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@flightgear.org
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 <plib/ssg.h> // plib include
31 #include <simgear/constants.h>
32 #include <simgear/debug/logstream.hxx>
33 #include <simgear/math/point3d.hxx>
34 #include <simgear/math/polar3d.hxx>
35 #include <simgear/math/vector.hxx>
37 #include <Aircraft/aircraft.hxx>
38 #include <Cockpit/panel.hxx>
39 #include <Scenery/scenery.hxx>
40 #include <Time/fg_time.hxx>
42 #include "options.hxx"
46 // temporary (hopefully) hack
47 static int panel_hist = 0;
50 // This is a record containing current view parameters for the current
54 // This is a record containing current view parameters for the current
60 FGView::FGView( void ) {
64 // Initialize a view structure
65 void FGView::Init( void ) {
66 FG_LOG( FG_VIEW, FG_INFO, "Initializing View parameters" );
69 goal_view_offset = 0.0;
70 sgSetVec3( pilot_offset, 0.0, 0.0, 0.0 );
72 winWidth = current_options.get_xsize();
73 winHeight = current_options.get_ysize();
75 if ( ! current_options.get_panel_status() ) {
76 set_win_ratio( (GLfloat) winWidth / (GLfloat) winHeight );
78 set_win_ratio( (GLfloat) winWidth /
79 ((GLfloat) (winHeight)*0.4232) );
82 // This never changes -- NHV
83 LARC_TO_SSG[0][0] = 0.0;
84 LARC_TO_SSG[0][1] = 1.0;
85 LARC_TO_SSG[0][2] = -0.0;
86 LARC_TO_SSG[0][3] = 0.0;
88 LARC_TO_SSG[1][0] = 0.0;
89 LARC_TO_SSG[1][1] = 0.0;
90 LARC_TO_SSG[1][2] = 1.0;
91 LARC_TO_SSG[1][3] = 0.0;
93 LARC_TO_SSG[2][0] = 1.0;
94 LARC_TO_SSG[2][1] = -0.0;
95 LARC_TO_SSG[2][2] = 0.0;
96 LARC_TO_SSG[2][3] = 0.0;
98 LARC_TO_SSG[3][0] = 0.0;
99 LARC_TO_SSG[3][1] = 0.0;
100 LARC_TO_SSG[3][2] = 0.0;
101 LARC_TO_SSG[3][3] = 1.0;
103 force_update_fov_math();
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;
141 // Update the view volume, position, and orientation
142 void FGView::UpdateViewParams( const FGInterface& f ) {
145 if ( ! current_options.get_panel_status() ) {
146 xglViewport(0, 0 , (GLint)(winWidth), (GLint)(winHeight) );
148 xglViewport(0, (GLint)((winHeight)*0.5768), (GLint)(winWidth),
149 (GLint)((winHeight)*0.4232) );
152 panel_hist = current_options.get_panel_status();
156 // convert sgMat4 to MAT3 and print
157 static void print_sgMat4( sgMat4 &in) {
159 for ( i = 0; i < 4; i++ ) {
160 for ( j = 0; j < 4; j++ ) {
161 printf("%10.4f ", in[i][j]);
168 // Update the view parameters
169 void FGView::UpdateViewMath( const FGInterface& f ) {
172 sgVec3 v0, minus_z, sgvec, forward;
176 ssgSetFOV( current_options.get_fov(),
177 current_options.get_fov() * win_ratio );
181 scenery.center = scenery.next_center;
183 // printf("scenery center = %.2f %.2f %.2f\n", scenery.center.x,
184 // scenery.center.y, scenery.center.z);
186 // calculate the cartesion coords of the current lat/lon/0 elev
187 p = Point3D( f.get_Longitude(),
188 f.get_Lat_geocentric(),
189 f.get_Sea_level_radius() * FEET_TO_METER );
191 cur_zero_elev = fgPolarToCart3d(p) - scenery.center;
193 // calculate view position in current FG view coordinate system
194 // p.lon & p.lat are already defined earlier, p.radius was set to
195 // the sea level radius, so now we add in our altitude.
