//
// Written by Curtis Olson, started August 1997.
// overhaul started October 2000.
+// partially rewritten by Jim Wilson jim@kelcomaine.com using interface
+// by David Megginson March 2002
//
// Copyright (C) 1997 - 2000 Curtis L. Olson - curt@flightgear.org
//
#include <simgear/compiler.h>
+#include "fg_props.hxx"
+
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
-#include <plib/ssg.h> // plib include
-
-#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
+#include <simgear/constants.h>
#include <simgear/math/point3d.hxx>
#include <simgear/math/polar3d.hxx>
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/scene/model/location.hxx>
+#include <simgear/scene/model/placement.hxx>
#include <simgear/math/vector.hxx>
-#include <Aircraft/aircraft.hxx>
-#include <Cockpit/panel.hxx>
+#include <Main/globals.hxx>
#include <Scenery/scenery.hxx>
+#include <Model/acmodel.hxx>
-#include "globals.hxx"
#include "viewer.hxx"
+\f
+//////////////////////////////////////////////////////////////////
+// Norman's Optimized matrix rotators! //
+//////////////////////////////////////////////////////////////////
-// Constructor
-FGViewer::FGViewer( void ) {
-}
-#define USE_FAST_VIEWROT
-#ifdef USE_FAST_VIEWROT
-// VIEW_ROT = LARC_TO_SSG * ( VIEWo * VIEW_OFFSET )
-// This takes advantage of the fact that VIEWo and VIEW_OFFSET
-// only have entries in the upper 3x3 block
-// and that LARC_TO_SSG is just a shift of rows NHV
-inline static void fgMakeViewRot( sgMat4 dst, const sgMat4 m1, const sgMat4 m2 )
+// Since these are pure rotation matrices we can save some bookwork
+// by considering them to be 3x3 until the very end -- NHV
+static void MakeVIEW_OFFSET( sgMat4 dst,
+ const float angle1, const sgVec3 axis1,
+ const float angle2, const sgVec3 axis2,
+ const float angle3, const sgVec3 axis3 )
{
+ // make rotmatrix1 from angle and axis
+ float s = (float) sin ( angle1 ) ;
+ float c = (float) cos ( angle1 ) ;
+ float t = SG_ONE - c ;
+
+ sgMat3 mat1;
+ float tmp = t * axis1[0];
+ mat1[0][0] = tmp * axis1[0] + c ;
+ mat1[0][1] = tmp * axis1[1] + s * axis1[2] ;
+ mat1[0][2] = tmp * axis1[2] - s * axis1[1] ;
+
+ tmp = t * axis1[1];
+ mat1[1][0] = tmp * axis1[0] - s * axis1[2] ;
+ mat1[1][1] = tmp * axis1[1] + c ;
+ mat1[1][2] = tmp * axis1[2] + s * axis1[0] ;
+
+ tmp = t * axis1[2];
+ mat1[2][0] = tmp * axis1[0] + s * axis1[1] ;
+ mat1[2][1] = tmp * axis1[1] - s * axis1[0] ;
+ mat1[2][2] = tmp * axis1[2] + c ;
+
+ // make rotmatrix2 from angle and axis
+ s = (float) sin ( angle2 ) ;
+ c = (float) cos ( angle2 ) ;
+ t = SG_ONE - c ;
+
+ sgMat3 mat2;
+ tmp = t * axis2[0];
+ mat2[0][0] = tmp * axis2[0] + c ;
+ mat2[0][1] = tmp * axis2[1] + s * axis2[2] ;
+ mat2[0][2] = tmp * axis2[2] - s * axis2[1] ;
+
+ tmp = t * axis2[1];
+ mat2[1][0] = tmp * axis2[0] - s * axis2[2] ;
