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>
29 #include "panelnode.hxx"
33 ////////////////////////////////////////////////////////////////////////
34 // Static utility functions.
35 ////////////////////////////////////////////////////////////////////////
38 * Callback to update an animation.
41 animation_callback (ssgEntity * entity, int mask)
43 ((Animation *)entity->getUserData())->update();
49 * Locate a named SSG node in a branch.
52 find_named_node (ssgEntity * node, const char * name)
54 char * node_name = node->getName();
55 if (node_name != 0 && !strcmp(name, node_name))
57 else if (node->isAKindOf(ssgTypeBranch())) {
58 int nKids = node->getNumKids();
59 for (int i = 0; i < nKids; i++) {
61 find_named_node(((ssgBranch*)node)->getKid(i), name);
70 * Splice a branch in between all child nodes and their parents.
73 splice_branch (ssgBranch * branch, ssgEntity * child)
75 int nParents = child->getNumParents();
76 branch->addKid(child);
77 for (int i = 0; i < nParents; i++) {
78 ssgBranch * parent = child->getParent(i);
79 parent->replaceKid(child, branch);
84 * Set up the transform matrix for a spin or rotation.
87 set_rotation (sgMat4 &matrix, double position_deg,
88 sgVec3 ¢er, sgVec3 &axis)
90 float temp_angle = -position_deg * SG_DEGREES_TO_RADIANS ;
92 float s = (float) sin ( temp_angle ) ;
93 float c = (float) cos ( temp_angle ) ;
94 float t = SG_ONE - c ;
96 // axis was normalized at load time
97 // hint to the compiler to put these into FP registers
102 matrix[0][0] = t * x * x + c ;
103 matrix[0][1] = t * y * x - s * z ;
104 matrix[0][2] = t * z * x + s * y ;
105 matrix[0][3] = SG_ZERO;
107 matrix[1][0] = t * x * y + s * z ;
108 matrix[1][1] = t * y * y + c ;
109 matrix[1][2] = t * z * y - s * x ;
110 matrix[1][3] = SG_ZERO;
112 matrix[2][0] = t * x * z - s * y ;
113 matrix[2][1] = t * y * z + s * x ;
114 matrix[2][2] = t * z * z + c ;
115 matrix[2][3] = SG_ZERO;
117 // hint to the compiler to put these into FP registers
122 matrix[3][0] = x - x*matrix[0][0] - y*matrix[1][0] - z*matrix[2][0];
123 matrix[3][1] = y - x*matrix[0][1] - y*matrix[1][1] - z*matrix[2][1];
124 matrix[3][2] = z - x*matrix[0][2] - y*matrix[1][2] - z*matrix[2][2];
125 matrix[3][3] = SG_ONE;
129 * Set up the transform matrix for a translation.
132 set_translation (sgMat4 &matrix, double position_m, sgVec3 &axis)
135 sgScaleVec3(xyz, axis, position_m);
136 sgMakeTransMat4(matrix, xyz);
141 * Make an offset matrix from rotations and position offset.
144 make_offsets_matrix (sgMat4 * result, double h_rot, double p_rot, double r_rot,
145 double x_off, double y_off, double z_off)
149 sgMakeRotMat4(rot_matrix, h_rot, p_rot, r_rot);
150 sgMakeTransMat4(pos_matrix, x_off, y_off, z_off);
151 sgMultMat4(*result, pos_matrix, rot_matrix);
156 * Read an interpolation table from properties.
