// 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
+// Copyright (C) 1997 - 2000 Curtis L. Olson - http://www.flightgear.org/~curt
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
//
// 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.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
+#ifdef HAVE_CONFIG_H
+# include "config.h"
+#endif
#include <simgear/compiler.h>
-#include <fg_props.hxx>
-
-#ifdef HAVE_CONFIG_H
-# include <config.h>
-#endif
+#include "fg_props.hxx"
#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/placement.hxx>
+#include <simgear/math/vector.hxx>
+#include <Main/globals.hxx>
#include <Scenery/scenery.hxx>
-
-/* from lookat */
-#include <simgear/math/vector.hxx>
-#include "globals.hxx"
-/* end from lookat */
+#include <Model/acmodel.hxx>
#include "viewer.hxx"
-\f
-//////////////////////////////////////////////////////////////////
-// 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
-static void MakeVIEW_OFFSET( sgMat4 dst,
- const float angle1, const sgVec3 axis1,
- const float angle2, const sgVec3 axis2 )
-{
- // 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 ;
-
- // multiply matrices
- for ( int j = 0 ; j < 3 ; j++ ) {
- dst[0][j] = mat2[0][0] * mat1[0][j] +
- mat2[0][1] * mat1[1][j] +
- mat2[0][2] * mat1[2][j];
-
- dst[1][j] = mat2[1][0] * mat1[0][j] +
- mat2[1][1] * mat1[1][j] +
- mat2[1][2] * mat1[2][j];
-
- dst[2][j] = mat2[2][0] * mat1[0][j] +
- mat2[2][1] * mat1[1][j] +
- mat2[2][2] * mat1[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;
-}
-
-// 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);
-}
-
+#include "CameraGroup.hxx"
+using namespace flightgear;
+\f
////////////////////////////////////////////////////////////////////////
// Implementation of FGViewer.
////////////////////////////////////////////////////////////////////////
-// Constructor
-FGViewer::FGViewer( void ):
- _scaling_type(FG_SCALING_MAX),
- _fov_deg(55.0),
+// 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 aspect_ratio_multiplier,
+ 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),
- _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_heading_offset_deg(0.0),
- _goal_pitch_offset_deg(0.0)
-{
- sgdZeroVec3(_absolute_view_pos);
- //a reasonable guess for init, so that the math doesn't blow up
+ _damp_sync(0),
+ _damp_roll(0),
+ _damp_pitch(0),
+ _damp_heading(0),
+ _scaling_type(FG_SCALING_MAX),
+ _aspect_ratio(0),
+ _cameraGroup(CameraGroup::getDefault())
+{
+ _absolute_view_pos = SGVec3d(0, 0, 0);
+ _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));
+
+ _offset_m.x() = x_offset_m;
+ _offset_m.y() = y_offset_m;
+ _offset_m.z() = 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 {
+ _fov_deg = 55;
+ }
+ _aspect_ratio = 1;
+ _aspect_ratio_multiplier = aspect_ratio_multiplier;
+ _target_offset_m.x() = target_x_offset_m;
+ _target_offset_m.y() = target_y_offset_m;
+ _target_offset_m.z() = target_z_offset_m;
+ _ground_level_nearplane_m = near_m;
+ // a reasonable guess for init, so that the math doesn't blow up
}
FGViewer::setType ( int type )
{
if (type == 0)
- _type = FG_RPH;
+ _type = FG_LOOKFROM;
if (type == 1)
_type = FG_LOOKAT;
}
void
-FGViewer::setLongitude_deg (double lon_deg)
-{
- _dirty = true;
- _lon_deg = lon_deg;
-}
-
-void
-FGViewer::setLatitude_deg (double lat_deg)
-{
- _dirty = true;
- _lat_deg = lat_deg;
-}
-
-void
-FGViewer::setAltitude_ft (double alt_ft)
+FGViewer::setInternal ( bool internal )
{
- _dirty = true;
- _alt_ft = alt_ft;
+ _internal = internal;
}
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;
+ _position = SGGeod::fromDegFt(lon_deg, lat_deg, 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;
+ _target = SGGeod::fromDegFt(lon_deg, lat_deg, alt_ft);
}
void
FGViewer::setXOffset_m (double x_offset_m)
