#include <simgear/compiler.h>
+#include "fg_props.hxx"
+
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <Scenery/scenery.hxx>
-/* from lookat */
#include <simgear/math/vector.hxx>
-#include "globals.hxx"
-/* end from lookat */
+#include <Main/globals.hxx>
+#include <Model/acmodel.hxx>
+#include <Model/model.hxx>
#include "viewer.hxx"
// Norman's Optimized matrix rotators! //
//////////////////////////////////////////////////////////////////
-static void fgMakeLOCAL( sgMat4 dst, const double Theta,
- const double Phi, const double Psi)
-{
- SGfloat cosTheta = (SGfloat) cos(Theta);
- SGfloat sinTheta = (SGfloat) sin(Theta);
- SGfloat cosPhi = (SGfloat) cos(Phi);
- SGfloat sinPhi = (SGfloat) sin(Phi);
- SGfloat sinPsi = (SGfloat) sin(Psi) ;
- SGfloat cosPsi = (SGfloat) cos(Psi) ;
-
- dst[0][0] = cosPhi * cosTheta;
- dst[0][1] = sinPhi * cosPsi + cosPhi * -sinTheta * -sinPsi;
- dst[0][2] = sinPhi * sinPsi + cosPhi * -sinTheta * cosPsi;
- dst[0][3] = SG_ZERO;
-
- dst[1][0] = -sinPhi * cosTheta;
- dst[1][1] = cosPhi * cosPsi + -sinPhi * -sinTheta * -sinPsi;
- dst[1][2] = cosPhi * sinPsi + -sinPhi * -sinTheta * cosPsi;
- dst[1][3] = SG_ZERO ;
-
- dst[2][0] = sinTheta;
- dst[2][1] = cosTheta * -sinPsi;
- dst[2][2] = cosTheta * cosPsi;
- dst[2][3] = SG_ZERO;
-
- dst[3][0] = SG_ZERO;
- dst[3][1] = SG_ZERO;
- dst[3][2] = SG_ZERO;
- dst[3][3] = SG_ONE ;
-}
-
// Since these are pure rotation matrices we can save some bookwork
// by considering them to be 3x3 until the very end -- NHV
dst[3][3] = SG_ONE;
}
-// Taking advantage of the 3x3 nature of this -- NHV
-inline static void MakeWithWorldUp( sgMat4 dst, const sgMat4 UP, const sgMat4 LOCAL )
-{
- sgMat4 tmp;
-
- float a = UP[0][0];
- float b = UP[1][0];
- float c = UP[2][0];
- tmp[0][0] = a*LOCAL[0][0] + b*LOCAL[0][1] + c*LOCAL[0][2] ;
- tmp[1][0] = a*LOCAL[1][0] + b*LOCAL[1][1] + c*LOCAL[1][2] ;
- tmp[2][0] = a*LOCAL[2][0] + b*LOCAL[2][1] + c*LOCAL[2][2] ;
- tmp[3][0] = SG_ZERO ;
-
- a = UP[0][1];
- b = UP[1][1];
- c = UP[2][1];
- tmp[0][1] = a*LOCAL[0][0] + b*LOCAL[0][1] + c*LOCAL[0][2] ;
- tmp[1][1] = a*LOCAL[1][0] + b*LOCAL[1][1] + c*LOCAL[1][2] ;
- tmp[2][1] = a*LOCAL[2][0] + b*LOCAL[2][1] + c*LOCAL[2][2] ;
- tmp[3][1] = SG_ZERO ;
-
- a = UP[0][2];
- c = UP[2][2];
- tmp[0][2] = a*LOCAL[0][0] + c*LOCAL[0][2] ;
- tmp[1][2] = a*LOCAL[1][0] + c*LOCAL[1][2] ;
- tmp[2][2] = a*LOCAL[2][0] + c*LOCAL[2][2] ;
- tmp[3][2] = SG_ZERO ;
-
- tmp[0][3] = SG_ZERO ;
- tmp[1][3] = SG_ZERO ;
- tmp[2][3] = SG_ZERO ;
- tmp[3][3] = SG_ONE ;
- sgCopyMat4(dst, tmp);
-}
-
////////////////////////////////////////////////////////////////////////
// Implementation of FGViewer.
