1 // views.cxx -- data structures and routines for managing and view
4 // Written by Curtis Olson, started August 1997.
6 // Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
8 // This program is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU General Public License as
10 // published by the Free Software Foundation; either version 2 of the
11 // License, or (at your option) any later version.
13 // This program is distributed in the hope that it will be useful, but
14 // WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // General Public License for more details.
18 // You should have received a copy of the GNU General Public License
19 // along with this program; if not, write to the Free Software
20 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
29 #include <ssg.h> // plib include
31 #include <Aircraft/aircraft.hxx>
32 #include <Cockpit/panel.hxx>
33 #include <Debug/logstream.hxx>
34 #include <Include/fg_constants.h>
35 #include <Math/mat3.h>
36 #include <Math/point3d.hxx>
37 #include <Math/polar3d.hxx>
38 #include <Math/vector.hxx>
39 #include <Scenery/scenery.hxx>
40 #include <Time/fg_time.hxx>
42 #include "options.hxx"
46 // Define following to extract various vectors directly
47 // from matrices we have allready computed
48 // rather then performing 'textbook algebra' to rederive them
49 // Norman Vine -- nhv@yahoo.com
50 // #define FG_VIEW_INLINE_OPTIMIZATIONS
52 // temporary (hopefully) hack
53 static int panel_hist = 0;
56 // specify code paths ... these are done as variable rather than
57 // #define's because down the road we may want to choose between them
58 // on the fly for different flight models ... this way magic carpet
59 // and external modes wouldn't need to recreate the LaRCsim matrices
62 static const bool use_larcsim_local_to_body = false;
65 // This is a record containing current view parameters
70 FGView::FGView( void ) {
75 // Initialize a view structure
76 void FGView::Init( void ) {
77 FG_LOG( FG_VIEW, FG_INFO, "Initializing View parameters" );
79 view_mode = FG_VIEW_FIRST_PERSON;
81 goal_view_offset = 0.0;
83 winWidth = current_options.get_xsize();
84 winHeight = current_options.get_ysize();
86 if ( ! current_options.get_panel_status() ) {
87 current_view.set_win_ratio( (GLfloat) winWidth / (GLfloat) winHeight );
89 current_view.set_win_ratio( (GLfloat) winWidth /
90 ((GLfloat) (winHeight)*0.4232) );
93 force_update_fov_math();
97 // Update the field of view coefficients
98 void FGView::UpdateFOV( const fgOPTIONS& o ) {
99 ssgSetFOV( o.get_fov(), 0.0 );
101 double fov, theta_x, theta_y;
105 // printf("win_ratio = %.2f\n", win_ratio);
106 // calculate sin() and cos() of fov / 2 in X direction;
107 theta_x = (fov * win_ratio * DEG_TO_RAD) / 2.0;
108 // printf("theta_x = %.2f\n", theta_x);
109 sin_fov_x = sin(theta_x);
110 cos_fov_x = cos(theta_x);
111 slope_x = -cos_fov_x / sin_fov_x;
112 // printf("slope_x = %.2f\n", slope_x);
114 // fov_x_clip and fov_y_clip convoluted algebraic simplification
115 // see code executed in tilemgr.cxx when USE_FAST_FOV_CLIP not
116 // defined Norman Vine -- nhv@yahoo.com
117 #if defined( USE_FAST_FOV_CLIP )
118 fov_x_clip = slope_x*cos_fov_x - sin_fov_x;
119 #endif // defined( USE_FAST_FOV_CLIP )
121 // calculate sin() and cos() of fov / 2 in Y direction;
122 theta_y = (fov * DEG_TO_RAD) / 2.0;
123 // printf("theta_y = %.2f\n", theta_y);
124 sin_fov_y = sin(theta_y);
125 cos_fov_y = cos(theta_y);
126 slope_y = cos_fov_y / sin_fov_y;
127 // printf("slope_y = %.2f\n", slope_y);
129 #if defined( USE_FAST_FOV_CLIP )
130 fov_y_clip = -(slope_y*cos_fov_y + sin_fov_y);
131 #endif // defined( USE_FAST_FOV_CLIP )
136 void FGView::cycle_view_mode() {
137 if ( view_mode == FG_VIEW_FIRST_PERSON ) {
138 view_mode = FG_VIEW_FOLLOW;
139 } else if ( view_mode == FG_VIEW_FOLLOW ) {
140 view_mode = FG_VIEW_FIRST_PERSON;
145 // Basically, this is a modified version of the Mesa gluLookAt()
146 // function that's been modified slightly so we can capture the
147 // result before sending it off to OpenGL land.
