1 // model.cxx - manage a 3D aircraft model.
2 // Written by David Megginson, started 2002.
4 // This file is in the Public Domain, and comes with no warranty.
10 #include <string.h> // for strcmp()
15 #include <simgear/compiler.h>
16 #include <simgear/debug/logstream.hxx>
17 #include <simgear/math/interpolater.hxx>
18 #include <simgear/math/point3d.hxx>
19 #include <simgear/math/sg_geodesy.hxx>
20 #include <simgear/misc/exception.hxx>
21 #include <simgear/misc/sg_path.hxx>
23 #include <Main/fg_props.hxx>
24 #include <Main/globals.hxx>
25 #include <Main/location.hxx>
26 #include <Scenery/scenery.hxx>
32 ////////////////////////////////////////////////////////////////////////
33 // Static utility functions.
34 ////////////////////////////////////////////////////////////////////////
37 * Locate a named SSG node in a branch.
40 find_named_node (ssgEntity * node, const char * name)
42 char * node_name = node->getName();
43 if (node_name != 0 && !strcmp(name, node_name))
45 else if (node->isAKindOf(ssgTypeBranch())) {
46 int nKids = node->getNumKids();
47 for (int i = 0; i < nKids; i++) {
49 find_named_node(((ssgBranch*)node)->getKid(i), name);
58 * Splice a branch in between all child nodes and their parents.
61 splice_branch (ssgBranch * branch, ssgEntity * child)
63 int nParents = child->getNumParents();
64 branch->addKid(child);
65 for (int i = 0; i < nParents; i++) {
66 ssgBranch * parent = child->getParent(i);
67 parent->replaceKid(child, branch);
72 * Set up the transform matrix for a spin or rotation.
75 set_rotation (sgMat4 &matrix, double position_deg,
76 sgVec3 ¢er, sgVec3 &axis)
78 float temp_angle = -position_deg * SG_DEGREES_TO_RADIANS ;
80 float s = (float) sin ( temp_angle ) ;
81 float c = (float) cos ( temp_angle ) ;
82 float t = SG_ONE - c ;
84 // axis was normalized at load time
85 // hint to the compiler to put these into FP registers
90 matrix[0][0] = t * x * x + c ;
91 matrix[0][1] = t * y * x - s * z ;
92 matrix[0][2] = t * z * x + s * y ;
93 matrix[0][3] = SG_ZERO;
95 matrix[1][0] = t * x * y + s * z ;
96 matrix[1][1] = t * y * y + c ;
97 matrix[1][2] = t * z * y - s * x ;
98 matrix[1][3] = SG_ZERO;
100 matrix[2][0] = t * x * z - s * y ;
101 matrix[2][1] = t * y * z + s * x ;
102 matrix[2][2] = t * z * z + c ;
103 matrix[2][3] = SG_ZERO;
105 // hint to the compiler to put these into FP registers
110 matrix[3][0] = x - x*matrix[0][0] - y*matrix[1][0] - z*matrix[2][0];
111 matrix[3][1] = y - x*matrix[0][1] - y*matrix[1][1] - z*matrix[2][1];
112 matrix[3][2] = z - x*matrix[0][2] - y*matrix[1][2] - z*matrix[2][2];
113 matrix[3][3] = SG_ONE;
117 * Set up the transform matrix for a translation.
120 set_translation (sgMat4 &matrix, double position_m, sgVec3 &axis)
123 sgScaleVec3(xyz, axis, position_m);
124 sgMakeTransMat4(matrix, xyz);
129 * Make an offset matrix from rotations and position offset.
132 make_offsets_matrix (sgMat4 * result, double h_rot, double p_rot, double r_rot,
133 double x_off, double y_off, double z_off)
137 sgMakeRotMat4(rot_matrix, h_rot, p_rot, r_rot);
138 sgMakeTransMat4(pos_matrix, x_off, y_off, z_off);
139 sgMultMat4(*result, pos_matrix, rot_matrix);
144 * Read an interpolation table from properties.
