# include <config.h>
#endif
-#include <plib/ssg.h> // plib include
-
-#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
-#include <simgear/math/point3d.hxx>
-#include <simgear/math/polar3d.hxx>
-#include <simgear/math/vector.hxx>
-
-#include <Aircraft/aircraft.hxx>
-#include <Cockpit/panel.hxx>
-#include <Scenery/scenery.hxx>
-#include "globals.hxx"
#include "viewer.hxx"
// Constructor
-FGViewer::FGViewer( void )
+FGViewer::FGViewer( void ):
+fov(55.0)
{
}
-#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 )
-{
- 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];
-
- dst[0][j] = m2[1][0] * m1[0][j] +
- m2[1][1] * m1[1][j] +
- m2[1][2] * m1[2][j];
-
- dst[1][j] = m2[2][0] * m1[0][j] +
- m2[2][1] * m1[1][j] +
- m2[2][2] * m1[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 ) {
- dirty = true;
-
- 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 );
-
- globals->get_options()->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
-}
-
-
-#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;
- 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 ;
-}
-#endif
-
-
-// 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;
- }
-}
-
-
// Update the view parameters
void FGViewer::update() {
- Point3D tmp;
- sgVec3 minus_z, forward;
- sgMat4 VIEWo;
-
- // calculate the cartesion coords of the current lat/lon/0 elev
- Point3D p = Point3D( geod_view_pos[0],
- geod_view_pos[1],
- sea_level_radius );
-
- tmp = sgPolarToCart3d(p) - scenery.center;
- sgSetVec3( zero_elev, tmp[0], tmp[1], tmp[2] );
-
- // 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 ( geod_view_pos[2] > (scenery.cur_elev + 0.5 * METER_TO_FEET) ) {
- p.setz( p.radius() + geod_view_pos[2] );
- } else {
- p.setz( p.radius() + scenery.cur_elev + 0.5 * METER_TO_FEET );
- }
-
- tmp = sgPolarToCart3d(p);
- sgdSetVec3( abs_view_pos, tmp[0], tmp[1], tmp[2] );
-
- sgdVec3 sc;
- sgdSetVec3( sc, scenery.center.x(), scenery.center.y(), scenery.center.z());
- sgdVec3 vp;
- sgdSubVec3( vp, abs_view_pos, sc );
- sgSetVec3( view_pos, vp );
- // view_pos = abs_view_pos - scenery.center;
-
- FG_LOG( FG_VIEW, FG_DEBUG, "sea level radius = " << sea_level_radius );
- FG_LOG( FG_VIEW, FG_DEBUG, "Polar view pos = " << p );
- FG_LOG( FG_VIEW, FG_DEBUG, "Absolute view pos = "
- << abs_view_pos[0] << ","
- << abs_view_pos[1] << ","
- << abs_view_pos[2] );
- FG_LOG( FG_VIEW, FG_DEBUG, "Relative view pos = "
- << view_pos[0] << "," << view_pos[1] << "," << view_pos[2] );
-
- // 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, rph[1], rph[0], -rph[2] );
-
-#else // USE_TEXT_BOOK_METHOD
-
- sgVec3 rollvec;
- sgSetVec3( rollvec, 0.0, 0.0, 1.0 );
- sgMat4 PHI; // roll
- sgMakeRotMat4( PHI, rph[0] * RAD_TO_DEG, rollvec );
-
- sgVec3 pitchvec;
- sgSetVec3( pitchvec, 0.0, 1.0, 0.0 );
- sgMat4 THETA; // pitch
- sgMakeRotMat4( THETA, rph[1] * 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; // heading
- sgMakeRotMat4( PSI, -rph[2] * RAD_TO_DEG, yawvec );
-
- // LOCAL = ROT * PSI
- // sgMultMat4( LOCAL, ROT, PSI );
- sgCopyMat4( LOCAL, ROT );
- sgPostMultMat4( LOCAL, PSI );
-
-#endif // USE_FAST_LOCAL
-
- // cout << "LOCAL matrix" << endl;
- // print_sgMat4( LOCAL );
-
- sgMakeRotMat4( UP,
- geod_view_pos[0] * RAD_TO_DEG,
- 0.0,
- -geod_view_pos[1] * 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;
- sgAddVec3( trans_vec, view_pos, pilot_offset_world );
-
- // 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
-
- // 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, view_pos, 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;
-
- dirty = false;
-}
-
-
-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] );
+ FG_LOG( FG_VIEW, FG_ALERT, "Shouldn't ever see this" );
+ exit(-1);
}
projects / flightgear.git / blobdiff