////////////////////////////////////////////////////////////////////////
// Constructor
-FGViewer::FGViewer( void ):
+FGViewer::FGViewer( fgViewType Type, bool from_model, int from_model_index, bool at_model, int at_model_index, double x_offset_m, double y_offset_m, double z_offset_m, double near_m ):
_scaling_type(FG_SCALING_MAX),
_fov_deg(55.0),
_dirty(true),
_roll_deg(0),
_pitch_deg(0),
_heading_deg(0),
- _x_offset_m(0),
- _y_offset_m(0),
- _z_offset_m(0),
_heading_offset_deg(0),
_pitch_offset_deg(0),
_roll_offset_deg(0),
_goal_pitch_offset_deg(0.0)
{
sgdZeroVec3(_absolute_view_pos);
+ _type = Type;
+ _from_model = from_model;
+ _from_model_index = from_model_index;
+ _at_model = at_model;
+ _at_model_index = at_model_index;
+ _x_offset_m = x_offset_m;
+ _y_offset_m = y_offset_m;
+ _z_offset_m = z_offset_m;
+ _ground_level_nearplane_m = near_m;
//a reasonable guess for init, so that the math doesn't blow up
}
void
FGViewer::init ()
{
+ if ( _from_model )
+ _location = (FGLocation *) globals->get_aircraft_model()->get3DModel()->getFGLocation();
+ else
+ _location = (FGLocation *) new FGLocation;
+
+ if ( _type == FG_LOOKAT ) {
+ if ( _at_model )
+ _target_location = (FGLocation *) globals->get_aircraft_model()->get3DModel()->getFGLocation();
+ else
+ _target_location = (FGLocation *) new FGLocation;
+ }
}
void
FGViewer::setType ( int type )
{
if (type == 0)
- _type = FG_RPH;
+ _type = FG_LOOKFROM;
if (type == 1)
_type = FG_LOOKAT;
}
_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)
{
return _zero_elev_view_pos;
}
+void
+FGViewer::updateFromModelLocation (FGLocation * location)
+{
+ sgCopyMat4(LOCAL, location->getCachedTransformMatrix());
+}
+
+void
+FGViewer::recalcOurOwnLocation (FGLocation * location, double lon_deg, double lat_deg, double alt_ft,
+ double roll_deg, double pitch_deg, double heading_deg)
+{
+ // update from our own data...
+ location->setPosition( lon_deg, lat_deg, alt_ft );
+ location->setOrientation( roll_deg, pitch_deg, heading_deg );
+ sgCopyMat4(LOCAL, location->getTransformMatrix());
+}
// 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
void
FGViewer::recalc ()
{
- sgVec3 minus_z, right, forward, tilt;
- sgMat4 tmpROT; // temp rotation work matrices
- sgMat4 VIEW_HEADINGOFFSET, VIEW_PITCHOFFSET;
- sgVec3 tmpVec3; // temp work vector (3)
-
-
- // The position vectors originate from the view point or target location
- // depending on the type of view.
- // FIXME: In particular this routine will need to support both locations
- // and chase view (aka lookat) is only unique in that the
- // eye position is calculated in relation to the object's position.
- // FIXME: Later note: actually the object (target) info needs to be held
- // by the model class.
- if (_type == FG_RPH) {
- // position is the location of the pilot
- recalcPositionVectors( _lon_deg, _lat_deg, _alt_ft );
- // Make the world up rotation matrix for rph
- sgMakeRotMat4( UP, _lon_deg, 0.0, -_lat_deg );
+ if (_type == FG_LOOKFROM) {
+ recalcLookFrom();
} else {
- // position is the location of the object being looked at
- recalcPositionVectors( _target_lon_deg, _target_lat_deg, _target_alt_ft );
- // Make the world up rotation matrix for lookat
- sgMakeRotMat4( UP, _target_lon_deg, 0.0, -_target_lat_deg );
+ recalcLookAt();
}
- // the coordinates generated by the above "recalcPositionVectors"
- sgCopyVec3(_zero_elev, _zero_elev_view_pos);
- sgCopyVec3(_view_pos, _relative_view_pos);
+ set_clean();
+}
+// recalculate for LookFrom view type...
+void
+FGViewer::recalcLookFrom ()
+{
- // get the world up radial vector from planet center
- // (ie. effect of aircraft location on earth "sphere" approximation)
- sgSetVec3( _world_up, UP[0][0], UP[0][1], UP[0][2] );
+ sgVec3 right, forward;
+ sgVec3 eye_pos;
+ sgVec3 position_offset; // eye position offsets (xyz)
+ // LOOKFROM mode...
+ // Update location data...
+ if ( _from_model ) {
+ // update or data from model location
+ updateFromModelLocation(_location);
+ } else {
+ // update from our own data...
+ recalcOurOwnLocation( _location, _lon_deg, _lat_deg, _alt_ft,
+ _roll_deg, _pitch_deg, _heading_deg );
+ }
- // Creat local matrix with current geodetic position. Converting
- // the orientation (pitch/roll/heading) to vectors.
