+void
+FGViewer::setType ( int type )
+{
+ if (type == 0)
+ _type = FG_LOOKFROM;
+ if (type == 1)
+ _type = FG_LOOKAT;
+}
+
+void
+FGViewer::setInternal ( bool internal )
+{
+ _internal = internal;
+}
+
+void
+FGViewer::setLongitude_deg (double lon_deg)
+{
+ _dirty = true;
+ _lon_deg = lon_deg;
+}
+
+void
+FGViewer::setLatitude_deg (double lat_deg)
+{
+ _dirty = true;
+ _lat_deg = lat_deg;
+}
+
+void
+FGViewer::setAltitude_ft (double alt_ft)
+{
+ _dirty = true;
+ _alt_ft = alt_ft;
+}
+
+void
+FGViewer::setPosition (double lon_deg, double lat_deg, double alt_ft)
+{
+ _dirty = true;
+ _lon_deg = lon_deg;
+ _lat_deg = lat_deg;
+ _alt_ft = alt_ft;
+}
+
+void
+FGViewer::setTargetLongitude_deg (double lon_deg)
+{
+ _dirty = true;
+ _target_lon_deg = lon_deg;
+}
+
+void
+FGViewer::setTargetLatitude_deg (double lat_deg)
+{
+ _dirty = true;
+ _target_lat_deg = lat_deg;
+}
+
+void
+FGViewer::setTargetAltitude_ft (double alt_ft)
+{
+ _dirty = true;
+ _target_alt_ft = alt_ft;
+}
+
+void
+FGViewer::setTargetPosition (double lon_deg, double lat_deg, double alt_ft)
+{
+ _dirty = true;
+ _target_lon_deg = lon_deg;
+ _target_lat_deg = lat_deg;
+ _target_alt_ft = alt_ft;
+}
+
+void
+FGViewer::setRoll_deg (double roll_deg)
+{
+ _dirty = true;
+ _roll_deg = roll_deg;
+}
+
+void
+FGViewer::setPitch_deg (double pitch_deg)
+{
+ _dirty = true;
+ _pitch_deg = pitch_deg;
+}
+
+void
+FGViewer::setHeading_deg (double heading_deg)
+{
+ _dirty = true;
+ _heading_deg = heading_deg;
+}
+
+void
+FGViewer::setOrientation (double roll_deg, double pitch_deg, double heading_deg)
+{
+ _dirty = true;
+ _roll_deg = roll_deg;
+ _pitch_deg = pitch_deg;
+ _heading_deg = heading_deg;
+}
+
+void
+FGViewer::setTargetRoll_deg (double target_roll_deg)
+{
+ _dirty = true;
+ _target_roll_deg = target_roll_deg;
+}
+
+void
+FGViewer::setTargetPitch_deg (double target_pitch_deg)
+{
+ _dirty = true;
+ _target_pitch_deg = target_pitch_deg;
+}
+
+void
+FGViewer::setTargetHeading_deg (double target_heading_deg)
+{
+ _dirty = true;
+ _target_heading_deg = target_heading_deg;
+}
+
+void
+FGViewer::setTargetOrientation (double target_roll_deg, double target_pitch_deg, double target_heading_deg)
+{
+ _dirty = true;
+ _target_roll_deg = target_roll_deg;
+ _target_pitch_deg = target_pitch_deg;
+ _target_heading_deg = target_heading_deg;
+}
+
+void
+FGViewer::setXOffset_m (double x_offset_m)
+{
+ _dirty = true;
+ _offset_m.x() = x_offset_m;
+}
+
+void
+FGViewer::setYOffset_m (double y_offset_m)
+{
+ _dirty = true;
+ _offset_m.y() = y_offset_m;
+}
+
+void
+FGViewer::setZOffset_m (double z_offset_m)
+{
+ _dirty = true;
+ _offset_m.z() = z_offset_m;
+}
+
+void
+FGViewer::setTargetXOffset_m (double target_x_offset_m)
+{
+ _dirty = true;
+ _target_offset_m.x() = target_x_offset_m;
+}
+
+void
+FGViewer::setTargetYOffset_m (double target_y_offset_m)
+{
+ _dirty = true;
+ _target_offset_m.y() = target_y_offset_m;
+}
+
+void
+FGViewer::setTargetZOffset_m (double target_z_offset_m)
+{
+ _dirty = true;
+ _target_offset_m.z() = target_z_offset_m;
+}
+
+void
