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/point3d.hxx>
18 #include <simgear/math/sg_geodesy.hxx>
19 #include <simgear/misc/exception.hxx>
20 #include <simgear/misc/sg_path.hxx>
22 #include <Main/globals.hxx>
23 #include <Main/location.hxx>
24 #include <Scenery/scenery.hxx>
30 ////////////////////////////////////////////////////////////////////////
31 // Static utility functions.
32 ////////////////////////////////////////////////////////////////////////
35 * Locate a named SSG node in a branch.
38 find_named_node (ssgEntity * node, const char * name)
40 char * node_name = node->getName();
41 if (node_name != 0 && !strcmp(name, node_name))
43 else if (node->isAKindOf(ssgTypeBranch())) {
44 int nKids = node->getNumKids();
45 for (int i = 0; i < nKids; i++) {
47 find_named_node(((ssgBranch*)node)->getKid(i), name);
56 * Splice a branch in between all child nodes and their parents.
59 splice_branch (ssgBranch * branch, ssgEntity * child)
61 int nParents = child->getNumParents();
62 branch->addKid(child);
63 for (int i = 0; i < nParents; i++) {
64 ssgBranch * parent = child->getParent(i);
65 parent->replaceKid(child, branch);
70 * Set up the transform matrix for a spin or rotation.
73 set_rotation (sgMat4 &matrix, double position_deg,
74 sgVec3 ¢er, sgVec3 &axis)
76 float temp_angle = -position_deg * SG_DEGREES_TO_RADIANS ;
78 float s = (float) sin ( temp_angle ) ;
79 float c = (float) cos ( temp_angle ) ;
80 float t = SG_ONE - c ;
82 // axis was normalized at load time
83 // hint to the compiler to put these into FP registers
88 matrix[0][0] = t * x * x + c ;
89 matrix[0][1] = t * y * x - s * z ;
90 matrix[0][2] = t * z * x + s * y ;
91 matrix[0][3] = SG_ZERO;
93 matrix[1][0] = t * x * y + s * z ;
94 matrix[1][1] = t * y * y + c ;
95 matrix[1][2] = t * z * y - s * x ;
96 matrix[1][3] = SG_ZERO;
98 matrix[2][0] = t * x * z - s * y ;
99 matrix[2][1] = t * y * z + s * x ;
100 matrix[2][2] = t * z * z + c ;
101 matrix[2][3] = SG_ZERO;
103 // hint to the compiler to put these into FP registers
108 matrix[3][0] = x - x*matrix[0][0] - y*matrix[1][0] - z*matrix[2][0];
109 matrix[3][1] = y - x*matrix[0][1] - y*matrix[1][1] - z*matrix[2][1];
110 matrix[3][2] = z - x*matrix[0][2] - y*matrix[1][2] - z*matrix[2][2];
111 matrix[3][3] = SG_ONE;
115 * Set up the transform matrix for a translation.
118 set_translation (sgMat4 &matrix, double position_m, sgVec3 &axis)
121 sgScaleVec3(xyz, axis, position_m);
122 sgMakeTransMat4(matrix, xyz);
127 ////////////////////////////////////////////////////////////////////////
128 // Implementation of FG3DModel
129 ////////////////////////////////////////////////////////////////////////
131 FG3DModel::FG3DModel ()
133 _selector(new ssgSelector),
134 _position(new ssgTransform)
138 FG3DModel::~FG3DModel ()
140 // since the nodes are attached to the scene graph, they'll be
141 // deleted automatically
143 for (int i = 0; i < _animations.size(); i++) {
144 Animation * tmp = _animations[i];
152 FG3DModel::init (const string &path)
154 SGPropertyNode props;
156 // Load the 3D aircraft object itself
157 SGPath xmlpath = globals->get_fg_root();
158 SGPath modelpath = path;
159 xmlpath.append(modelpath.str());
161 // Check for an XML wrapper
162 if (xmlpath.str().substr(xmlpath.str().size() - 4, 4) == ".xml") {
163 readProperties(xmlpath.str(), &props);
164 if (props.hasValue("/path")) {
165 modelpath = modelpath.dir();
166 modelpath.append(props.getStringValue("/path"));
168 throw sg_exception("No path for model");
172 // Assume that textures are in
173 // the same location as the XML file.
