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.
24 #include <simgear/compiler.h>
30 #include <plib/ssg.h> // plib include
32 #include <simgear/constants.h>
33 #include <simgear/debug/logstream.hxx>
34 #include <simgear/math/point3d.hxx>
35 #include <simgear/math/polar3d.hxx>
36 #include <simgear/math/vector.hxx>
38 #include <Aircraft/aircraft.hxx>
39 #include <Cockpit/panel.hxx>
40 #include <Scenery/scenery.hxx>
42 #include "options.hxx"
46 // This is a record containing current view parameters for the current
50 // This is a record containing current view parameters for the current
56 FGView::FGView( void ) {
59 #define USE_FAST_VIEWROT
60 #ifdef USE_FAST_VIEWROT
61 // VIEW_ROT = LARC_TO_SSG * ( VIEWo * VIEW_OFFSET )
62 // This takes advantage of the fact that VIEWo and VIEW_OFFSET
63 // only have entries in the upper 3x3 block
64 // and that LARC_TO_SSG is just a shift of rows NHV
65 inline static void fgMakeViewRot( sgMat4 dst, const sgMat4 m1, const sgMat4 m2 )
67 for ( int j = 0 ; j < 3 ; j++ ) {
68 dst[2][j] = m2[0][0] * m1[0][j] +
72 dst[0][j] = m2[1][0] * m1[0][j] +
76 dst[1][j] = m2[2][0] * m1[0][j] +
90 // Initialize a view structure
91 void FGView::Init( void ) {
92 FG_LOG( FG_VIEW, FG_INFO, "Initializing View parameters" );
95 goal_view_offset = 0.0;
96 sgSetVec3( pilot_offset, 0.0, 0.0, 0.0 );
98 winWidth = current_options.get_xsize();
99 winHeight = current_options.get_ysize();
101 if ( ! current_options.get_panel_status() ) {
102 set_win_ratio( winHeight / winWidth );
104 set_win_ratio( (winHeight*0.4232) / winWidth );
107 #ifndef USE_FAST_VIEWROT
108 // This never changes -- NHV
109 LARC_TO_SSG[0][0] = 0.0;
110 LARC_TO_SSG[0][1] = 1.0;
111 LARC_TO_SSG[0][2] = -0.0;
112 LARC_TO_SSG[0][3] = 0.0;
114 LARC_TO_SSG[1][0] = 0.0;
115 LARC_TO_SSG[1][1] = 0.0;
116 LARC_TO_SSG[1][2] = 1.0;
117 LARC_TO_SSG[1][3] = 0.0;
119 LARC_TO_SSG[2][0] = 1.0;
120 LARC_TO_SSG[2][1] = -0.0;
121 LARC_TO_SSG[2][2] = 0.0;
122 LARC_TO_SSG[2][3] = 0.0;
124 LARC_TO_SSG[3][0] = 0.0;
125 LARC_TO_SSG[3][1] = 0.0;
126 LARC_TO_SSG[3][2] = 0.0;
127 LARC_TO_SSG[3][3] = 1.0;
128 #endif // USE_FAST_VIEWROT
130 force_update_fov_math();
134 #define USE_FAST_LOCAL
135 #ifdef USE_FAST_LOCAL
136 inline static void fgMakeLOCAL( sgMat4 dst, const double Theta,
137 const double Phi, const double Psi)
139 SGfloat cosTheta = (SGfloat) cos(Theta);
140 SGfloat sinTheta = (SGfloat) sin(Theta);
141 SGfloat cosPhi = (SGfloat) cos(Phi);
142 SGfloat sinPhi = (SGfloat) sin(Phi);
143 SGfloat sinPsi = (SGfloat) sin(Psi) ;
144 SGfloat cosPsi = (SGfloat) cos(Psi) ;
146 dst[0][0] = cosPhi * cosTheta;
147 dst[0][1] = sinPhi * cosPsi + cosPhi * -sinTheta * -sinPsi;
148 dst[0][2] = sinPhi * sinPsi + cosPhi * -sinTheta * cosPsi;
151 dst[1][0] = -sinPhi * cosTheta;
152 dst[1][1] = cosPhi * cosPsi + -sinPhi * -sinTheta * -sinPsi;
153 dst[1][2] = cosPhi * sinPsi + -sinPhi * -sinTheta * cosPsi;
154 dst[1][3] = SG_ZERO ;
156 dst[2][0] = sinTheta;
157 dst[2][1] = cosTheta * -sinPsi;
158 dst[2][2] = cosTheta * cosPsi;
169 // Update the view volume, position, and orientation
170 void FGView::UpdateViewParams( const FGInterface& f ) {
173 if ( ! current_options.get_panel_status() ) {
174 xglViewport(0, 0 , (GLint)(winWidth), (GLint)(winHeight) );
176 xglViewport(0, (GLint)((winHeight)*0.5768), (GLint)(winWidth),
177 (GLint)((winHeight)*0.4232) );
182 // convert sgMat4 to MAT3 and print
183 static void print_sgMat4( sgMat4 &in) {
185 for ( i = 0; i < 4; i++ ) {
186 for ( j = 0; j < 4; j++ ) {
187 printf("%10.4f ", in[i][j]);
194 // Update the view parameters
195 void FGView::UpdateViewMath( const FGInterface& f ) {
198 sgVec3 v0, minus_z, sgvec, forward;
202 ssgSetFOV( current_options.get_fov(),
203 current_options.get_fov() * win_ratio );
207 scenery.center = scenery.next_center;
209 // printf("scenery center = %.2f %.2f %.2f\n", scenery.center.x,
210 // scenery.center.y, scenery.center.z);
212 // calculate the cartesion coords of the current lat/lon/0 elev
213 p = Point3D( f.get_Longitude(),
214 f.get_Lat_geocentric(),
215 f.get_Sea_level_radius() * FEET_TO_METER );
217 cur_zero_elev = sgPolarToCart3d(p) - scenery.center;
219 // calculate view position in current FG view coordinate system
220 // p.lon & p.lat are already defined earlier, p.radius was set to
221 // the sea level radius, so now we add in our altitude.