+ mat2[1][1] = tmp * axis2[1] + c ;
+ mat2[1][2] = tmp * axis2[2] + s * axis2[0] ;
+
+ tmp = t * axis2[2];
+ mat2[2][0] = tmp * axis2[0] + s * axis2[1] ;
+ mat2[2][1] = tmp * axis2[1] - s * axis2[0] ;
+ mat2[2][2] = tmp * axis2[2] + c ;
+
+
+ // make rotmatrix3 from angle and axis (roll)
+ s = (float) sin ( angle3 ) ;
+ c = (float) cos ( angle3 ) ;
+ t = SG_ONE - c ;
+
+ sgMat3 mat3;
+ tmp = t * axis3[0];
+ mat3[0][0] = tmp * axis3[0] + c ;
+ mat3[0][1] = tmp * axis3[1] + s * axis3[2] ;
+ mat3[0][2] = tmp * axis3[2] - s * axis3[1] ;
+
+ tmp = t * axis2[1];
+ mat3[1][0] = tmp * axis3[0] - s * axis3[2] ;
+ mat3[1][1] = tmp * axis3[1] + c ;
+ mat3[1][2] = tmp * axis3[2] + s * axis3[0] ;
+
+ tmp = t * axis3[2];
+ mat3[2][0] = tmp * axis3[0] + s * axis3[1] ;
+ mat3[2][1] = tmp * axis3[1] - s * axis3[0] ;
+ mat3[2][2] = tmp * axis3[2] + c ;
+
+ sgMat3 matt;
+
+ // multiply matrices
for ( int j = 0 ; j < 3 ; j++ ) {
- dst[2][j] = m2[0][0] * m1[0][j] +
- m2[0][1] * m1[1][j] +
- m2[0][2] * m1[2][j];
+ matt[0][j] = mat2[0][0] * mat1[0][j] +
+ mat2[0][1] * mat1[1][j] +
+ mat2[0][2] * mat1[2][j];
- dst[0][j] = m2[1][0] * m1[0][j] +
- m2[1][1] * m1[1][j] +
- m2[1][2] * m1[2][j];
+ matt[1][j] = mat2[1][0] * mat1[0][j] +
+ mat2[1][1] * mat1[1][j] +
+ mat2[1][2] * mat1[2][j];
- dst[1][j] = m2[2][0] * m1[0][j] +
- m2[2][1] * m1[1][j] +
- m2[2][2] * m1[2][j];
+ matt[2][j] = mat2[2][0] * mat1[0][j] +
+ mat2[2][1] * mat1[1][j] +
+ mat2[2][2] * mat1[2][j];
}
- dst[0][3] =
- dst[1][3] =
- dst[2][3] =
- dst[3][0] =
- dst[3][1] =
- dst[3][2] = SG_ZERO;
- dst[3][3] = SG_ONE;
-}
-#endif
-// Initialize a view structure
-void FGViewer::Init( void ) {
- FG_LOG( FG_VIEW, FG_INFO, "Initializing View parameters" );
-
- view_offset = goal_view_offset = globals->get_options()->get_default_view_offset();
- sgSetVec3( pilot_offset, 0.0, 0.0, 0.0 );
-
- set_win_ratio( globals->get_options()->get_xsize() /
- globals->get_options()->get_ysize() );
-
-#ifndef USE_FAST_VIEWROT
- // This never changes -- NHV
- LARC_TO_SSG[0][0] = 0.0;
- LARC_TO_SSG[0][1] = 1.0;
- LARC_TO_SSG[0][2] = -0.0;
- LARC_TO_SSG[0][3] = 0.0;
-
- LARC_TO_SSG[1][0] = 0.0;
- LARC_TO_SSG[1][1] = 0.0;
- LARC_TO_SSG[1][2] = 1.0;
- LARC_TO_SSG[1][3] = 0.0;
-
- LARC_TO_SSG[2][0] = 1.0;
- LARC_TO_SSG[2][1] = -0.0;
- LARC_TO_SSG[2][2] = 0.0;
- LARC_TO_SSG[2][3] = 0.0;
-
- LARC_TO_SSG[3][0] = 0.0;
- LARC_TO_SSG[3][1] = 0.0;
- LARC_TO_SSG[3][2] = 0.0;
- LARC_TO_SSG[3][3] = 1.0;
-#endif // USE_FAST_VIEWROT
-
- force_update_fov_math();
-}
-
-
-#define USE_FAST_LOCAL
-#ifdef USE_FAST_LOCAL
-inline 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;
+ // multiply matrices
+ for ( int j = 0 ; j < 3 ; j++ ) {
+ dst[0][j] = mat3[0][0] * matt[0][j] +
+ mat3[0][1] * matt[1][j] +
+ mat3[0][2] * matt[2][j];
+
+ dst[1][j] = mat3[1][0] * matt[0][j] +
