-/**************************************************************************
- * views.c -- data structures and routines for managing and view parameters.
- *
- * Written by Curtis Olson, started August 1997.
- *
- * Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License as
- * published by the Free Software Foundation; either version 2 of the
- * License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
- *
- * $Id$
- * (Log is kept at end of this file)
- **************************************************************************/
-
-
-#include <config.h>
-
-#include <Debug/fg_debug.h>
-#include <Flight/flight.h>
+// views.cxx -- data structures and routines for managing and view
+// parameters.
+//
+// Written by Curtis Olson, started August 1997.
+//
+// Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+//
+// $Id$
+// (Log is kept at end of this file)
+
+
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
+#include <Aircraft/aircraft.hxx>
+#include <Cockpit/panel.hxx>
+#include <Debug/logstream.hxx>
#include <Include/fg_constants.h>
#include <Math/mat3.h>
-#include <Math/polar.h>
-#include <Math/vector.h>
-#include <Scenery/scenery.h>
-#include <Time/fg_time.h>
+#include <Math/point3d.hxx>
+#include <Math/polar3d.hxx>
+#include <Math/vector.hxx>
+#include <Scenery/scenery.hxx>
+#include <Time/fg_time.hxx>
+#include "options.hxx"
#include "views.hxx"
-/* This is a record containing current view parameters */
-struct fgVIEW current_view;
+// This is a record containing current view parameters
+fgVIEW current_view;
-/* Initialize a view structure */
-void fgViewInit(struct fgVIEW *v) {
- fgPrintf( FG_VIEW, FG_INFO, "Initializing View parameters\n");
+// Constructor
+fgVIEW::fgVIEW( void ) {
+}
+
+
+// Initialize a view structure
+void fgVIEW::Init( void ) {
+ FG_LOG( FG_VIEW, FG_INFO, "Initializing View parameters" );
+
+ view_offset = 0.0;
+ goal_view_offset = 0.0;
+
+ winWidth = current_options.get_xsize();
+ winHeight = current_options.get_ysize();
+ win_ratio = (double) winWidth / (double) winHeight;
+ update_fov = true;
+}
+
+
+// Update the field of view parameters
+void fgVIEW::UpdateFOV( fgOPTIONS *o ) {
+ double fov, theta_x, theta_y;
+
+ fov = o->get_fov();
+
+ // printf("win_ratio = %.2f\n", win_ratio);
+ // calculate sin() and cos() of fov / 2 in X direction;
+ theta_x = (fov * win_ratio * DEG_TO_RAD) / 2.0;
+ // printf("theta_x = %.2f\n", theta_x);
+ sin_fov_x = sin(theta_x);
+ cos_fov_x = cos(theta_x);
+ slope_x = -cos_fov_x / sin_fov_x;
+ // printf("slope_x = %.2f\n", slope_x);
+
+#if defined( USE_FAST_FOV_CLIP )
+ fov_x_clip = slope_x*cos_fov_x - sin_fov_x;
+#endif // defined( USE_FAST_FOV_CLIP )
+
+ // calculate sin() and cos() of fov / 2 in Y direction;
+ theta_y = (fov * DEG_TO_RAD) / 2.0;
+ // printf("theta_y = %.2f\n", theta_y);
+ sin_fov_y = sin(theta_y);
+ cos_fov_y = cos(theta_y);
+ slope_y = cos_fov_y / sin_fov_y;
+ // printf("slope_y = %.2f\n", slope_y);
+
+#if defined( USE_FAST_FOV_CLIP )
+ fov_y_clip = -(slope_y*cos_fov_y + sin_fov_y);
+#endif // defined( USE_FAST_FOV_CLIP )
+}
- v->view_offset = 0.0;
- v->goal_view_offset = 0.0;
+
+// Basically, this is a modified version of the Mesa gluLookAt()
+// function that's been modified slightly so we can capture the
+// result before sending it off to OpenGL land.
