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"));
201 _model = new ssgBranch;
205 // Assume that textures are in
206 // the same location as the XML file.
208 ssgTexturePath((char *)xmlpath.dir().c_str());
209 _model = (ssgBranch *)ssgLoad((char *)modelpath.c_str());
211 throw sg_exception("Failed to load 3D model");
214 // Set up the alignment node
215 ssgTransform * align = new ssgTransform;
216 align->addKid(_model);
218 make_offsets_matrix(&res_matrix,
219 props.getFloatValue("/offsets/heading-deg", 0.0),
220 props.getFloatValue("/offsets/roll-deg", 0.0),
221 props.getFloatValue("/offsets/pitch-deg", 0.0),
222 props.getFloatValue("/offsets/x-m", 0.0),
223 props.getFloatValue("/offsets/y-m", 0.0),
224 props.getFloatValue("/offsets/z-m", 0.0));
225 align->setTransform(res_matrix);
228 vector<SGPropertyNode_ptr> animation_nodes = props.getChildren("animation");
230 for (i = 0; i < animation_nodes.size(); i++) {
231 vector<SGPropertyNode_ptr> name_nodes =
232 animation_nodes[i]->getChildren("object-name");
233 if (name_nodes.size() < 1) {
234 Animation * animation = make_animation(0, animation_nodes[i]);
236 _animations.push_back(animation);
238 for (unsigned int j = 0; j < name_nodes.size(); j++) {
239 Animation * animation =
240 make_animation(name_nodes[j]->getStringValue(), animation_nodes[i]);
242 _animations.push_back(animation);
248 vector<SGPropertyNode_ptr> model_nodes = props.getChildren("model");
249 for (i = 0; i < model_nodes.size(); i++) {
250 SGPropertyNode_ptr node = model_nodes[i];
251 ssgTransform * align = new ssgTransform;
253 make_offsets_matrix(&res_matrix,
254 node->getFloatValue("offsets/heading-deg", 0.0),
255 node->getFloatValue("offsets/roll-deg", 0.0),
256 node->getFloatValue("offsets/pitch-deg", 0.0),
257 node->getFloatValue("offsets/x-m", 0.0),
258 node->getFloatValue("offsets/y-m", 0.0),
259 node->getFloatValue("offsets/z-m", 0.0));
260 align->setTransform(res_matrix);
261 FG3DModel * kid = new FG3DModel;
262 kid->init(node->getStringValue("path"));
263 align->addKid(kid->getSceneGraph());
264 _model->addKid(align);
265 _children.push_back(kid);
270 FG3DModel::update (double dt)
274 for (i = 0; i < _children.size(); i++)
275 _children[i]->update(dt);
276 for (i = 0; i < _animations.size(); i++)
277 _animations[i]->update(dt);
280 FG3DModel::Animation *
281 FG3DModel::make_animation (const char * object_name,
282 SGPropertyNode * node)
284 Animation * animation = 0;
285 const char * type = node->getStringValue("type");
286 if (!strcmp("none", type)) {
287 animation = new NullAnimation();
288 } else if (!strcmp("range", type)) {
289 animation = new RangeAnimation();
290 } else if (!strcmp("billboard", type)) {
291 animation = new BillboardAnimation();
292 } else if (!strcmp("select", type)) {
293 animation = new SelectAnimation();
294 } else if (!strcmp("spin", type)) {
295 animation = new SpinAnimation();
296 } else if (!strcmp("rotate", type)) {
297 animation = new RotateAnimation();
298 } else if (!strcmp("translate", type)) {
299 animation = new TranslateAnimation();
301 animation = new NullAnimation();
302 SG_LOG(SG_INPUT, SG_WARN, "Unknown animation type " << type);
306 if (object_name != 0) {
307 object = find_named_node(_model, object_name);
309 SG_LOG(SG_INPUT, SG_WARN, "Object " << object_name << " not found");
318 animation->init(object, node);
324 ////////////////////////////////////////////////////////////////////////
325 // Implementation of FG3DModel::Animation
326 ////////////////////////////////////////////////////////////////////////
328 FG3DModel::Animation::Animation ()
332 FG3DModel::Animation::~Animation ()
338 ////////////////////////////////////////////////////////////////////////
339 // Implementation of FG3DModel::NullAnimation
340 ////////////////////////////////////////////////////////////////////////
342 FG3DModel::NullAnimation::NullAnimation ()
343 : _branch(new ssgBranch)
347 FG3DModel::NullAnimation::~NullAnimation ()
353 FG3DModel::NullAnimation::init (ssgEntity * object,
354 SGPropertyNode * props)
356 splice_branch(_branch, object);
357 _branch->setName(props->getStringValue("name", 0));
361 FG3DModel::NullAnimation::update (double dt)
367 ////////////////////////////////////////////////////////////////////////
368 // Implementation of FG3DModel::RangeAnimation
369 ////////////////////////////////////////////////////////////////////////
371 FG3DModel::RangeAnimation::RangeAnimation ()
372 : _branch(new ssgRangeSelector)
376 FG3DModel::RangeAnimation::~RangeAnimation ()
382 FG3DModel::RangeAnimation::init (ssgEntity * object,
383 SGPropertyNode * props)
386 splice_branch(_branch, object);
387 _branch->setName(props->getStringValue("name", 0));
388 ranges[0] = props->getFloatValue("min-m", 0);
389 ranges[1] = props->getFloatValue("max-m", 5000);
390 _branch->setRanges(ranges, 2);
394 FG3DModel::RangeAnimation::update (double dt)
400 ////////////////////////////////////////////////////////////////////////
401 // Implementation of FG3DModel::BillboardAnimation
402 ////////////////////////////////////////////////////////////////////////
404 FG3DModel::BillboardAnimation::BillboardAnimation ()
407 // Note: we cannot allocate the branch until we know whether
408 // it can rotate around the x axis as well as the z axis.
