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");
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);
299 vector<SGPropertyNode_ptr> animation_nodes = props.getChildren("animation");
301 for (i = 0; i < animation_nodes.size(); i++) {
302 const char * name = animation_nodes[i]->getStringValue("name", 0);
303 vector<SGPropertyNode_ptr> name_nodes =
304 animation_nodes[i]->getChildren("object-name");
305 make_animation(model, name, name_nodes, animation_nodes[i]);
309 vector<SGPropertyNode_ptr> panel_nodes = props.getChildren("panel");
310 for (i = 0; i < panel_nodes.size(); i++) {
311 printf("Reading a panel in model.cxx\n");
312 FGPanelNode * panel = new FGPanelNode(panel_nodes[i]);
313 model->addKid(panel);
317 vector<SGPropertyNode_ptr> model_nodes = props.getChildren("model");
318 for (i = 0; i < model_nodes.size(); i++) {
319 SGPropertyNode_ptr node = model_nodes[i];
320 ssgTransform * align = new ssgTransform;
322 make_offsets_matrix(&res_matrix,
323 node->getFloatValue("offsets/heading-deg", 0.0),
324 node->getFloatValue("offsets/roll-deg", 0.0),
325 node->getFloatValue("offsets/pitch-deg", 0.0),
326 node->getFloatValue("offsets/x-m", 0.0),
327 node->getFloatValue("offsets/y-m", 0.0),
328 node->getFloatValue("offsets/z-m", 0.0));
329 align->setTransform(res_matrix);
331 ssgBranch * kid = fgLoad3DModel(node->getStringValue("path"));
333 model->addKid(align);
341 ////////////////////////////////////////////////////////////////////////
342 // Implementation of Animation
343 ////////////////////////////////////////////////////////////////////////
345 Animation::Animation (SGPropertyNode_ptr props, ssgBranch * branch)
348 _branch->setName(props->getStringValue("name", 0));
351 Animation::~Animation ()
367 ////////////////////////////////////////////////////////////////////////
368 // Implementation of NullAnimation
369 ////////////////////////////////////////////////////////////////////////
371 NullAnimation::NullAnimation (SGPropertyNode_ptr props)
372 : Animation(props, new ssgBranch)
376 NullAnimation::~NullAnimation ()
382 ////////////////////////////////////////////////////////////////////////
383 // Implementation of RangeAnimation
384 ////////////////////////////////////////////////////////////////////////
386 RangeAnimation::RangeAnimation (SGPropertyNode_ptr props)
387 : Animation(props, new ssgRangeSelector)
389 float ranges[] = { props->getFloatValue("min-m", 0),
390 props->getFloatValue("max-m", 5000) };
391 ((ssgRangeSelector *)_branch)->setRanges(ranges, 2);
395 RangeAnimation::~RangeAnimation ()
401 ////////////////////////////////////////////////////////////////////////
402 // Implementation of BillboardAnimation
403 ////////////////////////////////////////////////////////////////////////
405 BillboardAnimation::BillboardAnimation (SGPropertyNode_ptr props)
406 : Animation(props, new ssgCutout(props->getBoolValue("spherical", true)))
410 BillboardAnimation::~BillboardAnimation ()
416 ////////////////////////////////////////////////////////////////////////
417 // Implementation of SelectAnimation
418 ////////////////////////////////////////////////////////////////////////
420 SelectAnimation::SelectAnimation (SGPropertyNode_ptr props)
421 : Animation(props, new ssgSelector),
424 SGPropertyNode_ptr node = props->getChild("condition");
426 _condition = fgReadCondition(node);
429 SelectAnimation::~SelectAnimation ()
435 SelectAnimation::update ()
