//
// 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"
-// Define following to extract various vectors directly
-// from matrices we have allready computed
-// rather then performing 'textbook algebra' to rederive them
-// Norman Vine -- nhv@yahoo.com
-// #define FG_VIEW_INLINE_OPTIMIZATIONS
-
-// temporary (hopefully) hack
-static int panel_hist = 0;
-
-
-// specify code paths ... these are done as variable rather than
-// #define's because down the road we may want to choose between them
-// on the fly for different flight models ... this way magic carpet
-// and external modes wouldn't need to recreate the LaRCsim matrices
-// themselves.
+// This is a record containing current view parameters for the current
+// aircraft position
+FGView pilot_view;
-static const bool use_larcsim_local_to_body = false;
-
-
-// This is a record containing current view parameters
+// This is a record containing current view parameters for the current
+// view position
FGView current_view;
// Constructor
FGView::FGView( void ) {
- MAT3identity(WORLD);
}
+#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 );
}
- force_update_fov_math();
-}
-
+#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
-// Update the field of view coefficients
-void FGView::UpdateFOV( const fgOPTIONS& o ) {
- ssgSetFOV( o.get_fov(), 0.0 );
-
- double fov, theta_x, theta_y;
-
- fov = o.get_fov();
-
- // printf("win_ratio = %.2f\n", win_ratio);
- // calculate sin() and cos() of fov / 2 in X direction;
- theta_x = (fov * win_ratio * DEG_TO_RAD) / 2.0;
- // printf("theta_x = %.2f\n", theta_x);
- sin_fov_x = sin(theta_x);
- cos_fov_x = cos(theta_x);
- slope_x = -cos_fov_x / sin_fov_x;
- // printf("slope_x = %.2f\n", slope_x);
-
- // fov_x_clip and fov_y_clip convoluted algebraic simplification
- // see code executed in tilemgr.cxx when USE_FAST_FOV_CLIP not
- // defined Norman Vine -- nhv@yahoo.com
-#if defined( USE_FAST_FOV_CLIP )
- fov_x_clip = slope_x*cos_fov_x - sin_fov_x;
-#endif // defined( USE_FAST_FOV_CLIP )
-
- // calculate sin() and cos() of fov / 2 in Y direction;
- theta_y = (fov * DEG_TO_RAD) / 2.0;
- // printf("theta_y = %.2f\n", theta_y);
- sin_fov_y = sin(theta_y);
- cos_fov_y = cos(theta_y);
- slope_y = cos_fov_y / sin_fov_y;
- // printf("slope_y = %.2f\n", slope_y);
-
-#if defined( USE_FAST_FOV_CLIP )
- fov_y_clip = -(slope_y*cos_fov_y + sin_fov_y);
-#endif // defined( USE_FAST_FOV_CLIP )
+ force_update_fov_math();
}
-// Basically, this is a modified version of the Mesa gluLookAt()
-// function that's been modified slightly so we can capture the
-// result before sending it off to OpenGL land.