+void fgVIEW::LookAt( GLdouble eyex, GLdouble eyey, GLdouble eyez,
+ GLdouble centerx, GLdouble centery, GLdouble centerz,
+ GLdouble upx, GLdouble upy, GLdouble upz ) {
+ GLdouble *m;
+ GLdouble x[3], y[3], z[3];
+ GLdouble mag;
+
+ m = current_view.MODEL_VIEW;
+
+ /* Make rotation matrix */
+
+ /* Z vector */
+ z[0] = eyex - centerx;
+ z[1] = eyey - centery;
+ z[2] = eyez - centerz;
+ mag = sqrt( z[0]*z[0] + z[1]*z[1] + z[2]*z[2] );
+ if (mag) { /* mpichler, 19950515 */
+ z[0] /= mag;
+ z[1] /= mag;
+ z[2] /= mag;
+ }
+
+ /* Y vector */
+ y[0] = upx;
+ y[1] = upy;
+ y[2] = upz;
+
+ /* X vector = Y cross Z */
+ x[0] = y[1]*z[2] - y[2]*z[1];
+ x[1] = -y[0]*z[2] + y[2]*z[0];
+ x[2] = y[0]*z[1] - y[1]*z[0];
+
+ /* Recompute Y = Z cross X */
+ y[0] = z[1]*x[2] - z[2]*x[1];
+ y[1] = -z[0]*x[2] + z[2]*x[0];
+ y[2] = z[0]*x[1] - z[1]*x[0];
+
+ /* mpichler, 19950515 */
+ /* cross product gives area of parallelogram, which is < 1.0 for
+ * non-perpendicular unit-length vectors; so normalize x, y here
+ */
+
+ mag = sqrt( x[0]*x[0] + x[1]*x[1] + x[2]*x[2] );
+ if (mag) {
+ x[0] /= mag;
+ x[1] /= mag;
+ x[2] /= mag;
+ }
+
+ mag = sqrt( y[0]*y[0] + y[1]*y[1] + y[2]*y[2] );
+ if (mag) {
+ y[0] /= mag;
+ y[1] /= mag;
+ y[2] /= mag;
+ }
+
+#define M(row,col) m[col*4+row]
+ M(0,0) = x[0]; M(0,1) = x[1]; M(0,2) = x[2]; M(0,3) = 0.0;
+ M(1,0) = y[0]; M(1,1) = y[1]; M(1,2) = y[2]; M(1,3) = 0.0;
+ M(2,0) = z[0]; M(2,1) = z[1]; M(2,2) = z[2]; M(2,3) = 0.0;
+ // the following is part of the original gluLookAt(), but we are
+ // commenting it out because we know we are going to be doing a
+ // translation below which will set these values anyways
+ // M(3,0) = 0.0; M(3,1) = 0.0; M(3,2) = 0.0; M(3,3) = 1.0;
+#undef M
+
+ // Translate Eye to Origin
+ // replaces: glTranslated( -eyex, -eyey, -eyez );
+
+ // this has been slightly modified from the original glTranslate()
+ // code because we know that coming into this m[12] = m[13] =
+ // m[14] = 0.0, and m[15] = 1.0;
+ m[12] = m[0] * -eyex + m[4] * -eyey + m[8] * -eyez /* + m[12] */;
+ m[13] = m[1] * -eyex + m[5] * -eyey + m[9] * -eyez /* + m[13] */;
+ m[14] = m[2] * -eyex + m[6] * -eyey + m[10] * -eyez /* + m[14] */;
+ m[15] = 1.0 /* m[3] * -eyex + m[7] * -eyey + m[11] * -eyez + m[15] */;
+
+ // xglMultMatrixd( m );
+ xglLoadMatrixd( m );
+}
+
+
+// Update the view volume, position, and orientation
+void fgVIEW::UpdateViewParams( void ) {
+ fgFLIGHT *f;
+ fgLIGHT *l;
+
+ f = current_aircraft.flight;
+ l = &cur_light_params;
+
+ UpdateViewMath(f);
+ UpdateWorldToEye(f);
+
+ if ((current_options.get_panel_status() != panel_hist) && (current_options.get_panel_status()))
+ {
+ fgPanelReInit( 0, 0, 1024, 768);
+ }
+
+ // if (!o->panel_status) {
+ // xglViewport( 0, (GLint)((winHeight) / 2 ) ,
+ // (GLint)(winWidth), (GLint)(winHeight) / 2 );
+ // Tell GL we are about to modify the projection parameters
+ // xglMatrixMode(GL_PROJECTION);
+ // xglLoadIdentity();
+ // gluPerspective(o->fov, win_ratio / 2.0, 1.0, 100000.0);
+ // } else {
+ if ( ! current_options.get_panel_status() ) {
+ xglViewport(0, 0 , (GLint)(winWidth), (GLint)(winHeight) );
+ } else {
+ xglViewport(0, (GLint)((winHeight)*0.5768), (GLint)(winWidth),
+ (GLint)((winHeight)*0.4232) );
+ }
+ // Tell GL we are about to modify the projection parameters
+ xglMatrixMode(GL_PROJECTION);
+ xglLoadIdentity();
+ if ( f->get_Altitude() * FEET_TO_METER - scenery.cur_elev > 10.0 ) {
+ gluPerspective(current_options.get_fov(), win_ratio, 10.0, 100000.0);
+ } else {
+ gluPerspective(current_options.get_fov(), win_ratio, 0.5, 100000.0);
+ // printf("Near ground, minimizing near clip plane\n");
+ }
+ // }
+
+ xglMatrixMode(GL_MODELVIEW);
+ xglLoadIdentity();
+
+ // set up our view volume (default)
+ LookAt(view_pos.x(), view_pos.y(), view_pos.z(),
+ view_pos.x() + view_forward[0],
+ view_pos.y() + view_forward[1],
+ view_pos.z() + view_forward[2],
+ view_up[0], view_up[1], view_up[2]);
+
+ // look almost straight up (testing and eclipse watching)
+ /* LookAt(view_pos.x(), view_pos.y(), view_pos.z(),
+ view_pos.x() + view_up[0] + .001,