+FGViewer::setPositionOffsets (double x_offset_m, double y_offset_m, double z_offset_m)
+{
+ _dirty = true;
+ _offset_m.x() = x_offset_m;
+ _offset_m.y() = y_offset_m;
+ _offset_m.z() = z_offset_m;
+}
+
+void
+FGViewer::setRollOffset_deg (double roll_offset_deg)
+{
+ _dirty = true;
+ _roll_offset_deg = roll_offset_deg;
+}
+
+void
+FGViewer::setPitchOffset_deg (double pitch_offset_deg)
+{
+ _dirty = true;
+ _pitch_offset_deg = pitch_offset_deg;
+}
+
+void
+FGViewer::setHeadingOffset_deg (double heading_offset_deg)
+{
+ _dirty = true;
+ _heading_offset_deg = heading_offset_deg;
+}
+
+void
+FGViewer::setGoalRollOffset_deg (double goal_roll_offset_deg)
+{
+ _dirty = true;
+ _goal_roll_offset_deg = goal_roll_offset_deg;
+}
+
+void
+FGViewer::setGoalPitchOffset_deg (double goal_pitch_offset_deg)
+{
+ _dirty = true;
+ _goal_pitch_offset_deg = goal_pitch_offset_deg;
+ if ( _goal_pitch_offset_deg < -90 ) {
+ _goal_pitch_offset_deg = -90.0;
+ }
+ if ( _goal_pitch_offset_deg > 90.0 ) {
+ _goal_pitch_offset_deg = 90.0;
+ }
+
+}
+
+void
+FGViewer::setGoalHeadingOffset_deg (double goal_heading_offset_deg)
+{
+ _dirty = true;
+ _goal_heading_offset_deg = goal_heading_offset_deg;
+ while ( _goal_heading_offset_deg < 0.0 ) {
+ _goal_heading_offset_deg += 360;
+ }
+ while ( _goal_heading_offset_deg > 360 ) {
+ _goal_heading_offset_deg -= 360;
+ }
+}
+
+void
+FGViewer::setOrientationOffsets (double roll_offset_deg, double pitch_offset_deg, double heading_offset_deg)
+{
+ _dirty = true;
+ _roll_offset_deg = roll_offset_deg;
+ _pitch_offset_deg = pitch_offset_deg;
+ _heading_offset_deg = heading_offset_deg;
+}
+
+// recalc() is done every time one of the setters is called (making the
+// cached data "dirty") on the next "get". It calculates all the outputs
+// for viewer.
+void
+FGViewer::recalc ()
+{
+ if (_type == FG_LOOKFROM) {
+ recalcLookFrom();
+ } else {
+ recalcLookAt();
+ }
+
+ SGGeod geodEyePoint = SGGeod::fromCart(_absolute_view_pos);
+ geodEyePoint.setElevationM(0);
+ _zero_elev = SGVec3d::fromGeod(geodEyePoint);
+
+ SGQuatd hlOr = SGQuatd::fromLonLat(geodEyePoint);
+ _surface_south = toVec3f(hlOr.backTransform(-SGVec3d::e1()));
+ _surface_east = toVec3f(hlOr.backTransform(SGVec3d::e2()));
+ _world_up = toVec3f(hlOr.backTransform(-SGVec3d::e3()));
+
+ // Update viewer's postion data for the eye location...
+ _lon_deg = _location->getLongitude_deg();
+ _lat_deg = _location->getLatitude_deg();
+ _alt_ft = _location->getAltitudeASL_ft();
+ _roll_deg = _location->getRoll_deg();
+ _pitch_deg = _location->getPitch_deg();
+ _heading_deg = _location->getHeading_deg();
+
+ // Update viewer's postion data for the target (at object) location
+ if (_type == FG_LOOKAT) {
+ _target_lon_deg = _target_location->getLongitude_deg();
+ _target_lat_deg = _target_location->getLatitude_deg();
+ _target_alt_ft = _target_location->getAltitudeASL_ft();
+ _target_roll_deg = _target_location->getRoll_deg();
+ _target_pitch_deg = _target_location->getPitch_deg();
+ _target_heading_deg = _target_location->getHeading_deg();
+ }
+
+ set_clean();
+}
+
+// recalculate for LookFrom view type...