437 if (_condition != 0 && _condition->test())
438 ((ssgSelector *)_branch)->select(0xffff);
440 ((ssgSelector *)_branch)->select(0x0000);
445 ////////////////////////////////////////////////////////////////////////
446 // Implementation of SpinAnimation
447 ////////////////////////////////////////////////////////////////////////
449 SpinAnimation::SpinAnimation (SGPropertyNode_ptr props)
450 : Animation(props, new ssgTransform),
451 _prop(fgGetNode(props->getStringValue("property", "/null"), true)),
452 _factor(props->getDoubleValue("factor", 1.0)),
453 _position_deg(props->getDoubleValue("starting-position-deg", 0)),
454 _last_time_sec(globals->get_sim_time_sec())
456 _center[0] = props->getFloatValue("center/x-m", 0);
457 _center[1] = props->getFloatValue("center/y-m", 0);
458 _center[2] = props->getFloatValue("center/z-m", 0);
459 _axis[0] = props->getFloatValue("axis/x", 0);
460 _axis[1] = props->getFloatValue("axis/y", 0);
461 _axis[2] = props->getFloatValue("axis/z", 0);
462 sgNormalizeVec3(_axis);
465 SpinAnimation::~SpinAnimation ()
470 SpinAnimation::update ()
472 double sim_time = globals->get_sim_time_sec();
473 double dt = sim_time - _last_time_sec;
474 _last_time_sec = sim_time;
476 float velocity_rpms = (_prop->getDoubleValue() * _factor / 60.0);
477 _position_deg += (dt * velocity_rpms * 360);
478 while (_position_deg < 0)
479 _position_deg += 360.0;
480 while (_position_deg >= 360.0)
481 _position_deg -= 360.0;
482 set_rotation(_matrix, _position_deg, _center, _axis);
483 ((ssgTransform *)_branch)->setTransform(_matrix);
488 ////////////////////////////////////////////////////////////////////////
489 // Implementation of TimedAnimation
490 ////////////////////////////////////////////////////////////////////////
492 TimedAnimation::TimedAnimation (SGPropertyNode_ptr props)
493 : Animation(props, new ssgSelector),
494 _duration_sec(props->getDoubleValue("duration-sec", 1.0)),
500 TimedAnimation::~TimedAnimation ()
505 TimedAnimation::update ()
507 float sim_time_sec = globals->get_sim_time_sec();
508 if ((sim_time_sec - _last_time_sec) >= _duration_sec) {
509 _last_time_sec = sim_time_sec;
510 if (_step >= getBranch()->getNumKids())
514 ((ssgSelector *)getBranch())->selectStep(_step);
520 ////////////////////////////////////////////////////////////////////////
521 // Implementation of RotateAnimation
522 ////////////////////////////////////////////////////////////////////////
524 RotateAnimation::RotateAnimation (SGPropertyNode_ptr props)
525 : Animation(props, new ssgTransform),
526 _prop(fgGetNode(props->getStringValue("property", "/null"), true)),
527 _offset_deg(props->getDoubleValue("offset-deg", 0.0)),
528 _factor(props->getDoubleValue("factor", 1.0)),
529 _table(read_interpolation_table(props)),
530 _has_min(props->hasValue("min-deg")),
531 _min_deg(props->getDoubleValue("min-deg")),
532 _has_max(props->hasValue("max-deg")),
533 _max_deg(props->getDoubleValue("max-deg")),
534 _position_deg(props->getDoubleValue("starting-position-deg", 0))
536 _center[0] = props->getFloatValue("center/x-m", 0);
537 _center[1] = props->getFloatValue("center/y-m", 0);
538 _center[2] = props->getFloatValue("center/z-m", 0);
539 _axis[0] = props->getFloatValue("axis/x", 0);
540 _axis[1] = props->getFloatValue("axis/y", 0);
541 _axis[2] = props->getFloatValue("axis/z", 0);
542 sgNormalizeVec3(_axis);
545 RotateAnimation::~RotateAnimation ()
551 RotateAnimation::update ()
554 _position_deg = (_prop->getDoubleValue() + _offset_deg) * _factor;