+ view_pos.y() + view_up[1] + .001,
+ view_pos.z() + view_up[2] + .001,
+ view_up[0], view_up[1], view_up[2]); */
+
+ // lock view horizontally towards sun (testing)
+ /* LookAt(view_pos.x(), view_pos.y(), view_pos.z(),
+ view_pos.x() + surface_to_sun[0],
+ view_pos.y() + surface_to_sun[1],
+ view_pos.z() + surface_to_sun[2],
+ view_up[0], view_up[1], view_up[2]); */
+
+ // lock view horizontally towards south (testing)
+ /* LookAt(view_pos.x(), view_pos.y(), view_pos.z(),
+ view_pos.x() + surface_south[0],
+ view_pos.y() + surface_south[1],
+ view_pos.z() + surface_south[2],
+ view_up[0], view_up[1], view_up[2]); */
+
+ // set the sun position
+ xglLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
+
+ panel_hist = current_options.get_panel_status();
}
-/* Update the view parameters */
-void fgViewUpdate(fgFLIGHT *f, struct fgVIEW *v, fgLIGHT *l) {
+// Update the view parameters
+void fgVIEW::UpdateViewMath( fgFLIGHT *f ) {
+ Point3D p;
MAT3vec vec, forward, v0, minus_z;
MAT3mat R, TMP, UP, LOCAL, VIEW;
double ntmp;
- scenery.center.x = scenery.next_center.x;
- scenery.center.y = scenery.next_center.y;
- scenery.center.z = scenery.next_center.z;
-
- /* calculate the cartesion coords of the current lat/lon/0 elev */
- v->cur_zero_elev = fgPolarToCart(FG_Longitude, FG_Lat_geocentric,
- FG_Sea_level_radius * FEET_TO_METER);
- v->cur_zero_elev.x -= scenery.center.x;
- v->cur_zero_elev.y -= scenery.center.y;
- v->cur_zero_elev.z -= scenery.center.z;
-
- /* calculate view position in current FG view coordinate system */
- v->abs_view_pos = fgPolarToCart(FG_Longitude, FG_Lat_geocentric,
- FG_Radius_to_vehicle * FEET_TO_METER + 1.0);
- v->view_pos.x = v->abs_view_pos.x - scenery.center.x;
- v->view_pos.y = v->abs_view_pos.y - scenery.center.y;
- v->view_pos.z = v->abs_view_pos.z - scenery.center.z;
-
- fgPrintf( FG_VIEW, FG_DEBUG, "Absolute view pos = %.4f, %.4f, %.4f\n",
- v->abs_view_pos.x, v->abs_view_pos.y, v->abs_view_pos.z);
- fgPrintf( FG_VIEW, FG_DEBUG, "Relative view pos = %.4f, %.4f, %.4f\n",
- v->view_pos.x, v->view_pos.y, v->view_pos.z);
-
- /* make a vector to the current view position */
- MAT3_SET_VEC(v0, v->view_pos.x, v->view_pos.y, v->view_pos.z);
-
- /* calculate vector to sun's position on the earth's surface */
- v->to_sun[0] = l->fg_sunpos.x - (v->view_pos.x + scenery.center.x);
- v->to_sun[1] = l->fg_sunpos.y - (v->view_pos.y + scenery.center.y);
- v->to_sun[2] = l->fg_sunpos.z - (v->view_pos.z + scenery.center.z);
- /* printf("Vector to sun = %.2f %.2f %.2f\n",
- v->to_sun[0], v->to_sun[1], v->to_sun[2]); */
-
- /* Derive the LOCAL aircraft rotation matrix (roll, pitch, yaw) */
+ if(update_fov == true) {
+ // printf("Updating fov\n");
+ UpdateFOV(¤t_options);
+ update_fov = false;
+ }
+
+ scenery.center = scenery.next_center;
+
+ // printf("scenery center = %.2f %.2f %.2f\n", scenery.center.x,
+ // scenery.center.y, scenery.center.z);
+
+ // calculate the cartesion coords of the current lat/lon/0 elev
+ p = Point3D( f->get_Longitude(),
+ f->get_Lat_geocentric(),
+ f->get_Sea_level_radius() * FEET_TO_METER );
+
+ cur_zero_elev = fgPolarToCart3d(p) - scenery.center;
+
+ // calculate view position in current FG view coordinate system
+ // p.lon & p.lat are already defined earlier, p.radius was set to
+ // the sea level radius, so now we add in our altitude.
+ if ( f->get_Altitude() * FEET_TO_METER >
+ (scenery.cur_elev + 0.5 * METER_TO_FEET) ) {
+ p.setz( p.radius() + f->get_Altitude() * FEET_TO_METER );
+ } else {
+ p.setz( p.radius() + scenery.cur_elev + 0.5 * METER_TO_FEET );
+ }
+
+ abs_view_pos = fgPolarToCart3d(p);
+ view_pos = abs_view_pos - scenery.center;
+
+ FG_LOG( FG_VIEW, FG_DEBUG, "Absolute view pos = "
+ << abs_view_pos.x() << ", "
+ << abs_view_pos.y() << ", "
+ << abs_view_pos.z() );
+ FG_LOG( FG_VIEW, FG_DEBUG, "Relative view pos = "
+ << view_pos.x() << ", " << view_pos.y() << ", " << view_pos.z() );
+
+ // Derive the LOCAL aircraft rotation matrix (roll, pitch, yaw)
+ // from FG_T_local_to_body[3][3]
+
+ // Question: Why is the LaRCsim matrix arranged so differently
+ // than the one we need???
