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/sg_geodesy.hxx>
39 #include <simgear/math/vector.hxx>
41 #include <Scenery/scenery.hxx>
43 #include "globals.hxx"
44 #include "viewer_rph.hxx"
48 FGViewerRPH::FGViewerRPH( void )
50 set_reverse_view_offset(false);
51 #ifndef USE_FAST_VIEWROT
52 // This never changes -- NHV
53 LARC_TO_SSG[0][0] = 0.0;
54 LARC_TO_SSG[0][1] = 1.0;
55 LARC_TO_SSG[0][2] = -0.0;
56 LARC_TO_SSG[0][3] = 0.0;
58 LARC_TO_SSG[1][0] = 0.0;
59 LARC_TO_SSG[1][1] = 0.0;
60 LARC_TO_SSG[1][2] = 1.0;
61 LARC_TO_SSG[1][3] = 0.0;
63 LARC_TO_SSG[2][0] = 1.0;
64 LARC_TO_SSG[2][1] = -0.0;
65 LARC_TO_SSG[2][2] = 0.0;
66 LARC_TO_SSG[2][3] = 0.0;
68 LARC_TO_SSG[3][0] = 0.0;
69 LARC_TO_SSG[3][1] = 0.0;
70 LARC_TO_SSG[3][2] = 0.0;
71 LARC_TO_SSG[3][3] = 1.0;
72 #endif // USE_FAST_VIEWROT
76 #define USE_FAST_VIEWROT
77 #ifdef USE_FAST_VIEWROT
78 // VIEW_ROT = LARC_TO_SSG * ( VIEWo * VIEW_OFFSET )
79 // This takes advantage of the fact that VIEWo and VIEW_OFFSET
80 // only have entries in the upper 3x3 block
81 // and that LARC_TO_SSG is just a shift of rows NHV
82 inline static void fgMakeViewRot( sgMat4 dst, const sgMat4 m1, const sgMat4 m2 )
84 for ( int j = 0 ; j < 3 ; j++ ) {
85 dst[2][j] = m2[0][0] * m1[0][j] +
89 dst[0][j] = m2[1][0] * m1[0][j] +
93 dst[1][j] = m2[2][0] * m1[0][j] +
108 #define USE_FAST_LOCAL
109 #ifdef USE_FAST_LOCAL
110 inline static void fgMakeLOCAL( sgMat4 dst, const double Theta,
111 const double Phi, const double Psi)
113 SGfloat cosTheta = (SGfloat) cos(Theta);
114 SGfloat sinTheta = (SGfloat) sin(Theta);
115 SGfloat cosPhi = (SGfloat) cos(Phi);
116 SGfloat sinPhi = (SGfloat) sin(Phi);
117 SGfloat sinPsi = (SGfloat) sin(Psi) ;
118 SGfloat cosPsi = (SGfloat) cos(Psi) ;
120 dst[0][0] = cosPhi * cosTheta;
121 dst[0][1] = sinPhi * cosPsi + cosPhi * -sinTheta * -sinPsi;
122 dst[0][2] = sinPhi * sinPsi + cosPhi * -sinTheta * cosPsi;
125 dst[1][0] = -sinPhi * cosTheta;
126 dst[1][1] = cosPhi * cosPsi + -sinPhi * -sinTheta * -sinPsi;
127 dst[1][2] = cosPhi * sinPsi + -sinPhi * -sinTheta * cosPsi;
128 dst[1][3] = SG_ZERO ;
130 dst[2][0] = sinTheta;
131 dst[2][1] = cosTheta * -sinPsi;
132 dst[2][2] = cosTheta * cosPsi;
144 // convert sgMat4 to MAT3 and print
145 static void print_sgMat4( sgMat4 &in) {
147 for ( i = 0; i < 4; i++ ) {
148 for ( j = 0; j < 4; j++ ) {
149 printf("%10.4f ", in[i][j]);
157 // Update the view parameters
158 void FGViewerRPH::update() {
160 sgVec3 minus_z, right, forward, tilt;
163 // convert to geocentric coordinates
165 sgGeodToGeoc( geod_view_pos[1], geod_view_pos[2],
166 &sea_level_radius, &geoc_lat );
168 // calculate the cartesion coords of the current lat/lon/0 elev
169 Point3D p = Point3D( geod_view_pos[0], geoc_lat, sea_level_radius );
171 tmp = sgPolarToCart3d(p) - scenery.get_center();
172 sgSetVec3( zero_elev, tmp[0], tmp[1], tmp[2] );
174 // calculate view position in current FG view coordinate system
175 // p.lon & p.lat are already defined earlier, p.radius was set to
176 // the sea level radius, so now we add in our altitude.