148 void FGView::LookAt( GLdouble eyex, GLdouble eyey, GLdouble eyez,
149 GLdouble centerx, GLdouble centery, GLdouble centerz,
150 GLdouble upx, GLdouble upy, GLdouble upz ) {
152 GLdouble x[3], y[3], z[3];
155 m = current_view.MODEL_VIEW;
157 /* Make rotation matrix */
160 z[0] = eyex - centerx;
161 z[1] = eyey - centery;
162 z[2] = eyez - centerz;
163 mag = sqrt( z[0]*z[0] + z[1]*z[1] + z[2]*z[2] );
164 if (mag) { /* mpichler, 19950515 */
175 /* X vector = Y cross Z */
176 x[0] = y[1]*z[2] - y[2]*z[1];
177 x[1] = -y[0]*z[2] + y[2]*z[0];
178 x[2] = y[0]*z[1] - y[1]*z[0];
180 /* Recompute Y = Z cross X */
181 y[0] = z[1]*x[2] - z[2]*x[1];
182 y[1] = -z[0]*x[2] + z[2]*x[0];
183 y[2] = z[0]*x[1] - z[1]*x[0];
185 /* mpichler, 19950515 */
186 /* cross product gives area of parallelogram, which is < 1.0 for
187 * non-perpendicular unit-length vectors; so normalize x, y here
190 mag = sqrt( x[0]*x[0] + x[1]*x[1] + x[2]*x[2] );
197 mag = sqrt( y[0]*y[0] + y[1]*y[1] + y[2]*y[2] );
204 #define M(row,col) m[col*4+row]
205 M(0,0) = x[0]; M(0,1) = x[1]; M(0,2) = x[2]; M(0,3) = 0.0;
206 M(1,0) = y[0]; M(1,1) = y[1]; M(1,2) = y[2]; M(1,3) = 0.0;
207 M(2,0) = z[0]; M(2,1) = z[1]; M(2,2) = z[2]; M(2,3) = 0.0;
208 // the following is part of the original gluLookAt(), but we are
209 // commenting it out because we know we are going to be doing a
210 // translation below which will set these values anyways
211 // M(3,0) = 0.0; M(3,1) = 0.0; M(3,2) = 0.0; M(3,3) = 1.0;
214 // Translate Eye to Origin
215 // replaces: glTranslated( -eyex, -eyey, -eyez );
217 // this has been slightly modified from the original glTranslate()
218 // code because we know that coming into this m[12] = m[13] =
219 // m[14] = 0.0, and m[15] = 1.0;
220 m[12] = m[0] * -eyex + m[4] * -eyey + m[8] * -eyez /* + m[12] */;
221 m[13] = m[1] * -eyex + m[5] * -eyey + m[9] * -eyez /* + m[13] */;
222 m[14] = m[2] * -eyex + m[6] * -eyey + m[10] * -eyez /* + m[14] */;
223 m[15] = 1.0 /* m[3] * -eyex + m[7] * -eyey + m[11] * -eyez + m[15] */;
225 // xglMultMatrixd( m );
230 // Update the view volume, position, and orientation
231 void FGView::UpdateViewParams( void ) {
232 FGInterface *f = current_aircraft.fdm_state;
237 if ((current_options.get_panel_status() != panel_hist) && (current_options.get_panel_status()))
239 FGPanel::OurPanel->ReInit( 0, 0, 1024, 768);
242 if ( ! current_options.get_panel_status() ) {
243 xglViewport(0, 0 , (GLint)(winWidth), (GLint)(winHeight) );
245 xglViewport(0, (GLint)((winHeight)*0.5768), (GLint)(winWidth),
246 (GLint)((winHeight)*0.4232) );
249 // Tell GL we are about to modify the projection parameters
250 xglMatrixMode(GL_PROJECTION);
252 if ( f->get_Altitude() * FEET_TO_METER - scenery.cur_elev > 10.0 ) {
253 // ssgSetNearFar( 10.0, 100000.0 );
254 gluPerspective(current_options.get_fov(), win_ratio, 10.0, 100000.0);
256 // ssgSetNearFar( 0.5, 100000.0 );
257 gluPerspective(current_options.get_fov(), win_ratio, 0.5, 100000.0);
258 // printf("Near ground, minimizing near clip plane\n");
262 xglMatrixMode(GL_MODELVIEW);
265 // set up our view volume (default)
266 #if !defined(FG_VIEW_INLINE_OPTIMIZATIONS)
267 LookAt(view_pos.x(), view_pos.y(), view_pos.z(),
268 view_pos.x() + view_forward[0],
269 view_pos.y() + view_forward[1],
270 view_pos.z() + view_forward[2],
271 view_up[0], view_up[1], view_up[2]);
273 // look almost straight up (testing and eclipse watching)
274 /* LookAt(view_pos.x(), view_pos.y(), view_pos.z(),
275 view_pos.x() + view_up[0] + .001,
276 view_pos.y() + view_up[1] + .001,
277 view_pos.z() + view_up[2] + .001,
278 view_up[0], view_up[1], view_up[2]); */
280 // lock view horizontally towards sun (testing)
281 /* LookAt(view_pos.x(), view_pos.y(), view_pos.z(),
282 view_pos.x() + surface_to_sun[0],
283 view_pos.y() + surface_to_sun[1],
284 view_pos.z() + surface_to_sun[2],
285 view_up[0], view_up[1], view_up[2]); */
287 // lock view horizontally towards south (testing)
288 /* LookAt(view_pos.x(), view_pos.y(), view_pos.z(),
289 view_pos.x() + surface_south[0],
290 view_pos.y() + surface_south[1],
291 view_pos.z() + surface_south[2],
292 view_up[0], view_up[1], view_up[2]); */
294 #else // defined(FG_VIEW_INLINE_OPTIMIZATIONS)
295 //void FGView::LookAt( GLdouble eyex, GLdouble eyey, GLdouble eyez,
296 // GLdouble centerx, GLdouble centery, GLdouble centerz,
297 // GLdouble upx, GLdouble upy, GLdouble upz )
300 GLdouble x[3], y[3], z[3];
303 m = current_view.MODEL_VIEW;
305 /* Make rotation matrix */
308 z[0] = -view_forward[0]; //eyex - centerx;
309 z[1] = -view_forward[1]; //eyey - centery;
310 z[2] = -view_forward[2]; //eyez - centerz;
312 // In our case this is a unit vector NHV
314 // mag = sqrt( z[0]*z[0] + z[1]*z[1] + z[2]*z[2] );
315 // if (mag) { /* mpichler, 19950515 */