+ mat3[1][1] * matt[1][j] +
+ mat3[1][2] * matt[2][j];
+
+ dst[2][j] = mat3[2][0] * matt[0][j] +
+ mat3[2][1] * matt[1][j] +
+ mat3[2][2] * matt[2][j];
+ }
+ // fill in 4x4 matrix elements
+ dst[0][3] = SG_ZERO;
+ dst[1][3] = SG_ZERO;
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 ;
+ dst[3][3] = SG_ONE;
}
-#endif
-// Update the view volume, position, and orientation
-void FGViewer::UpdateViewParams( const FGInterface& f ) {
- UpdateViewMath(f);
-
- if ( ! fgPanelVisible() ) {
- xglViewport( 0, 0 ,
- (GLint)(globals->get_options()->get_xsize()),
- (GLint)(globals->get_options()->get_ysize()) );
+////////////////////////////////////////////////////////////////////////
+// Implementation of FGViewer.
+////////////////////////////////////////////////////////////////////////
+
+// Constructor...
+FGViewer::FGViewer( fgViewType Type, bool from_model, int from_model_index,
+ bool at_model, int at_model_index,
+ double damp_roll, double damp_pitch, double damp_heading,
+ double x_offset_m, double y_offset_m, double z_offset_m,
+ double heading_offset_deg, double pitch_offset_deg,
+ double roll_offset_deg, double fov_deg,
+ double target_x_offset_m, double target_y_offset_m,
+ double target_z_offset_m, double near_m, bool internal ):
+ _dirty(true),
+ _lon_deg(0),
+ _lat_deg(0),
+ _alt_ft(0),
+ _target_lon_deg(0),
+ _target_lat_deg(0),
+ _target_alt_ft(0),
+ _roll_deg(0),
+ _pitch_deg(0),
+ _heading_deg(0),
+ _damp_sync(0),
+ _damp_roll(0),
+ _damp_pitch(0),
+ _damp_heading(0),
+ _scaling_type(FG_SCALING_MAX)
+{
+ 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;
+
+ _internal = internal;
+
+ if (damp_roll > 0.0)
+ _damp_roll = 1.0 / pow(10.0, fabs(damp_roll));
+ if (damp_pitch > 0.0)
+ _damp_pitch = 1.0 / pow(10.0, fabs(damp_pitch));
+ if (damp_heading > 0.0)
+ _damp_heading = 1.0 / pow(10.0, fabs(damp_heading));
+
+ _x_offset_m = x_offset_m;
+ _y_offset_m = y_offset_m;
+ _z_offset_m = z_offset_m;
+ _heading_offset_deg = heading_offset_deg;
+ _pitch_offset_deg = pitch_offset_deg;
+ _roll_offset_deg = roll_offset_deg;
+ _goal_heading_offset_deg = heading_offset_deg;
+ _goal_pitch_offset_deg = pitch_offset_deg;
+ _goal_roll_offset_deg = roll_offset_deg;
+ if (fov_deg > 0) {
+ _fov_deg = fov_deg;
} else {
- int view_h =
- int((current_panel->getViewHeight() - current_panel->getYOffset())
- * (globals->get_options()->get_ysize() / 768.0));
- glViewport( 0, (GLint)(globals->get_options()->get_ysize() - view_h),
- (GLint)(globals->get_options()->get_xsize()),
- (GLint)(view_h) );
+ _fov_deg = 55;
}
+ _target_x_offset_m = target_x_offset_m;
+ _target_y_offset_m = target_y_offset_m;
+ _target_z_offset_m = target_z_offset_m;
+ _ground_level_nearplane_m = near_m;
+ // a reasonable guess for init, so that the math doesn't blow up
}