- fgMakeLOCAL( LOCAL, _pitch_deg * SG_DEGREES_TO_RADIANS,
- _roll_deg * SG_DEGREES_TO_RADIANS,
- -_heading_deg * SG_DEGREES_TO_RADIANS);
- // Adjust LOCAL to current world_up vector (adjustment for planet location)
- MakeWithWorldUp( LOCAL, UP, LOCAL );
- // copy the LOCAL matrix to COCKPIT_ROT for publication...
- sgCopyMat4( LOCAL_ROT, LOCAL );
+ // copy data from location class to local items...
+ copyLocationData();
// make sg vectors view up, right and forward vectors from LOCAL
- sgSetVec3( _view_up, LOCAL[0][0], LOCAL[0][1], LOCAL[0][2] );
+ sgSetVec3( _view_up, LOCAL[2][0], LOCAL[2][1], LOCAL[2][2] );
sgSetVec3( right, LOCAL[1][0], LOCAL[1][1], LOCAL[1][2] );
- sgSetVec3( forward, LOCAL[2][0], LOCAL[2][1], LOCAL[2][2] );
-
+ sgSetVec3( forward, -LOCAL[0][0], -LOCAL[0][1], -LOCAL[0][2] );
- // create xyz offsets Vector
- sgVec3 position_offset;
- sgSetVec3( position_offset, _y_offset_m, _x_offset_m, _z_offset_m );
+ // Note that when in "lookfrom" view the "view up" vector is always applied
+ // to the viewer. View up is based on verticle of the aircraft itself. (see
+ // "LOCAL" matrix above)
+ // Orientation Offsets matrix
+ MakeVIEW_OFFSET( VIEW_OFFSET,
+ _heading_offset_deg * SG_DEGREES_TO_RADIANS, _view_up,
+ _pitch_offset_deg * SG_DEGREES_TO_RADIANS, right );
+ // Make the VIEW matrix.
+ sgSetVec4(VIEW[0], right[0], right[1], right[2],SG_ZERO);
+ sgSetVec4(VIEW[1], forward[0], forward[1], forward[2],SG_ZERO);
+ sgSetVec4(VIEW[2], _view_up[0], _view_up[1], _view_up[2],SG_ZERO);
+ sgSetVec4(VIEW[3], SG_ZERO, SG_ZERO, SG_ZERO,SG_ONE);
- // Eye rotations.
- // Looking up/down left/right in pilot view (lookfrom mode)
- // or Floating Rotatation around the object in chase view (lookat mode).
- // Generate the offset matrix to be applied using offset angles:
- if (_type == FG_LOOKAT) {
- // Note that when in "chase view" the offset is in relation to the
- // orientation heading (_heading_deg) of the model being looked at as
- // it is used to rotate around the model.
- MakeVIEW_OFFSET( VIEW_OFFSET,
- (_heading_offset_deg - _heading_deg) * SG_DEGREES_TO_RADIANS, _world_up,
- _pitch_offset_deg * SG_DEGREES_TO_RADIANS, right );
- }
- if (_type == FG_RPH) {
- // generate the view offset matrix using orientation offsets
- MakeVIEW_OFFSET( VIEW_OFFSET,
- _heading_offset_deg * SG_DEGREES_TO_RADIANS, _view_up,
- _pitch_offset_deg * SG_DEGREES_TO_RADIANS, right );
- }
+ // rotate matrix to get a matrix to apply Eye Position Offsets
+ sgMat4 VIEW_UP; // L0 forward L1 right L2 up
+ sgCopyVec4(VIEW_UP[0], LOCAL[1]);
+ sgCopyVec4(VIEW_UP[1], LOCAL[2]);
+ sgCopyVec4(VIEW_UP[2], LOCAL[0]);
+ sgZeroVec4(VIEW_UP[3]);
+ // Eye Position Offsets to vector
+ sgSetVec3( position_offset, _x_offset_m, _y_offset_m, _z_offset_m );
+ sgXformVec3( position_offset, position_offset, VIEW_UP);
+ // add the offsets including rotations to the translation vector
+ sgAddVec3( _view_pos, position_offset );
- if (_type == FG_LOOKAT) {
-
- // transfrom "offset" and "orientation offset" to vector
- sgXformVec3( position_offset, position_offset, UP );
- sgXformVec3( position_offset, position_offset, VIEW_OFFSET );
+ // multiply the OFFSETS (for heading and pitch) into the VIEW
+ sgPostMultMat4(VIEW, VIEW_OFFSET);
- sgVec3 object_pos, eye_pos;
- // copy to coordinates to object...