317 // printf("mag(%f) ", mag);
324 y[0] = view_up[0]; //upx;
325 y[1] = view_up[1]; //upy;
326 y[2] = view_up[2]; //upz;
328 /* X vector = Y cross Z */
329 x[0] = y[1]*z[2] - y[2]*z[1];
330 x[1] = -y[0]*z[2] + y[2]*z[0];
331 x[2] = y[0]*z[1] - y[1]*z[0];
333 // printf(" %f %f %f ", y[0], y[1], y[2]);
335 /* Recompute Y = Z cross X */
336 // y[0] = z[1]*x[2] - z[2]*x[1];
337 // y[1] = -z[0]*x[2] + z[2]*x[0];
338 // y[2] = z[0]*x[1] - z[1]*x[0];
340 // printf(" %f %f %f\n", y[0], y[1], y[2]);
342 // In our case these are unit vectors NHV
344 /* mpichler, 19950515 */
345 /* cross product gives area of parallelogram, which is < 1.0 for
346 * non-perpendicular unit-length vectors; so normalize x, y here
349 // mag = sqrt( x[0]*x[0] + x[1]*x[1] + x[2]*x[2] );
352 // printf("mag2(%f) ", mag);
358 // mag = sqrt( y[0]*y[0] + y[1]*y[1] + y[2]*y[2] );
361 // printf("mag3(%f)\n", mag);
367 #define M(row,col) m[col*4+row]
368 M(0,0) = x[0]; M(0,1) = x[1]; M(0,2) = x[2]; M(0,3) = 0.0;
369 M(1,0) = y[0]; M(1,1) = y[1]; M(1,2) = y[2]; M(1,3) = 0.0;
370 M(2,0) = z[0]; M(2,1) = z[1]; M(2,2) = z[2]; M(2,3) = 0.0;
371 // the following is part of the original gluLookAt(), but we are
372 // commenting it out because we know we are going to be doing a
373 // translation below which will set these values anyways
374 // M(3,0) = 0.0; M(3,1) = 0.0; M(3,2) = 0.0; M(3,3) = 1.0;
377 // Translate Eye to Origin
378 // replaces: glTranslated( -eyex, -eyey, -eyez );
380 // this has been slightly modified from the original glTranslate()
381 // code because we know that coming into this m[12] = m[13] =
382 // m[14] = 0.0, and m[15] = 1.0;
383 m[12] = m[0] * -view_pos.x() + m[4] * -view_pos.y() + m[8] * -view_pos.z() /* + m[12] */;
384 m[13] = m[1] * -view_pos.x() + m[5] * -view_pos.y() + m[9] * -view_pos.z() /* + m[13] */;
385 m[14] = m[2] * -view_pos.x() + m[6] * -view_pos.y() + m[10] * -view_pos.z() /* + m[14] */;
386 m[15] = 1.0 /* m[3] * -view_pos.x() + m[7] * -view_pos.y() + m[11] * -view_pos.z() + m[15] */;
388 // xglMultMatrixd( m );
391 #endif // FG_VIEW_INLINE_OPTIMIZATIONS
393 panel_hist = current_options.get_panel_status();
397 void getRotMatrix(double* out, MAT3vec vec, double radians)
399 /* This function contributed by Erich Boleyn (erich@uruk.org) */
400 /* This function used from the Mesa OpenGL code (matrix.c) */
402 double vx, vy, vz, xy, yz, zx, xs, ys, zs, one_c; //, xx, yy, zz
408 // mag = getMagnitude();
414 #define M(row,col) out[row*4 + col]
417 * Arbitrary axis rotation matrix.
419 * This is composed of 5 matrices, Rz, Ry, T, Ry', Rz', multiplied
420 * like so: Rz * Ry * T * Ry' * Rz'. T is the final rotation
421 * (which is about the X-axis), and the two composite transforms
422 * Ry' * Rz' and Rz * Ry are (respectively) the rotations necessary
423 * from the arbitrary axis to the X-axis then back. They are
424 * all elementary rotations.
426 * Rz' is a rotation about the Z-axis, to bring the axis vector
427 * into the x-z plane. Then Ry' is applied, rotating about the
428 * Y-axis to bring the axis vector parallel with the X-axis. The
429 * rotation about the X-axis is then performed. Ry and Rz are
430 * simply the respective inverse transforms to bring the arbitrary
431 * axis back to it's original orientation. The first transforms
432 * Rz' and Ry' are considered inverses, since the data from the
433 * arbitrary axis gives you info on how to get to it, not how
434 * to get away from it, and an inverse must be applied.
436 * The basic calculation used is to recognize that the arbitrary
437 * axis vector (x, y, z), since it is of unit length, actually
438 * represents the sines and cosines of the angles to rotate the
439 * X-axis to the same orientation, with theta being the angle about
440 * Z and phi the angle about Y (in the order described above)
443 * cos ( theta ) = x / sqrt ( 1 - z^2 )
444 * sin ( theta ) = y / sqrt ( 1 - z^2 )
446 * cos ( phi ) = sqrt ( 1 - z^2 )
449 * Note that cos ( phi ) can further be inserted to the above
452 * cos ( theta ) = x / cos ( phi )
453 * sin ( theta ) = y / cos ( phi )
455 * ...etc. Because of those relations and the standard trigonometric
456 * relations, it is pssible to reduce the transforms down to what
457 * is used below. It may be that any primary axis chosen will give the
458 * same results (modulo a sign convention) using thie method.
460 * Particularly nice is to notice that all divisions that might
461 * have caused trouble when parallel to certain planes or
462 * axis go away with care paid to reducing the expressions.
463 * After checking, it does perform correctly under all cases, since
464 * in all the cases of division where the denominator would have
465 * been zero, the numerator would have been zero as well, giving
466 * the expected result.