158 static SGInterpTable *
159 read_interpolation_table (const SGPropertyNode * props)
161 const SGPropertyNode * table_node = props->getNode("interpolation");
162 if (table_node != 0) {
163 SGInterpTable * table = new SGInterpTable();
164 vector<SGPropertyNode_ptr> entries = table_node->getChildren("entry");
165 for (unsigned int i = 0; i < entries.size(); i++)
166 table->addEntry(entries[i]->getDoubleValue("ind", 0.0),
167 entries[i]->getDoubleValue("dep", 0.0));
176 make_animation (ssgBranch * model,
177 const char * object_name,
178 SGPropertyNode * node)
180 Animation * animation = 0;
181 const char * type = node->getStringValue("type");
182 if (!strcmp("none", type)) {
183 animation = new NullAnimation(node);
184 } else if (!strcmp("range", type)) {
185 animation = new RangeAnimation(node);
186 } else if (!strcmp("billboard", type)) {
187 animation = new BillboardAnimation(node);
188 } else if (!strcmp("select", type)) {
189 animation = new SelectAnimation(node);
190 } else if (!strcmp("spin", type)) {
191 animation = new SpinAnimation(node);
192 } else if (!strcmp("rotate", type)) {
193 animation = new RotateAnimation(node);
194 } else if (!strcmp("translate", type)) {
195 animation = new TranslateAnimation(node);
197 animation = new NullAnimation(node);
198 SG_LOG(SG_INPUT, SG_WARN, "Unknown animation type " << type);
202 if (object_name != 0) {
203 object = find_named_node(model, object_name);
205 SG_LOG(SG_INPUT, SG_WARN, "Object " << object_name << " not found");
213 ssgBranch * branch = animation->getBranch();
214 splice_branch(branch, object);
215 branch->setUserData(animation);
216 branch->setTravCallback(SSG_CALLBACK_PRETRAV, animation_callback);
221 ////////////////////////////////////////////////////////////////////////
223 ////////////////////////////////////////////////////////////////////////
226 fgLoad3DModel (const string &path)
228 ssgBranch * model = 0;
229 SGPropertyNode props;
231 // Load the 3D aircraft object itself
232 SGPath xmlpath = globals->get_fg_root();
233 SGPath modelpath = path;
234 xmlpath.append(modelpath.str());
236 // Check for an XML wrapper
237 if (xmlpath.str().substr(xmlpath.str().size() - 4, 4) == ".xml") {
238 readProperties(xmlpath.str(), &props);
239 if (props.hasValue("/path")) {
240 modelpath = modelpath.dir();
241 modelpath.append(props.getStringValue("/path"));
244 model = new ssgBranch;
248 // Assume that textures are in
249 // the same location as the XML file.
251 ssgTexturePath((char *)xmlpath.dir().c_str());
252 model = (ssgBranch *)ssgLoad((char *)modelpath.c_str());
254 throw sg_exception("Failed to load 3D model");
257 // Set up the alignment node
258 ssgTransform * align = new ssgTransform;
259 align->addKid(model);
261 make_offsets_matrix(&res_matrix,
262 props.getFloatValue("/offsets/heading-deg", 0.0),
263 props.getFloatValue("/offsets/roll-deg", 0.0),
264 props.getFloatValue("/offsets/pitch-deg", 0.0),
265 props.getFloatValue("/offsets/x-m", 0.0),
266 props.getFloatValue("/offsets/y-m", 0.0),
267 props.getFloatValue("/offsets/z-m", 0.0));
268 align->setTransform(res_matrix);
271 vector<SGPropertyNode_ptr> animation_nodes = props.getChildren("animation");
273 for (i = 0; i < animation_nodes.size(); i++) {
274 vector<SGPropertyNode_ptr> name_nodes =
275 animation_nodes[i]->getChildren("object-name");
276 if (name_nodes.size() < 1) {
277 make_animation(model, 0, animation_nodes[i]);
279 for (unsigned int j = 0; j < name_nodes.size(); j++) {
280 make_animation(model, name_nodes[j]->getStringValue(), animation_nodes[i]);
286 vector<SGPropertyNode_ptr> panel_nodes = props.getChildren("panel");
287 for (i = 0; i < panel_nodes.size(); i++) {
288 printf("Reading a panel in model.cxx\n");
289 FGPanelNode * panel = new FGPanelNode(panel_nodes[i]);
290 model->addKid(panel);
294 vector<SGPropertyNode_ptr> model_nodes = props.getChildren("model");
295 for (i = 0; i < model_nodes.size(); i++) {
296 SGPropertyNode_ptr node = model_nodes[i];
297 ssgTransform * align = new ssgTransform;
299 make_offsets_matrix(&res_matrix,
300 node->getFloatValue("offsets/heading-deg", 0.0),
301 node->getFloatValue("offsets/roll-deg", 0.0),
302 node->getFloatValue("offsets/pitch-deg", 0.0),
303 node->getFloatValue("offsets/x-m", 0.0),
304 node->getFloatValue("offsets/y-m", 0.0),
305 node->getFloatValue("offsets/z-m", 0.0));