+void
+FGViewer::recalcLookFrom ()
+{
+ // Update location data ...
+ if ( !_from_model ) {
+ _location->setPosition( _lon_deg, _lat_deg, _alt_ft );
+ _location->setOrientation( _roll_deg, _pitch_deg, _heading_deg );
+ _location->getTransformMatrix();
+ }
+ double lat = _location->getLatitude_deg();
+ double lon = _location->getLongitude_deg();
+ double alt = _location->getAltitudeASL_ft();
+ double head = _location->getHeading_deg();
+ double pitch = _location->getPitch_deg();
+ double roll = _location->getRoll_deg();
+ if ( !_from_model ) {
+ // update from our own data...
+ dampEyeData(roll, pitch, head);
+ }
+
+ // The geodetic position of our base view position
+ SGGeod geodPos = SGGeod::fromDegFt(lon, lat, alt);
+ // The rotation rotating from the earth centerd frame to
+ // the horizontal local OpenGL frame
+ SGQuatd hlOr = SGQuatd::viewHL(geodPos);
+
+ // the rotation from the horizontal local frame to the basic view orientation
+ SGQuatd hlToBody = SGQuatd::fromYawPitchRollDeg(head, pitch, roll);
+ hlToBody = SGQuatd::simToView(hlToBody);
+
+ // The cartesian position of the basic view coordinate
+ SGVec3d position = SGVec3d::fromGeod(geodPos);
+ // the rotation offset, don't know why heading is negative here ...
+ SGQuatd viewOffsetOr = SGQuatd::simToView(
+ SGQuatd::fromYawPitchRollDeg(-_heading_offset_deg, _pitch_offset_deg,
+ _roll_offset_deg));
+
+ // Compute the eyepoints orientation and position
+ // wrt the earth centered frame - that is global coorinates
+ SGQuatd ec2body = hlOr*hlToBody;
+ _absolute_view_pos = position + ec2body.backTransform(_offset_m);
+ mViewOrientation = ec2body*viewOffsetOr;
+}
+
+void
+FGViewer::recalcLookAt ()
+{
+ // The geodetic position of our target to look at
+ SGGeod geodTargetPos;
+ SGQuatd geodTargetOr;
+ if ( _at_model ) {
+ geodTargetPos = SGGeod::fromDegFt(_target_location->getLongitude_deg(),
+ _target_location->getLatitude_deg(),
+ _target_location->getAltitudeASL_ft());
+ double head = _target_location->getHeading_deg();
+ double pitch = _target_location->getPitch_deg();
+ double roll = _target_location->getRoll_deg();
+ geodTargetOr = SGQuatd::fromYawPitchRollDeg(head, pitch, roll);
+ } else {
+ dampEyeData(_target_roll_deg, _target_pitch_deg, _target_heading_deg);
+ _target_location->setPosition( _target_lon_deg, _target_lat_deg, _target_alt_ft );
+ _target_location->setOrientation( _target_roll_deg, _target_pitch_deg, _target_heading_deg );
+ _target_location->getTransformMatrix();
+
+ // if not model then calculate our own target position...
+ geodTargetPos = SGGeod::fromDegFt(_target_lon_deg,
+ _target_lat_deg,
+ _target_alt_ft);
+ geodTargetOr = SGQuatd::fromYawPitchRollDeg(_target_heading_deg,
+ _target_pitch_deg,
+ _target_roll_deg);
+ }
+ SGQuatd geodTargetHlOr = SGQuatd::fromLonLat(geodTargetPos);
+
+
+ SGGeod geodEyePos;
+ SGQuatd geodEyeOr;
+ if ( _from_model ) {
+ geodEyePos = SGGeod::fromDegFt(_location->getLongitude_deg(),
+ _location->getLatitude_deg(),
+ _location->getAltitudeASL_ft());
+ double head = _location->getHeading_deg();
+ double pitch = _location->getPitch_deg();
+ double roll = _location->getRoll_deg();
+ geodEyeOr = SGQuatd::fromYawPitchRollDeg(head, pitch, roll);
+ } else {
+ dampEyeData(_roll_deg, _pitch_deg, _heading_deg);
+ _location->setPosition( _lon_deg, _lat_deg, _alt_ft );
+ _location->setOrientation( _roll_deg, _pitch_deg, _heading_deg );
+ _location->getTransformMatrix();
+
+ // update from our own data, just the rotation here...