480 M(0,0) = (one_c * vx * vx) + c;
482 yz = vy * vz * one_c;
486 M(1,1) = (one_c * vy * vy) + c;
488 zx = vz * vx * one_c;
492 M(2,2) = (one_c * vz *vz) + c;
494 xy = vx * vy * one_c;
498 // M(0,0) = (one_c * xx) + c;
499 // M(1,0) = (one_c * xy) - zs;
500 // M(2,0) = (one_c * zx) + ys;
502 // M(0,1) = (one_c * xy) + zs;
503 // M(1,1) = (one_c * yy) + c;
504 // M(2,1) = (one_c * yz) - xs;
506 // M(0,2) = (one_c * zx) - ys;
507 // M(1,2) = (one_c * yz) + xs;
508 // M(2,2) = (one_c * zz) + c;
514 // Update the view parameters
515 void FGView::UpdateViewMath( FGInterface *f ) {
517 MAT3vec vec, forward, v0, minus_z;
518 MAT3mat R, TMP, UP, LOCAL, VIEW;
522 // printf("Updating fov\n");
523 UpdateFOV( current_options );
527 scenery.center = scenery.next_center;
529 #if !defined(FG_VIEW_INLINE_OPTIMIZATIONS)
530 // printf("scenery center = %.2f %.2f %.2f\n", scenery.center.x,
531 // scenery.center.y, scenery.center.z);
533 // calculate the cartesion coords of the current lat/lon/0 elev
534 p = Point3D( f->get_Longitude(),
535 f->get_Lat_geocentric(),
536 f->get_Sea_level_radius() * FEET_TO_METER );
538 cur_zero_elev = fgPolarToCart3d(p) - scenery.center;
540 // calculate view position in current FG view coordinate system
541 // p.lon & p.lat are already defined earlier, p.radius was set to
542 // the sea level radius, so now we add in our altitude.
543 if ( f->get_Altitude() * FEET_TO_METER >
544 (scenery.cur_elev + 0.5 * METER_TO_FEET) ) {
545 p.setz( p.radius() + f->get_Altitude() * FEET_TO_METER );
547 p.setz( p.radius() + scenery.cur_elev + 0.5 * METER_TO_FEET );
550 abs_view_pos = fgPolarToCart3d(p);
552 #else // FG_VIEW_INLINE_OPTIMIZATIONS
554 double tmp_radius = f->get_Sea_level_radius() * FEET_TO_METER;
555 double tmp = f->get_cos_lat_geocentric() * tmp_radius;
557 cur_zero_elev.setx(f->get_cos_longitude()*tmp - scenery.center.x());
558 cur_zero_elev.sety(f->get_sin_longitude()*tmp - scenery.center.y());
559 cur_zero_elev.setz(f->get_sin_lat_geocentric()*tmp_radius - scenery.center.z());
561 // calculate view position in current FG view coordinate system
562 // p.lon & p.lat are already defined earlier, p.radius was set to
563 // the sea level radius, so now we add in our altitude.
564 if ( f->get_Altitude() * FEET_TO_METER >
565 (scenery.cur_elev + 0.5 * METER_TO_FEET) ) {
566 tmp_radius += f->get_Altitude() * FEET_TO_METER;
568 tmp_radius += scenery.cur_elev + 0.5 * METER_TO_FEET ;
570 tmp = f->get_cos_lat_geocentric() * tmp_radius;
571 abs_view_pos.setx(f->get_cos_longitude()*tmp);
572 abs_view_pos.sety(f->get_sin_longitude()*tmp);
573 abs_view_pos.setz(f->get_sin_lat_geocentric()*tmp_radius);
575 #endif // FG_VIEW_INLINE_OPTIMIZATIONS
577 view_pos = abs_view_pos - scenery.center;
579 FG_LOG( FG_VIEW, FG_DEBUG, "Polar view pos = " << p );
580 FG_LOG( FG_VIEW, FG_DEBUG, "Absolute view pos = " << abs_view_pos );
581 FG_LOG( FG_VIEW, FG_DEBUG, "Relative view pos = " << view_pos );
583 // Derive the LOCAL aircraft rotation matrix (roll, pitch, yaw)
584 // from FG_T_local_to_body[3][3]
586 if ( use_larcsim_local_to_body ) {
588 // Question: Why is the LaRCsim matrix arranged so differently
589 // than the one we need???