-// convert sgMat4 to MAT3 and print
-static void print_sgMat4( sgMat4 &in) {
- int i, j;
- for ( i = 0; i < 4; i++ ) {
- for ( j = 0; j < 4; j++ ) {
- printf("%10.4f ", in[i][j]);
- }
- cout << endl;
- }
+// Destructor
+FGViewer::~FGViewer( void ) {
}
+void
+FGViewer::init ()
+{
+ if ( _from_model )
+ _location = (SGLocation *) globals->get_aircraft_model()->get3DModel()->getSGLocation();
+ else
+ _location = (SGLocation *) new SGLocation;
+
+ if ( _type == FG_LOOKAT ) {
+ if ( _at_model )
+ _target_location = (SGLocation *) globals->get_aircraft_model()->get3DModel()->getSGLocation();
+ else
+ _target_location = (SGLocation *) new SGLocation;
+ }
+}
-// Update the view parameters
-void FGViewer::UpdateViewMath( const FGInterface& f ) {
+void
+FGViewer::bind ()
+{
+}
- Point3D p;
- sgVec3 v0, minus_z, sgvec, forward;
- sgMat4 VIEWo, TMP;
+void
+FGViewer::unbind ()
+{
+}
+
+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;
+}
- if ( update_fov ) {
- ssgSetFOV( globals->get_options()->get_fov(),
- globals->get_options()->get_fov() * win_ratio );
- update_fov = false;
+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;
+ _x_offset_m = x_offset_m;
+}
+
+void
+FGViewer::setYOffset_m (double y_offset_m)
+{
+ _dirty = true;
+ _y_offset_m = y_offset_m;
+}
+
+void
+FGViewer::setZOffset_m (double z_offset_m)
+{
+ _dirty = true;
+ _z_offset_m = z_offset_m;
+}
+
+void
+FGViewer::setTargetXOffset_m (double target_x_offset_m)
+{
+ _dirty = true;
+ _target_x_offset_m = target_x_offset_m;
+}
+
+void
+FGViewer::setTargetYOffset_m (double target_y_offset_m)
+{
+ _dirty = true;
+ _target_y_offset_m = target_y_offset_m;
+}
+
+void
+FGViewer::setTargetZOffset_m (double target_z_offset_m)
+{
+ _dirty = true;
+ _target_z_offset_m = target_z_offset_m;
+}
+
+void
+FGViewer::setPositionOffsets (double x_offset_m, double y_offset_m, double z_offset_m)
+{
+ _dirty = true;
+ _x_offset_m = x_offset_m;
+ _y_offset_m = y_offset_m;
+ _z_offset_m = 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;
+}
+
+double *
+FGViewer::get_absolute_view_pos ()
+{
+ if (_dirty)
+ recalc();
+ return _absolute_view_pos;
+}
+
+float *
+FGViewer::getRelativeViewPos ()
+{
+ if (_dirty)
+ recalc();
+ return _relative_view_pos;
+}
+
+float *
+FGViewer::getZeroElevViewPos ()
+{
+ if (_dirty)
+ recalc();
+ return _zero_elev_view_pos;
+}
+
+void
+FGViewer::updateFromModelLocation (SGLocation * location)
+{
+ sgCopyMat4(LOCAL, location->getCachedTransformMatrix());
+}
+
+void
+FGViewer::updateAtModelLocation (SGLocation * location)
+{
+ sgCopyMat4(ATLOCAL,
+ location->getCachedTransformMatrix());
+}
+
+void
+FGViewer::recalcOurOwnLocation (SGLocation * location, double lon_deg, double lat_deg, double alt_ft,
+ double roll_deg, double pitch_deg, double heading_deg)
+{
+ // update from our own data...