174 ssgTexturePath((char *)xmlpath.dir().c_str());
175 _model = ssgLoad((char *)modelpath.c_str());
177 throw sg_exception("Failed to load 3D model");
180 vector<SGPropertyNode *> animation_nodes = props.getChildren("animation");
181 for (unsigned int i = 0; i < animation_nodes.size(); i++) {
182 vector<SGPropertyNode *> name_nodes =
183 animation_nodes[i]->getChildren("object-name");
184 if (name_nodes.size() < 1) {
185 SG_LOG(SG_INPUT, SG_ALERT, "No object-name given for transformation");
187 for (unsigned int j = 0; j < name_nodes.size(); j++) {
188 Animation * animation =
189 make_animation(name_nodes[j]->getStringValue(), animation_nodes[i]);
191 _animations.push_back(animation);
196 // Set up the alignment node
197 ssgTransform * align = new ssgTransform;
198 align->addKid(_model);
202 float h_rot = props.getFloatValue("/offsets/heading-deg", 0.0);
203 float p_rot = props.getFloatValue("/offsets/roll-deg", 0.0);
204 float r_rot = props.getFloatValue("/offsets/pitch-deg", 0.0);
205 float x_off = props.getFloatValue("/offsets/x-m", 0.0);
206 float y_off = props.getFloatValue("/offsets/y-m", 0.0);
207 float z_off = props.getFloatValue("/offsets/z-m", 0.0);
208 sgMakeRotMat4(rot_matrix, h_rot, p_rot, r_rot);
209 sgMakeTransMat4(off_matrix, x_off, y_off, z_off);
210 sgMultMat4(res_matrix, off_matrix, rot_matrix);
211 align->setTransform(res_matrix);
213 // Set up the position node
214 _position->addKid(align);
216 // Set up the selector node
217 _selector->addKid(_position);
218 _selector->clrTraversalMaskBits(SSGTRAV_HOT);
221 // Set up a location class
222 _location = (FGLocation *) new FGLocation;
227 FG3DModel::update (int dt)
229 for (unsigned int i = 0; i < _animations.size(); i++)
230 _animations[i]->update(dt);
236 _location->setPosition( _lon_deg, _lat_deg, _elev_ft );
237 _location->setOrientation( _roll_deg, _pitch_deg, _heading_deg );
238 sgCopyMat4(TRANS, _location->getTransformMatrix());
239 sgMakeTransMat4( POS, _location->get_view_pos() );
241 sgPostMultMat4( TRANS, POS );
243 sgSetCoord( &obj_pos, TRANS );
245 _position->setTransform(&obj_pos);
249 FG3DModel::getVisible () const
251 return _selector->getSelect();
255 FG3DModel::setVisible (bool visible)
257 _selector->select(visible);
261 FG3DModel::setLongitudeDeg (double lon_deg)
267 FG3DModel::setLatitudeDeg (double lat_deg)
273 FG3DModel::setElevationFt (double elev_ft)
279 FG3DModel::setPosition (double lon_deg, double lat_deg, double elev_ft)
287 FG3DModel::setRollDeg (double roll_deg)
289 _roll_deg = roll_deg;
293 FG3DModel::setPitchDeg (double pitch_deg)
295 _pitch_deg = pitch_deg;
299 FG3DModel::setHeadingDeg (double heading_deg)
301 _heading_deg = heading_deg;
305 FG3DModel::setOrientation (double roll_deg, double pitch_deg,
308 _roll_deg = roll_deg;
309 _pitch_deg = pitch_deg;
310 _heading_deg = heading_deg;
313 FG3DModel::Animation *
314 FG3DModel::make_animation (const char * object_name,
315 SGPropertyNode * node)
317 Animation * animation = 0;
318 const char * type = node->getStringValue("type");
319 if (!strcmp("none", type)) {
320 animation = new NullAnimation();
321 } else if (!strcmp("select", type)) {
322 animation = new SelectAnimation();
323 } else if (!strcmp("spin", type)) {
324 animation = new SpinAnimation();
325 } else if (!strcmp("rotate", type)) {
326 animation = new RotateAnimation();
