//
// Written by Curtis Olson, started August 1997.
//
-// Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
+// Copyright (C) 1997 Curtis L. Olson - curt@flightgear.org
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
# include <config.h>
#endif
-#include <ssg.h> // plib include
+#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 <Debug/logstream.hxx>
-#include <Include/fg_constants.h>
-#include <Math/mat3.h>
-#include <Math/point3d.hxx>
-#include <Math/polar3d.hxx>
-#include <Math/vector.hxx>
#include <Scenery/scenery.hxx>
-#include <Time/fg_time.hxx>
#include "options.hxx"
#include "views.hxx"
-// temporary (hopefully) hack
-static int panel_hist = 0;
-
-
// This is a record containing current view parameters for the current
// aircraft position
FGView pilot_view;
FGView::FGView( 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 )
+{
+ 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 FGView::Init( void ) {
view_offset = 0.0;
goal_view_offset = 0.0;
+ sgSetVec3( pilot_offset, 0.0, 0.0, 0.0 );
winWidth = current_options.get_xsize();
winHeight = current_options.get_ysize();
if ( ! current_options.get_panel_status() ) {
- current_view.set_win_ratio( (GLfloat) winWidth / (GLfloat) winHeight );
+ set_win_ratio( winHeight / winWidth );
} else {
- current_view.set_win_ratio( (GLfloat) winWidth /
- ((GLfloat) (winHeight)*0.4232) );
+ set_win_ratio( (winHeight*0.4232) / winWidth );
}
+#ifndef USE_FAST_VIEWROT
// This never changes -- NHV
- sgLARC_TO_SSG[0][0] = 0.0;
- sgLARC_TO_SSG[0][1] = 1.0;
- sgLARC_TO_SSG[0][2] = -0.0;
- sgLARC_TO_SSG[0][3] = 0.0;
-
- sgLARC_TO_SSG[1][0] = 0.0;
- sgLARC_TO_SSG[1][1] = 0.0;
- sgLARC_TO_SSG[1][2] = 1.0;
- sgLARC_TO_SSG[1][3] = 0.0;
-
- sgLARC_TO_SSG[2][0] = 1.0;
- sgLARC_TO_SSG[2][1] = -0.0;
- sgLARC_TO_SSG[2][2] = 0.0;
- sgLARC_TO_SSG[2][3] = 0.0;
+ 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;
- sgLARC_TO_SSG[3][0] = 0.0;
- sgLARC_TO_SSG[3][1] = 0.0;
- sgLARC_TO_SSG[3][2] = 0.0;
- sgLARC_TO_SSG[3][3] = 1.0;
+ 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;
+ 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
+
+
// Update the view volume, position, and orientation
void FGView::UpdateViewParams( const FGInterface& f ) {
UpdateViewMath(f);
- if ((current_options.get_panel_status() != panel_hist) && (current_options.get_panel_status()))
- {
- FGPanel::OurPanel->ReInit( 0, 0, 1024, 768);
- }
-
if ( ! current_options.get_panel_status() ) {
xglViewport(0, 0 , (GLint)(winWidth), (GLint)(winHeight) );
} else {
xglViewport(0, (GLint)((winHeight)*0.5768), (GLint)(winWidth),
(GLint)((winHeight)*0.4232) );
}
-
- panel_hist = current_options.get_panel_status();
}
// convert sgMat4 to MAT3 and print
static void print_sgMat4( sgMat4 &in) {
- MAT3mat print;
- int i;
- int j;
+ int i, j;
for ( i = 0; i < 4; i++ ) {
for ( j = 0; j < 4; j++ ) {
- print[i][j] = in[i][j];
+ printf("%10.4f ", in[i][j]);
}
+ cout << endl;
}
- MAT3print( print, stdout);
-}
-
-
-// convert convert MAT3 to sgMat4
-static void MAT3mat_To_sgMat4( MAT3mat &in, sgMat4 &out ) {
- out[0][0] = in[0][0];
- out[0][1] = in[0][1];
- out[0][2] = in[0][2];
- out[0][3] = in[0][3];
- out[1][0] = in[1][0];
- out[1][1] = in[1][1];
- out[1][2] = in[1][2];
- out[1][3] = in[1][3];
- out[2][0] = in[2][0];
- out[2][1] = in[2][1];
- out[2][2] = in[2][2];
- out[2][3] = in[2][3];
- out[3][0] = in[3][0];
- out[3][1] = in[3][1];
- out[3][2] = in[3][2];
- out[3][3] = in[3][3];
}
// Update the view parameters
void FGView::UpdateViewMath( const FGInterface& f ) {
+
Point3D p;
- sgVec3 v0, minus_z;
- MAT3vec vec, forward;
- MAT3mat R, TMP, UP, LOCAL, VIEW;
- sgMat4 sgTMP;
+ sgVec3 v0, minus_z, sgvec, forward;
+ sgMat4 VIEWo, TMP;
if ( update_fov ) {
ssgSetFOV( current_options.get_fov(),
// 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
-
- MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
- MAT3rotate(R, vec, f.get_Phi());
- // cout << "Roll matrix" << endl;
- // MAT3print(R, stdout);
-
- sgVec3 sgrollvec;
- sgSetVec3( sgrollvec, 0.0, 0.0, 1.0 );
- sgMat4 sgPHI; // roll
- sgMakeRotMat4( sgPHI, f.get_Phi() * RAD_TO_DEG, sgrollvec );
-
- MAT3_SET_VEC(vec, 0.0, 1.0, 0.0);