+ LOCAL[0][0] = f->get_T_local_to_body_33();
+ LOCAL[0][1] = -f->get_T_local_to_body_32();
+ LOCAL[0][2] = -f->get_T_local_to_body_31();
+ LOCAL[0][3] = 0.0;
+ LOCAL[1][0] = -f->get_T_local_to_body_23();
+ LOCAL[1][1] = f->get_T_local_to_body_22();
+ LOCAL[1][2] = f->get_T_local_to_body_21();
+ LOCAL[1][3] = 0.0;
+ LOCAL[2][0] = -f->get_T_local_to_body_13();
+ LOCAL[2][1] = f->get_T_local_to_body_12();
+ LOCAL[2][2] = f->get_T_local_to_body_11();
+ LOCAL[2][3] = 0.0;
+ LOCAL[3][0] = LOCAL[3][1] = LOCAL[3][2] = LOCAL[3][3] = 0.0;
+ LOCAL[3][3] = 1.0;
+ // printf("LaRCsim LOCAL matrix\n");
+ // MAT3print(LOCAL, stdout);
+
+#ifdef OLD_LOCAL_TO_BODY_CODE
+ // old code to calculate LOCAL matrix calculated from Phi,
+ // Theta, and Psi (roll, pitch, yaw)
+
+ MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
+ MAT3rotate(R, vec, f->get_Phi());
+ /* printf("Roll matrix\n"); */
+ /* MAT3print(R, stdout); */
+
+ MAT3_SET_VEC(vec, 0.0, 1.0, 0.0);
+ /* MAT3mult_vec(vec, vec, R); */
+ MAT3rotate(TMP, vec, f->get_Theta());
+ /* printf("Pitch matrix\n"); */
+ /* MAT3print(TMP, stdout); */
+ MAT3mult(R, R, TMP);
+
+ MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
+ /* MAT3mult_vec(vec, vec, R); */
+ /* MAT3rotate(TMP, vec, FG_Psi - FG_PI_2); */
+ MAT3rotate(TMP, vec, -f->get_Psi());
+ /* printf("Yaw matrix\n");
+ MAT3print(TMP, stdout); */
+ MAT3mult(LOCAL, R, TMP);
+ // printf("FG derived LOCAL matrix\n");
+ // MAT3print(LOCAL, stdout);
+#endif // OLD_LOCAL_TO_BODY_CODE
+
+ // Derive the local UP transformation matrix based on *geodetic*
+ // coordinates
MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
- MAT3rotate(R, vec, FG_Phi);
- /* printf("Roll matrix\n"); */
- /* MAT3print(R, stdout); */
-
- MAT3_SET_VEC(vec, 0.0, 1.0, 0.0);
- /* MAT3mult_vec(vec, vec, R); */
- MAT3rotate(TMP, vec, FG_Theta);
- /* printf("Pitch matrix\n"); */
- /* MAT3print(TMP, stdout); */
- MAT3mult(R, R, TMP);
-
- MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
- /* MAT3mult_vec(vec, vec, R); */
- /* MAT3rotate(TMP, vec, FG_Psi - FG_PI_2); */
- MAT3rotate(TMP, vec, -FG_Psi);
- /* printf("Yaw matrix\n");
- MAT3print(TMP, stdout); */
- MAT3mult(LOCAL, R, TMP);
- /* printf("LOCAL matrix\n"); */
- /* MAT3print(LOCAL, stdout); */
-
- /* Derive the local UP transformation matrix based on *geodetic*
- * coordinates */
- MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
- MAT3rotate(R, vec, FG_Longitude); /* R = rotate about Z axis */
- /* printf("Longitude matrix\n"); */
- /* MAT3print(R, stdout); */
+ MAT3rotate(R, vec, f->get_Longitude()); // R = rotate about Z axis
+ // printf("Longitude matrix\n");
+ // MAT3print(R, stdout);
MAT3_SET_VEC(vec, 0.0, 1.0, 0.0);
MAT3mult_vec(vec, vec, R);
- MAT3rotate(TMP, vec, -FG_Latitude); /* TMP = rotate about X axis */
- /* printf("Latitude matrix\n"); */
- /* MAT3print(TMP, stdout); */
+ MAT3rotate(TMP, vec, -f->get_Latitude()); // TMP = rotate about X axis
+ // printf("Latitude matrix\n");
+ // MAT3print(TMP, stdout);
MAT3mult(UP, R, TMP);
- /* printf("Local up matrix\n"); */
- /* MAT3print(UP, stdout); */
+ // printf("Local up matrix\n");
+ // MAT3print(UP, stdout);
- MAT3_SET_VEC(v->local_up, 1.0, 0.0, 0.0);
- MAT3mult_vec(v->local_up, v->local_up, UP);
+ MAT3_SET_VEC(local_up, 1.0, 0.0, 0.0);
+ MAT3mult_vec(local_up, local_up, UP);
- /* printf("Local Up = (%.4f, %.4f, %.4f)\n",
- v->local_up[0], v->local_up[1], v->local_up[2]); */
+ // printf( "Local Up = (%.4f, %.4f, %.4f)\n",
+ // local_up[0], local_up[1], local_up[2]);
- /* Alternative method to Derive local up vector based on
- * *geodetic* coordinates */
- /* alt_up = fgPolarToCart(FG_Longitude, FG_Latitude, 1.0); */
- /* printf(" Alt Up = (%.4f, %.4f, %.4f)\n",
- alt_up.x, alt_up.y, alt_up.z); */
+ // Alternative method to Derive local up vector based on
+ // *geodetic* coordinates
+ // alt_up = fgPolarToCart(FG_Longitude, FG_Latitude, 1.0);
+ // printf( " Alt Up = (%.4f, %.4f, %.4f)\n",
+ // alt_up.x, alt_up.y, alt_up.z);
- /* Calculate the VIEW matrix */
+ // Calculate the VIEW matrix
MAT3mult(VIEW, LOCAL, UP);
- /* printf("VIEW matrix\n"); */
- /* MAT3print(VIEW, stdout); */
+ // printf("VIEW matrix\n");
+ // MAT3print(VIEW, stdout);
- /* generate the current up, forward, and fwrd-view vectors */
+ // generate the current up, forward, and fwrd-view vectors
MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
- MAT3mult_vec(v->view_up, vec, VIEW);
+ MAT3mult_vec(view_up, vec, VIEW);
MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
MAT3mult_vec(forward, vec, VIEW);
- /* printf("Forward vector is (%.2f,%.2f,%.2f)\n", forward[0], forward[1],
- forward[2]); */
-
- MAT3rotate(TMP, v->view_up, v->view_offset);
- MAT3mult_vec(v->view_forward, forward, TMP);
-
- /* Given a vector from the view position to the point on the
- * earth's surface the sun is directly over, map into onto the
- * local plane representing "horizontal". */
- map_vec_onto_cur_surface_plane(v->local_up, v0, v->to_sun,
- v->surface_to_sun);
- MAT3_NORMALIZE_VEC(v->surface_to_sun, ntmp);
- /* printf("Surface direction to sun is %.2f %.2f %.2f\n",
- v->surface_to_sun[0], v->surface_to_sun[1], v->surface_to_sun[2]); */
- /* printf("Should be close to zero = %.2f\n",
- MAT3_DOT_PRODUCT(v->local_up, v->surface_to_sun)); */
-
- /* Given a vector pointing straight down (-Z), map into onto the
- * local plane representing "horizontal". This should give us the
- * local direction for moving "south". */
+ // printf( "Forward vector is (%.2f,%.2f,%.2f)\n", forward[0], forward[1],
+ // forward[2]);
+
+ MAT3rotate(TMP, view_up, view_offset);
+ MAT3mult_vec(view_forward, forward, TMP);
+
+ // make a vector to the current view position
+ MAT3_SET_VEC(v0, view_pos.x(), view_pos.y(), view_pos.z());
+
+ // Given a vector pointing straight down (-Z), map into onto the
+ // local plane representing "horizontal". This should give us the
+ // local direction for moving "south".