- sgCopyVec3( object_pos, _view_pos );
+ // add the position data to the matrix
+ sgSetVec4(VIEW[3], _view_pos[0], _view_pos[1], _view_pos[2],SG_ONE);
- // add the offsets from object to the coordinates to get "eye"
- sgAddVec3( eye_pos, _view_pos, position_offset );
+}
- // Make the VIEW matrix for "lookat".
- sgMakeLookAtMat4( VIEW, eye_pos, object_pos, _view_up );
- }
+void
+FGViewer::recalcLookAt ()
+{
- if (_type == FG_RPH) {
-
- sgXformVec3( position_offset, position_offset, LOCAL);
- // add the offsets including rotations to the coordinates
- sgAddVec3( _view_pos, position_offset );
-
- // Make the VIEW matrix.
- VIEW[0][0] = right[0];
- VIEW[0][1] = right[1];
- VIEW[0][2] = right[2];
- VIEW[0][3] = 0.0;
- VIEW[1][0] = forward[0];
- VIEW[1][1] = forward[1];
- VIEW[1][2] = forward[2];
- VIEW[1][3] = 0.0;
- VIEW[2][0] = _view_up[0];
- VIEW[2][1] = _view_up[1];
- VIEW[2][2] = _view_up[2];
- VIEW[2][3] = 0.0;
- VIEW[3][0] = 0.0;
- VIEW[3][1] = 0.0;
- VIEW[3][2] = 0.0;
- VIEW[3][3] = 0.0;
- // multiply the OFFSETS (for heading and pitch) into the VIEW
- sgPostMultMat4(VIEW, VIEW_OFFSET);
-
- // add the position data to the matrix
- VIEW[3][0] = _view_pos[0];
- VIEW[3][1] = _view_pos[1];
- VIEW[3][2] = _view_pos[2];
- VIEW[3][3] = 1.0f;
+ sgVec3 right;
+ sgVec3 eye_pos, at_pos;
+ sgVec3 position_offset; // eye position offsets (xyz)
- }
+ // The position vectors originate from the view point or target location
+ // depending on the type of view.
- // the VIEW matrix includes both rotation and translation. Let's
- // knock out the translation part to make the VIEW_ROT matrix
- sgCopyMat4( VIEW_ROT, VIEW );
- VIEW_ROT[3][0] = VIEW_ROT[3][1] = VIEW_ROT[3][2] = 0.0;
+ // LOOKAT mode...
- // 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".
- sgSetVec3( minus_z, 0.0, 0.0, -1.0 );
+ // Update location data for target...
+ if ( _at_model ) {
+ // update or data from model location
+ updateFromModelLocation(_target_location);
+ } else {
+ // if not model then calculate our own target position...
+ recalcOurOwnLocation( _target_location, _target_lon_deg, _target_lat_deg, _target_alt_ft,
+ _target_roll_deg, _target_pitch_deg, _target_heading_deg );
+ }
+ // calculate the "at" target object positon relative to eye or view's tile center...
+ sgdVec3 dVec3;
+ sgdSetVec3(dVec3, _location->get_tile_center()[0], _location->get_tile_center()[1], _location->get_tile_center()[2]);
+ sgdSubVec3(dVec3, _target_location->get_absolute_view_pos(), dVec3 );
+ sgSetVec3(at_pos, dVec3[0], dVec3[1], dVec3[2]);
+
+ // Update location data for eye...
+ if ( _from_model ) {
+ // update or data from model location
+ updateFromModelLocation(_location);
+ } else {
+ // update from our own data, just the rotation here...
+ recalcOurOwnLocation( _location, _lon_deg, _lat_deg, _alt_ft,
+ _roll_deg, _pitch_deg, _heading_deg );
+ }
+ // save the eye positon...
+ sgCopyVec3(eye_pos, _location->get_view_pos());
- sgmap_vec_onto_cur_surface_plane(_world_up, _view_pos, minus_z,
- _surface_south);
- sgNormalizeVec3(_surface_south);
+ // copy data from location class to local items...
+ copyLocationData();
- // now calculate the surface east vector
- sgVec3 world_down;
- sgNegateVec3(world_down, _world_up);
- sgVectorProductVec3(_surface_east, _surface_south, world_down);
+ // make sg vectors view up, right and forward vectors from LOCAL
+ sgSetVec3( _view_up, LOCAL[2][0], LOCAL[2][1], LOCAL[2][2] );
+ sgSetVec3( right, LOCAL[1][0], LOCAL[1][1], LOCAL[1][2] );
- set_clean();
-}
+ // Note that when in "lookat" view the "world up" vector is always applied
+ // to the viewer. World up is based on verticle at a given lon/lat (see
+ // matrix "UP" above).