+ dampEyeData(roll_deg, pitch_deg, heading_deg);
+ location->setPosition( lon_deg, lat_deg, alt_ft );
+ location->setOrientation( roll_deg, pitch_deg, heading_deg );
+ sgCopyMat4(LOCAL,
+ location->getTransformMatrix(globals->get_scenery()->get_center()));
+}
+
+// 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();
+ }
+
+ set_clean();
+}
+
+// recalculate for LookFrom view type...
+void
+FGViewer::recalcLookFrom ()
+{
+
+ 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 );
+ }
+
+ // copy data from location class to local items...
+ copyLocationData();
+
+ // 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] );
+ sgSetVec3( forward, -LOCAL[0][0], -LOCAL[0][1], -LOCAL[0][2] );
+
+ // 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,
+ _roll_offset_deg * SG_DEGREES_TO_RADIANS, forward );
+
+ // 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);
+
+ // rotate model or local 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 );
+
+ // multiply the OFFSETS (for heading and pitch) into the VIEW
+ sgPostMultMat4(VIEW, VIEW_OFFSET);
+
+ // add the position data to the matrix
+ sgSetVec4(VIEW[3], _view_pos[0], _view_pos[1], _view_pos[2],SG_ONE);
+
+}
+
+void
+FGViewer::recalcLookAt ()
+{
+
+ sgVec3 right, forward;
+ sgVec3 eye_pos, at_pos;
+ sgVec3 position_offset; // eye position offsets (xyz)
+ sgVec3 target_position_offset; // target position offsets (xyz)
+
+ // The position vectors originate from the view point or target location
+ // depending on the type of view.
+
+ // LOOKAT mode...
+
+ // Update location data for target...
+ if ( _at_model ) {
+ // update or data from model location
+ updateAtModelLocation(_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(globals->get_scenery()->get_center()),
+ 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());
+
+ // copy data from location class to local items...
+ copyLocationData();
+
+ // 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] );
+ sgSetVec3( forward, -LOCAL[0][0], -LOCAL[0][1], -LOCAL[0][2] );
+
+ // rotate model or local 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]);
+
+ // get Orientation Offsets matrix
+ MakeVIEW_OFFSET( VIEW_OFFSET,
+ (_heading_offset_deg - 180) * SG_DEGREES_TO_RADIANS, _view_up,
+ _pitch_offset_deg * SG_DEGREES_TO_RADIANS, right,
+ _roll_offset_deg * SG_DEGREES_TO_RADIANS, forward );
+
+ // add in the position offsets
+ sgSetVec3( position_offset, _y_offset_m, _x_offset_m, _z_offset_m );
+ sgXformVec3( position_offset, position_offset, VIEW_UP);
+
+ // apply the Orientation offsets
+ sgXformVec3( position_offset, position_offset, VIEW_OFFSET );
+
+ // add the Position offsets from object to the eye position
+ sgAddVec3( eye_pos, eye_pos, position_offset );
+
+ // add target offsets to at_position...
+ sgSetVec3(target_position_offset, _target_z_offset_m, _target_x_offset_m,
+ _target_y_offset_m );
+ sgXformVec3(target_position_offset, target_position_offset, ATLOCAL);
+ sgAddVec3( at_pos, at_pos, target_position_offset);
+
+ sgAddVec3( eye_pos, eye_pos, target_position_offset);
+
+ // Make the VIEW matrix for a "LOOKAT".
+ sgMakeLookAtMat4( VIEW, eye_pos, at_pos, _view_up );
+
+}
+
+// copy results from location class to viewer...
+// FIXME: some of these should be changed to reference directly to SGLocation...