MAT3_SET_VEC(minus_z, 0.0, 0.0, -1.0);
- map_vec_onto_cur_surface_plane(v->local_up, v0, minus_z, v->surface_south);
- MAT3_NORMALIZE_VEC(v->surface_south, ntmp);
- /* printf("Surface direction directly south %.2f %.2f %.2f\n",
- v->surface_south[0], v->surface_south[1], v->surface_south[2]); */
-
- /* now calculate the surface east vector */
- MAT3rotate(TMP, v->view_up, FG_PI_2);
- MAT3mult_vec(v->surface_east, v->surface_south, TMP);
- /* printf("Surface direction directly east %.2f %.2f %.2f\n",
- v->surface_east[0], v->surface_east[1], v->surface_east[2]); */
- /* printf("Should be close to zero = %.2f\n",
- MAT3_DOT_PRODUCT(v->surface_south, v->surface_east)); */
+ map_vec_onto_cur_surface_plane(local_up, v0, minus_z, surface_south);
+ MAT3_NORMALIZE_VEC(surface_south, ntmp);
+ // printf( "Surface direction directly south %.2f %.2f %.2f\n",
+ // surface_south[0], surface_south[1], surface_south[2]);
+
+ // now calculate the surface east vector
+ MAT3rotate(TMP, view_up, FG_PI_2);
+ MAT3mult_vec(surface_east, surface_south, TMP);
+ // printf( "Surface direction directly east %.2f %.2f %.2f\n",
+ // surface_east[0], surface_east[1], surface_east[2]);
+ // printf( "Should be close to zero = %.2f\n",
+ // MAT3_DOT_PRODUCT(surface_south, surface_east));
+}
+
+
+// Update the "World to Eye" transformation matrix
+// This is most useful for view frustum culling
+void fgVIEW::UpdateWorldToEye( fgFLIGHT *f ) {
+ MAT3mat R_Phi, R_Theta, R_Psi, R_Lat, R_Lon, T_view;
+ MAT3mat TMP;
+ MAT3hvec vec;
+
+ // if we have a view offset use slow way for now
+ if(fabs(view_offset)>FG_EPSILON){
+ // Roll Matrix
+ MAT3_SET_HVEC(vec, 0.0, 0.0, -1.0, 1.0);
+ MAT3rotate(R_Phi, vec, f->get_Phi());
+ // printf("Roll matrix (Phi)\n");
+ // MAT3print(R_Phi, stdout);
+
+ // Pitch Matrix
+ MAT3_SET_HVEC(vec, 1.0, 0.0, 0.0, 1.0);
+ MAT3rotate(R_Theta, vec, f->get_Theta());
+ // printf("\nPitch matrix (Theta)\n");
+ // MAT3print(R_Theta, stdout);
+
+ // Yaw Matrix
+ MAT3_SET_HVEC(vec, 0.0, -1.0, 0.0, 1.0);
+ MAT3rotate(R_Psi, vec, f->get_Psi() + FG_PI - view_offset );
+ // printf("\nYaw matrix (Psi)\n");
+ // MAT3print(R_Psi, stdout);
+
+ // aircraft roll/pitch/yaw
+ MAT3mult(TMP, R_Phi, R_Theta);
+ MAT3mult(AIRCRAFT, TMP, R_Psi);
+
+ } else { // JUST USE LOCAL_TO_BODY NHV 5/25/98
+ // hey this is even different then LOCAL[][] above ??