411 FG3DModel::BillboardAnimation::~BillboardAnimation ()
417 FG3DModel::BillboardAnimation::init (ssgEntity * object,
418 SGPropertyNode * props)
420 _branch = new ssgCutout(props->getBoolValue("spherical", true));
421 splice_branch(_branch, object);
422 _branch->setName(props->getStringValue("name", 0));
426 FG3DModel::BillboardAnimation::update (double dt)
432 ////////////////////////////////////////////////////////////////////////
433 // Implementation of FG3DModel::SelectAnimation
434 ////////////////////////////////////////////////////////////////////////
436 FG3DModel::SelectAnimation::SelectAnimation ()
438 _selector(new ssgSelector)
442 FG3DModel::SelectAnimation::~SelectAnimation ()
449 FG3DModel::SelectAnimation::init (ssgEntity * object,
450 SGPropertyNode * props)
452 splice_branch(_selector, object);
453 _selector->setName(props->getStringValue("name", 0));
454 SGPropertyNode * node = props->getChild("condition");
456 _condition = fgReadCondition(node);
461 FG3DModel::SelectAnimation::update (double dt)
463 if (_condition != 0 && _condition->test())
464 _selector->select(0xffff);
466 _selector->select(0x0000);
471 ////////////////////////////////////////////////////////////////////////
472 // Implementation of FG3DModel::SpinAnimation
473 ////////////////////////////////////////////////////////////////////////
475 FG3DModel::SpinAnimation::SpinAnimation ()
479 _transform(new ssgTransform)
483 FG3DModel::SpinAnimation::~SpinAnimation ()
489 FG3DModel::SpinAnimation::init (ssgEntity * object,
490 SGPropertyNode * props)
492 // Splice in the new transform node
493 splice_branch(_transform, object);
494 _transform->setName(props->getStringValue("name", 0));
495 _prop = fgGetNode(props->getStringValue("property", "/null"), true);
496 _factor = props->getDoubleValue("factor", 1.0);
497 _position_deg = props->getDoubleValue("starting-position-deg", 0);
498 _center[0] = props->getFloatValue("center/x-m", 0);
499 _center[1] = props->getFloatValue("center/y-m", 0);
500 _center[2] = props->getFloatValue("center/z-m", 0);
501 _axis[0] = props->getFloatValue("axis/x", 0);
502 _axis[1] = props->getFloatValue("axis/y", 0);
503 _axis[2] = props->getFloatValue("axis/z", 0);
504 sgNormalizeVec3(_axis);
508 FG3DModel::SpinAnimation::update (double dt)
510 float velocity_rpms = (_prop->getDoubleValue() * _factor / 60.0);
511 _position_deg += (dt * velocity_rpms * 360);
512 while (_position_deg < 0)
513 _position_deg += 360.0;
514 while (_position_deg >= 360.0)
515 _position_deg -= 360.0;
516 set_rotation(_matrix, _position_deg, _center, _axis);
517 _transform->setTransform(_matrix);
522 ////////////////////////////////////////////////////////////////////////
523 // Implementation of FG3DModel::RotateAnimation
524 ////////////////////////////////////////////////////////////////////////
526 FG3DModel::RotateAnimation::RotateAnimation ()
536 _transform(new ssgTransform)
540 FG3DModel::RotateAnimation::~RotateAnimation ()
547 FG3DModel::RotateAnimation::init (ssgEntity * object,
548 SGPropertyNode * props)
550 // Splice in the new transform node
551 splice_branch(_transform, object);
552 _transform->setName(props->getStringValue("name", 0));
553 _prop = fgGetNode(props->getStringValue("property", "/null"), true);
554 _offset_deg = props->getDoubleValue("offset-deg", 0.0);
555 _factor = props->getDoubleValue("factor", 1.0);
556 _table = read_interpolation_table(props);
557 if (props->hasValue("min-deg")) {
559 _min_deg = props->getDoubleValue("min-deg");
561 if (props->hasValue("max-deg")) {
563 _max_deg = props->getDoubleValue("max-deg");
565 _position_deg = props->getDoubleValue("starting-position-deg", 0);
566 _center[0] = props->getFloatValue("center/x-m", 0);
567 _center[1] = props->getFloatValue("center/y-m", 0);
568 _center[2] = props->getFloatValue("center/z-m", 0);
569 _axis[0] = props->getFloatValue("axis/x", 0);
570 _axis[1] = props->getFloatValue("axis/y", 0);