222 if ( f.get_Altitude() * FEET_TO_METER >
223 (scenery.cur_elev + 0.5 * METER_TO_FEET) ) {
224 p.setz( p.radius() + f.get_Altitude() * FEET_TO_METER );
226 p.setz( p.radius() + scenery.cur_elev + 0.5 * METER_TO_FEET );
229 abs_view_pos = sgPolarToCart3d(p);
231 view_pos = abs_view_pos - scenery.center;
233 FG_LOG( FG_VIEW, FG_DEBUG, "Polar view pos = " << p );
234 FG_LOG( FG_VIEW, FG_DEBUG, "Absolute view pos = " << abs_view_pos );
235 FG_LOG( FG_VIEW, FG_DEBUG, "Relative view pos = " << view_pos );
237 // code to calculate LOCAL matrix calculated from Phi, Theta, and
238 // Psi (roll, pitch, yaw) in case we aren't running LaRCsim as our
241 #ifdef USE_FAST_LOCAL
243 fgMakeLOCAL( LOCAL, f.get_Theta(), f.get_Phi(), -f.get_Psi() );
245 #else // USE_TEXT_BOOK_METHOD
248 sgSetVec3( rollvec, 0.0, 0.0, 1.0 );
250 sgMakeRotMat4( PHI, f.get_Phi() * RAD_TO_DEG, rollvec );
253 sgSetVec3( pitchvec, 0.0, 1.0, 0.0 );
254 sgMat4 THETA; // pitch
255 sgMakeRotMat4( THETA, f.get_Theta() * RAD_TO_DEG, pitchvec );
259 // sgMultMat4( ROT, PHI, THETA );
260 sgCopyMat4( ROT, PHI );
261 sgPostMultMat4( ROT, THETA );
264 sgSetVec3( yawvec, 1.0, 0.0, 0.0 );
266 sgMakeRotMat4( PSI, -f.get_Psi() * RAD_TO_DEG, yawvec );
269 // sgMultMat4( LOCAL, ROT, PSI );
270 sgCopyMat4( LOCAL, ROT );
271 sgPostMultMat4( LOCAL, PSI );
275 // cout << "LOCAL matrix" << endl;
276 // print_sgMat4( LOCAL );
279 f.get_Longitude() * RAD_TO_DEG,
281 -f.get_Latitude() * RAD_TO_DEG );
283 sgSetVec3( local_up, UP[0][0], UP[0][1], UP[0][2] );
284 // sgXformVec3( local_up, UP );
285 // cout << "Local Up = " << local_up[0] << "," << local_up[1] << ","
286 // << local_up[2] << endl;
288 // Alternative method to Derive local up vector based on
289 // *geodetic* coordinates
290 // alt_up = sgPolarToCart(FG_Longitude, FG_Latitude, 1.0);
291 // printf( " Alt Up = (%.4f, %.4f, %.4f)\n",
292 // alt_up.x, alt_up.y, alt_up.z);
294 // VIEWo = LOCAL * UP
295 // sgMultMat4( VIEWo, LOCAL, UP );
296 sgCopyMat4( VIEWo, LOCAL );
297 sgPostMultMat4( VIEWo, UP );
298 // cout << "VIEWo matrix" << endl;
299 // print_sgMat4( VIEWo );
301 // generate the sg view up and forward vectors
302 sgSetVec3( view_up, VIEWo[0][0], VIEWo[0][1], VIEWo[0][2] );
303 // cout << "view = " << view[0] << ","
304 // << view[1] << "," << view[2] << endl;
305 sgSetVec3( forward, VIEWo[2][0], VIEWo[2][1], VIEWo[2][2] );
306 // cout << "forward = " << forward[0] << ","
307 // << forward[1] << "," << forward[2] << endl;
309 // generate the pilot offset vector in world coordinates
310 sgVec3 pilot_offset_world;
311 sgSetVec3( pilot_offset_world,
312 pilot_offset[2], pilot_offset[1], -pilot_offset[0] );
313 sgXformVec3( pilot_offset_world, pilot_offset_world, VIEWo );
315 // generate the view offset matrix
316 sgMakeRotMat4( VIEW_OFFSET, view_offset * RAD_TO_DEG, view_up );