555 if (_has_min && _position_deg < _min_deg)
556 _position_deg = _min_deg;
557 if (_has_max && _position_deg > _max_deg)
558 _position_deg = _max_deg;
560 _position_deg = _table->interpolate(_prop->getDoubleValue());
562 set_rotation(_matrix, _position_deg, _center, _axis);
563 ((ssgTransform *)_branch)->setTransform(_matrix);
568 ////////////////////////////////////////////////////////////////////////
569 // Implementation of TranslateAnimation
570 ////////////////////////////////////////////////////////////////////////
572 TranslateAnimation::TranslateAnimation (SGPropertyNode_ptr props)
573 : Animation(props, new ssgTransform),
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 _table(read_interpolation_table(props)),
578 _has_min(props->hasValue("min-m")),
579 _min_m(props->getDoubleValue("min-m")),
580 _has_max(props->hasValue("max-m")),
581 _max_m(props->getDoubleValue("max-m")),
582 _position_m(props->getDoubleValue("starting-position-m", 0))
584 _axis[0] = props->getFloatValue("axis/x", 0);
585 _axis[1] = props->getFloatValue("axis/y", 0);
586 _axis[2] = props->getFloatValue("axis/z", 0);
587 sgNormalizeVec3(_axis);
590 TranslateAnimation::~TranslateAnimation ()
596 TranslateAnimation::update ()
599 _position_m = (_prop->getDoubleValue() + _offset_m) * _factor;
600 if (_has_min && _position_m < _min_m)
601 _position_m = _min_m;
602 if (_has_max && _position_m > _max_m)
603 _position_m = _max_m;
605 _position_m = _table->interpolate(_prop->getDoubleValue());
607 set_translation(_matrix, _position_m, _axis);
608 ((ssgTransform *)_branch)->setTransform(_matrix);
613 ////////////////////////////////////////////////////////////////////////
614 // Implementation of FGModelPlacement.
615 ////////////////////////////////////////////////////////////////////////
617 FGModelPlacement::FGModelPlacement ()
624 _selector(new ssgSelector),
625 _position(new ssgTransform),
626 _location(new FGLocation)
630 FGModelPlacement::~FGModelPlacement ()
635 FGModelPlacement::init (const string &path)
637 ssgBranch * model = fgLoad3DModel(path);
639 _position->addKid(model);
640 _selector->addKid(_position);
641 _selector->clrTraversalMaskBits(SSGTRAV_HOT);
645 FGModelPlacement::update ()
647 _location->setPosition( _lon_deg, _lat_deg, _elev_ft );
648 _location->setOrientation( _roll_deg, _pitch_deg, _heading_deg );
651 sgCopyMat4(POS, _location->getTransformMatrix());
654 sgCopyVec3(trans, _location->get_view_pos());
656 for(int i = 0; i < 4; i++) {
657 float tmp = POS[i][3];
658 for( int j=0; j<3; j++ ) {
659 POS[i][j] += (tmp * trans[j]);
662 _position->setTransform(POS);
666 FGModelPlacement::getVisible () const
668 return (_selector->getSelect() != 0);
672 FGModelPlacement::setVisible (bool visible)
674 _selector->select(visible);
678 FGModelPlacement::setLongitudeDeg (double lon_deg)
684 FGModelPlacement::setLatitudeDeg (double lat_deg)
690 FGModelPlacement::setElevationFt (double elev_ft)
696 FGModelPlacement::setPosition (double lon_deg, double lat_deg, double elev_ft)
704 FGModelPlacement::setRollDeg (double roll_deg)
706 _roll_deg = roll_deg;
710 FGModelPlacement::setPitchDeg (double pitch_deg)
712 _pitch_deg = pitch_deg;
716 FGModelPlacement::setHeadingDeg (double heading_deg)
718 _heading_deg = heading_deg;
722 FGModelPlacement::setOrientation (double roll_deg, double pitch_deg,
725 _roll_deg = roll_deg;
726 _pitch_deg = pitch_deg;
727 _heading_deg = heading_deg;