-void FGView::LookAt( GLdouble eyex, GLdouble eyey, GLdouble eyez,
- GLdouble centerx, GLdouble centery, GLdouble centerz,
- GLdouble upx, GLdouble upy, GLdouble upz ) {
- GLfloat *m;
- GLdouble x[3], y[3], z[3];
- GLdouble mag;
-
- m = current_view.MODEL_VIEW;
-
- /* Make rotation matrix */
-
- /* Z vector */
- z[0] = eyex - centerx;
- z[1] = eyey - centery;
- z[2] = eyez - centerz;
- 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] = upx;
- y[1] = upy;
- y[2] = upz;
-
- /* 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[col*4+row]
- 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;
- // the following is part of the original gluLookAt(), but we are
- // commenting it out because we know we are going to be doing a
- // translation below which will set these values anyways
- // M(3,0) = 0.0; M(3,1) = 0.0; M(3,2) = 0.0; M(3,3) = 1.0;
-#undef M
-
- // Translate Eye to Origin
- // replaces: glTranslated( -eyex, -eyey, -eyez );
-
- // this has been slightly modified from the original glTranslate()
- // code because we know that coming into this m[12] = m[13] =
- // m[14] = 0.0, and m[15] = 1.0;
- m[12] = m[0] * -eyex + m[4] * -eyey + m[8] * -eyez /* + m[12] */;
- m[13] = m[1] * -eyex + m[5] * -eyey + m[9] * -eyez /* + m[13] */;
- m[14] = m[2] * -eyex + m[6] * -eyey + m[10] * -eyez /* + m[14] */;
- m[15] = 1.0 /* m[3] * -eyex + m[7] * -eyey + m[11] * -eyez + m[15] */;
-
- // xglMultMatrixd( m );
- xglLoadMatrixf( m );
+#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( void ) {
- FGInterface *f = current_aircraft.fdm_state;
-
+void FGView::UpdateViewParams( const FGInterface& f ) {
UpdateViewMath(f);
- UpdateWorldToEye(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) );
}
-
- // Tell GL we are about to modify the projection parameters
- xglMatrixMode(GL_PROJECTION);
- xglLoadIdentity();
- if ( f->get_Altitude() * FEET_TO_METER - scenery.cur_elev > 10.0 ) {
- ssgSetNearFar( 10.0, 100000.0 );
- gluPerspective(current_options.get_fov(), win_ratio, 10.0, 100000.0);
- } else {
- ssgSetNearFar( 0.5, 100000.0 );
- gluPerspective(current_options.get_fov(), win_ratio, 0.5, 100000.0);
- // printf("Near ground, minimizing near clip plane\n");
- }
- // }
-
- xglMatrixMode(GL_MODELVIEW);
- xglLoadIdentity();
-
- // set up our view volume (default)
-#if !defined(FG_VIEW_INLINE_OPTIMIZATIONS)
- LookAt(view_pos.x(), view_pos.y(), view_pos.z(),
- view_pos.x() + view_forward[0],
- view_pos.y() + view_forward[1],
- view_pos.z() + view_forward[2],
- view_up[0], view_up[1], view_up[2]);
-
- // look almost straight up (testing and eclipse watching)
- /* LookAt(view_pos.x(), view_pos.y(), view_pos.z(),
- view_pos.x() + view_up[0] + .001,
- view_pos.y() + view_up[1] + .001,
- view_pos.z() + view_up[2] + .001,
- view_up[0], view_up[1], view_up[2]); */
-
- // lock view horizontally towards sun (testing)
- /* LookAt(view_pos.x(), view_pos.y(), view_pos.z(),
- view_pos.x() + surface_to_sun[0],
- view_pos.y() + surface_to_sun[1],
- view_pos.z() + surface_to_sun[2],
- view_up[0], view_up[1], view_up[2]); */
-
- // lock view horizontally towards south (testing)
- /* LookAt(view_pos.x(), view_pos.y(), view_pos.z(),
- view_pos.x() + surface_south[0],
- view_pos.y() + surface_south[1],
- view_pos.z() + surface_south[2],
- view_up[0], view_up[1], view_up[2]); */
-
-#else // defined(FG_VIEW_INLINE_OPTIMIZATIONS)
- //void FGView::LookAt( GLdouble eyex, GLdouble eyey, GLdouble eyez,
- // GLdouble centerx, GLdouble centery, GLdouble centerz,
- // GLdouble upx, GLdouble upy, GLdouble upz )
- {
- GLfloat *m;
- GLdouble x[3], y[3], z[3];
- // GLdouble mag;
-
- m = current_view.MODEL_VIEW;
-
- /* Make rotation matrix */
-
- /* Z vector */
- z[0] = -view_forward[0]; //eyex - centerx;
- z[1] = -view_forward[1]; //eyey - centery;
- z[2] = -view_forward[2]; //eyez - centerz;
-
- // In our case this is a unit vector NHV
-