{
_dirty = true;
- _x_offset_m = x_offset_m;
+ _offset_m.x() = x_offset_m;
}
void
FGViewer::setYOffset_m (double y_offset_m)
{
_dirty = true;
- _y_offset_m = y_offset_m;
+ _offset_m.y() = y_offset_m;
}
void
FGViewer::setZOffset_m (double z_offset_m)
{
_dirty = true;
- _z_offset_m = z_offset_m;
+ _offset_m.z() = z_offset_m;
+}
+
+void
+FGViewer::setTargetXOffset_m (double target_x_offset_m)
+{
+ _dirty = true;
+ _target_offset_m.x() = target_x_offset_m;
+}
+
+void
+FGViewer::setTargetYOffset_m (double target_y_offset_m)
+{
+ _dirty = true;
+ _target_offset_m.y() = target_y_offset_m;
+}
+
+void
+FGViewer::setTargetZOffset_m (double target_z_offset_m)
+{
+ _dirty = true;
+ _target_offset_m.z() = target_z_offset_m;
}
void
FGViewer::setPositionOffsets (double x_offset_m, double y_offset_m, double z_offset_m)
{
_dirty = true;
- _x_offset_m = x_offset_m;
- _y_offset_m = y_offset_m;
- _z_offset_m = z_offset_m;
+ _offset_m.x() = x_offset_m;
+ _offset_m.y() = y_offset_m;
+ _offset_m.z() = z_offset_m;
}
void
_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;
-}
-
-
// 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 ()
{
- sgVec3 minus_z, right, forward, tilt;
- sgMat4 tmpROT; // temp rotation work matrices
- sgMat4 VIEW_HEADINGOFFSET, VIEW_PITCHOFFSET;
- sgVec3 tmpVec3; // temp work vector (3)
- sgVec3 eye_pos, object_pos;
-
- // The position vectors originate from the view point or target location
- // depending on the type of view.
- // FIXME: Later note: actually the object (target) info needs to be held
- // by the model class.
-
- if (_type == FG_RPH) {
- // eye position is the location of the pilot
- recalcPositionVectors( _lon_deg, _lat_deg, _alt_ft );
+ if (_type == FG_LOOKFROM) {
+ recalcLookFrom();
} else {
- // eye position is now calculated based on lon/lat;
- recalcPositionVectors( _lon_deg, _lat_deg, _alt_ft );
- sgCopyVec3(eye_pos, _relative_view_pos);
-
- // object position is the location of the object being looked at
- recalcPositionVectors( _target_lon_deg, _target_lat_deg, _target_alt_ft );
+ recalcLookAt();
}
- // the coordinates generated by the above "recalcPositionVectors"
- sgCopyVec3(_zero_elev, _zero_elev_view_pos);
- sgCopyVec3(_view_pos, _relative_view_pos);
-
- // FIXME:
- // Doing this last recalc here for published values...where the airplane is
- // This should be per aircraft or model (for published values) before
- // multiple FDM can be done.
- recalcPositionVectors(fgGetDouble("/position/longitude-deg"),
- fgGetDouble("/position/latitude-deg"),
- fgGetDouble("/position/altitude-deg"));
-
-
-
- // Make the world up rotation matrix for eye positioin...
- sgMakeRotMat4( UP, _lon_deg, 0.0, -_lat_deg );
-
-
- // 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] );
-
-
-
- // 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 );
-
- // make sg vectors view up, right and forward vectors from LOCAL
- sgSetVec3( _view_up, LOCAL[0][0], LOCAL[0][1], LOCAL[0][2] );
- sgSetVec3( right, LOCAL[1][0], LOCAL[1][1], LOCAL[1][2] );
- sgSetVec3( forward, LOCAL[2][0], LOCAL[2][1], LOCAL[2][2] );
-
-
-
- // create xyz offsets Vector
- sgVec3 position_offset;
- sgSetVec3( position_offset, _y_offset_m, _x_offset_m, _z_offset_m );
+ set_clean();
+}
- // 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 "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).
- MakeVIEW_OFFSET( VIEW_OFFSET,
- _heading_offset_deg * SG_DEGREES_TO_RADIANS, _world_up,
- _pitch_offset_deg * SG_DEGREES_TO_RADIANS, right );
- }
- if (_type == FG_RPH) {
- // 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)
- MakeVIEW_OFFSET( VIEW_OFFSET,
- _heading_offset_deg * SG_DEGREES_TO_RADIANS, _view_up,
- _pitch_offset_deg * SG_DEGREES_TO_RADIANS, right );
+// recalculate for LookFrom view type...
