#include <simgear/debug/logstream.hxx>
#include <simgear/math/point3d.hxx>
#include <simgear/math/polar3d.hxx>
+#include <simgear/math/sg_geodesy.hxx>
#include <simgear/math/vector.hxx>
#include <Scenery/scenery.hxx>
// Constructor
FGViewerLookAt::FGViewerLookAt( void )
{
+ set_reverse_view_offset(true);
}
-static void fgLookAt( sgVec3 eye, sgVec3 center, sgVec3 up, sgMat4 &m ) {
- double x[3], y[3], z[3];
- double mag;
-
- /* Make rotation matrix */
-
- /* Z vector */
- z[0] = eye[0] - center[0];
- z[1] = eye[1] - center[1];
- z[2] = eye[2] - center[2];
- mag = sqrt( z[0]*z[0] + z[1]*z[1] + z[2]*z[2] );
- if (mag) { /* mpichler, 19950515 */
- z[0] /= mag;
- z[1] /= mag;
- z[2] /= mag;
- }
-
- /* Y vector */
- y[0] = up[0];
- y[1] = up[1];
- y[2] = up[2];
-
- /* X vector = Y cross Z */
- x[0] = y[1]*z[2] - y[2]*z[1];
- x[1] = -y[0]*z[2] + y[2]*z[0];
- x[2] = y[0]*z[1] - y[1]*z[0];
-
- /* Recompute Y = Z cross X */
- y[0] = z[1]*x[2] - z[2]*x[1];
- y[1] = -z[0]*x[2] + z[2]*x[0];
- y[2] = z[0]*x[1] - z[1]*x[0];
-
- /* mpichler, 19950515 */
- /* cross product gives area of parallelogram, which is < 1.0 for
- * non-perpendicular unit-length vectors; so normalize x, y here
- */
-
- mag = sqrt( x[0]*x[0] + x[1]*x[1] + x[2]*x[2] );
- if (mag) {
- x[0] /= mag;
- x[1] /= mag;
- x[2] /= mag;
- }
-
- mag = sqrt( y[0]*y[0] + y[1]*y[1] + y[2]*y[2] );
- if (mag) {
- y[0] /= mag;
- y[1] /= mag;
- y[2] /= mag;
- }
-
-#define M(row,col) m[row][col]
- M(0,0) = x[0]; M(0,1) = x[1]; M(0,2) = x[2]; M(0,3) = 0.0;
- M(1,0) = y[0]; M(1,1) = y[1]; M(1,2) = y[2]; M(1,3) = 0.0;
- M(2,0) = z[0]; M(2,1) = z[1]; M(2,2) = z[2]; M(2,3) = 0.0;
- M(3,0) = -eye[0]; M(3,1) = -eye[1]; M(3,2) = -eye[2]; M(3,3) = 1.0;
+void fgMakeLookAtMat4 ( sgMat4 dst, const sgVec3 eye, const sgVec3 center,
+ const sgVec3 up )
+{
+ // Caveats:
+ // 1) In order to compute the line of sight, the eye point must not be equal
+ // to the center point.
+ // 2) The up vector must not be parallel to the line of sight from the eye
+ // to the center point.