146 static SGInterpTable *
147 read_interpolation_table (const SGPropertyNode * props)
149 const SGPropertyNode * table_node = props->getNode("interpolation");
150 if (table_node != 0) {
151 SGInterpTable * table = new SGInterpTable();
152 vector<SGPropertyNode_ptr> entries = table_node->getChildren("entry");
153 for (int i = 0; i < entries.size(); i++)
154 table->addEntry(entries[i]->getDoubleValue("ind", 0.0),
155 entries[i]->getDoubleValue("dep", 0.0));
164 ////////////////////////////////////////////////////////////////////////
165 // Implementation of FG3DModel
166 ////////////////////////////////////////////////////////////////////////
168 FG3DModel::FG3DModel ()
173 FG3DModel::~FG3DModel ()
175 // since the nodes are attached to the scene graph, they'll be
176 // deleted automatically
179 for (i = 0; i < _animations.size(); i++)
180 delete _animations[i];
184 FG3DModel::init (const string &path)
186 SGPropertyNode props;
188 // Load the 3D aircraft object itself
189 SGPath xmlpath = globals->get_fg_root();
190 SGPath modelpath = path;
191 xmlpath.append(modelpath.str());
193 // Check for an XML wrapper
194 if (xmlpath.str().substr(xmlpath.str().size() - 4, 4) == ".xml") {
195 readProperties(xmlpath.str(), &props);
196 if (props.hasValue("/path")) {
197 modelpath = modelpath.dir();
198 modelpath.append(props.getStringValue("/path"));
200 throw sg_exception("No path for model");
204 // Assume that textures are in
205 // the same location as the XML file.
206 ssgTexturePath((char *)xmlpath.dir().c_str());
207 _model = (ssgBranch *)ssgLoad((char *)modelpath.c_str());
209 throw sg_exception("Failed to load 3D model");
211 // Set up the alignment node
212 ssgTransform * align = new ssgTransform;
213 align->addKid(_model);
215 make_offsets_matrix(&res_matrix,
216 props.getFloatValue("/offsets/heading-deg", 0.0),
217 props.getFloatValue("/offsets/roll-deg", 0.0),
218 props.getFloatValue("/offsets/pitch-deg", 0.0),
219 props.getFloatValue("/offsets/x-m", 0.0),
220 props.getFloatValue("/offsets/y-m", 0.0),
221 props.getFloatValue("/offsets/z-m", 0.0));
222 align->setTransform(res_matrix);
225 vector<SGPropertyNode_ptr> animation_nodes = props.getChildren("animation");
227 for (i = 0; i < animation_nodes.size(); i++) {
228 vector<SGPropertyNode_ptr> name_nodes =
229 animation_nodes[i]->getChildren("object-name");
230 if (name_nodes.size() < 1) {
231 Animation * animation = make_animation(0, animation_nodes[i]);
233 _animations.push_back(animation);
235 for (unsigned int j = 0; j < name_nodes.size(); j++) {
236 Animation * animation =
237 make_animation(name_nodes[j]->getStringValue(), animation_nodes[i]);
239 _animations.push_back(animation);
245 vector<SGPropertyNode_ptr> model_nodes = props.getChildren("model");
246 for (i = 0; i < model_nodes.size(); i++) {
247 SGPropertyNode_ptr node = model_nodes[i];
248 ssgTransform * align = new ssgTransform;
250 make_offsets_matrix(&res_matrix,
251 node->getFloatValue("offsets/heading-deg", 0.0),
252 node->getFloatValue("offsets/roll-deg", 0.0),
253 node->getFloatValue("offsets/pitch-deg", 0.0),
254 node->getFloatValue("offsets/x-m", 0.0),
255 node->getFloatValue("offsets/y-m", 0.0),
256 node->getFloatValue("offsets/z-m", 0.0));
257 align->setTransform(res_matrix);
258 FG3DModel * kid = new FG3DModel;