591 // Answer (I think): The LaRCsim matrix is generated in a
592 // different reference frame than we've set up for our world
594 LOCAL[0][0] = f->get_T_local_to_body_33();
595 LOCAL[0][1] = -f->get_T_local_to_body_32();
596 LOCAL[0][2] = -f->get_T_local_to_body_31();
598 LOCAL[1][0] = -f->get_T_local_to_body_23();
599 LOCAL[1][1] = f->get_T_local_to_body_22();
600 LOCAL[1][2] = f->get_T_local_to_body_21();
602 LOCAL[2][0] = -f->get_T_local_to_body_13();
603 LOCAL[2][1] = f->get_T_local_to_body_12();
604 LOCAL[2][2] = f->get_T_local_to_body_11();
606 LOCAL[3][0] = LOCAL[3][1] = LOCAL[3][2] = LOCAL[3][3] = 0.0;
609 // printf("LaRCsim LOCAL matrix\n");
610 // MAT3print(LOCAL, stdout);
614 // calculate the transformation matrix to go from LaRCsim to ssg
616 sgSetVec3( vec1, 0.0, 1.0, 0.0 );
618 sgMakeRotMat4( mat1, 90, vec1 );
621 sgSetVec3( vec2, 1.0, 0.0, 0.0 );
623 sgMakeRotMat4( mat2, 90, vec2 );
625 sgMultMat4( sgLARC_TO_SSG, mat1, mat2 );
628 cout << "LaRCsim to SSG:" << endl;
632 for ( i = 0; i < 4; i++ ) {
633 for ( j = 0; j < 4; j++ ) {
634 print[i][j] = sgLARC_TO_SSG[i][j];
637 MAT3print( print, stdout);
640 // code to calculate LOCAL matrix calculated from Phi, Theta, and
641 // Psi (roll, pitch, yaw) in case we aren't running LaRCsim as our
644 MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
645 MAT3rotate(R, vec, f->get_Phi());
646 // cout << "Roll matrix" << endl;
647 // MAT3print(R, stdout);
650 sgSetVec3( sgrollvec, 0.0, 0.0, 1.0 );
651 sgMat4 sgPHI; // roll
652 sgMakeRotMat4( sgPHI, f->get_Phi() * RAD_TO_DEG, sgrollvec );
655 MAT3_SET_VEC(vec, 0.0, 1.0, 0.0);
656 MAT3rotate(TMP, vec, f->get_Theta());
657 // cout << "Pitch matrix" << endl;;
658 // MAT3print(TMP, stdout);
660 // cout << "tmp rotation matrix, R:" << endl;;
661 // MAT3print(R, stdout);
664 sgSetVec3( sgpitchvec, 0.0, 1.0, 0.0 );
665 sgMat4 sgTHETA; // pitch
666 sgMakeRotMat4( sgTHETA, f->get_Theta() * RAD_TO_DEG,
670 sgMultMat4( sgROT, sgPHI, sgTHETA );
673 MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
674 MAT3rotate(TMP, vec, -f->get_Psi());
675 // cout << "Yaw matrix" << endl;
676 // MAT3print(TMP, stdout);
677 MAT3mult(LOCAL, R, TMP);
678 // cout << "LOCAL matrix:" << endl;
679 // MAT3print(LOCAL, stdout);
682 sgSetVec3( sgyawvec, 1.0, 0.0, 0.0 );
683 sgMat4 sgPSI; // pitch
684 sgMakeRotMat4( sgPSI, -f->get_Psi() * RAD_TO_DEG, sgyawvec );
686 sgMultMat4( sgLOCAL, sgROT, sgPSI );
692 for ( i = 0; i < 4; i++ ) {
693 for ( j = 0; j < 4; j++ ) {
694 print[i][j] = sgLOCAL[i][j];
697 MAT3print( print, stdout);
699 } // if ( use_larcsim_local_to_body )
701 #if !defined(FG_VIEW_INLINE_OPTIMIZATIONS)
703 // Derive the local UP transformation matrix based on *geodetic*
705 MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
706 MAT3rotate(R, vec, f->get_Longitude()); // R = rotate about Z axis
707 // printf("Longitude matrix\n");
708 // MAT3print(R, stdout);
710 MAT3_SET_VEC(vec, 0.0, 1.0, 0.0);
711 MAT3mult_vec(vec, vec, R);
712 MAT3rotate(TMP, vec, -f->get_Latitude()); // TMP = rotate about X axis
713 // printf("Latitude matrix\n");
714 // MAT3print(TMP, stdout);
716 MAT3mult(UP, R, TMP);
717 // cout << "Local up matrix" << endl;;
718 // MAT3print(UP, stdout);
721 f->get_Longitude() * RAD_TO_DEG,
723 -f->get_Latitude() * RAD_TO_DEG );
725 cout << "FG derived UP matrix using sg routines" << endl;
729 for ( i = 0; i < 4; i++ ) {
730 for ( j = 0; j < 4; j++ ) {
731 print[i][j] = sgUP[i][j];
734 MAT3print( print, stdout);
737 MAT3_SET_VEC(local_up, 1.0, 0.0, 0.0);
738 MAT3mult_vec(local_up, local_up, UP);
740 // printf( "Local Up = (%.4f, %.4f, %.4f)\n",
741 // local_up[0], local_up[1], local_up[2]);
743 // Alternative method to Derive local up vector based on
744 // *geodetic* coordinates
745 // alt_up = fgPolarToCart(FG_Longitude, FG_Latitude, 1.0);
746 // printf( " Alt Up = (%.4f, %.4f, %.4f)\n",
747 // alt_up.x, alt_up.y, alt_up.z);
749 // Calculate the VIEW matrix
750 MAT3mult(VIEW, LOCAL, UP);
751 // cout << "VIEW matrix" << endl;;
752 // MAT3print(VIEW, stdout);
755 sgMultMat4( sgTMP, sgLOCAL, sgUP );
756 sgMultMat4( sgVIEW_ROT, sgLARC_TO_SSG, sgTMP );
758 sgMakeTransMat4( sgTRANS, view_pos.x(), view_pos.y(), view_pos.z() );
760 sgMultMat4( sgVIEW, sgVIEW_ROT, sgTRANS );
763 sgCopyMat4( tmp.m, sgVIEW );
764 follow.push_back( tmp );
767 cout << "FG derived VIEW matrix using sg routines" << endl;
771 for ( i = 0; i < 4; i++ ) {
772 for ( j = 0; j < 4; j++ ) {
773 print[i][j] = sgVIEW[i][j];
776 MAT3print( print, stdout);
780 // generate the current up, forward, and fwrd-view vectors
781 MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
782 MAT3mult_vec(view_up, vec, VIEW);
784 MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
785 MAT3mult_vec(forward, vec, VIEW);
786 // printf( "Forward vector is (%.2f,%.2f,%.2f)\n", forward[0], forward[1],
789 MAT3rotate(TMP, view_up, view_offset);
790 MAT3mult_vec(view_forward, forward, TMP);
792 // make a vector to the current view position
793 MAT3_SET_VEC(v0, view_pos.x(), view_pos.y(), view_pos.z());
795 // Given a vector pointing straight down (-Z), map into onto the
796 // local plane representing "horizontal". This should give us the
797 // local direction for moving "south".