306 align->setTransform(res_matrix);
308 ssgBranch * kid = fgLoad3DModel(node->getStringValue("path"));
310 model->addKid(align);
318 ////////////////////////////////////////////////////////////////////////
319 // Implementation of Animation
320 ////////////////////////////////////////////////////////////////////////
322 Animation::Animation (SGPropertyNode_ptr props, ssgBranch * branch)
325 _branch->setName(props->getStringValue("name", 0));
328 Animation::~Animation ()
334 ////////////////////////////////////////////////////////////////////////
335 // Implementation of NullAnimation
336 ////////////////////////////////////////////////////////////////////////
338 NullAnimation::NullAnimation (SGPropertyNode_ptr props)
339 : Animation(props, new ssgBranch)
343 NullAnimation::~NullAnimation ()
348 NullAnimation::update ()
354 ////////////////////////////////////////////////////////////////////////
355 // Implementation of RangeAnimation
356 ////////////////////////////////////////////////////////////////////////
358 RangeAnimation::RangeAnimation (SGPropertyNode_ptr props)
359 : Animation(props, new ssgRangeSelector)
361 float ranges[] = { props->getFloatValue("min-m", 0),
362 props->getFloatValue("max-m", 5000) };
363 ((ssgRangeSelector *)_branch)->setRanges(ranges, 2);
367 RangeAnimation::~RangeAnimation ()
372 RangeAnimation::update ()
378 ////////////////////////////////////////////////////////////////////////
379 // Implementation of BillboardAnimation
380 ////////////////////////////////////////////////////////////////////////
382 BillboardAnimation::BillboardAnimation (SGPropertyNode_ptr props)
383 : Animation(props, new ssgCutout(props->getBoolValue("spherical", true)))
387 BillboardAnimation::~BillboardAnimation ()
392 BillboardAnimation::update ()
398 ////////////////////////////////////////////////////////////////////////
399 // Implementation of SelectAnimation
400 ////////////////////////////////////////////////////////////////////////
402 SelectAnimation::SelectAnimation (SGPropertyNode_ptr props)
403 : Animation(props, new ssgSelector),
406 SGPropertyNode * node = props->getChild("condition");
408 _condition = fgReadCondition(node);
411 SelectAnimation::~SelectAnimation ()
417 SelectAnimation::update ()
419 if (_condition != 0 && _condition->test())
420 ((ssgSelector *)_branch)->select(0xffff);
422 ((ssgSelector *)_branch)->select(0x0000);
427 ////////////////////////////////////////////////////////////////////////
428 // Implementation of SpinAnimation
429 ////////////////////////////////////////////////////////////////////////
431 SpinAnimation::SpinAnimation (SGPropertyNode_ptr props)
432 : Animation(props, new ssgTransform),
433 _prop(fgGetNode(props->getStringValue("property", "/null"), true)),
434 _factor(props->getDoubleValue("factor", 1.0)),
435 _position_deg(props->getDoubleValue("starting-position-deg", 0)),
436 _last_time_sec(globals->get_sim_time_sec())
438 _center[0] = props->getFloatValue("center/x-m", 0);
439 _center[1] = props->getFloatValue("center/y-m", 0);
440 _center[2] = props->getFloatValue("center/z-m", 0);
441 _axis[0] = props->getFloatValue("axis/x", 0);
442 _axis[1] = props->getFloatValue("axis/y", 0);
443 _axis[2] = props->getFloatValue("axis/z", 0);
444 sgNormalizeVec3(_axis);
447 SpinAnimation::~SpinAnimation ()
452 SpinAnimation::update ()
454 double sim_time = globals->get_sim_time_sec();
455 double dt = sim_time - _last_time_sec;
456 _last_time_sec = sim_time;
458 float velocity_rpms = (_prop->getDoubleValue() * _factor / 60.0);
459 _position_deg += (dt * velocity_rpms * 360);
460 while (_position_deg < 0)
461 _position_deg += 360.0;
462 while (_position_deg >= 360.0)
463 _position_deg -= 360.0;
464 set_rotation(_matrix, _position_deg, _center, _axis);
465 ((ssgTransform *)_branch)->setTransform(_matrix);
470 ////////////////////////////////////////////////////////////////////////
471 // Implementation of RotateAnimation
472 ////////////////////////////////////////////////////////////////////////
474 RotateAnimation::RotateAnimation (SGPropertyNode_ptr props)
475 : Animation(props, new ssgTransform),
476 _prop(fgGetNode(props->getStringValue("property", "/null"), true)),
477 _offset_deg(props->getDoubleValue("offset-deg", 0.0)),
478 _factor(props->getDoubleValue("factor", 1.0)),
