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 (SGPropertyNode_ptr props)
161 SGPropertyNode_ptr 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,
178 vector<SGPropertyNode_ptr> &name_nodes,
179 SGPropertyNode_ptr node)
181 Animation * animation = 0;
182 const char * type = node->getStringValue("type", "none");
183 if (!strcmp("none", type)) {
184 animation = new NullAnimation(node);
185 } else if (!strcmp("range", type)) {
186 animation = new RangeAnimation(node);
187 } else if (!strcmp("billboard", type)) {
188 animation = new BillboardAnimation(node);
189 } else if (!strcmp("select", type)) {
190 animation = new SelectAnimation(node);
191 } else if (!strcmp("spin", type)) {
192 animation = new SpinAnimation(node);
193 } else if (!strcmp("timed", type)) {
194 animation = new TimedAnimation(node);
195 } else if (!strcmp("rotate", type)) {
196 animation = new RotateAnimation(node);
197 } else if (!strcmp("translate", type)) {
198 animation = new TranslateAnimation(node);
200 animation = new NullAnimation(node);
201 SG_LOG(SG_INPUT, SG_WARN, "Unknown animation type " << type);
205 animation->setName((char *)name);
208 if (name_nodes.size() > 0) {
209 object = find_named_node(model, name_nodes[0]->getStringValue());
211 SG_LOG(SG_INPUT, SG_WARN, "Object " << name_nodes[0]->getStringValue()
220 ssgBranch * branch = animation->getBranch();
221 splice_branch(branch, object);
223 for (int i = 1; i < name_nodes.size(); i++) {
224 const char * name = name_nodes[i]->getStringValue();
225 object = find_named_node(model, name);
227 SG_LOG(SG_INPUT, SG_WARN, "Object " << name << " not found");
231 ssgBranch * oldParent = object->getParent(0);
232 branch->addKid(object);
233 oldParent->removeKid(object);
237 branch->setUserData(animation);
238 branch->setTravCallback(SSG_CALLBACK_PRETRAV, animation_callback);
243 ////////////////////////////////////////////////////////////////////////
245 ////////////////////////////////////////////////////////////////////////
248 fgLoad3DModel (const string &path)
250 ssgBranch * model = 0;
251 SGPropertyNode props;
253 // Load the 3D aircraft object itself
255 SGPath modelpath = path;
256 if ( path[ 0 ] == '/' || path[ 0 ] == '\\' || ( isalpha( path[ 0 ] ) && path[ 1 ] == ':' ) ) {
260 xmlpath = globals->get_fg_root();
261 xmlpath.append(modelpath.str());
264 // Check for an XML wrapper
265 if (xmlpath.str().substr(xmlpath.str().size() - 4, 4) == ".xml") {
266 readProperties(xmlpath.str(), &props);
267 if (props.hasValue("/path")) {
268 modelpath = modelpath.dir();
269 modelpath.append(props.getStringValue("/path"));
272 model = new ssgBranch;
276 // Assume that textures are in
277 // the same location as the XML file.