-void
-FGViewer::recalcPositionVectors (double lon_deg, double lat_deg, double alt_ft) const
-{
- double sea_level_radius_m;
- double lat_geoc_rad;
+ // Orientation Offsets matrix
+ MakeVIEW_OFFSET( VIEW_OFFSET,
+ (_heading_offset_deg -_heading_deg) * SG_DEGREES_TO_RADIANS, _world_up,
+ _pitch_offset_deg * SG_DEGREES_TO_RADIANS, right );
+
+ // add in the Orientation Offsets here
+ sgSetVec3( position_offset, _x_offset_m, _y_offset_m, _z_offset_m );
+ sgXformVec3( position_offset, position_offset, UP);
+ sgXformVec3( position_offset, position_offset, VIEW_OFFSET );
- // Convert from geodetic to geocentric
- // coordinates.
- sgGeodToGeoc(lat_deg * SGD_DEGREES_TO_RADIANS,
- alt_ft * SG_FEET_TO_METER,
- &sea_level_radius_m,
- &lat_geoc_rad);
+ // add the Position offsets from object to the eye position
+ sgAddVec3( eye_pos, eye_pos, position_offset );
- // Calculate the cartesian coordinates
- // of point directly below at sea level.
- // aka Zero Elevation Position
- Point3D p = Point3D(lon_deg * SG_DEGREES_TO_RADIANS,
- lat_geoc_rad,
- sea_level_radius_m);
- Point3D tmp = sgPolarToCart3d(p) - scenery.get_next_center();
- sgSetVec3(_zero_elev_view_pos, tmp[0], tmp[1], tmp[2]);
+ // Make the VIEW matrix for a "LOOKAT".
+ sgMakeLookAtMat4( VIEW, eye_pos, at_pos, _view_up );
- // Calculate the absolute view position
- // in fgfs coordinates.
- // aka Absolute View Position
- p.setz(p.radius() + alt_ft * SG_FEET_TO_METER);
- tmp = sgPolarToCart3d(p);
- sgdSetVec3(_absolute_view_pos, tmp[0], tmp[1], tmp[2]);
+}
- // Calculate the relative view position
- // from the scenery center.
- // aka Relative View Position
- sgdVec3 scenery_center;
- sgdSetVec3(scenery_center,
- scenery.get_next_center().x(),
- scenery.get_next_center().y(),
- scenery.get_next_center().z());
- sgdVec3 view_pos;
- sgdSubVec3(view_pos, _absolute_view_pos, scenery_center);
- sgSetVec3(_relative_view_pos, view_pos);
+// copy results from location class to viewer...
+// FIXME: some of these should be changed to reference directly to FGLocation...
+void
+FGViewer::copyLocationData()
+{
+ // Get our friendly vectors from the eye location...
+ sgCopyVec3(_zero_elev_view_pos, _location->get_zero_elev());
+ sgCopyVec3(_relative_view_pos, _location->get_view_pos());
+ sgdCopyVec3(_absolute_view_pos, _location->get_absolute_view_pos());
+ sgCopyMat4(UP, _location->getCachedUpMatrix());
+ sgCopyVec3(_world_up, _location->get_world_up());
+ // these are the vectors that the sun and moon code like to get...
+ sgCopyVec3(_surface_east, _location->get_surface_east());
+ sgCopyVec3(_surface_south, _location->get_surface_south());
+
+ // 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();
+ }
+ // copy coordinates to outputs for viewer...
+ sgCopyVec3(_zero_elev, _zero_elev_view_pos);
+ sgCopyVec3(_view_pos, _relative_view_pos);
}
double
default:
assert(false);
}
+ return 0.0;
}
+
+
double
FGViewer::get_v_fov()
{
default:
assert(false);
}
+ return 0.0;
}
void
-FGViewer::update (int dt)
+FGViewer::update (double dt)
{
int i;
- for ( i = 0; i < dt; i++ ) {
+ int dt_ms = int(dt * 1000);
+ for ( i = 0; i < dt_ms; i++ ) {
if ( fabs( _goal_heading_offset_deg - _heading_offset_deg) < 1 ) {
setHeadingOffset_deg( _goal_heading_offset_deg );
break;
}
}
- for ( i = 0; i < dt; i++ ) {
+ for ( i = 0; i < dt_ms; i++ ) {
if ( fabs( _goal_pitch_offset_deg - _pitch_offset_deg ) < 1 ) {
setPitchOffset_deg( _goal_pitch_offset_deg );
break;
}
}
}
-
-
projects / flightgear.git / blobdiff