177 if ( geod_view_pos[2] > (scenery.get_cur_elev() + 0.5 * SG_METER_TO_FEET) ) {
178 p.setz( p.radius() + geod_view_pos[2] );
180 p.setz( p.radius() + scenery.get_cur_elev() + 0.5 * SG_METER_TO_FEET );
183 tmp = sgPolarToCart3d(p);
184 sgdSetVec3( abs_view_pos, tmp[0], tmp[1], tmp[2] );
186 // view_pos = abs_view_pos - scenery.center;
189 scenery.get_center().x(),
190 scenery.get_center().y(),
191 scenery.get_center().z() );
193 sgdSubVec3( vp, abs_view_pos, sc );
194 sgSetVec3( view_pos, vp );
196 SG_LOG( SG_VIEW, SG_DEBUG, "sea level radius = " << sea_level_radius );
197 SG_LOG( SG_VIEW, SG_DEBUG, "Polar view pos = " << p );
198 SG_LOG( SG_VIEW, SG_DEBUG, "Absolute view pos = "
199 << abs_view_pos[0] << ","
200 << abs_view_pos[1] << ","
201 << abs_view_pos[2] );
202 SG_LOG( SG_VIEW, SG_DEBUG, "(RPH) Relative view pos = "
203 << view_pos[0] << "," << view_pos[1] << "," << view_pos[2] );
205 // code to calculate LOCAL matrix calculated from Phi, Theta, and
206 // Psi (roll, pitch, yaw) in case we aren't running LaRCsim as our
209 #ifdef USE_FAST_LOCAL
211 fgMakeLOCAL( LOCAL, rph[1], rph[0], -rph[2] );
213 #else // USE_TEXT_BOOK_METHOD
216 sgSetVec3( rollvec, 0.0, 0.0, 1.0 );
218 sgMakeRotMat4( PHI, rph[0] * SGD_RADIANS_TO_DEGREES, rollvec );
221 sgSetVec3( pitchvec, 0.0, 1.0, 0.0 );
222 sgMat4 THETA; // pitch
223 sgMakeRotMat4( THETA, rph[1] * SGD_RADIANS_TO_DEGREES, pitchvec );
227 // sgMultMat4( ROT, PHI, THETA );
228 sgCopyMat4( ROT, PHI );
229 sgPostMultMat4( ROT, THETA );
232 sgSetVec3( yawvec, 1.0, 0.0, 0.0 );
233 sgMat4 PSI; // heading
234 sgMakeRotMat4( PSI, -rph[2] * SGD_RADIANS_TO_DEGREES, yawvec );
237 // sgMultMat4( LOCAL, ROT, PSI );
238 sgCopyMat4( LOCAL, ROT );
239 sgPostMultMat4( LOCAL, PSI );
241 #endif // USE_FAST_LOCAL
243 // cout << "LOCAL matrix" << endl;
244 // print_sgMat4( LOCAL );
247 geod_view_pos[0] * SGD_RADIANS_TO_DEGREES,
249 -geod_view_pos[1] * SGD_RADIANS_TO_DEGREES );
251 sgSetVec3( world_up, UP[0][0], UP[0][1], UP[0][2] );
252 // sgXformVec3( world_up, UP );
253 // cout << "World Up = " << world_up[0] << "," << world_up[1] << ","
254 // << world_up[2] << endl;
256 // Alternative method to Derive world up vector based on
257 // *geodetic* coordinates
258 // alt_up = sgPolarToCart(FG_Longitude, FG_Latitude, 1.0);
259 // printf( " Alt Up = (%.4f, %.4f, %.4f)\n",
260 // alt_up.x, alt_up.y, alt_up.z);
262 // VIEWo = LOCAL * UP
263 // sgMultMat4( VIEWo, LOCAL, UP );
264 sgCopyMat4( VIEWo, LOCAL );
265 sgPostMultMat4( VIEWo, UP );
266 // cout << "VIEWo matrix" << endl;
267 // print_sgMat4( VIEWo );
269 // generate the sg view up and forward vectors
270 sgSetVec3( view_up, VIEWo[0][0], VIEWo[0][1], VIEWo[0][2] );
271 // cout << "view = " << view[0] << ","
272 // << view[1] << "," << view[2] << endl;
273 sgSetVec3( right, VIEWo[1][0], VIEWo[1][1], VIEWo[1][2] );
274 sgSetVec3( forward, VIEWo[2][0], VIEWo[2][1], VIEWo[2][2] );