+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(globals->get_scenery()->get_center()));
+ 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);
+}
+
+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);
}
-
- scenery.center = scenery.next_center;
+ }
+}
+
+double
+FGViewer::get_h_fov()
+{
+ switch (_scaling_type) {
+ case FG_SCALING_WIDTH: // h_fov == fov
+ return _fov_deg;
+ case FG_SCALING_MAX:
+ if (_aspect_ratio < 1.0) {
+ // h_fov == fov
+ return _fov_deg;
+ } else {
+ // v_fov == fov
+ return atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) / _aspect_ratio) *
+ SG_RADIANS_TO_DEGREES * 2;
+ }
+ default:
+ assert(false);
+ }
+ return 0.0;
+}
- // 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 = sgPolarToCart3d(p) - scenery.center;
+double
+FGViewer::get_v_fov()
+{
+ switch (_scaling_type) {
+ case FG_SCALING_WIDTH: // h_fov == fov
+ return atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) * _aspect_ratio) *
+ SG_RADIANS_TO_DEGREES * 2;
+ case FG_SCALING_MAX:
+ if (_aspect_ratio < 1.0) {
+ // h_fov == fov
+ return atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) * _aspect_ratio) *
+ SG_RADIANS_TO_DEGREES * 2;
+ } else {
+ // v_fov == fov
+ return _fov_deg;
+ }
+ default:
+ assert(false);
+ }
+ return 0.0;
+}
- // 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 );
+void
+FGViewer::update (double dt)
+{
+ _damp_sync += dt;
+
+ int 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;
} else {
- p.setz( p.radius() + scenery.cur_elev + 0.5 * METER_TO_FEET );
+ // move current_view.headingoffset towards
+ // current_view.goal_view_offset
+ if ( _goal_heading_offset_deg > _heading_offset_deg )
+ {
+ if ( _goal_heading_offset_deg - _heading_offset_deg < 180 ){
+ incHeadingOffset_deg( 0.5 );
+ } else {
+ incHeadingOffset_deg( -0.5 );
+ }
+ } else {
+ if ( _heading_offset_deg - _goal_heading_offset_deg < 180 ){
+ incHeadingOffset_deg( -0.5 );
+ } else {
+ incHeadingOffset_deg( 0.5 );
+ }
+ }
+ if ( _heading_offset_deg > 360 ) {
+ incHeadingOffset_deg( -360 );
+ } else if ( _heading_offset_deg < 0 ) {
+ incHeadingOffset_deg( 360 );
+ }
}
+ }
- abs_view_pos = sgPolarToCart3d(p);
-
- view_pos = abs_view_pos - scenery.center;
-
- FG_LOG( FG_VIEW, FG_DEBUG, "Polar view pos = " << p );
- FG_LOG( FG_VIEW, FG_DEBUG, "Absolute view pos = " << abs_view_pos );
- FG_LOG( FG_VIEW, FG_DEBUG, "Relative view pos = " << view_pos );
-
- // code to calculate LOCAL matrix calculated from Phi, Theta, and
- // Psi (roll, pitch, yaw) in case we aren't running LaRCsim as our
- // flight model
-
-#ifdef USE_FAST_LOCAL
-
- fgMakeLOCAL( LOCAL, f.get_Theta(), f.get_Phi(), -f.get_Psi() );
-
-#else // USE_TEXT_BOOK_METHOD
-
- sgVec3 rollvec;
- sgSetVec3( rollvec, 0.0, 0.0, 1.0 );
- sgMat4 PHI; // roll
- sgMakeRotMat4( PHI, f.get_Phi() * RAD_TO_DEG, rollvec );
-
- sgVec3 pitchvec;
- sgSetVec3( pitchvec, 0.0, 1.0, 0.0 );
- sgMat4 THETA; // pitch