279 ssgTexturePath((char *)xmlpath.dir().c_str());
280 model = (ssgBranch *)ssgLoad((char *)modelpath.c_str());
282 throw sg_exception("Failed to load 3D model");
285 // Set up the alignment node
286 ssgTransform * align = new ssgTransform;
287 align->addKid(model);
289 make_offsets_matrix(&res_matrix,
290 props.getFloatValue("/offsets/heading-deg", 0.0),
291 props.getFloatValue("/offsets/roll-deg", 0.0),
292 props.getFloatValue("/offsets/pitch-deg", 0.0),
293 props.getFloatValue("/offsets/x-m", 0.0),
294 props.getFloatValue("/offsets/y-m", 0.0),
295 props.getFloatValue("/offsets/z-m", 0.0));
296 align->setTransform(res_matrix);
300 vector<SGPropertyNode_ptr> panel_nodes = props.getChildren("panel");
301 for (i = 0; i < panel_nodes.size(); i++) {
302 SG_LOG(SG_INPUT, SG_DEBUG, "Loading a panel");
303 FGPanelNode * panel = new FGPanelNode(panel_nodes[i]);
304 if (panel_nodes[i]->hasValue("name"))
305 panel->setName((char *)panel_nodes[i]->getStringValue("name"));
306 model->addKid(panel);
310 vector<SGPropertyNode_ptr> animation_nodes = props.getChildren("animation");
311 for (i = 0; i < animation_nodes.size(); i++) {
312 const char * name = animation_nodes[i]->getStringValue("name", 0);
313 vector<SGPropertyNode_ptr> name_nodes =
314 animation_nodes[i]->getChildren("object-name");
315 make_animation(model, name, name_nodes, animation_nodes[i]);
319 vector<SGPropertyNode_ptr> model_nodes = props.getChildren("model");
320 for (i = 0; i < model_nodes.size(); i++) {
321 SGPropertyNode_ptr node = model_nodes[i];
322 ssgTransform * align = new ssgTransform;
324 make_offsets_matrix(&res_matrix,
325 node->getFloatValue("offsets/heading-deg", 0.0),
326 node->getFloatValue("offsets/roll-deg", 0.0),
327 node->getFloatValue("offsets/pitch-deg", 0.0),
328 node->getFloatValue("offsets/x-m", 0.0),
329 node->getFloatValue("offsets/y-m", 0.0),
330 node->getFloatValue("offsets/z-m", 0.0));
331 align->setTransform(res_matrix);
333 ssgBranch * kid = fgLoad3DModel(node->getStringValue("path"));
335 model->addKid(align);
343 ////////////////////////////////////////////////////////////////////////
344 // Implementation of Animation
345 ////////////////////////////////////////////////////////////////////////
347 Animation::Animation (SGPropertyNode_ptr props, ssgBranch * branch)
350 _branch->setName(props->getStringValue("name", 0));
353 Animation::~Animation ()
369 ////////////////////////////////////////////////////////////////////////
370 // Implementation of NullAnimation
371 ////////////////////////////////////////////////////////////////////////
373 NullAnimation::NullAnimation (SGPropertyNode_ptr props)
374 : Animation(props, new ssgBranch)
378 NullAnimation::~NullAnimation ()
384 ////////////////////////////////////////////////////////////////////////
385 // Implementation of RangeAnimation
386 ////////////////////////////////////////////////////////////////////////
388 RangeAnimation::RangeAnimation (SGPropertyNode_ptr props)
389 : Animation(props, new ssgRangeSelector)
391 float ranges[] = { props->getFloatValue("min-m", 0),
392 props->getFloatValue("max-m", 5000) };
393 ((ssgRangeSelector *)_branch)->setRanges(ranges, 2);
397 RangeAnimation::~RangeAnimation ()
403 ////////////////////////////////////////////////////////////////////////
404 // Implementation of BillboardAnimation
405 ////////////////////////////////////////////////////////////////////////
407 BillboardAnimation::BillboardAnimation (SGPropertyNode_ptr props)
408 : Animation(props, new ssgCutout(props->getBoolValue("spherical", true)))
412 BillboardAnimation::~BillboardAnimation ()
418 ////////////////////////////////////////////////////////////////////////
419 // Implementation of SelectAnimation