259 kid->init(node->getStringValue("path"));
260 align->addKid(kid->getSceneGraph());
261 _model->addKid(align);
262 _children.push_back(kid);
267 FG3DModel::update (double dt)
271 for (i = 0; i < _children.size(); i++)
272 _children[i]->update(dt);
273 for (i = 0; i < _animations.size(); i++)
274 _animations[i]->update(dt);
277 FG3DModel::Animation *
278 FG3DModel::make_animation (const char * object_name,
279 SGPropertyNode * node)
281 Animation * animation = 0;
282 const char * type = node->getStringValue("type");
283 if (!strcmp("none", type)) {
284 animation = new NullAnimation();
285 } else if (!strcmp("range", type)) {
286 animation = new RangeAnimation();
287 } else if (!strcmp("billboard", type)) {
288 animation = new BillboardAnimation();
289 } else if (!strcmp("select", type)) {
290 animation = new SelectAnimation();
291 } else if (!strcmp("spin", type)) {
292 animation = new SpinAnimation();
293 } else if (!strcmp("rotate", type)) {
294 animation = new RotateAnimation();
295 } else if (!strcmp("translate", type)) {
296 animation = new TranslateAnimation();
298 animation = new NullAnimation();
299 SG_LOG(SG_INPUT, SG_WARN, "Unknown animation type " << type);
303 if (object_name != 0) {
304 object = find_named_node(_model, object_name);
306 SG_LOG(SG_INPUT, SG_WARN, "Object " << object_name << " not found");
315 animation->init(object, node);
321 ////////////////////////////////////////////////////////////////////////
322 // Implementation of FG3DModel::Animation
323 ////////////////////////////////////////////////////////////////////////
325 FG3DModel::Animation::Animation ()
329 FG3DModel::Animation::~Animation ()
335 ////////////////////////////////////////////////////////////////////////
336 // Implementation of FG3DModel::NullAnimation
337 ////////////////////////////////////////////////////////////////////////
339 FG3DModel::NullAnimation::NullAnimation ()
340 : _branch(new ssgBranch)
344 FG3DModel::NullAnimation::~NullAnimation ()
350 FG3DModel::NullAnimation::init (ssgEntity * object,
351 SGPropertyNode * props)
353 splice_branch(_branch, object);
354 _branch->setName(props->getStringValue("name", 0));
358 FG3DModel::NullAnimation::update (double dt)
364 ////////////////////////////////////////////////////////////////////////
365 // Implementation of FG3DModel::RangeAnimation
366 ////////////////////////////////////////////////////////////////////////
368 FG3DModel::RangeAnimation::RangeAnimation ()
369 : _branch(new ssgRangeSelector)
373 FG3DModel::RangeAnimation::~RangeAnimation ()
379 FG3DModel::RangeAnimation::init (ssgEntity * object,
380 SGPropertyNode * props)
383 splice_branch(_branch, object);
384 _branch->setName(props->getStringValue("name", 0));
385 ranges[0] = props->getFloatValue("min-m", 0);
386 ranges[1] = props->getFloatValue("max-m", 5000);
387 _branch->setRanges(ranges, 2);
391 FG3DModel::RangeAnimation::update (double dt)
397 ////////////////////////////////////////////////////////////////////////
398 // Implementation of FG3DModel::BillboardAnimation
399 ////////////////////////////////////////////////////////////////////////
401 FG3DModel::BillboardAnimation::BillboardAnimation ()
404 // Note: we cannot allocate the branch until we know whether
405 // it can rotate around the x axis as well as the z axis.