+void
+FGViewer::recalcLookFrom ()
+{
+ // Update location data ...
+ if ( _from_model ) {
+ SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
+ _position = placement->getPosition();
+
+ _heading_deg = placement->getHeadingDeg();
+ _pitch_deg = placement->getPitchDeg();
+ _roll_deg = placement->getRollDeg();
}
-
-
- if (_type == FG_LOOKAT) {
-
- // transfrom "offset" and "orientation offset" to vector
- sgXformVec3( position_offset, position_offset, UP );
-
- // add heading to offset so that the eye does heading as such...
- sgMakeRotMat4(tmpROT, -_heading_deg, _world_up);
- sgPostMultMat4(VIEW_OFFSET, tmpROT);
- sgXformVec3( position_offset, position_offset, VIEW_OFFSET );
-
- // add the offsets from object to the eye position
- sgAddVec3( eye_pos, eye_pos, position_offset );
- // copy object
- sgCopyVec3( object_pos, _view_pos );
-
- // Make the VIEW matrix for "lookat".
- sgMakeLookAtMat4( VIEW, eye_pos, object_pos, _view_up );
+ double head = _heading_deg;
+ double pitch = _pitch_deg;
+ double roll = _roll_deg;
+ if ( !_from_model ) {
+ // update from our own data...
+ dampEyeData(roll, pitch, head);
}
- 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;
+ // The rotation rotating from the earth centerd frame to
+ // the horizontal local frame
+ SGQuatd hlOr = SGQuatd::fromLonLat(_position);
- }
+ // The rotation from the horizontal local frame to the basic view orientation
+ SGQuatd hlToBody = SGQuatd::fromYawPitchRollDeg(head, pitch, roll);
- // 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;
+ // The rotation offset, don't know why heading is negative here ...
+ mViewOffsetOr
+ = SGQuatd::fromYawPitchRollDeg(-_heading_offset_deg, _pitch_offset_deg,
+ _roll_offset_deg);
- // 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 );
+ // Compute the eyepoints orientation and position
+ // wrt the earth centered frame - that is global coorinates
+ SGQuatd ec2body = hlOr*hlToBody;
- sgmap_vec_onto_cur_surface_plane(_world_up, _view_pos, minus_z,
- _surface_south);
- sgNormalizeVec3(_surface_south);
+ // The cartesian position of the basic view coordinate
+ SGVec3d position = SGVec3d::fromGeod(_position);
- // now calculate the surface east vector
- sgVec3 world_down;
- sgNegateVec3(world_down, _world_up);
- sgVectorProductVec3(_surface_east, _surface_south, world_down);
+ // This is rotates the x-forward, y-right, z-down coordinate system the where
+ // simulation runs into the OpenGL camera system with x-right, y-up, z-back.
+ SGQuatd q(-0.5, -0.5, 0.5, 0.5);
- set_clean();
+ _absolute_view_pos = position + (ec2body*q).backTransform(_offset_m);
+ mViewOrientation = ec2body*mViewOffsetOr*q;
}
void
-FGViewer::recalcPositionVectors (double lon_deg, double lat_deg, double alt_ft) const
+FGViewer::recalcLookAt ()
{
- double sea_level_radius_m;
- double lat_geoc_rad;
+ // The geodetic position of our target to look at
+ if ( _at_model ) {
+ SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
+ _target = placement->getPosition();
+ _target_heading_deg = placement->getHeadingDeg();
+ _target_pitch_deg = placement->getPitchDeg();
+ _target_roll_deg = placement->getRollDeg();
+ } else {
+ // if not model then calculate our own target position...
+ dampEyeData(_target_roll_deg, _target_pitch_deg, _target_heading_deg);
+ }
+
+ SGQuatd geodTargetOr = SGQuatd::fromYawPitchRollDeg(_target_heading_deg,
+ _target_pitch_deg,
+ _target_roll_deg);
+ SGQuatd geodTargetHlOr = SGQuatd::fromLonLat(_target);
- // 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);
- // 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]);
+ if ( _from_model ) {
+ SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
+ _position = placement->getPosition();
+ _heading_deg = placement->getHeadingDeg();
+ _pitch_deg = placement->getPitchDeg();
+ _roll_deg = placement->getRollDeg();
+ } else {
+ // update from our own data, just the rotation here...