327 } else if (!strcmp("translate", type)) {
328 animation = new TranslateAnimation();
330 animation = new NullAnimation();
331 SG_LOG(SG_INPUT, SG_WARN, "Unknown animation type " << type);
334 ssgEntity * object = find_named_node(_model, object_name);
336 SG_LOG(SG_INPUT, SG_WARN, "Object " << object_name << " not found");
340 animation->init(object, node);
348 ////////////////////////////////////////////////////////////////////////
349 // Implementation of FG3DModel::Animation
350 ////////////////////////////////////////////////////////////////////////
352 FG3DModel::Animation::Animation ()
356 FG3DModel::Animation::~Animation ()
362 ////////////////////////////////////////////////////////////////////////
363 // Implementation of FG3DModel::NullAnimation
364 ////////////////////////////////////////////////////////////////////////
366 FG3DModel::NullAnimation::NullAnimation ()
367 : _branch(new ssgBranch)
371 FG3DModel::NullAnimation::~NullAnimation ()
377 FG3DModel::NullAnimation::init (ssgEntity * object,
378 SGPropertyNode * props)
380 splice_branch(_branch, object);
381 _branch->setName(props->getStringValue("name", 0));
385 FG3DModel::NullAnimation::update (int dt)
391 ////////////////////////////////////////////////////////////////////////
392 // Implementation of FG3DModel::SelectAnimation
393 ////////////////////////////////////////////////////////////////////////
395 FG3DModel::SelectAnimation::SelectAnimation ()
397 _selector(new ssgSelector)
401 FG3DModel::SelectAnimation::~SelectAnimation ()
408 FG3DModel::SelectAnimation::init (ssgEntity * object,
409 SGPropertyNode * props)
411 splice_branch(_selector, object);
412 _selector->setName(props->getStringValue("name", 0));
413 SGPropertyNode * node = props->getChild("condition");
415 _condition = fgReadCondition(node);
420 FG3DModel::SelectAnimation::update (int dt)
422 if (_condition != 0 && _condition->test())
423 _selector->select(0xffff);
425 _selector->select(0x0000);
430 ////////////////////////////////////////////////////////////////////////
431 // Implementation of FG3DModel::SpinAnimation
432 ////////////////////////////////////////////////////////////////////////
434 FG3DModel::SpinAnimation::SpinAnimation ()
438 _transform(new ssgTransform)
442 FG3DModel::SpinAnimation::~SpinAnimation ()
448 FG3DModel::SpinAnimation::init (ssgEntity * object,
449 SGPropertyNode * props)
451 // Splice in the new transform node
452 splice_branch(_transform, object);
453 _transform->setName(props->getStringValue("name", 0));
454 _prop = fgGetNode(props->getStringValue("property", "/null"), true);
455 _factor = props->getDoubleValue("factor", 1.0);
456 _position_deg = props->getDoubleValue("starting-position-deg", 0);
457 _center[0] = props->getFloatValue("center/x-m", 0);
458 _center[1] = props->getFloatValue("center/y-m", 0);
459 _center[2] = props->getFloatValue("center/z-m", 0);
460 _axis[0] = props->getFloatValue("axis/x", 0);
461 _axis[1] = props->getFloatValue("axis/y", 0);
462 _axis[2] = props->getFloatValue("axis/z", 0);
463 sgNormalizeVec3(_axis);
467 FG3DModel::SpinAnimation::update (int dt)
469 float velocity_rpms = (_prop->getDoubleValue() * _factor / 60000.0);
470 _position_deg += (dt * velocity_rpms * 360);
471 while (_position_deg < 0)
472 _position_deg += 360.0;
473 while (_position_deg >= 360.0)