408 FG3DModel::BillboardAnimation::~BillboardAnimation ()
414 FG3DModel::BillboardAnimation::init (ssgEntity * object,
415 SGPropertyNode * props)
417 _branch = new ssgCutout(props->getBoolValue("spherical", true));
418 splice_branch(_branch, object);
419 _branch->setName(props->getStringValue("name", 0));
423 FG3DModel::BillboardAnimation::update (double dt)
429 ////////////////////////////////////////////////////////////////////////
430 // Implementation of FG3DModel::SelectAnimation
431 ////////////////////////////////////////////////////////////////////////
433 FG3DModel::SelectAnimation::SelectAnimation ()
435 _selector(new ssgSelector)
439 FG3DModel::SelectAnimation::~SelectAnimation ()
446 FG3DModel::SelectAnimation::init (ssgEntity * object,
447 SGPropertyNode * props)
449 splice_branch(_selector, object);
450 _selector->setName(props->getStringValue("name", 0));
451 SGPropertyNode * node = props->getChild("condition");
453 _condition = fgReadCondition(node);
458 FG3DModel::SelectAnimation::update (double dt)
460 if (_condition != 0 && _condition->test())
461 _selector->select(0xffff);
463 _selector->select(0x0000);
468 ////////////////////////////////////////////////////////////////////////
469 // Implementation of FG3DModel::SpinAnimation
470 ////////////////////////////////////////////////////////////////////////
472 FG3DModel::SpinAnimation::SpinAnimation ()
476 _transform(new ssgTransform)
480 FG3DModel::SpinAnimation::~SpinAnimation ()
486 FG3DModel::SpinAnimation::init (ssgEntity * object,
487 SGPropertyNode * props)
489 // Splice in the new transform node
490 splice_branch(_transform, object);
491 _transform->setName(props->getStringValue("name", 0));
492 _prop = fgGetNode(props->getStringValue("property", "/null"), true);
493 _factor = props->getDoubleValue("factor", 1.0);
494 _position_deg = props->getDoubleValue("starting-position-deg", 0);
495 _center[0] = props->getFloatValue("center/x-m", 0);
496 _center[1] = props->getFloatValue("center/y-m", 0);
497 _center[2] = props->getFloatValue("center/z-m", 0);
498 _axis[0] = props->getFloatValue("axis/x", 0);
499 _axis[1] = props->getFloatValue("axis/y", 0);
500 _axis[2] = props->getFloatValue("axis/z", 0);
501 sgNormalizeVec3(_axis);
505 FG3DModel::SpinAnimation::update (double dt)
507 float velocity_rpms = (_prop->getDoubleValue() * _factor / 60.0);
508 _position_deg += (dt * velocity_rpms * 360);
509 while (_position_deg < 0)
510 _position_deg += 360.0;
511 while (_position_deg >= 360.0)
512 _position_deg -= 360.0;
513 set_rotation(_matrix, _position_deg, _center, _axis);
514 _transform->setTransform(_matrix);
519 ////////////////////////////////////////////////////////////////////////
520 // Implementation of FG3DModel::RotateAnimation
521 ////////////////////////////////////////////////////////////////////////
523 FG3DModel::RotateAnimation::RotateAnimation ()
533 _transform(new ssgTransform)
537 FG3DModel::RotateAnimation::~RotateAnimation ()
544 FG3DModel::RotateAnimation::init (ssgEntity * object,
545 SGPropertyNode * props)
547 // Splice in the new transform node
548 splice_branch(_transform, object);
549 _transform->setName(props->getStringValue("name", 0));
550 _prop = fgGetNode(props->getStringValue("property", "/null"), true);
551 _offset_deg = props->getDoubleValue("offset-deg", 0.0);
552 _factor = props->getDoubleValue("factor", 1.0);
553 _table = read_interpolation_table(props);
554 if (props->hasValue("min-deg")) {
556 _min_deg = props->getDoubleValue("min-deg");
558 if (props->hasValue("max-deg")) {
560 _max_deg = props->getDoubleValue("max-deg");
562 _position_deg = props->getDoubleValue("starting-position-deg", 0);
563 _center[0] = props->getFloatValue("center/x-m", 0);
564 _center[1] = props->getFloatValue("center/y-m", 0);
565 _center[2] = props->getFloatValue("center/z-m", 0);
566 _axis[0] = props->getFloatValue("axis/x", 0);
567 _axis[1] = props->getFloatValue("axis/y", 0);