+
+ AIRCRAFT[0][0] = -f->get_T_local_to_body_22();
+ AIRCRAFT[0][1] = -f->get_T_local_to_body_23();
+ AIRCRAFT[0][2] = f->get_T_local_to_body_21();
+ AIRCRAFT[0][3] = 0.0;
+ AIRCRAFT[1][0] = f->get_T_local_to_body_32();
+ AIRCRAFT[1][1] = f->get_T_local_to_body_33();
+ AIRCRAFT[1][2] = -f->get_T_local_to_body_31();
+ AIRCRAFT[1][3] = 0.0;
+ AIRCRAFT[2][0] = f->get_T_local_to_body_12();
+ AIRCRAFT[2][1] = f->get_T_local_to_body_13();
+ AIRCRAFT[2][2] = -f->get_T_local_to_body_11();
+ AIRCRAFT[2][3] = 0.0;
+ AIRCRAFT[3][0] = AIRCRAFT[3][1] = AIRCRAFT[3][2] = AIRCRAFT[3][3] = 0.0;
+ AIRCRAFT[3][3] = 1.0;
+
+ // ??? SOMETHING LIKE THIS SHOULD WORK NHV
+ // Rotate about LOCAL_UP (AIRCRAFT[2][])
+ // MAT3_SET_HVEC(vec, AIRCRAFT[2][0], AIRCRAFT[2][1],
+ // AIRCRAFT[2][2], AIRCRAFT[2][3]);
+ // MAT3rotate(TMP, vec, FG_PI - view_offset );
+ // MAT3mult(AIRCRAFT, AIRCRAFT, TMP);
+ }
+ // printf("\naircraft roll pitch yaw\n");
+ // MAT3print(AIRCRAFT, stdout);
+
+ // View position in scenery centered coordinates
+ MAT3_SET_HVEC(vec, view_pos.x(), view_pos.y(), view_pos.z(), 1.0);
+ MAT3translate(T_view, vec);
+ // printf("\nTranslation matrix\n");
+ // MAT3print(T_view, stdout);
+
+ // Latitude
+ MAT3_SET_HVEC(vec, 1.0, 0.0, 0.0, 1.0);
+ // R_Lat = rotate about X axis
+ MAT3rotate(R_Lat, vec, f->get_Latitude());
+ // printf("\nLatitude matrix\n");
+ // MAT3print(R_Lat, stdout);
+
+ // Longitude
+ MAT3_SET_HVEC(vec, 0.0, 0.0, 1.0, 1.0);
+ // R_Lon = rotate about Z axis
+ MAT3rotate(R_Lon, vec, f->get_Longitude() - FG_PI_2 );
+ // printf("\nLongitude matrix\n");
+ // MAT3print(R_Lon, stdout);
+
+#ifdef THIS_IS_OLD_CODE
+ // View position in scenery centered coordinates
+ MAT3_SET_HVEC(vec, view_pos.x, view_pos.y, view_pos.z, 1.0);
+ MAT3translate(T_view, vec);
+ // printf("\nTranslation matrix\n");
+ // MAT3print(T_view, stdout);
+
+ // aircraft roll/pitch/yaw
+ MAT3mult(TMP, R_Phi, R_Theta);
+ MAT3mult(AIRCRAFT, TMP, R_Psi);
+ // printf("\naircraft roll pitch yaw\n");
+ // MAT3print(AIRCRAFT, stdout);
+#endif THIS_IS_OLD_CODE
+
+ // lon/lat
+ MAT3mult(WORLD, R_Lat, R_Lon);
+ // printf("\nworld\n");
+ // MAT3print(WORLD, stdout);
+
+ MAT3mult(EYE_TO_WORLD, AIRCRAFT, WORLD);
+ MAT3mult(EYE_TO_WORLD, EYE_TO_WORLD, T_view);
+ // printf("\nEye to world\n");
+ // MAT3print(EYE_TO_WORLD, stdout);
+
+ MAT3invert(WORLD_TO_EYE, EYE_TO_WORLD);
+ // printf("\nWorld to eye\n");
+ // MAT3print(WORLD_TO_EYE, stdout);
+
+ // printf( "\nview_pos = %.2f %.2f %.2f\n",
+ // view_pos.x, view_pos.y, view_pos.z );
+
+ // MAT3_SET_HVEC(eye, 0.0, 0.0, 0.0, 1.0);
+ // MAT3mult_vec(vec, eye, EYE_TO_WORLD);
+ // printf("\neye -> world = %.2f %.2f %.2f\n", vec[0], vec[1], vec[2]);
+
+ // MAT3_SET_HVEC(vec1, view_pos.x, view_pos.y, view_pos.z, 1.0);
+ // MAT3mult_vec(vec, vec1, WORLD_TO_EYE);
+ // printf( "\nabs_view_pos -> eye = %.2f %.2f %.2f\n",
+ // vec[0], vec[1], vec[2]);
+}
+
+
+#if 0
+// Reject non viewable spheres from current View Frustrum by Curt
+// Olson curt@me.umn.edu and Norman Vine nhv@yahoo.com with 'gentle
+// guidance' from Steve Baker sbaker@link.com
+int
+fgVIEW::SphereClip( const Point3D& cp, const double radius )
+{
+ double x1, y1;
+
+ MAT3vec eye;
+ double *mat;
+ double x, y, z;
+
+ x = cp->x;
+ y = cp->y;
+ z = cp->z;
+
+ mat = (double *)(WORLD_TO_EYE);
+
+ eye[2] = x*mat[2] + y*mat[6] + z*mat[10] + mat[14];
+
+ // Check near and far clip plane
+ if( ( eye[2] > radius ) ||
+ ( eye[2] + radius + current_weather.visibility < 0) )
+ // ( eye[2] + radius + far_plane < 0) )
+ {
+ return 1;
+ }
+
+ // check right and left clip plane (from eye perspective)
+ x1 = radius * fov_x_clip;
+ eye[0] = (x*mat[0] + y*mat[4] + z*mat[8] + mat[12]) * slope_x;
+ if( (eye[2] > -(eye[0]+x1)) || (eye[2] > (eye[0]-x1)) ) {
+ return(1);
+ }
+
+ // check bottom and top clip plane (from eye perspective)
+ y1 = radius * fov_y_clip;
+ eye[1] = (x*mat[1] + y*mat[5] + z*mat[9] + mat[13]) * slope_y;
+ if( (eye[2] > -(eye[1]+y1)) || (eye[2] > (eye[1]-y1)) ) {
+ return 1;
+ }
+
+ return 0;
+}
+#endif
+
+
+// Destructor
+fgVIEW::~fgVIEW( void ) {
}
-/* $Log$
-/* Revision 1.1 1998/04/22 13:25:45 curt
-/* C++ - ifing the code.