798 MAT3_SET_VEC(minus_z, 0.0, 0.0, -1.0);
799 map_vec_onto_cur_surface_plane(local_up, v0, minus_z, surface_south);
800 MAT3_NORMALIZE_VEC(surface_south, ntmp);
801 // printf( "Surface direction directly south %.2f %.2f %.2f\n",
802 // surface_south[0], surface_south[1], surface_south[2]);
804 // now calculate the surface east vector
805 MAT3rotate(TMP, view_up, FG_PI_2);
806 MAT3mult_vec(surface_east, surface_south, TMP);
807 // printf( "Surface direction directly east %.2f %.2f %.2f\n",
808 // surface_east[0], surface_east[1], surface_east[2]);
809 // printf( "Should be close to zero = %.2f\n",
810 // MAT3_DOT_PRODUCT(surface_south, surface_east));
812 #else // FG_VIEW_INLINE_OPTIMIZATIONS
814 // // Build spherical to cartesian transform matrix directly
815 double cos_lat = f->get_cos_latitude(); // cos(-f->get_Latitude());
816 double sin_lat = -f->get_sin_latitude(); // sin(-f->get_Latitude());
817 double cos_lon = f->get_cos_longitude(); //cos(f->get_Longitude());
818 double sin_lon = f->get_sin_longitude(); //sin(f->get_Longitude());
820 double *mat = (double *)UP;
822 mat[0] = cos_lat*cos_lon;
823 mat[1] = cos_lat*sin_lon;
830 mat[8] = sin_lat*cos_lon;
831 mat[9] = sin_lat*sin_lon;
833 mat[11] = mat[12] = mat[13] = mat[14] = 0.0;
836 MAT3mult(VIEW, LOCAL, UP);
838 // THESE COULD JUST BE POINTERS !!!
839 MAT3_SET_VEC(local_up, mat[0], mat[1], mat[2]);
840 MAT3_SET_VEC(view_up, VIEW[0][0], VIEW[0][1], VIEW[0][2]);
841 MAT3_SET_VEC(forward, VIEW[2][0], VIEW[2][1], VIEW[2][2]);
843 getRotMatrix((double *)TMP, view_up, view_offset);
844 MAT3mult_vec(view_forward, forward, TMP);
846 // make a vector to the current view position
847 MAT3_SET_VEC(v0, view_pos.x(), view_pos.y(), view_pos.z());
849 // Given a vector pointing straight down (-Z), map into onto the
850 // local plane representing "horizontal". This should give us the
851 // local direction for moving "south".
852 MAT3_SET_VEC(minus_z, 0.0, 0.0, -1.0);
853 map_vec_onto_cur_surface_plane(local_up, v0, minus_z, surface_south);
855 MAT3_NORMALIZE_VEC(surface_south, ntmp);
856 // printf( "Surface direction directly south %.6f %.6f %.6f\n",
857 // surface_south[0], surface_south[1], surface_south[2]);
859 // now calculate the surface east vector
860 getRotMatrix((double *)TMP, view_up, FG_PI_2);
861 MAT3mult_vec(surface_east, surface_south, TMP);
862 // printf( "Surface direction directly east %.6f %.6f %.6f\n",
863 // surface_east[0], surface_east[1], surface_east[2]);
864 // printf( "Should be close to zero = %.6f\n",
865 // MAT3_DOT_PRODUCT(surface_south, surface_east));
866 #endif // !defined(FG_VIEW_INLINE_OPTIMIZATIONS)
870 // Update the "World to Eye" transformation matrix
871 // This is most useful for view frustum culling
872 void FGView::UpdateWorldToEye( FGInterface *f ) {
873 MAT3mat R_Phi, R_Theta, R_Psi, R_Lat, R_Lon, T_view;
877 if ( use_larcsim_local_to_body ) {
879 // Question: hey this is even different then LOCAL[][] above??
880 // Answer: yet another coordinate system, this time the
881 // coordinate system in which we do our view frustum culling.