+ geodEyePos = SGGeod::fromDegFt(_lon_deg, _lat_deg, _alt_ft);
+ geodEyeOr = SGQuatd::fromYawPitchRollDeg(_heading_deg,
+ _pitch_deg,
+ _roll_deg);
+ }
+ SGQuatd geodEyeHlOr = SGQuatd::fromLonLat(geodEyePos);
+
+ // the rotation offset, don't know why heading is negative here ...
+ SGQuatd eyeOffsetOr =
+ SGQuatd::fromYawPitchRollDeg(-_heading_offset_deg + 180, _pitch_offset_deg,
+ _roll_offset_deg);
+
+ // Offsets to the eye position
+ SGVec3d eyeOff(-_offset_m.z(), _offset_m.x(), -_offset_m.y());
+ SGQuatd ec2eye = geodEyeHlOr*geodEyeOr;
+ SGVec3d eyeCart = SGVec3d::fromGeod(geodEyePos);
+ eyeCart += (ec2eye*eyeOffsetOr).backTransform(eyeOff);
+
+ SGVec3d atCart = SGVec3d::fromGeod(geodTargetPos);
+
+ // add target offsets to at_position...
+ SGVec3d target_pos_off(-_target_offset_m.z(), _target_offset_m.x(),
+ -_target_offset_m.y());
+ target_pos_off = (geodTargetHlOr*geodTargetOr).backTransform(target_pos_off);
+ atCart += target_pos_off;
+ eyeCart += target_pos_off;
+
+ // Compute the eyepoints orientation and position
+ // wrt the earth centered frame - that is global coorinates
+ _absolute_view_pos = eyeCart;
+
+ // the view direction
+ SGVec3d dir = normalize(atCart - eyeCart);
+ // the up directon
+ SGVec3d up = ec2eye.backTransform(SGVec3d(0, 0, -1));
+ // rotate dir to the 0-th unit vector
+ // rotate up to 2-th unit vector
+ mViewOrientation = SGQuatd::fromRotateTo(-dir, 2, up, 1);
+}
+
+void
+FGViewer::dampEyeData(double &roll_deg, double &pitch_deg, double &heading_deg)
+{
+ const double interval = 0.01;
+
+ static FGViewer *last_view = 0;
+ if (last_view != this) {
+ _damp_sync = 0.0;
+ _damped_roll_deg = roll_deg;
+ _damped_pitch_deg = pitch_deg;
+ _damped_heading_deg = heading_deg;
+ last_view = this;
+ return;
+ }
+
+ if (_damp_sync < interval) {
+ if (_damp_roll > 0.0)
+ roll_deg = _damped_roll_deg;
+ if (_damp_pitch > 0.0)
+ pitch_deg = _damped_pitch_deg;
+ if (_damp_heading > 0.0)
+ heading_deg = _damped_heading_deg;
+ return;
+ }
+
+ while (_damp_sync >= interval) {
+ _damp_sync -= interval;
+
+ double d;
+ if (_damp_roll > 0.0) {
+ d = _damped_roll_deg - roll_deg;
+ if (d >= 180.0)
+ _damped_roll_deg -= 360.0;
+ else if (d < -180.0)
+ _damped_roll_deg += 360.0;
+ roll_deg = _damped_roll_deg = roll_deg * _damp_roll + _damped_roll_deg * (1 - _damp_roll);
+ }
+
+ if (_damp_pitch > 0.0) {
+ d = _damped_pitch_deg - pitch_deg;
+ if (d >= 180.0)
+ _damped_pitch_deg -= 360.0;
+ else if (d < -180.0)
+ _damped_pitch_deg += 360.0;
+ pitch_deg = _damped_pitch_deg = pitch_deg * _damp_pitch + _damped_pitch_deg * (1 - _damp_pitch);
+ }
+
+ if (_damp_heading > 0.0) {
+ d = _damped_heading_deg - heading_deg;
+ if (d >= 180.0)
+ _damped_heading_deg -= 360.0;
+ else if (d < -180.0)
+ _damped_heading_deg += 360.0;
+ heading_deg = _damped_heading_deg = heading_deg * _damp_heading + _damped_heading_deg * (1 - _damp_heading);
+ }
+ }
+}
+