+ dampEyeData(_roll_deg, _pitch_deg, _heading_deg);
+ }
+ SGQuatd geodEyeOr = SGQuatd::fromYawPitchRollDeg(_heading_deg,
+ _pitch_deg,
+ _roll_deg);
+ SGQuatd geodEyeHlOr = SGQuatd::fromLonLat(_position);
+
+ // the rotation offset, don't know why heading is negative here ...
+ mViewOffsetOr =
+ SGQuatd::fromYawPitchRollDeg(-_heading_offset_deg + 180, _pitch_offset_deg,
+ _roll_offset_deg);
+
+ // Offsets to the eye position
+ SGVec3d eyeOff(-_offset_m.z(), _offset_m.x(), -_offset_m.y());
+ SGQuatd ec2eye = geodEyeHlOr*geodEyeOr;
+ SGVec3d eyeCart = SGVec3d::fromGeod(_position);
+ eyeCart += (ec2eye*mViewOffsetOr).backTransform(eyeOff);
+
+ SGVec3d atCart = SGVec3d::fromGeod(_target);
+
+ // add target offsets to at_position...
+ SGVec3d target_pos_off(-_target_offset_m.z(), _target_offset_m.x(),
+ -_target_offset_m.y());
+ target_pos_off = (geodTargetHlOr*geodTargetOr).backTransform(target_pos_off);
+ atCart += target_pos_off;
+ eyeCart += target_pos_off;
+
+ // Compute the eyepoints orientation and position
+ // wrt the earth centered frame - that is global coorinates
+ _absolute_view_pos = eyeCart;
+
+ // the view direction
+ SGVec3d dir = normalize(atCart - eyeCart);
+ // the up directon
+ SGVec3d up = ec2eye.backTransform(SGVec3d(0, 0, -1));
+ // rotate -dir to the 2-th unit vector
+ // rotate up to 1-th unit vector
+ // Note that this matches the OpenGL camera coordinate system
+ // with x-right, y-up, z-back.
+ mViewOrientation = SGQuatd::fromRotateTo(-dir, 2, up, 1);
+}
+
+void
+FGViewer::dampEyeData(double &roll_deg, double &pitch_deg, double &heading_deg)
+{
+ const double interval = 0.01;
+
+ static FGViewer *last_view = 0;
+ if (last_view != this) {
+ _damp_sync = 0.0;
+ _damped_roll_deg = roll_deg;
+ _damped_pitch_deg = pitch_deg;
+ _damped_heading_deg = heading_deg;
+ last_view = this;
+ return;
+ }
+
+ if (_damp_sync < interval) {
+ if (_damp_roll > 0.0)
+ roll_deg = _damped_roll_deg;
+ if (_damp_pitch > 0.0)
+ pitch_deg = _damped_pitch_deg;
+ if (_damp_heading > 0.0)
+ heading_deg = _damped_heading_deg;
+ return;
+ }
- // 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]);
+ 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);
+ }
- // 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);
+ 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);
+ }
+ }
}
double
return _fov_deg;
} else {
// v_fov == fov
- return atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) / _aspect_ratio) *
- SG_RADIANS_TO_DEGREES * 2;
+ return
+ atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS)
+ / (_aspect_ratio*_aspect_ratio_multiplier))
+ * SG_RADIANS_TO_DEGREES * 2;
}
default:
assert(false);
}
+ return 0.0;
}
+
+
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;
+ return
+ atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS)
+ * (_aspect_ratio*_aspect_ratio_multiplier))
+ * 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;
+ return
+ atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS)
+ * (_aspect_ratio*_aspect_ratio_multiplier))
+ * SG_RADIANS_TO_DEGREES * 2;
} else {
// v_fov == fov
return _fov_deg;
default:
assert(false);
}
+ return 0.0;
}
void
-FGViewer::update (int dt)
+FGViewer::update (double dt)
{
+ _damp_sync += 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;
}
}
}
-}
-
-
-
+ 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 );
+ }
+ }
+ }
+ recalc();
+ _cameraGroup->update(toOsg(_absolute_view_pos), toOsg(mViewOrientation));
+ _cameraGroup->setCameraParameters(get_v_fov(), get_aspect_ratio());
+}
projects / flightgear.git / blobdiff