420 ////////////////////////////////////////////////////////////////////////
422 SelectAnimation::SelectAnimation (SGPropertyNode_ptr props)
423 : Animation(props, new ssgSelector),
426 SGPropertyNode_ptr node = props->getChild("condition");
428 _condition = fgReadCondition(node);
431 SelectAnimation::~SelectAnimation ()
437 SelectAnimation::update ()
439 if (_condition != 0 && _condition->test())
440 ((ssgSelector *)_branch)->select(0xffff);
442 ((ssgSelector *)_branch)->select(0x0000);
447 ////////////////////////////////////////////////////////////////////////
448 // Implementation of SpinAnimation
449 ////////////////////////////////////////////////////////////////////////
451 SpinAnimation::SpinAnimation (SGPropertyNode_ptr props)
452 : Animation(props, new ssgTransform),
453 _prop(fgGetNode(props->getStringValue("property", "/null"), true)),
454 _factor(props->getDoubleValue("factor", 1.0)),
455 _position_deg(props->getDoubleValue("starting-position-deg", 0)),
456 _last_time_sec(globals->get_sim_time_sec())
458 _center[0] = props->getFloatValue("center/x-m", 0);
459 _center[1] = props->getFloatValue("center/y-m", 0);
460 _center[2] = props->getFloatValue("center/z-m", 0);
461 _axis[0] = props->getFloatValue("axis/x", 0);
462 _axis[1] = props->getFloatValue("axis/y", 0);
463 _axis[2] = props->getFloatValue("axis/z", 0);
464 sgNormalizeVec3(_axis);
467 SpinAnimation::~SpinAnimation ()
472 SpinAnimation::update ()
474 double sim_time = globals->get_sim_time_sec();
475 double dt = sim_time - _last_time_sec;
476 _last_time_sec = sim_time;
478 float velocity_rpms = (_prop->getDoubleValue() * _factor / 60.0);
479 _position_deg += (dt * velocity_rpms * 360);
480 while (_position_deg < 0)
481 _position_deg += 360.0;
482 while (_position_deg >= 360.0)
483 _position_deg -= 360.0;
484 set_rotation(_matrix, _position_deg, _center, _axis);
485 ((ssgTransform *)_branch)->setTransform(_matrix);
490 ////////////////////////////////////////////////////////////////////////
491 // Implementation of TimedAnimation
492 ////////////////////////////////////////////////////////////////////////
494 TimedAnimation::TimedAnimation (SGPropertyNode_ptr props)
495 : Animation(props, new ssgSelector),
496 _duration_sec(props->getDoubleValue("duration-sec", 1.0)),
502 TimedAnimation::~TimedAnimation ()
507 TimedAnimation::update ()
509 float sim_time_sec = globals->get_sim_time_sec();
510 if ((sim_time_sec - _last_time_sec) >= _duration_sec) {
511 _last_time_sec = sim_time_sec;
513 if (_step >= getBranch()->getNumKids())
515 ((ssgSelector *)getBranch())->selectStep(_step);
521 ////////////////////////////////////////////////////////////////////////
522 // Implementation of RotateAnimation
523 ////////////////////////////////////////////////////////////////////////
525 RotateAnimation::RotateAnimation (SGPropertyNode_ptr props)
526 : Animation(props, new ssgTransform),
527 _prop(fgGetNode(props->getStringValue("property", "/null"), true)),
528 _offset_deg(props->getDoubleValue("offset-deg", 0.0)),
529 _factor(props->getDoubleValue("factor", 1.0)),
530 _table(read_interpolation_table(props)),
531 _has_min(props->hasValue("min-deg")),
532 _min_deg(props->getDoubleValue("min-deg")),
533 _has_max(props->hasValue("max-deg")),
534 _max_deg(props->getDoubleValue("max-deg")),
535 _position_deg(props->getDoubleValue("starting-position-deg", 0))
537 _center[0] = props->getFloatValue("center/x-m", 0);
538 _center[1] = props->getFloatValue("center/y-m", 0);
539 _center[2] = props->getFloatValue("center/z-m", 0);
540 _axis[0] = props->getFloatValue("axis/x", 0);
541 _axis[1] = props->getFloatValue("axis/y", 0);
542 _axis[2] = props->getFloatValue("axis/z", 0);