883 AIRCRAFT[0][0] = -f->get_T_local_to_body_22();
884 AIRCRAFT[0][1] = -f->get_T_local_to_body_23();
885 AIRCRAFT[0][2] = f->get_T_local_to_body_21();
886 AIRCRAFT[0][3] = 0.0;
887 AIRCRAFT[1][0] = f->get_T_local_to_body_32();
888 AIRCRAFT[1][1] = f->get_T_local_to_body_33();
889 AIRCRAFT[1][2] = -f->get_T_local_to_body_31();
890 AIRCRAFT[1][3] = 0.0;
891 AIRCRAFT[2][0] = f->get_T_local_to_body_12();
892 AIRCRAFT[2][1] = f->get_T_local_to_body_13();
893 AIRCRAFT[2][2] = -f->get_T_local_to_body_11();
894 AIRCRAFT[2][3] = 0.0;
895 AIRCRAFT[3][0] = AIRCRAFT[3][1] = AIRCRAFT[3][2] = AIRCRAFT[3][3] = 0.0;
896 AIRCRAFT[3][3] = 1.0;
901 MAT3_SET_HVEC(vec, 0.0, 0.0, -1.0, 1.0);
902 MAT3rotate(R_Phi, vec, f->get_Phi());
903 // printf("Roll matrix (Phi)\n");
904 // MAT3print(R_Phi, stdout);
907 MAT3_SET_HVEC(vec, 1.0, 0.0, 0.0, 1.0);
908 MAT3rotate(R_Theta, vec, f->get_Theta());
909 // printf("\nPitch matrix (Theta)\n");
910 // MAT3print(R_Theta, stdout);
913 MAT3_SET_HVEC(vec, 0.0, -1.0, 0.0, 1.0);
914 MAT3rotate(R_Psi, vec, f->get_Psi() + FG_PI /* - view_offset */ );
915 // MAT3rotate(R_Psi, vec, f->get_Psi() + FG_PI - view_offset );
916 // printf("\nYaw matrix (Psi)\n");
917 // MAT3print(R_Psi, stdout);
919 // aircraft roll/pitch/yaw
920 MAT3mult(TMP, R_Phi, R_Theta);
921 MAT3mult(AIRCRAFT, TMP, R_Psi);
923 } // if ( use_larcsim_local_to_body )
925 #if !defined(FG_VIEW_INLINE_OPTIMIZATIONS)
927 // printf("AIRCRAFT matrix\n");
928 // MAT3print(AIRCRAFT, stdout);
930 // View rotation matrix relative to current aircraft orientation
931 MAT3_SET_HVEC(vec, 0.0, -1.0, 0.0, 1.0);
932 MAT3mult_vec(vec, vec, AIRCRAFT);
933 // printf("aircraft up vector = %.2f %.2f %.2f\n",
934 // vec[0], vec[1], vec[2]);
935 MAT3rotate(TMP, vec, -view_offset );
936 MAT3mult(VIEW_OFFSET, AIRCRAFT, TMP);
937 // printf("VIEW_OFFSET matrix\n");
938 // MAT3print(VIEW_OFFSET, stdout);
940 // View position in scenery centered coordinates
941 MAT3_SET_HVEC(vec, view_pos.x(), view_pos.y(), view_pos.z(), 1.0);
942 MAT3translate(T_view, vec);
943 // printf("\nTranslation matrix\n");
944 // MAT3print(T_view, stdout);
947 MAT3_SET_HVEC(vec, 1.0, 0.0, 0.0, 1.0);
948 // R_Lat = rotate about X axis
949 MAT3rotate(R_Lat, vec, f->get_Latitude());
950 // printf("\nLatitude matrix\n");
951 // MAT3print(R_Lat, stdout);
954 MAT3_SET_HVEC(vec, 0.0, 0.0, 1.0, 1.0);
955 // R_Lon = rotate about Z axis
956 MAT3rotate(R_Lon, vec, f->get_Longitude() - FG_PI_2 );
957 // printf("\nLongitude matrix\n");
958 // MAT3print(R_Lon, stdout);
961 MAT3mult(WORLD, R_Lat, R_Lon);
962 // printf("\nworld\n");
963 // MAT3print(WORLD, stdout);
965 MAT3mult(EYE_TO_WORLD, VIEW_OFFSET, WORLD);
966 MAT3mult(EYE_TO_WORLD, EYE_TO_WORLD, T_view);
967 // printf("\nEye to world\n");
968 // MAT3print(EYE_TO_WORLD, stdout);
970 MAT3invert(WORLD_TO_EYE, EYE_TO_WORLD);
971 // printf("\nWorld to eye\n");
972 // MAT3print(WORLD_TO_EYE, stdout);
974 // printf( "\nview_pos = %.2f %.2f %.2f\n",
975 // view_pos.x, view_pos.y, view_pos.z );
977 // MAT3_SET_HVEC(eye, 0.0, 0.0, 0.0, 1.0);
978 // MAT3mult_vec(vec, eye, EYE_TO_WORLD);
979 // printf("\neye -> world = %.2f %.2f %.2f\n", vec[0], vec[1], vec[2]);
981 // MAT3_SET_HVEC(vec1, view_pos.x, view_pos.y, view_pos.z, 1.0);
982 // MAT3mult_vec(vec, vec1, WORLD_TO_EYE);
983 // printf( "\nabs_view_pos -> eye = %.2f %.2f %.2f\n",
984 // vec[0], vec[1], vec[2]);
985 #else // FG_VIEW_INLINE_OPTIMIZATIONS
987 MAT3_SET_HVEC(vec, -AIRCRAFT[1][0], -AIRCRAFT[1][1], -AIRCRAFT[1][2], -AIRCRAFT[1][3]);
988 getRotMatrix((double *)TMP, vec, -view_offset );
989 MAT3mult(VIEW_OFFSET, AIRCRAFT, TMP);
990 // MAT3print_formatted(VIEW_OFFSET, stdout, "VIEW_OFFSET matrix:\n",
991 // NULL, "%#8.6f ", "\n");
993 // Build spherical to cartesian transform matrix directly