275 // cout << "forward = " << forward[0] << ","
276 // << forward[1] << "," << forward[2] << endl;
278 // generate the pilot offset vector in world coordinates
279 sgVec3 pilot_offset_world;
280 sgSetVec3( pilot_offset_world,
281 pilot_offset[2], pilot_offset[1], -pilot_offset[0] );
282 sgXformVec3( pilot_offset_world, pilot_offset_world, VIEWo );
284 // generate the view offset matrix
285 sgMakeRotMat4( VIEW_OFFSET, view_offset * SGD_RADIANS_TO_DEGREES, view_up );
288 sgMakeRotMat4( VIEW_TILT, view_tilt * SGD_RADIANS_TO_DEGREES, right );
289 sgPreMultMat4(VIEW_OFFSET, VIEW_TILT);
290 // cout << "VIEW_OFFSET matrix" << endl;
291 // print_sgMat4( VIEW_OFFSET );
292 sgXformVec3( view_forward, forward, VIEW_OFFSET );
293 SG_LOG( SG_VIEW, SG_DEBUG, "(RPH) view forward = "
294 << view_forward[0] << "," << view_forward[1] << ","
295 << view_forward[2] );
297 // VIEW_ROT = LARC_TO_SSG * ( VIEWo * VIEW_OFFSET )
298 #ifdef USE_FAST_VIEWROT
299 fgMakeViewRot( VIEW_ROT, VIEW_OFFSET, VIEWo );
301 // sgMultMat4( VIEW_ROT, VIEW_OFFSET, VIEWo );
302 // sgPreMultMat4( VIEW_ROT, LARC_TO_SSG );
303 sgCopyMat4( VIEW_ROT, VIEWo );
304 sgPostMultMat4( VIEW_ROT, VIEW_OFFSET );
305 sgPreMultMat4( VIEW_ROT, LARC_TO_SSG );
307 // cout << "VIEW_ROT matrix" << endl;
308 // print_sgMat4( VIEW_ROT );
311 sgAddVec3( trans_vec, view_pos, pilot_offset_world );
313 // VIEW = VIEW_ROT * TRANS
314 sgCopyMat4( VIEW, VIEW_ROT );
315 sgPostMultMat4ByTransMat4( VIEW, trans_vec );
317 //!!!!!!!!!!!!!!!!!!!
318 // THIS IS THE EXPERIMENTAL VIEWING ANGLE SHIFTER
319 // THE MAJORITY OF THE WORK IS DONE IN GUI.CXX
320 // this in gui.cxx for now just testing
321 extern float GuiQuat_mat[4][4];
322 sgPreMultMat4( VIEW, GuiQuat_mat);
323 // !!!!!!!!!! testing
325 // Given a vector pointing straight down (-Z), map into onto the
326 // local plane representing "horizontal". This should give us the
327 // local direction for moving "south".
328 sgSetVec3( minus_z, 0.0, 0.0, -1.0 );
330 sgmap_vec_onto_cur_surface_plane(world_up, view_pos, minus_z,
332 sgNormalizeVec3(surface_south);
333 // cout << "Surface direction directly south " << surface_south[0] << ","
334 // << surface_south[1] << "," << surface_south[2] << endl;
336 // now calculate the surface east vector
337 #define USE_FAST_SURFACE_EAST
338 #ifdef USE_FAST_SURFACE_EAST
340 sgNegateVec3(world_down, world_up);
341 sgVectorProductVec3(surface_east, surface_south, world_down);
343 sgMakeRotMat4( TMP, SGD_PI_2 * SGD_RADIANS_TO_DEGREES, world_up );
344 // cout << "sgMat4 TMP" << endl;
345 // print_sgMat4( TMP );
346 sgXformVec3(surface_east, surface_south, TMP);
347 #endif // USE_FAST_SURFACE_EAST
348 // cout << "Surface direction directly east " << surface_east[0] << ","
349 // << surface_east[1] << "," << surface_east[2] << endl;
350 // cout << "Should be close to zero = "
351 // << sgScalarProductVec3(surface_south, surface_east) << endl;
358 FGViewerRPH::~FGViewerRPH( void ) {