+
+ /* Compute the direction vectors */
+ sgVec3 x,y,z;
+
+ /* Y vector = center - eye */
+ sgSubVec3 ( y, center, eye ) ;
+
+ /* Z vector = up */
+ sgCopyVec3 ( z, up ) ;
+
+ /* X vector = Y cross Z */
+ sgVectorProductVec3 ( x, y, z ) ;
+
+ /* Recompute Z = X cross Y */
+ sgVectorProductVec3 ( z, x, y ) ;
+
+ /* Normalize everything */
+ sgNormaliseVec3 ( x ) ;
+ sgNormaliseVec3 ( y ) ;
+ sgNormaliseVec3 ( z ) ;
+
+ /* Build the matrix */
+#define M(row,col) dst[row][col]
+ M(0,0) = x[0]; M(0,1) = x[1]; M(0,2) = x[2]; M(0,3) = 0.0;
+ M(1,0) = y[0]; M(1,1) = y[1]; M(1,2) = y[2]; M(1,3) = 0.0;
+ M(2,0) = z[0]; M(2,1) = z[1]; M(2,2) = z[2]; M(2,3) = 0.0;
+ M(3,0) = eye[0]; M(3,1) = eye[1]; M(3,2) = eye[2]; M(3,3) = 1.0;
#undef M
}
-// 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 FGViewerLookAt::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] );
-
- // view_pos = abs_view_pos - scenery.center;
- 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 );
-
- 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] );
- FG_LOG( FG_VIEW, FG_DEBUG, "view forward = "
- << view_forward[0] << "," << view_forward[1] << ","
- << view_forward[2] );
- FG_LOG( FG_VIEW, FG_DEBUG, "view up = "
- << view_up[0] << "," << view_up[1] << ","
- << view_up[2] );
-
+ sgVec3 minus_z;
+
+ view_point.setPosition(geod_view_pos[0] * SGD_RADIANS_TO_DEGREES,
+ geod_view_pos[1] * SGD_RADIANS_TO_DEGREES,
+ geod_view_pos[2] * SG_METER_TO_FEET);
+ sgCopyVec3(zero_elev, view_point.getZeroElevViewPos());
+ sgdCopyVec3(abs_view_pos, view_point.getAbsoluteViewPos());
+ sgCopyVec3(view_pos, view_point.getRelativeViewPos());
+
+ sgVec3 tmp_offset;
+ sgCopyVec3( tmp_offset, pilot_offset );
+ SG_LOG( SG_VIEW, SG_DEBUG, "tmp offset = "
+ << tmp_offset[0] << "," << tmp_offset[1] << ","
+ << tmp_offset[2] );
+
+ //!!!!!!!!!!!!!!!!!!!
+ // THIS IS THE EXPERIMENTAL VIEWING ANGLE SHIFTER
+ // THE MAJORITY OF THE WORK IS DONE IN GUI.CXX
+ extern float GuiQuat_mat[4][4];
+ sgXformPnt3( tmp_offset, tmp_offset, GuiQuat_mat );
+ SG_LOG( SG_VIEW, SG_DEBUG, "tmp_offset = "
+ << tmp_offset[0] << "," << tmp_offset[1] << ","
+ << tmp_offset[2] );
+
+ sgAddVec3( view_pos, tmp_offset );
+ // !!!!!!!!!! testing
+
// Make the VIEW matrix.
- fgLookAt( view_pos, view_forward, view_up, VIEW );
- // cout << "VIEW matrix" << endl;
- // print_sgMat4( VIEW );
+ fgMakeLookAtMat4( VIEW, view_pos, view_forward, view_up );
// the VIEW matrix includes both rotation and translation. Let's
// knock out the translation part to make the VIEW_ROT matrix
// Make the world up rotation matrix
sgMakeRotMat4( UP,
- geod_view_pos[0] * RAD_TO_DEG,
+ geod_view_pos[0] * SGD_RADIANS_TO_DEGREES,
0.0,
- -geod_view_pos[1] * RAD_TO_DEG );
+ -geod_view_pos[1] * SGD_RADIANS_TO_DEGREES );
// use a clever observation into the nature of our tranformation
// matrix to grab the world_up vector
sgSetVec3( world_up, UP[0][0], UP[0][1], UP[0][2] );
- // cout << "World Up = " << world_up[0] << "," << world_up[1] << ","
- // << world_up[2] << endl;
-
-
- //!!!!!!!!!!!!!!!!!!!
- // 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
sgmap_vec_onto_cur_surface_plane(world_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 world_down;
sgNegateVec3(world_down, world_up);
sgVectorProductVec3(surface_east, surface_south, world_down);
-#else
- sgMakeRotMat4( TMP, FG_PI_2 * RAD_TO_DEG, world_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;
set_clean();
}
projects / flightgear.git / blobdiff