994 double *mat = (double *)WORLD; //T_view; //WORLD;
995 double cos_lat = f->get_cos_latitude(); //cos(f->get_Latitude());
996 double sin_lat = f->get_sin_latitude(); //sin(f->get_Latitude());
997 // using trig identities this:
998 // mat[0] = cos(f->get_Longitude() - FG_PI_2);//cos_lon;
999 // mat[1] = sin(f->get_Longitude() - FG_PI_2);//sin_lon;
1000 // becomes this: :-)
1001 mat[0] = f->get_sin_longitude(); //cos_lon;
1002 mat[1] = -f->get_cos_longitude(); //sin_lon;
1003 mat[4] = -cos_lat*mat[1]; //mat[1]=sin_lon;
1004 mat[5] = cos_lat*mat[0]; //mat[0]=cos_lon;
1006 mat[8] = sin_lat*mat[1]; //mat[1]=sin_lon;
1007 mat[9] = -sin_lat*mat[0]; //mat[0]=cos_lon;
1010 // BUILD EYE_TO_WORLD = AIRCRAFT * WORLD
1011 // and WORLD_TO_EYE = Inverse( EYE_TO_WORLD) concurrently
1012 // by Transposing the 3x3 rotation sub-matrix
1013 WORLD_TO_EYE[0][0] = EYE_TO_WORLD[0][0] =
1014 VIEW_OFFSET[0][0]*mat[0] + VIEW_OFFSET[0][1]*mat[4] + VIEW_OFFSET[0][2]*mat[8];
1016 WORLD_TO_EYE[1][0] = EYE_TO_WORLD[0][1] =
1017 VIEW_OFFSET[0][0]*mat[1] + VIEW_OFFSET[0][1]*mat[5] + VIEW_OFFSET[0][2]*mat[9];
1019 WORLD_TO_EYE[2][0] = EYE_TO_WORLD[0][2] =
1020 VIEW_OFFSET[0][1]*mat[6] + VIEW_OFFSET[0][2]*mat[10];
1022 WORLD_TO_EYE[0][1] = EYE_TO_WORLD[1][0] =
1023 VIEW_OFFSET[1][0]*mat[0] + VIEW_OFFSET[1][1]*mat[4] + VIEW_OFFSET[1][2]*mat[8];
1025 WORLD_TO_EYE[1][1] = EYE_TO_WORLD[1][1] =
1026 VIEW_OFFSET[1][0]*mat[1] + VIEW_OFFSET[1][1]*mat[5] + VIEW_OFFSET[1][2]*mat[9];
1028 WORLD_TO_EYE[2][1] = EYE_TO_WORLD[1][2] =
1029 VIEW_OFFSET[1][1]*mat[6] + VIEW_OFFSET[1][2]*mat[10];
1031 WORLD_TO_EYE[0][2] = EYE_TO_WORLD[2][0] =
1032 VIEW_OFFSET[2][0]*mat[0] + VIEW_OFFSET[2][1]*mat[4] + VIEW_OFFSET[2][2]*mat[8];
1034 WORLD_TO_EYE[1][2] = EYE_TO_WORLD[2][1] =
1035 VIEW_OFFSET[2][0]*mat[1] + VIEW_OFFSET[2][1]*mat[5] + VIEW_OFFSET[2][2]*mat[9];
1037 WORLD_TO_EYE[2][2] = EYE_TO_WORLD[2][2] =
1038 VIEW_OFFSET[2][1]*mat[6] + VIEW_OFFSET[2][2]*mat[10];
1040 // TRANSLATE TO VIEW POSITION
1041 EYE_TO_WORLD[3][0] = view_pos.x();
1042 EYE_TO_WORLD[3][1] = view_pos.y();
1043 EYE_TO_WORLD[3][2] = view_pos.z();
1046 WORLD_TO_EYE[0][3] = WORLD_TO_EYE[1][3] = WORLD_TO_EYE[2][3] =
1047 EYE_TO_WORLD[0][3] = EYE_TO_WORLD[1][3] = EYE_TO_WORLD[2][3] = 0.0;
1049 // FILL UNITY ENTRIES
1050 WORLD_TO_EYE[3][3] = EYE_TO_WORLD[3][3] = 1.0;
1052 /* MAKE THE INVERTED TRANSLATIONS */
1053 mat = (double *)EYE_TO_WORLD;
1054 WORLD_TO_EYE[3][0] = -mat[12]*mat[0]
1058 WORLD_TO_EYE[3][1] = -mat[12]*mat[4]
1062 WORLD_TO_EYE[3][2] = -mat[12]*mat[8]
1066 // MAT3print_formatted(EYE_TO_WORLD, stdout, "EYE_TO_WORLD matrix:\n",
1067 // NULL, "%#8.6f ", "\n");
1069 // MAT3print_formatted(WORLD_TO_EYE, stdout, "WORLD_TO_EYE matrix:\n",
1070 // NULL, "%#8.6f ", "\n");
1072 #endif // defined(FG_VIEW_INLINE_OPTIMIZATIONS)
1077 // Reject non viewable spheres from current View Frustrum by Curt
1078 // Olson curt@me.umn.edu and Norman Vine nhv@yahoo.com with 'gentle
1079 // guidance' from Steve Baker sbaker@link.com
1081 FGView::SphereClip( const Point3D& cp, const double radius )
1093 mat = (double *)(WORLD_TO_EYE);
1095 eye[2] = x*mat[2] + y*mat[6] + z*mat[10] + mat[14];
1097 // Check near and far clip plane
1098 if( ( eye[2] > radius ) ||
1099 ( eye[2] + radius + current_weather.visibility < 0) )
1100 // ( eye[2] + radius + far_plane < 0) )
1105 // check right and left clip plane (from eye perspective)
1106 x1 = radius * fov_x_clip;
1107 eye[0] = (x*mat[0] + y*mat[4] + z*mat[8] + mat[12]) * slope_x;
1108 if( (eye[2] > -(eye[0]+x1)) || (eye[2] > (eye[0]-x1)) ) {
1112 // check bottom and top clip plane (from eye perspective)
1113 y1 = radius * fov_y_clip;
1114 eye[1] = (x*mat[1] + y*mat[5] + z*mat[9] + mat[13]) * slope_y;
1115 if( (eye[2] > -(eye[1]+y1)) || (eye[2] > (eye[1]-y1)) ) {
1125 FGView::~FGView( void ) {