568 _axis[2] = props->getFloatValue("axis/z", 0);
569 sgNormalizeVec3(_axis);
573 FG3DModel::RotateAnimation::update (double dt)
576 _position_deg = (_prop->getDoubleValue() + _offset_deg) * _factor;
577 if (_has_min && _position_deg < _min_deg)
578 _position_deg = _min_deg;
579 if (_has_max && _position_deg > _max_deg)
580 _position_deg = _max_deg;
582 _position_deg = _table->interpolate(_prop->getDoubleValue());
584 set_rotation(_matrix, _position_deg, _center, _axis);
585 _transform->setTransform(_matrix);
590 ////////////////////////////////////////////////////////////////////////
591 // Implementation of FG3DModel::TranslateAnimation
592 ////////////////////////////////////////////////////////////////////////
594 FG3DModel::TranslateAnimation::TranslateAnimation ()
604 _transform(new ssgTransform)
608 FG3DModel::TranslateAnimation::~TranslateAnimation ()
615 FG3DModel::TranslateAnimation::init (ssgEntity * object,
616 SGPropertyNode * props)
618 // Splice in the new transform node
619 splice_branch(_transform, object);
620 _transform->setName(props->getStringValue("name", 0));
621 _prop = fgGetNode(props->getStringValue("property", "/null"), true);
622 _offset_m = props->getDoubleValue("offset-m", 0.0);
623 _factor = props->getDoubleValue("factor", 1.0);
624 _table = read_interpolation_table(props);
625 if (props->hasValue("min-m")) {
627 _min_m = props->getDoubleValue("min-m");
629 if (props->hasValue("max-m")) {
631 _max_m = props->getDoubleValue("max-m");
633 _position_m = props->getDoubleValue("starting-position-m", 0);
634 _axis[0] = props->getFloatValue("axis/x", 0);
635 _axis[1] = props->getFloatValue("axis/y", 0);
636 _axis[2] = props->getFloatValue("axis/z", 0);
637 sgNormalizeVec3(_axis);
641 FG3DModel::TranslateAnimation::update (double dt)
644 _position_m = (_prop->getDoubleValue() + _offset_m) * _factor;
645 if (_has_min && _position_m < _min_m)
646 _position_m = _min_m;
647 if (_has_max && _position_m > _max_m)
648 _position_m = _max_m;
650 _position_m = _table->interpolate(_prop->getDoubleValue());
652 set_translation(_matrix, _position_m, _axis);
653 _transform->setTransform(_matrix);
658 ////////////////////////////////////////////////////////////////////////
659 // Implementation of FGModelPlacement.
660 ////////////////////////////////////////////////////////////////////////
662 FGModelPlacement::FGModelPlacement ()
663 : _model(new FG3DModel),
670 _selector(new ssgSelector),
671 _position(new ssgTransform),
672 _location(new FGLocation)
676 FGModelPlacement::~FGModelPlacement ()
683 FGModelPlacement::init (const string &path)
686 _position->addKid(_model->getSceneGraph());
687 _selector->addKid(_position);
688 _selector->clrTraversalMaskBits(SSGTRAV_HOT);
692 FGModelPlacement::update (double dt)
696 _location->setPosition( _lon_deg, _lat_deg, _elev_ft );
697 _location->setOrientation( _roll_deg, _pitch_deg, _heading_deg );
700 sgCopyMat4(POS, _location->getTransformMatrix());
703 sgCopyVec3(trans, _location->get_view_pos());
705 for(int i = 0; i < 4; i++) {
706 float tmp = POS[i][3];
707 for( int j=0; j<3; j++ ) {
708 POS[i][j] += (tmp * trans[j]);
711 _position->setTransform(POS);
715 FGModelPlacement::getVisible () const
717 return (_selector->getSelect() != 0);
721 FGModelPlacement::setVisible (bool visible)
723 _selector->select(visible);
727 FGModelPlacement::setLongitudeDeg (double lon_deg)
733 FGModelPlacement::setLatitudeDeg (double lat_deg)
739 FGModelPlacement::setElevationFt (double elev_ft)
745 FGModelPlacement::setPosition (double lon_deg, double lat_deg, double elev_ft)
753 FGModelPlacement::setRollDeg (double roll_deg)
755 _roll_deg = roll_deg;
759 FGModelPlacement::setPitchDeg (double pitch_deg)
761 _pitch_deg = pitch_deg;
765 FGModelPlacement::setHeadingDeg (double heading_deg)
767 _heading_deg = heading_deg;
771 FGModelPlacement::setOrientation (double roll_deg, double pitch_deg,
774 _roll_deg = roll_deg;
775 _pitch_deg = pitch_deg;
776 _heading_deg = heading_deg;