479 _table(read_interpolation_table(props)),
480 _has_min(props->hasValue("min-deg")),
481 _min_deg(props->getDoubleValue("min-deg")),
482 _has_max(props->hasValue("max-deg")),
483 _max_deg(props->getDoubleValue("max-deg")),
484 _position_deg(props->getDoubleValue("starting-position-deg", 0))
486 _center[0] = props->getFloatValue("center/x-m", 0);
487 _center[1] = props->getFloatValue("center/y-m", 0);
488 _center[2] = props->getFloatValue("center/z-m", 0);
489 _axis[0] = props->getFloatValue("axis/x", 0);
490 _axis[1] = props->getFloatValue("axis/y", 0);
491 _axis[2] = props->getFloatValue("axis/z", 0);
492 sgNormalizeVec3(_axis);
495 RotateAnimation::~RotateAnimation ()
501 RotateAnimation::update ()
504 _position_deg = (_prop->getDoubleValue() + _offset_deg) * _factor;
505 if (_has_min && _position_deg < _min_deg)
506 _position_deg = _min_deg;
507 if (_has_max && _position_deg > _max_deg)
508 _position_deg = _max_deg;
510 _position_deg = _table->interpolate(_prop->getDoubleValue());
512 set_rotation(_matrix, _position_deg, _center, _axis);
513 ((ssgTransform *)_branch)->setTransform(_matrix);
518 ////////////////////////////////////////////////////////////////////////
519 // Implementation of TranslateAnimation
520 ////////////////////////////////////////////////////////////////////////
522 TranslateAnimation::TranslateAnimation (SGPropertyNode_ptr props)
523 : Animation(props, new ssgTransform),
524 _prop(fgGetNode(props->getStringValue("property", "/null"), true)),
525 _offset_m(props->getDoubleValue("offset-m", 0.0)),
526 _factor(props->getDoubleValue("factor", 1.0)),
527 _table(read_interpolation_table(props)),
528 _has_min(props->hasValue("min-m")),
529 _min_m(props->getDoubleValue("min-m")),
530 _has_max(props->hasValue("max-m")),
531 _max_m(props->getDoubleValue("max-m")),
532 _position_m(props->getDoubleValue("starting-position-m", 0))
534 _axis[0] = props->getFloatValue("axis/x", 0);
535 _axis[1] = props->getFloatValue("axis/y", 0);
536 _axis[2] = props->getFloatValue("axis/z", 0);
537 sgNormalizeVec3(_axis);
540 TranslateAnimation::~TranslateAnimation ()
546 TranslateAnimation::update ()
549 _position_m = (_prop->getDoubleValue() + _offset_m) * _factor;
550 if (_has_min && _position_m < _min_m)
551 _position_m = _min_m;
552 if (_has_max && _position_m > _max_m)
553 _position_m = _max_m;
555 _position_m = _table->interpolate(_prop->getDoubleValue());
557 set_translation(_matrix, _position_m, _axis);
558 ((ssgTransform *)_branch)->setTransform(_matrix);
563 ////////////////////////////////////////////////////////////////////////
564 // Implementation of FGModelPlacement.
565 ////////////////////////////////////////////////////////////////////////
567 FGModelPlacement::FGModelPlacement ()
574 _selector(new ssgSelector),
575 _position(new ssgTransform),
576 _location(new FGLocation)
580 FGModelPlacement::~FGModelPlacement ()
585 FGModelPlacement::init (const string &path)
587 ssgBranch * model = fgLoad3DModel(path);
589 _position->addKid(model);
590 _selector->addKid(_position);
591 _selector->clrTraversalMaskBits(SSGTRAV_HOT);
595 FGModelPlacement::update ()
597 _location->setPosition( _lon_deg, _lat_deg, _elev_ft );
598 _location->setOrientation( _roll_deg, _pitch_deg, _heading_deg );
601 sgCopyMat4(POS, _location->getTransformMatrix());
604 sgCopyVec3(trans, _location->get_view_pos());
606 for(int i = 0; i < 4; i++) {
607 float tmp = POS[i][3];
608 for( int j=0; j<3; j++ ) {
609 POS[i][j] += (tmp * trans[j]);
612 _position->setTransform(POS);
616 FGModelPlacement::getVisible () const
618 return (_selector->getSelect() != 0);
622 FGModelPlacement::setVisible (bool visible)
624 _selector->select(visible);
628 FGModelPlacement::setLongitudeDeg (double lon_deg)
634 FGModelPlacement::setLatitudeDeg (double lat_deg)
640 FGModelPlacement::setElevationFt (double elev_ft)
646 FGModelPlacement::setPosition (double lon_deg, double lat_deg, double elev_ft)
654 FGModelPlacement::setRollDeg (double roll_deg)
656 _roll_deg = roll_deg;
660 FGModelPlacement::setPitchDeg (double pitch_deg)
662 _pitch_deg = pitch_deg;
666 FGModelPlacement::setHeadingDeg (double heading_deg)
668 _heading_deg = heading_deg;
672 FGModelPlacement::setOrientation (double roll_deg, double pitch_deg,
675 _roll_deg = roll_deg;
676 _pitch_deg = pitch_deg;
677 _heading_deg = heading_deg;