- MAT3rotate(TMP, vec, f.get_Theta());
- // cout << "Pitch matrix" << endl;;
- // MAT3print(TMP, stdout);
- MAT3mult(R, R, TMP);
- // cout << "tmp rotation matrix, R:" << endl;;
- // MAT3print(R, stdout);
-
- sgVec3 sgpitchvec;
- sgSetVec3( sgpitchvec, 0.0, 1.0, 0.0 );
- sgMat4 sgTHETA; // pitch
- sgMakeRotMat4( sgTHETA, f.get_Theta() * RAD_TO_DEG,
- sgpitchvec );
-
- sgMat4 sgROT;
- sgMultMat4( sgROT, sgPHI, sgTHETA );
-
- MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
- MAT3rotate(TMP, vec, -f.get_Psi());
- // cout << "Yaw matrix" << endl;
- // MAT3print(TMP, stdout);
- MAT3mult(LOCAL, R, TMP);
- // cout << "LOCAL matrix:" << endl;
- // MAT3print(LOCAL, stdout);
-
- sgVec3 sgyawvec;
- sgSetVec3( sgyawvec, 1.0, 0.0, 0.0 );
- sgMat4 sgPSI; // pitch
- sgMakeRotMat4( sgPSI, -f.get_Psi() * RAD_TO_DEG, sgyawvec );
-
- sgMultMat4( sgLOCAL, sgROT, sgPSI );
- // cout << "sgLOCAL matrix" << endl;
- // print_sgMat4( sgLOCAL );
- // Derive the local UP transformation matrix based on *geodetic*
- // coordinates
- MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
- MAT3rotate(R, vec, f.get_Longitude()); // R = rotate about Z axis
- // printf("Longitude matrix\n");
- // MAT3print(R, stdout);
-
- MAT3_SET_VEC(vec, 0.0, 1.0, 0.0);
- MAT3mult_vec(vec, vec, R);
- MAT3rotate(TMP, vec, -f.get_Latitude()); // TMP = rotate about X axis
- // printf("Latitude matrix\n");
- // MAT3print(TMP, stdout);
-
- MAT3mult(UP, R, TMP);
- // cout << "Local up matrix" << endl;;
- // MAT3print(UP, stdout);
-
- sgMakeRotMat4( sgUP,
+#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 );
- /*
- cout << "FG derived UP matrix using sg routines" << endl;
- MAT3mat print;
- int i;
- int j;
- for ( i = 0; i < 4; i++ ) {
- for ( j = 0; j < 4; j++ ) {
- print[i][j] = sgUP[i][j];
- }
- }
- MAT3print( print, stdout);
- */
- sgSetVec3( local_up, 1.0, 0.0, 0.0 );
- sgXformVec3( local_up, sgUP );
+ 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;
// printf( " Alt Up = (%.4f, %.4f, %.4f)\n",
// alt_up.x, alt_up.y, alt_up.z);
- // Calculate the VIEW matrix
- MAT3mult(VIEW, LOCAL, UP);
- // cout << "VIEW matrix" << endl;;
- // MAT3print(VIEW, stdout);
-
- sgMat4 sgTMP2;
- sgMultMat4( sgTMP, sgLOCAL, sgUP );
-
- // generate the sg view up vector
- sgVec3 vec1;
- sgSetVec3( vec1, 1.0, 0.0, 0.0 );
- sgXformVec3( sgview_up, vec1, sgTMP );
+ // 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( sgVIEW_OFFSET, view_offset * RAD_TO_DEG, sgview_up );
- // cout << "sgVIEW_OFFSET matrix" << endl;
- // print_sgMat4( sgVIEW_OFFSET );
+ 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;
- sgMultMat4( sgTMP2, sgTMP, sgVIEW_OFFSET );
- sgMultMat4( sgVIEW_ROT, sgLARC_TO_SSG, sgTMP2 );
-
- sgMakeTransMat4( sgTRANS, view_pos.x(), view_pos.y(), view_pos.z() );
-
- sgMultMat4( sgVIEW, sgVIEW_ROT, sgTRANS );
-
- // FGMat4Wrapper tmp;
- // sgCopyMat4( tmp.m, sgVIEW );
- // follow.push_back( tmp );
-
- // generate the current up, forward, and fwrd-view vectors
- MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
- MAT3mult_vec(view_up, vec, VIEW);
-
- /*
- cout << "FG derived VIEW matrix using sg routines" << endl;
- MAT3mat print;
- int i;
- int j;
- for ( i = 0; i < 4; i++ ) {
- for ( j = 0; j < 4; j++ ) {
- print[i][j] = sgVIEW[i][j];
- }
- }
- MAT3print( print, stdout);
- */
-
- MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
- MAT3mult_vec(forward, vec, VIEW);
- // printf( "Forward vector is (%.2f,%.2f,%.2f)\n", forward[0], forward[1],
- // forward[2]);
-
- MAT3rotate(TMP, view_up, view_offset);
- MAT3mult_vec(view_forward, forward, TMP);
+ // 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() );
// << surface_south[1] << "," << surface_south[2] << endl;
// now calculate the surface east vector
- sgMakeRotMat4( sgTMP, FG_PI_2 * RAD_TO_DEG, sgview_up );
- // cout << "sgMat4 sgTMP" << endl;
- // print_sgMat4( sgTMP );
- sgXformVec3(surface_east, surface_south, sgTMP);
- // cout << "Surface direction directly east" << surface_east[0] << ","
+#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 FGView::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] );
+}
+
+
// Destructor
FGView::~FGView( void ) {
}
projects / flightgear.git / blobdiff