474 _position_deg -= 360.0;
475 set_rotation(_matrix, _position_deg, _center, _axis);
476 _transform->setTransform(_matrix);
481 ////////////////////////////////////////////////////////////////////////
482 // Implementation of FG3DModel::RotateAnimation
483 ////////////////////////////////////////////////////////////////////////
485 FG3DModel::RotateAnimation::RotateAnimation ()
494 _transform(new ssgTransform)
498 FG3DModel::RotateAnimation::~RotateAnimation ()
504 FG3DModel::RotateAnimation::init (ssgEntity * object,
505 SGPropertyNode * props)
507 // Splice in the new transform node
508 splice_branch(_transform, object);
509 _transform->setName(props->getStringValue("name", 0));
510 _prop = fgGetNode(props->getStringValue("property", "/null"), true);
511 _offset_deg = props->getDoubleValue("offset-deg", 0.0);
512 _factor = props->getDoubleValue("factor", 1.0);
513 if (props->hasValue("min-deg")) {
515 _min_deg = props->getDoubleValue("min-deg");
517 if (props->hasValue("max-deg")) {
519 _max_deg = props->getDoubleValue("max-deg");
521 _position_deg = props->getDoubleValue("starting-position-deg", 0);
522 _center[0] = props->getFloatValue("center/x-m", 0);
523 _center[1] = props->getFloatValue("center/y-m", 0);
524 _center[2] = props->getFloatValue("center/z-m", 0);
525 _axis[0] = props->getFloatValue("axis/x", 0);
526 _axis[1] = props->getFloatValue("axis/y", 0);
527 _axis[2] = props->getFloatValue("axis/z", 0);
528 sgNormalizeVec3(_axis);
532 FG3DModel::RotateAnimation::update (int dt)
534 _position_deg = ((_prop->getDoubleValue() + _offset_deg) * _factor);
535 if (_has_min && _position_deg < _min_deg)
536 _position_deg = _min_deg;
537 if (_has_max && _position_deg > _max_deg)
538 _position_deg = _max_deg;
539 set_rotation(_matrix, _position_deg, _center, _axis);
540 _transform->setTransform(_matrix);
545 ////////////////////////////////////////////////////////////////////////
546 // Implementation of FG3DModel::TranslateAnimation
547 ////////////////////////////////////////////////////////////////////////
549 FG3DModel::TranslateAnimation::TranslateAnimation ()
558 _transform(new ssgTransform)
562 FG3DModel::TranslateAnimation::~TranslateAnimation ()
568 FG3DModel::TranslateAnimation::init (ssgEntity * object,
569 SGPropertyNode * props)
571 // Splice in the new transform node
572 splice_branch(_transform, object);
573 _transform->setName(props->getStringValue("name", 0));
574 _prop = fgGetNode(props->getStringValue("property", "/null"), true);
575 _offset_m = props->getDoubleValue("offset-m", 0.0);
576 _factor = props->getDoubleValue("factor", 1.0);
577 if (props->hasValue("min-m")) {
579 _min_m = props->getDoubleValue("min-m");
581 if (props->hasValue("max-m")) {
583 _max_m = props->getDoubleValue("max-m");
585 _position_m = props->getDoubleValue("starting-position-m", 0);
586 _axis[0] = props->getFloatValue("axis/x", 0);
587 _axis[1] = props->getFloatValue("axis/y", 0);
588 _axis[2] = props->getFloatValue("axis/z", 0);
589 sgNormalizeVec3(_axis);
593 FG3DModel::TranslateAnimation::update (int dt)
595 _position_m = ((_prop->getDoubleValue() + _offset_m) * _factor);
596 if (_has_min && _position_m < _min_m)
597 _position_m = _min_m;
598 if (_has_max && _position_m > _max_m)
599 _position_m = _max_m;
600 set_translation(_matrix, _position_m, _axis);
601 _transform->setTransform(_matrix);