//
// 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
+// 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 <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/constants.h>
+#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"
+#include "CameraGroup.hxx"
+
+using namespace flightgear;
+\f
+////////////////////////////////////////////////////////////////////////
+// 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 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),
+ _damp_sync(0),
+ _damp_roll(0),
+ _damp_pitch(0),
+ _damp_heading(0),
+ _scaling_type(FG_SCALING_MAX),
+ _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
+}
-// Constructor
-FGViewer::FGViewer( void )
+
+// Destructor
+FGViewer::~FGViewer( void ) {
+}
+
+void
+FGViewer::init ()
{
}
+void
+FGViewer::bind ()
+{
+}
-#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 )
+void
+FGViewer::unbind ()
{
- 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];
+void
+FGViewer::setType ( int type )
+{
+ if (type == 0)
+ _type = FG_LOOKFROM;
+ if (type == 1)
+ _type = FG_LOOKAT;
+}
- 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;
+void
+FGViewer::setInternal ( bool internal )
+{
+ _internal = internal;
}
-#endif
+void
+FGViewer::setLongitude_deg (double lon_deg)
+{
+ _dirty = true;
+ _lon_deg = lon_deg;
+}
-// 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 ;
+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;
}
-#endif
+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;
+}
-// 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;
- }
+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;
+}
-// Update the view parameters
-void FGViewer::update() {
+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;
+}
- sgVec3 minus_z, forward;
- sgMat4 VIEWo;
+void
+FGViewer::setRoll_deg (double roll_deg)
+{
+ _dirty = true;
+ _roll_deg = roll_deg;
+}
- // 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 );
+void
+FGViewer::setPitch_deg (double pitch_deg)
+{
+ _dirty = true;
+ _pitch_deg = pitch_deg;
+}
- cur_zero_elev = sgPolarToCart3d(p) - scenery.center;
+void
+FGViewer::setHeading_deg (double heading_deg)
+{
+ _dirty = true;
+ _heading_deg = heading_deg;
+}
- // 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 );
+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;
+ _offset_m.x() = x_offset_m;
+}
+
+void
+FGViewer::setYOffset_m (double y_offset_m)
+{
+ _dirty = true;
+ _offset_m.y() = y_offset_m;
+}
+
+void
+FGViewer::setZOffset_m (double z_offset_m)
+{
+ _dirty = true;
+ _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;
+ _offset_m.x() = x_offset_m;
+ _offset_m.y() = y_offset_m;
+ _offset_m.z() = 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;
+}
+
+// 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 ()
+{
+ // Update location data ...
+ if ( _from_model ) {
+ SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
+ _lat_deg = placement->getLatitudeDeg();
+ _lon_deg = placement->getLongitudeDeg();
+ _alt_ft = placement->getElevationFt();
+
+ _heading_deg = placement->getHeadingDeg();
+ _pitch_deg = placement->getPitchDeg();
+ _roll_deg = placement->getRollDeg();
+ }
+ double lat = _lat_deg;
+ double lon = _lon_deg;
+ double alt = _alt_ft;
+ double head = _heading_deg;
+ double pitch = _pitch_deg;
+ double roll = _roll_deg;
+ if ( !_from_model ) {
+ // update from our own data...
+ dampEyeData(roll, pitch, head);
+ }
+
+ // The geodetic position of our base view position
+ SGGeod geodPos = SGGeod::fromDegFt(lon, lat, alt);
+ // The rotation rotating from the earth centerd frame to
+ // the horizontal local OpenGL frame
+ SGQuatd hlOr = SGQuatd::viewHL(geodPos);
+
+ // the rotation from the horizontal local frame to the basic view orientation
+ SGQuatd hlToBody = SGQuatd::fromYawPitchRollDeg(head, pitch, roll);
+ hlToBody = SGQuatd::simToView(hlToBody);
+
+ // The cartesian position of the basic view coordinate
+ SGVec3d position = SGVec3d::fromGeod(geodPos);
+ // the rotation offset, don't know why heading is negative here ...
+ SGQuatd viewOffsetOr = SGQuatd::simToView(
+ SGQuatd::fromYawPitchRollDeg(-_heading_offset_deg, _pitch_offset_deg,
+ _roll_offset_deg));
+
+ // Compute the eyepoints orientation and position
+ // wrt the earth centered frame - that is global coorinates
+ SGQuatd ec2body = hlOr*hlToBody;
+ _absolute_view_pos = position + ec2body.backTransform(_offset_m);
+ mViewOrientation = ec2body*viewOffsetOr;
+}
+
+void
+FGViewer::recalcLookAt ()
+{
+ // The geodetic position of our target to look at
+ if ( _at_model ) {
+ SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
+ _target_lat_deg = placement->getLatitudeDeg();
+ _target_lon_deg = placement->getLongitudeDeg();
+ _target_alt_ft = placement->getElevationFt();
+ _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);
+
+ }
+ SGGeod geodTargetPos = SGGeod::fromDegFt(_target_lon_deg,
+ _target_lat_deg,
+ _target_alt_ft);
+ SGQuatd geodTargetOr = SGQuatd::fromYawPitchRollDeg(_target_heading_deg,
+ _target_pitch_deg,
+ _target_roll_deg);
+ SGQuatd geodTargetHlOr = SGQuatd::fromLonLat(geodTargetPos);
+
+
+ if ( _from_model ) {
+ SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
+ _lat_deg = placement->getLatitudeDeg();
+ _lon_deg = placement->getLongitudeDeg();
+ _alt_ft = placement->getElevationFt();
+ _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);
+ }
+ SGGeod geodEyePos = SGGeod::fromDegFt(_lon_deg, _lat_deg, _alt_ft);
+ SGQuatd geodEyeOr = SGQuatd::fromYawPitchRollDeg(_heading_deg,
+ _pitch_deg,
+ _roll_deg);
+ SGQuatd geodEyeHlOr = SGQuatd::fromLonLat(geodEyePos);
+
+ // the rotation offset, don't know why heading is negative here ...
+ SGQuatd eyeOffsetOr =
+ 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(geodEyePos);
+ eyeCart += (ec2eye*eyeOffsetOr).backTransform(eyeOff);
+
+ SGVec3d atCart = SGVec3d::fromGeod(geodTargetPos);
+
+ // 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 0-th unit vector
+ // rotate up to 2-th unit vector
+ 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;
+ }
+
+ 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);
}
- Point3D 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] );
+ 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
+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*_aspect_ratio_multiplier))
+ * SG_RADIANS_TO_DEGREES * 2;
+ }
+ default:
+ assert(false);
+ }
+ return 0.0;
+}
-// Destructor
-FGViewer::~FGViewer( void ) {
+
+
+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*_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*_aspect_ratio_multiplier))
+ * SG_RADIANS_TO_DEGREES * 2;
+ } else {
+ // v_fov == fov
+ return _fov_deg;
+ }
+ default:
+ assert(false);
+ }
+ return 0.0;
+}
+
+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 {
+ // 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 );
+ }
+ }
+ }
+
+ 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 );
+ }
+ }
+ }
+
+
+ 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(_absolute_view_pos.osg(), mViewOrientation.osg());
+ _cameraGroup->setCameraParameters(get_v_fov(), get_aspect_ratio());
}
projects / flightgear.git / blobdiff