- sgMakeRotMat4( THETA, f.get_Theta() * RAD_TO_DEG, pitchvec );
-
- // ROT = PHI * THETA
- sgMat4 ROT;
- // sgMultMat4( ROT, PHI, THETA );
- sgCopyMat4( ROT, PHI );
- sgPostMultMat4( ROT, THETA );
-
- sgVec3 yawvec;
- sgSetVec3( yawvec, 1.0, 0.0, 0.0 );
- sgMat4 PSI; // pitch
- sgMakeRotMat4( PSI, -f.get_Psi() * RAD_TO_DEG, yawvec );
-
- // LOCAL = ROT * PSI
- // sgMultMat4( LOCAL, ROT, PSI );
- sgCopyMat4( LOCAL, ROT );
- sgPostMultMat4( LOCAL, PSI );
-
-#endif // YIKES
-
- // cout << "LOCAL matrix" << endl;
- // print_sgMat4( LOCAL );
-
- sgMakeRotMat4( UP,
- f.get_Longitude() * RAD_TO_DEG,
- 0.0,
- -f.get_Latitude() * RAD_TO_DEG );
-
- sgSetVec3( local_up, UP[0][0], UP[0][1], UP[0][2] );
- // sgXformVec3( local_up, UP );
- // cout << "Local Up = " << local_up[0] << "," << local_up[1] << ","
- // << local_up[2] << endl;
-
- // Alternative method to Derive local up vector based on
- // *geodetic* coordinates
- // alt_up = sgPolarToCart(FG_Longitude, FG_Latitude, 1.0);
- // printf( " Alt Up = (%.4f, %.4f, %.4f)\n",
- // alt_up.x, alt_up.y, alt_up.z);
-
- // VIEWo = LOCAL * UP
- // sgMultMat4( VIEWo, LOCAL, UP );
- sgCopyMat4( VIEWo, LOCAL );
- sgPostMultMat4( VIEWo, UP );
- // cout << "VIEWo matrix" << endl;
- // print_sgMat4( VIEWo );
-
- // generate the sg view up and forward vectors
- sgSetVec3( view_up, VIEWo[0][0], VIEWo[0][1], VIEWo[0][2] );
- // cout << "view = " << view[0] << ","
- // << view[1] << "," << view[2] << endl;
- sgSetVec3( forward, VIEWo[2][0], VIEWo[2][1], VIEWo[2][2] );
- // cout << "forward = " << forward[0] << ","
- // << forward[1] << "," << forward[2] << endl;
-
- // generate the pilot offset vector in world coordinates
- sgVec3 pilot_offset_world;
- sgSetVec3( pilot_offset_world,
- pilot_offset[2], pilot_offset[1], -pilot_offset[0] );
- sgXformVec3( pilot_offset_world, pilot_offset_world, VIEWo );
-
- // generate the view offset matrix
- sgMakeRotMat4( VIEW_OFFSET, view_offset * RAD_TO_DEG, view_up );
- // cout << "VIEW_OFFSET matrix" << endl;
- // print_sgMat4( VIEW_OFFSET );
- sgXformVec3( view_forward, forward, VIEW_OFFSET );
- // cout << "view_forward = " << view_forward[0] << ","
- // << view_forward[1] << "," << view_forward[2] << endl;
-
- // VIEW_ROT = LARC_TO_SSG * ( VIEWo * VIEW_OFFSET )
-#ifdef USE_FAST_VIEWROT
- fgMakeViewRot( VIEW_ROT, VIEW_OFFSET, VIEWo );
-#else
- // sgMultMat4( VIEW_ROT, VIEW_OFFSET, VIEWo );
- // sgPreMultMat4( VIEW_ROT, LARC_TO_SSG );
- sgCopyMat4( VIEW_ROT, VIEWo );
- sgPostMultMat4( VIEW_ROT, VIEW_OFFSET );
- sgPreMultMat4( VIEW_ROT, LARC_TO_SSG );
-#endif
- // cout << "VIEW_ROT matrix" << endl;
- // print_sgMat4( VIEW_ROT );
-
- sgVec3 trans_vec;
- sgSetVec3( trans_vec,
- view_pos.x() + pilot_offset_world[0],
- view_pos.y() + pilot_offset_world[1],
- view_pos.z() + pilot_offset_world[2] );
-
- // VIEW = VIEW_ROT * TRANS
- sgCopyMat4( VIEW, VIEW_ROT );
- sgPostMultMat4ByTransMat4( VIEW, trans_vec );
-
- //!!!!!!!!!!!!!!!!!!!