571 _axis[2] = props->getFloatValue("axis/z", 0);
572 sgNormalizeVec3(_axis);
576 FG3DModel::RotateAnimation::update (double dt)
579 _position_deg = (_prop->getDoubleValue() + _offset_deg) * _factor;
580 if (_has_min && _position_deg < _min_deg)
581 _position_deg = _min_deg;
582 if (_has_max && _position_deg > _max_deg)
583 _position_deg = _max_deg;
585 _position_deg = _table->interpolate(_prop->getDoubleValue());
587 set_rotation(_matrix, _position_deg, _center, _axis);
588 _transform->setTransform(_matrix);
593 ////////////////////////////////////////////////////////////////////////
594 // Implementation of FG3DModel::TranslateAnimation
595 ////////////////////////////////////////////////////////////////////////
597 FG3DModel::TranslateAnimation::TranslateAnimation ()
607 _transform(new ssgTransform)
611 FG3DModel::TranslateAnimation::~TranslateAnimation ()
618 FG3DModel::TranslateAnimation::init (ssgEntity * object,
619 SGPropertyNode * props)
621 // Splice in the new transform node
622 splice_branch(_transform, object);
623 _transform->setName(props->getStringValue("name", 0));
624 _prop = fgGetNode(props->getStringValue("property", "/null"), true);
625 _offset_m = props->getDoubleValue("offset-m", 0.0);
626 _factor = props->getDoubleValue("factor", 1.0);
627 _table = read_interpolation_table(props);
628 if (props->hasValue("min-m")) {
630 _min_m = props->getDoubleValue("min-m");
632 if (props->hasValue("max-m")) {
634 _max_m = props->getDoubleValue("max-m");
636 _position_m = props->getDoubleValue("starting-position-m", 0);
637 _axis[0] = props->getFloatValue("axis/x", 0);
638 _axis[1] = props->getFloatValue("axis/y", 0);
639 _axis[2] = props->getFloatValue("axis/z", 0);
640 sgNormalizeVec3(_axis);
644 FG3DModel::TranslateAnimation::update (double dt)
647 _position_m = (_prop->getDoubleValue() + _offset_m) * _factor;
648 if (_has_min && _position_m < _min_m)
649 _position_m = _min_m;
650 if (_has_max && _position_m > _max_m)
651 _position_m = _max_m;
653 _position_m = _table->interpolate(_prop->getDoubleValue());
655 set_translation(_matrix, _position_m, _axis);
656 _transform->setTransform(_matrix);
661 ////////////////////////////////////////////////////////////////////////
662 // Implementation of FGModelPlacement.
663 ////////////////////////////////////////////////////////////////////////
665 FGModelPlacement::FGModelPlacement ()
666 : _model(new FG3DModel),
673 _selector(new ssgSelector),
674 _position(new ssgTransform),
675 _location(new FGLocation)
679 FGModelPlacement::~FGModelPlacement ()
686 FGModelPlacement::init (const string &path)
689 _position->addKid(_model->getSceneGraph());
690 _selector->addKid(_position);
691 _selector->clrTraversalMaskBits(SSGTRAV_HOT);
695 FGModelPlacement::update (double dt)
699 _location->setPosition( _lon_deg, _lat_deg, _elev_ft );
700 _location->setOrientation( _roll_deg, _pitch_deg, _heading_deg );
703 sgCopyMat4(POS, _location->getTransformMatrix());
706 sgCopyVec3(trans, _location->get_view_pos());
708 for(int i = 0; i < 4; i++) {
709 float tmp = POS[i][3];
710 for( int j=0; j<3; j++ ) {
711 POS[i][j] += (tmp * trans[j]);
714 _position->setTransform(POS);
718 FGModelPlacement::getVisible () const
720 return (_selector->getSelect() != 0);
724 FGModelPlacement::setVisible (bool visible)
726 _selector->select(visible);
730 FGModelPlacement::setLongitudeDeg (double lon_deg)
736 FGModelPlacement::setLatitudeDeg (double lat_deg)
742 FGModelPlacement::setElevationFt (double elev_ft)
748 FGModelPlacement::setPosition (double lon_deg, double lat_deg, double elev_ft)
756 FGModelPlacement::setRollDeg (double roll_deg)
758 _roll_deg = roll_deg;
762 FGModelPlacement::setPitchDeg (double pitch_deg)
764 _pitch_deg = pitch_deg;
768 FGModelPlacement::setHeadingDeg (double heading_deg)
770 _heading_deg = heading_deg;
774 FGModelPlacement::setOrientation (double roll_deg, double pitch_deg,
777 _roll_deg = roll_deg;
778 _pitch_deg = pitch_deg;
779 _heading_deg = heading_deg;