_FAST_VIEWROT
74 #define USE_FAST_VIEWROT
75 #ifdef USE_FAST_VIEWROT
76 // VIEW_ROT = LARC_TO_SSG * ( VIEWo * VIEW_OFFSET )
77 // This takes advantage of the fact that VIEWo and VIEW_OFFSET
78 // only have entries in the upper 3x3 block
79 // and that LARC_TO_SSG is just a shift of rows NHV
80 inline static void fgMakeViewRot( sgMat4 dst, const sgMat4 m1, const sgMat4 m2 )
82 for ( int j = 0 ; j < 3 ; j++ ) {
83 dst[2][j] = m2[0][0] * m1[0][j] +
87 dst[0][j] = m2[1][0] * m1[0][j] +
91 dst[1][j] = m2[2][0] * m1[0][j] +
106 #define USE_FAST_LOCAL
107 #ifdef USE_FAST_LOCAL
108 inline static void fgMakeLOCAL( sgMat4 dst, const double Theta,
109 const double Phi, const double Psi)
111 SGfloat cosTheta = (SGfloat) cos(Theta);
112 SGfloat sinTheta = (SGfloat) sin(Theta);
113 SGfloat cosPhi = (SGfloat) cos(Phi);
114 SGfloat sinPhi = (SGfloat) sin(Phi);
115 SGfloat sinPsi = (SGfloat) sin(Psi) ;
116 SGfloat cosPsi = (SGfloat) cos(Psi) ;
118 dst[0][0] = cosPhi * cosTheta;
119 dst[0][1] = sinPhi * cosPsi + cosPhi * -sinTheta * -sinPsi;
120 dst[0][2] = sinPhi * sinPsi + cosPhi * -sinTheta * cosPsi;
123 dst[1][0] = -sinPhi * cosTheta;
124 dst[1][1] = cosPhi * cosPsi + -sinPhi * -sinTheta * -sinPsi;
125 dst[1][2] = cosPhi * sinPsi + -sinPhi * -sinTheta * cosPsi;
126 dst[1][3] = SG_ZERO ;
128 dst[2][0] = sinTheta;
129 dst[2][1] = cosTheta * -sinPsi;
130 dst[2][2] = cosTheta * cosPsi;
141 // convert sgMat4 to MAT3 and print
142 static void print_sgMat4( sgMat4 &in) {
144 for ( i = 0; i < 4; i++ ) {
145 for ( j = 0; j < 4; j++ ) {
146 printf("%10.4f ", in[i][j]);
153 // Update the view parameters
154 void FGViewerRPH::update() {
156 sgVec3 minus_z, forward;
159 // calculate the cartesion coords of the current lat/lon/0 elev
160 Point3D p = Point3D( geod_view_pos[0],
164 tmp = sgPolarToCart3d(p) - scenery.center;
165 sgSetVec3( zero_elev, tmp[0], tmp[1], tmp[2] );
167 // calculate view position in current FG view coordinate system
168 // p.lon & p.lat are already defined earlier, p.radius was set to
169 // the sea level radius, so now we add in our altitude.
170 if ( geod_view_pos[2] > (scenery.cur_elev + 0.5 * METER_TO_FEET) ) {
171 p.setz( p.radius() + geod_view_pos[2] );
173 p.setz( p.radius() + scenery.cur_elev + 0.5 * METER_TO_FEET );
176 tmp = sgPolarToCart3d(p);
177 sgdSetVec3( abs_view_pos, tmp[0], tmp[1], tmp[2] );
180 sgdSetVec3( sc, scenery.center.x(), scenery.center.y(), scenery.center.z());
182 sgdSubVec3( vp, abs_view_pos, sc );
183 sgSetVec3( view_pos, vp );
184 // view_pos = abs_view_pos - scenery.center;
186 FG_LOG( FG_VIEW, FG_DEBUG, "sea level radius = " << sea_level_radius );
187 FG_LOG( FG_VIEW, FG_DEBUG, "Polar view pos = " << p );
188 FG_LOG( FG_VIEW, FG_DEBUG, "Absolute view pos = "
189 << abs_view_pos[0] << ","
190 << abs_view_pos[1] << ","
191 << abs_view_pos[2] );
192 FG_LOG( FG_VIEW, FG_DEBUG, "Relative view pos = "
193 << view_pos[0] << "," << view_pos[1] << "," << view_pos[2] );
195 // code to calculate LOCAL matrix calculated from Phi, Theta, and
196 // Psi (roll, pitch, yaw) in case we aren't running LaRCsim as our
199 #ifdef USE_FAST_LOCAL
201 fgMakeLOCAL( LOCAL, rph[1], rph[0], -rph[2] );
203 #else // USE_TEXT_BOOK_METHOD
206 sgSetVec3( rollvec, 0.0, 0.0, 1.0 );
208 sgMakeRotMat4( PHI, rph[0] * RAD_TO_DEG, rollvec );
211 sgSetVec3( pitchvec, 0.0, 1.0, 0.0 );
212 sgMat4 THETA; // pitch
213 sgMakeRotMat4( THETA, rph[1] * RAD_TO_DEG, pitchvec );
217 // sgMultMat4( ROT, PHI, THETA );
218 sgCopyMat4( ROT, PHI );
219 sgPostMultMat4( ROT, THETA );
222 sgSetVec3( yawvec, 1.0, 0.0, 0.0 );
223 sgMat4 PSI; // heading
224 sgMakeRotMat4( PSI, -rph[2] * RAD_TO_DEG, yawvec );
227 // sgMultMat4( LOCAL, ROT, PSI );
228 sgCopyMat4( LOCAL, ROT );
229 sgPostMultMat4( LOCAL, PSI );
231 #endif // USE_FAST_LOCAL
233 // cout << "LOCAL matrix" << endl;