- // THIS IS THE EXPERIMENTAL VIEWING ANGLE SHIFTER
- // THE MAJORITY OF THE WORK IS DONE IN GUI.CXX
- // this in gui.cxx for now just testing
- extern float quat_mat[4][4];
- sgPreMultMat4( VIEW, quat_mat);
- // !!!!!!!!!! testing
-
- // make a vector to the current view position
- sgSetVec3( 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".
- sgSetVec3( minus_z, 0.0, 0.0, -1.0 );
-
- sgmap_vec_onto_cur_surface_plane(local_up, v0, minus_z, surface_south);
- sgNormalizeVec3(surface_south);
- // cout << "Surface direction directly south " << surface_south[0] << ","
- // << surface_south[1] << "," << surface_south[2] << endl;
-
- // now calculate the surface east vector
-#define USE_FAST_SURFACE_EAST
-#ifdef USE_FAST_SURFACE_EAST
- sgVec3 local_down;
- sgNegateVec3(local_down, local_up);
- sgVectorProductVec3(surface_east, surface_south, local_down);
-#else
-#define USE_LOCAL_UP
-#ifdef USE_LOCAL_UP
- sgMakeRotMat4( TMP, FG_PI_2 * RAD_TO_DEG, local_up );
-#else
- sgMakeRotMat4( TMP, FG_PI_2 * RAD_TO_DEG, view_up );
-#endif // USE_LOCAL_UP
- // cout << "sgMat4 TMP" << endl;
- // print_sgMat4( TMP );
- sgXformVec3(surface_east, surface_south, TMP);
-#endif // USE_FAST_SURFACE_EAST
- // cout << "Surface direction directly east " << surface_east[0] << ","
- // << surface_east[1] << "," << surface_east[2] << endl;
- // cout << "Should be close to zero = "
- // << sgScalarProductVec3(surface_south, surface_east) << endl;
-}
-
-
-void FGViewer::CurrentNormalInLocalPlane(sgVec3 dst, sgVec3 src) {
- sgVec3 tmp;
- sgSetVec3(tmp, src[0], src[1], src[2] );
- sgMat4 TMP;
- sgTransposeNegateMat4 ( TMP, UP ) ;
- sgXformVec3(tmp, tmp, TMP);
- sgSetVec3(dst, tmp[2], tmp[1], tmp[0] );
-}
+ for ( i = 0; i < dt_ms; i++ ) {
+ if ( fabs( _goal_pitch_offset_deg - _pitch_offset_deg ) < 1 ) {
+ setPitchOffset_deg( _goal_pitch_offset_deg );
+ break;
+ } else {
+ // move current_view.pitch_offset_deg towards
+ // current_view.goal_pitch_offset
+ if ( _goal_pitch_offset_deg > _pitch_offset_deg )
+ {
+ incPitchOffset_deg( 1.0 );
+ } else {
+ incPitchOffset_deg( -1.0 );
+ }
+ if ( _pitch_offset_deg > 90 ) {
+ setPitchOffset_deg(90);
+ } else if ( _pitch_offset_deg < -90 ) {
+ setPitchOffset_deg( -90 );
+ }
+ }
+ }
-// Destructor
-FGViewer::~FGViewer( void ) {
+ for ( i = 0; i < dt_ms; i++ ) {
+ if ( fabs( _goal_roll_offset_deg - _roll_offset_deg ) < 1 ) {
+ setRollOffset_deg( _goal_roll_offset_deg );
+ break;
+ } else {
+ // move current_view.roll_offset_deg towards
+ // current_view.goal_roll_offset
+ if ( _goal_roll_offset_deg > _roll_offset_deg )
+ {
+ incRollOffset_deg( 1.0 );
+ } else {
+ incRollOffset_deg( -1.0 );
+ }
+ if ( _roll_offset_deg > 90 ) {
+ setRollOffset_deg(90);
+ } else if ( _roll_offset_deg < -90 ) {
+ setRollOffset_deg( -90 );
+ }
+ }
+ }
+
}
projects / flightgear.git / blobdiff