196 if ( f.get_Altitude() * FEET_TO_METER >
197 (scenery.cur_elev + 0.5 * METER_TO_FEET) ) {
198 p.setz( p.radius() + f.get_Altitude() * FEET_TO_METER );
200 p.setz( p.radius() + scenery.cur_elev + 0.5 * METER_TO_FEET );
203 abs_view_pos = fgPolarToCart3d(p);
205 view_pos = abs_view_pos - scenery.center;
207 FG_LOG( FG_VIEW, FG_DEBUG, "Polar view pos = " << p );
208 FG_LOG( FG_VIEW, FG_DEBUG, "Absolute view pos = " << abs_view_pos );
209 FG_LOG( FG_VIEW, FG_DEBUG, "Relative view pos = " << view_pos );
211 // code to calculate LOCAL matrix calculated from Phi, Theta, and
212 // Psi (roll, pitch, yaw) in case we aren't running LaRCsim as our
215 #ifdef USE_FAST_LOCAL
217 fgMakeLOCAL( LOCAL, f.get_Theta(), f.get_Phi(), -f.get_Psi() );
219 #else // USE_TEXT_BOOK_METHOD
222 sgSetVec3( rollvec, 0.0, 0.0, 1.0 );
224 sgMakeRotMat4( PHI, f.get_Phi() * RAD_TO_DEG, rollvec );
227 sgSetVec3( pitchvec, 0.0, 1.0, 0.0 );
228 sgMat4 THETA; // pitch
229 sgMakeRotMat4( THETA, f.get_Theta() * RAD_TO_DEG, pitchvec );
233 // sgMultMat4( ROT, PHI, THETA );
234 sgCopyMat4( ROT, PHI );
235 sgPostMultMat4( ROT, THETA );
238 sgSetVec3( yawvec, 1.0, 0.0, 0.0 );
240 sgMakeRotMat4( PSI, -f.get_Psi() * RAD_TO_DEG, yawvec );
243 // sgMultMat4( LOCAL, ROT, PSI );
244 sgCopyMat4( LOCAL, ROT );
245 sgPostMultMat4( LOCAL, PSI );
249 // cout << "LOCAL matrix" << endl;
250 // print_sgMat4( LOCAL );
253 f.get_Longitude() * RAD_TO_DEG,
255 -f.get_Latitude() * RAD_TO_DEG );
257 sgSetVec3( local_up, UP[0][0], UP[0][1], UP[0][2] );
258 // sgXformVec3( local_up, UP );
259 // cout << "Local Up = " << local_up[0] << "," << local_up[1] << ","
260 // << local_up[2] << endl;
262 // Alternative method to Derive local up vector based on
263 // *geodetic* coordinates
264 // alt_up = fgPolarToCart(FG_Longitude, FG_Latitude, 1.0);
265 // printf( " Alt Up = (%.4f, %.4f, %.4f)\n",
266 // alt_up.x, alt_up.y, alt_up.z);
268 // VIEWo = LOCAL * UP
269 // sgMultMat4( VIEWo, LOCAL, UP );
270 sgCopyMat4( VIEWo, LOCAL );
271 sgPostMultMat4( VIEWo, UP );
272 // cout << "VIEWo matrix" << endl;
273 // print_sgMat4( VIEWo );
275 // generate the sg view up and forward vectors
276 sgSetVec3( view_up, VIEWo[0][0], VIEWo[0][1], VIEWo[0][2] );
277 // cout << "view = " << view[0] << ","
278 // << view[1] << "," << view[2] << endl;
279 sgSetVec3( forward, VIEWo[2][0], VIEWo[2][1], VIEWo[2][2] );
280 // cout << "forward = " << forward[0] << ","
281 // << forward[1] << "," << forward[2] << endl;
283 // generate the pilot offset vector in world coordinates
284 sgVec3 pilot_offset_world;
285 sgSetVec3( pilot_offset_world,
286 pilot_offset[2], pilot_offset[1], -pilot_offset[0] );
287 sgXformVec3( pilot_offset_world, pilot_offset_world, VIEWo );
289 // generate the view offset matrix
290 sgMakeRotMat4( VIEW_OFFSET, view_offset * RAD_TO_DEG, view_up );
291 // cout << "VIEW_OFFSET matrix" << endl;
292 // print_sgMat4( VIEW_OFFSET );
294 // VIEW_ROT = LARC_TO_SSG * ( VIEWo * VIEW_OFFSET )
296 // sgMultMat4( TMP2, VIEWo, VIEW_OFFSET );
297 // sgMultMat4( VIEW_ROT, LARC_TO_SSG, TMP2 );
298 sgCopyMat4( VIEW_ROT, VIEWo );
299 sgPostMultMat4( VIEW_ROT, VIEW_OFFSET );
300 sgPreMultMat4( VIEW_ROT, LARC_TO_SSG );
302 // cout << "VIEW_ROT matrix" << endl;
303 // print_sgMat4( VIEW_ROT );
307 sgSetVec3( trans_vec,
308 view_pos.x() + pilot_offset_world[0],
309 view_pos.y() + pilot_offset_world[1],
310 view_pos.z() + pilot_offset_world[2] );
312 // VIEW = VIEW_ROT * TRANS
313 sgCopyMat4( VIEW, VIEW_ROT );
314 sgPostMultMat4ByTransMat4( VIEW, trans_vec );
316 //!!!!!!!!!!!!!!!!!!!
317 // THIS IS THE EXPERIMENTAL VIEWING ANGLE SHIFTER
318 // THE MAJORITY OF THE WORK IS DONE IN GUI.CXX
319 // this in gui.cxx for now just testing
320 extern float quat_mat[4][4];
321 sgPreMultMat4( VIEW, quat_mat);
322 // !!!!!!!!!! testing
324 sgMakeRotMat4( TMP, view_offset * RAD_TO_DEG, view_up );
325 sgXformVec3( view_forward, forward, TMP );
326 // cout << "view_forward = " << view_forward[0] << ","
327 // << view_forward[1] << "," << view_forward[2] << endl;
329 // make a vector to the current view position
330 sgSetVec3( v0, view_pos.x(), view_pos.y(), view_pos.z() );
332 // Given a vector pointing straight down (-Z), map into onto the
333 // local plane representing "horizontal". This should give us the
334 // local direction for moving "south".
335 sgSetVec3( minus_z, 0.0, 0.0, -1.0 );
337 sgmap_vec_onto_cur_surface_plane(local_up, v0, minus_z, surface_south);
338 sgNormalizeVec3(surface_south);
339 // cout << "Surface direction directly south " << surface_south[0] << ","
340 // << surface_south[1] << "," << surface_south[2] << endl;
342 // now calculate the surface east vector
343 sgMakeRotMat4( TMP, FG_PI_2 * RAD_TO_DEG, view_up );
344 // cout << "sgMat4 TMP" << endl;
345 // print_sgMat4( TMP );
346 sgXformVec3(surface_east, surface_south, TMP);
347 // cout << "Surface direction directly east" << surface_east[0] << ","
348 // << surface_east[1] << "," << surface_east[2] << endl;
349 // cout << "Should be close to zero = "
350 // << sgScalarProductVec3(surface_south, surface_east) << endl;
355 FGView::~FGView( void ) {