-/* Starting a bit of reorganization of lighting code.
-/*
- * Revision 1.16 1998/04/18 04:11:29 curt
- * Moved fg_debug to it's own library, added zlib support.
- *
- * Revision 1.15 1998/02/20 00:16:24 curt
- * Thursday's tweaks.
- *
- * Revision 1.14 1998/02/09 15:07:50 curt
- * Minor tweaks.
- *
- * Revision 1.13 1998/02/07 15:29:45 curt
- * Incorporated HUD changes and struct/typedef changes from Charlie Hotchkiss
- * <chotchkiss@namg.us.anritsu.com>
- *
- * Revision 1.12 1998/01/29 00:50:28 curt
- * Added a view record field for absolute x, y, z position.
- *
- * Revision 1.11 1998/01/27 00:47:58 curt
- * Incorporated Paul Bleisch's <bleisch@chromatic.com> new debug message
- * system and commandline/config file processing code.
- *
- * Revision 1.10 1998/01/19 19:27:09 curt
- * Merged in make system changes from Bob Kuehne <rpk@sgi.com>
- * This should simplify things tremendously.
- *
- * Revision 1.9 1998/01/13 00:23:09 curt
- * Initial changes to support loading and management of scenery tiles. Note,
- * there's still a fair amount of work left to be done.
- *
- * Revision 1.8 1997/12/30 22:22:33 curt
- * Further integration of event manager.
- *
- * Revision 1.7 1997/12/30 20:47:45 curt
- * Integrated new event manager with subsystem initializations.
- *
- * Revision 1.6 1997/12/22 04:14:32 curt
- * Aligned sky with sun so dusk/dawn effects can be correct relative to the sun.
- *
- * Revision 1.5 1997/12/18 04:07:02 curt
- * Worked on properly translating and positioning the sky dome.
- *
- * Revision 1.4 1997/12/17 23:13:36 curt
- * Began working on rendering a sky.
- *
- * Revision 1.3 1997/12/15 23:54:50 curt
- * Add xgl wrappers for debugging.
- * Generate terrain normals on the fly.
- *
- * Revision 1.2 1997/12/10 22:37:48 curt
- * Prepended "fg" on the name of all global structures that didn't have it yet.
- * i.e. "struct WEATHER {}" became "struct fgWEATHER {}"
- *
- * Revision 1.1 1997/08/27 21:31:17 curt
- * Initial revision.
- *
- */
+// $Log$
+// Revision 1.28 1998/12/03 01:17:20 curt
+// Converted fgFLIGHT to a class.
+//
+// Revision 1.27 1998/11/16 14:00:06 curt
+// Added pow() macro bug work around.
+// Added support for starting FGFS at various resolutions.
+// Added some initial serial port support.
+// Specify default log levels in main().
+//
+// Revision 1.26 1998/11/09 23:39:25 curt
+// Tweaks for the instrument panel.
+//
+// Revision 1.25 1998/11/06 21:18:15 curt
+// Converted to new logstream debugging facility. This allows release
+// builds with no messages at all (and no performance impact) by using
+// the -DFG_NDEBUG flag.
+//
+// Revision 1.24 1998/10/18 01:17:19 curt
+// Point3D tweaks.
+//
+// Revision 1.23 1998/10/17 01:34:26 curt
+// C++ ifying ...
+//
+// Revision 1.22 1998/10/16 00:54:03 curt
+// Converted to Point3D class.
+//
+// Revision 1.21 1998/09/17 18:35:33 curt
+// Added F8 to toggle fog and F9 to toggle texturing.
+//
+// Revision 1.20 1998/09/08 15:04:35 curt
+// Optimizations by Norman Vine.
+//
+// Revision 1.19 1998/08/20 20:32:34 curt
+// Reshuffled some of the code in and around views.[ch]xx
+//
+// Revision 1.18 1998/07/24 21:57:02 curt
+// Set near clip plane to 0.5 meters when close to the ground. Also, let the view get a bit closer to the ground before hitting the hard limit.
+//
+// Revision 1.17 1998/07/24 21:39:12 curt
+// Debugging output tweaks.
+// Cast glGetString to (char *) to avoid compiler errors.
+// Optimizations to fgGluLookAt() by Norman Vine.
+//
+// Revision 1.16 1998/07/13 21:01:41 curt
+// Wrote access functions for current fgOPTIONS.
+//
+// Revision 1.15 1998/07/12 03:14:43 curt
+// Added ground collision detection.
+// Did some serious horsing around to be able to "hug" the ground properly
+// and still be able to take off.
+// Set the near clip plane to 1.0 meters when less than 10 meters above the
+// ground.
+// Did some serious horsing around getting the initial airplane position to be
+// correct based on rendered terrain elevation.
+// Added a little cheat/hack that will prevent the view position from ever
+// dropping below the terrain, even when the flight model doesn't quite
+// put you as high as you'd like.