234 // print_sgMat4( LOCAL );
237 geod_view_pos[0] * RAD_TO_DEG,
239 -geod_view_pos[1] * RAD_TO_DEG );
241 sgSetVec3( world_up, UP[0][0], UP[0][1], UP[0][2] );
242 // sgXformVec3( world_up, UP );
243 // cout << "World Up = " << world_up[0] << "," << world_up[1] << ","
244 // << world_up[2] << endl;
246 // Alternative method to Derive world up vector based on
247 // *geodetic* coordinates
248 // alt_up = sgPolarToCart(FG_Longitude, FG_Latitude, 1.0);
249 // printf( " Alt Up = (%.4f, %.4f, %.4f)\n",
250 // alt_up.x, alt_up.y, alt_up.z);
252 // VIEWo = LOCAL * UP
253 // sgMultMat4( VIEWo, LOCAL, UP );
254 sgCopyMat4( VIEWo, LOCAL );
255 sgPostMultMat4( VIEWo, UP );
256 // cout << "VIEWo matrix" << endl;
257 // print_sgMat4( VIEWo );
259 // generate the sg view up and forward vectors
260 sgSetVec3( view_up, VIEWo[0][0], VIEWo[0][1], VIEWo[0][2] );
261 // cout << "view = " << view[0] << ","
262 // << view[1] << "," << view[2] << endl;
263 sgSetVec3( forward, VIEWo[2][0], VIEWo[2][1], VIEWo[2][2] );
264 // cout << "forward = " << forward[0] << ","
265 // << forward[1] << "," << forward[2] << endl;
267 // generate the pilot offset vector in world coordinates
268 sgVec3 pilot_offset_world;
269 sgSetVec3( pilot_offset_world,
270 pilot_offset[2], pilot_offset[1], -pilot_offset[0] );
271 sgXformVec3( pilot_offset_world, pilot_offset_world, VIEWo );
273 // generate the view offset matrix
274 sgMakeRotMat4( VIEW_OFFSET, view_offset * RAD_TO_DEG, view_up );
275 // cout << "VIEW_OFFSET matrix" << endl;
276 // print_sgMat4( VIEW_OFFSET );
277 sgXformVec3( view_forward, forward, VIEW_OFFSET );
278 // cout << "view_forward = " << view_forward[0] << ","
279 // << view_forward[1] << "," << view_forward[2] << endl;
281 // VIEW_ROT = LARC_TO_SSG * ( VIEWo * VIEW_OFFSET )
282 #ifdef USE_FAST_VIEWROT
283 fgMakeViewRot( VIEW_ROT, VIEW_OFFSET, VIEWo );
285 // sgMultMat4( VIEW_ROT, VIEW_OFFSET, VIEWo );
286 // sgPreMultMat4( VIEW_ROT, LARC_TO_SSG );
287 sgCopyMat4( VIEW_ROT, VIEWo );
288 sgPostMultMat4( VIEW_ROT, VIEW_OFFSET );
289 sgPreMultMat4( VIEW_ROT, LARC_TO_SSG );
291 // cout << "VIEW_ROT matrix" << endl;
292 // print_sgMat4( VIEW_ROT );
295 sgAddVec3( trans_vec, view_pos, pilot_offset_world );
297 // VIEW = VIEW_ROT * TRANS
298 sgCopyMat4( VIEW, VIEW_ROT );
299 sgPostMultMat4ByTransMat4( VIEW, trans_vec );
301 //!!!!!!!!!!!!!!!!!!!
302 // THIS IS THE EXPERIMENTAL VIEWING ANGLE SHIFTER
303 // THE MAJORITY OF THE WORK IS DONE IN GUI.CXX
304 // this in gui.cxx for now just testing
305 extern float quat_mat[4][4];
306 sgPreMultMat4( VIEW, quat_mat);
307 // !!!!!!!!!! testing
309 // Given a vector pointing straight down (-Z), map into onto the
310 // local plane representing "horizontal". This should give us the
311 // local direction for moving "south".
312 sgSetVec3( minus_z, 0.0, 0.0, -1.0 );
314 sgmap_vec_onto_cur_surface_plane(world_up, view_pos, minus_z,
316 sgNormalizeVec3(surface_south);
317 // cout << "Surface direction directly south " << surface_south[0] << ","
318 // << surface_south[1] << "," << surface_south[2] << endl;
320 // now calculate the surface east vector
321 #define USE_FAST_SURFACE_EAST
322 #ifdef USE_FAST_SURFACE_EAST
324 sgNegateVec3(world_down, world_up);
325 sgVectorProductVec3(surface_east, surface_south, world_down);
327 sgMakeRotMat4( TMP, FG_PI_2 * RAD_TO_DEG, world_up );
328 // cout << "sgMat4 TMP" << endl;
329 // print_sgMat4( TMP );
330 sgXformVec3(surface_east, surface_south, TMP);
331 #endif // USE_FAST_SURFACE_EAST
332 // cout << "Surface direction directly east " << surface_east[0] << ","
333 // << surface_east[1] << "," << surface_east[2] << endl;
334 // cout << "Should be close to zero = "
335 // << sgScalarProductVec3(surface_south, surface_east) << endl;
342 FGViewerRPH::~FGViewerRPH( void ) {