543 sgNormalizeVec3(_axis);
546 RotateAnimation::~RotateAnimation ()
552 RotateAnimation::update ()
555 _position_deg = _prop->getDoubleValue() * _factor + _offset_deg;
556 if (_has_min && _position_deg < _min_deg)
557 _position_deg = _min_deg;
558 if (_has_max && _position_deg > _max_deg)
559 _position_deg = _max_deg;
561 _position_deg = _table->interpolate(_prop->getDoubleValue());
563 set_rotation(_matrix, _position_deg, _center, _axis);
564 ((ssgTransform *)_branch)->setTransform(_matrix);
569 ////////////////////////////////////////////////////////////////////////
570 // Implementation of TranslateAnimation
571 ////////////////////////////////////////////////////////////////////////
573 TranslateAnimation::TranslateAnimation (SGPropertyNode_ptr props)
574 : Animation(props, new ssgTransform),
575 _prop(fgGetNode(props->getStringValue("property", "/null"), true)),
576 _offset_m(props->getDoubleValue("offset-m", 0.0)),
577 _factor(props->getDoubleValue("factor", 1.0)),
578 _table(read_interpolation_table(props)),
579 _has_min(props->hasValue("min-m")),
580 _min_m(props->getDoubleValue("min-m")),
581 _has_max(props->hasValue("max-m")),
582 _max_m(props->getDoubleValue("max-m")),
583 _position_m(props->getDoubleValue("starting-position-m", 0))
585 _axis[0] = props->getFloatValue("axis/x", 0);
586 _axis[1] = props->getFloatValue("axis/y", 0);
587 _axis[2] = props->getFloatValue("axis/z", 0);
588 sgNormalizeVec3(_axis);
591 TranslateAnimation::~TranslateAnimation ()
597 TranslateAnimation::update ()
600 _position_m = (_prop->getDoubleValue() + _offset_m) * _factor;
601 if (_has_min && _position_m < _min_m)
602 _position_m = _min_m;
603 if (_has_max && _position_m > _max_m)
604 _position_m = _max_m;
606 _position_m = _table->interpolate(_prop->getDoubleValue());
608 set_translation(_matrix, _position_m, _axis);
609 ((ssgTransform *)_branch)->setTransform(_matrix);
614 ////////////////////////////////////////////////////////////////////////
615 // Implementation of FGModelPlacement.
616 ////////////////////////////////////////////////////////////////////////
618 FGModelPlacement::FGModelPlacement ()
625 _selector(new ssgSelector),
626 _position(new ssgTransform),
627 _location(new FGLocation)
631 FGModelPlacement::~FGModelPlacement ()
636 FGModelPlacement::init (const string &path)
638 ssgBranch * model = fgLoad3DModel(path);
640 _position->addKid(model);
641 _selector->addKid(_position);
642 _selector->clrTraversalMaskBits(SSGTRAV_HOT);
646 FGModelPlacement::update ()
648 _location->setPosition( _lon_deg, _lat_deg, _elev_ft );
649 _location->setOrientation( _roll_deg, _pitch_deg, _heading_deg );
652 sgCopyMat4(POS, _location->getTransformMatrix());
655 sgCopyVec3(trans, _location->get_view_pos());
657 for(int i = 0; i < 4; i++) {
658 float tmp = POS[i][3];
659 for( int j=0; j<3; j++ ) {
660 POS[i][j] += (tmp * trans[j]);
663 _position->setTransform(POS);
667 FGModelPlacement::getVisible () const
669 return (_selector->getSelect() != 0);
673 FGModelPlacement::setVisible (bool visible)
675 _selector->select(visible);
679 FGModelPlacement::setLongitudeDeg (double lon_deg)
685 FGModelPlacement::setLatitudeDeg (double lat_deg)
691 FGModelPlacement::setElevationFt (double elev_ft)
697 FGModelPlacement::setPosition (double lon_deg, double lat_deg, double elev_ft)
705 FGModelPlacement::setRollDeg (double roll_deg)
707 _roll_deg = roll_deg;
711 FGModelPlacement::setPitchDeg (double pitch_deg)
713 _pitch_deg = pitch_deg;
717 FGModelPlacement::setHeadingDeg (double heading_deg)
719 _heading_deg = heading_deg;
723 FGModelPlacement::setOrientation (double roll_deg, double pitch_deg,
726 _roll_deg = roll_deg;
727 _pitch_deg = pitch_deg;
728 _heading_deg = heading_deg;