+//
+// Revision 1.14 1998/07/08 14:45:08 curt
+// polar3d.h renamed to polar3d.hxx
+// vector.h renamed to vector.hxx
+// updated audio support so it waits to create audio classes (and tie up
+// /dev/dsp) until the mpg123 player is finished.
+//
+// Revision 1.13 1998/07/04 00:52:27 curt
+// Add my own version of gluLookAt() (which is nearly identical to the
+// Mesa/glu version.) But, by calculating the Model View matrix our selves
+// we can save this matrix without having to read it back in from the video
+// card. This hopefully allows us to save a few cpu cycles when rendering
+// out the fragments because we can just use glLoadMatrixd() with the
+// precalculated matrix for each tile rather than doing a push(), translate(),
+// pop() for every fragment.
+//
+// Panel status defaults to off for now until it gets a bit more developed.
+//
+// Extract OpenGL driver info on initialization.
+//
+// Revision 1.12 1998/06/03 00:47:15 curt
+// Updated to compile in audio support if OSS available.
+// Updated for new version of Steve's audio library.
+// STL includes don't use .h
+// Small view optimizations.
+//
+// Revision 1.11 1998/05/27 02:24:05 curt
+// View optimizations by Norman Vine.
+//
+// Revision 1.10 1998/05/17 16:59:03 curt
+// First pass at view frustum culling now operational.
+//
+// Revision 1.9 1998/05/16 13:08:37 curt
+// C++ - ified views.[ch]xx
+// Shuffled some additional view parameters into the fgVIEW class.
+// Changed tile-radius to tile-diameter because it is a much better
+// name.
+// Added a WORLD_TO_EYE transformation to views.cxx. This allows us
+// to transform world space to eye space for view frustum culling.
+//
+// Revision 1.8 1998/05/02 01:51:01 curt
+// Updated polartocart conversion routine.
+//
+// Revision 1.7 1998/04/30 12:34:20 curt
+// Added command line rendering options:
+// enable/disable fog/haze
+// specify smooth/flat shading
+// disable sky blending and just use a solid color
+// enable wireframe drawing mode
+//
+// Revision 1.6 1998/04/28 01:20:23 curt
+// Type-ified fgTIME and fgVIEW.
+// Added a command line option to disable textures.
+//
+// Revision 1.5 1998/04/26 05:10:04 curt
+// "struct fgLIGHT" -> "fgLIGHT" because fgLIGHT is typedef'd.
+//
+// Revision 1.4 1998/04/25 22:04:53 curt
+// Use already calculated LaRCsim values to create the roll/pitch/yaw
+// transformation matrix (we call it LOCAL)
+//
+// Revision 1.3 1998/04/25 20:24:02 curt
+// Cleaned up initialization sequence to eliminate interdependencies
+// between sun position, lighting, and view position. This creates a
+// valid single pass initialization path.
+//
+// Revision 1.2 1998/04/24 00:49:22 curt
+// Wrapped "#include <config.h>" in "#ifdef HAVE_CONFIG_H"
+// Trying out some different option parsing code.
+// Some code reorganization.
+//
+// Revision 1.1 1998/04/22 13:25:45 curt
+// C++ - ifing the code.
+// Starting a bit of reorganization of lighting code.
+//
+// Revision 1.16 1998/04/18 04:11:29 curt
+// Moved fg_debug to it's own library, added zlib support.
+//
+// Revision 1.15 1998/02/20 00:16:24 curt
+// Thursday's tweaks.
+//
+// Revision 1.14 1998/02/09 15:07:50 curt
+// Minor tweaks.
+//
+// Revision 1.13 1998/02/07 15:29:45 curt
+// Incorporated HUD changes and struct/typedef changes from Charlie Hotchkiss
+// <chotchkiss@namg.us.anritsu.com>
+//
+// Revision 1.12 1998/01/29 00:50:28 curt
+// Added a view record field for absolute x, y, z position.
+//
+// Revision 1.11 1998/01/27 00:47:58 curt
+// Incorporated Paul Bleisch's <pbleisch@acm.org> new debug message
+// system and commandline/config file processing code.
+//
+// Revision 1.10 1998/01/19 19:27:09 curt
+// Merged in make system changes from Bob Kuehne <rpk@sgi.com>
+// This should simplify things tremendously.
+//
+// Revision 1.9 1998/01/13 00:23:09 curt
+// Initial changes to support loading and management of scenery tiles. Note,
+// there's still a fair amount of work left to be done.
+//
+// Revision 1.8 1997/12/30 22:22:33 curt
+// Further integration of event manager.
+//
+// Revision 1.7 1997/12/30 20:47:45 curt
+// Integrated new event manager with subsystem initializations.
+//
+// Revision 1.6 1997/12/22 04:14:32 curt
+// Aligned sky with sun so dusk/dawn effects can be correct relative to the sun.
+//
+// Revision 1.5 1997/12/18 04:07:02 curt
+// Worked on properly translating and positioning the sky dome.
+//
+// Revision 1.4 1997/12/17 23:13:36 curt
+// Began working on rendering a sky.
+//
+// Revision 1.3 1997/12/15 23:54:50 curt
+// Add xgl wrappers for debugging.
+// Generate terrain normals on the fly.
+//
+// Revision 1.2 1997/12/10 22:37:48 curt
+// Prepended "fg" on the name of all global structures that didn't have it yet.
+// i.e. "struct WEATHER {}" became "struct fgWEATHER {}"
+//
+// Revision 1.1 1997/08/27 21:31:17 curt
+// Initial revision.
+//
projects / flightgear.git / blobdiff