317 // cout << "VIEW_OFFSET matrix" << endl;
318 // print_sgMat4( VIEW_OFFSET );
319 sgXformVec3( view_forward, forward, VIEW_OFFSET );
320 // cout << "view_forward = " << view_forward[0] << ","
321 // << view_forward[1] << "," << view_forward[2] << endl;
323 // VIEW_ROT = LARC_TO_SSG * ( VIEWo * VIEW_OFFSET )
324 #ifdef USE_FAST_VIEWROT
325 fgMakeViewRot( VIEW_ROT, VIEW_OFFSET, VIEWo );
327 // sgMultMat4( VIEW_ROT, VIEW_OFFSET, VIEWo );
328 // sgPreMultMat4( VIEW_ROT, LARC_TO_SSG );
329 sgCopyMat4( VIEW_ROT, VIEWo );
330 sgPostMultMat4( VIEW_ROT, VIEW_OFFSET );
331 sgPreMultMat4( VIEW_ROT, LARC_TO_SSG );
333 // cout << "VIEW_ROT matrix" << endl;
334 // print_sgMat4( VIEW_ROT );
337 sgSetVec3( trans_vec,
338 view_pos.x() + pilot_offset_world[0],
339 view_pos.y() + pilot_offset_world[1],
340 view_pos.z() + pilot_offset_world[2] );
342 // VIEW = VIEW_ROT * TRANS
343 sgCopyMat4( VIEW, VIEW_ROT );
344 sgPostMultMat4ByTransMat4( VIEW, trans_vec );
346 //!!!!!!!!!!!!!!!!!!!
347 // THIS IS THE EXPERIMENTAL VIEWING ANGLE SHIFTER
348 // THE MAJORITY OF THE WORK IS DONE IN GUI.CXX
349 // this in gui.cxx for now just testing
350 extern float quat_mat[4][4];
351 sgPreMultMat4( VIEW, quat_mat);
352 // !!!!!!!!!! testing
354 // make a vector to the current view position
355 sgSetVec3( v0, view_pos.x(), view_pos.y(), view_pos.z() );
357 // Given a vector pointing straight down (-Z), map into onto the
358 // local plane representing "horizontal". This should give us the
359 // local direction for moving "south".
360 sgSetVec3( minus_z, 0.0, 0.0, -1.0 );
362 sgmap_vec_onto_cur_surface_plane(local_up, v0, minus_z, surface_south);
363 sgNormalizeVec3(surface_south);
364 // cout << "Surface direction directly south " << surface_south[0] << ","
365 // << surface_south[1] << "," << surface_south[2] << endl;
367 // now calculate the surface east vector
368 #define USE_FAST_SURFACE_EAST
369 #ifdef USE_FAST_SURFACE_EAST
371 sgNegateVec3(local_down, local_up);
372 sgVectorProductVec3(surface_east, surface_south, local_down);
376 sgMakeRotMat4( TMP, FG_PI_2 * RAD_TO_DEG, local_up );
378 sgMakeRotMat4( TMP, FG_PI_2 * RAD_TO_DEG, view_up );
379 #endif // USE_LOCAL_UP
380 // cout << "sgMat4 TMP" << endl;
381 // print_sgMat4( TMP );
382 sgXformVec3(surface_east, surface_south, TMP);
383 #endif // USE_FAST_SURFACE_EAST
384 // cout << "Surface direction directly east " << surface_east[0] << ","
385 // << surface_east[1] << "," << surface_east[2] << endl;
386 // cout << "Should be close to zero = "
387 // << sgScalarProductVec3(surface_south, surface_east) << endl;
391 void FGView::CurrentNormalInLocalPlane(sgVec3 dst, sgVec3 src) {
393 sgSetVec3(tmp, src[0], src[1], src[2] );
395 sgTransposeNegateMat4 ( TMP, UP ) ;
396 sgXformVec3(tmp, tmp, TMP);
397 sgSetVec3(dst, tmp[2], tmp[1], tmp[0] );
402 FGView::~FGView( void ) {