- // mag = sqrt( z[0]*z[0] + z[1]*z[1] + z[2]*z[2] );
- // if (mag) { /* mpichler, 19950515 */
- // mag = 1.0/mag;
- // printf("mag(%f) ", mag);
- // z[0] *= mag;
- // z[1] *= mag;
- // z[2] *= mag;
- // }
-
- /* Y vector */
- y[0] = view_up[0]; //upx;
- y[1] = view_up[1]; //upy;
- y[2] = view_up[2]; //upz;
-
- /* 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];
-
- // printf(" %f %f %f ", y[0], y[1], y[2]);
-
- /* 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];
-
- // printf(" %f %f %f\n", y[0], y[1], y[2]);
-
- // In our case these are unit vectors NHV
-
- /* 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) {
- // mag = 1.0/mag;
- // printf("mag2(%f) ", 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) {
- // mag = 1.0/mag;
- // printf("mag3(%f)\n", mag);
- // y[0] *= mag;
- // y[1] *= mag;
- // y[2] *= mag;
- // }
-
-#define M(row,col) m[col*4+row]
- 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;
- // the following is part of the original gluLookAt(), but we are
- // commenting it out because we know we are going to be doing a
- // translation below which will set these values anyways
- // M(3,0) = 0.0; M(3,1) = 0.0; M(3,2) = 0.0; M(3,3) = 1.0;
-#undef M
-
- // Translate Eye to Origin
- // replaces: glTranslated( -eyex, -eyey, -eyez );
-
- // this has been slightly modified from the original glTranslate()
- // code because we know that coming into this m[12] = m[13] =
- // m[14] = 0.0, and m[15] = 1.0;
- m[12] = m[0] * -view_pos.x() + m[4] * -view_pos.y() + m[8] * -view_pos.z() /* + m[12] */;
- m[13] = m[1] * -view_pos.x() + m[5] * -view_pos.y() + m[9] * -view_pos.z() /* + m[13] */;
- m[14] = m[2] * -view_pos.x() + m[6] * -view_pos.y() + m[10] * -view_pos.z() /* + m[14] */;
- m[15] = 1.0 /* m[3] * -view_pos.x() + m[7] * -view_pos.y() + m[11] * -view_pos.z() + m[15] */;
-
- // xglMultMatrixd( m );
- xglLoadMatrixf( m );
- }
-#endif // FG_VIEW_INLINE_OPTIMIZATIONS
-
-
- panel_hist = current_options.get_panel_status();
}
-void getRotMatrix(double* out, MAT3vec vec, double radians)
-{
- /* This function contributed by Erich Boleyn (erich@uruk.org) */
- /* This function used from the Mesa OpenGL code (matrix.c) */
- double s, c; // mag,
- double vx, vy, vz, xy, yz, zx, xs, ys, zs, one_c; //, xx, yy, zz
-
- MAT3identity(out);
- s = sin(radians);
- c = cos(radians);
-
- // mag = getMagnitude();
-
- vx = vec[0];
- vy = vec[1];
- vz = vec[2];
-
-#define M(row,col) out[row*4 + col]
-
- /*
- * Arbitrary axis rotation matrix.
- *
- * This is composed of 5 matrices, Rz, Ry, T, Ry', Rz', multiplied
- * like so: Rz * Ry * T * Ry' * Rz'. T is the final rotation
- * (which is about the X-axis), and the two composite transforms
- * Ry' * Rz' and Rz * Ry are (respectively) the rotations necessary
- * from the arbitrary axis to the X-axis then back. They are
- * all elementary rotations.
- *
- * Rz' is a rotation about the Z-axis, to bring the axis vector
- * into the x-z plane. Then Ry' is applied, rotating about the
- * Y-axis to bring the axis vector parallel with the X-axis. The
- * rotation about the X-axis is then performed. Ry and Rz are
- * simply the respective inverse transforms to bring the arbitrary
- * axis back to it's original orientation. The first transforms
- * Rz' and Ry' are considered inverses, since the data from the
- * arbitrary axis gives you info on how to get to it, not how
- * to get away from it, and an inverse must be applied.
- *
- * The basic calculation used is to recognize that the arbitrary
- * axis vector (x, y, z), since it is of unit length, actually
- * represents the sines and cosines of the angles to rotate the
- * X-axis to the same orientation, with theta being the angle about
- * Z and phi the angle about Y (in the order described above)
- * as follows:
- *
- * cos ( theta ) = x / sqrt ( 1 - z^2 )
- * sin ( theta ) = y / sqrt ( 1 - z^2 )
- *
- * cos ( phi ) = sqrt ( 1 - z^2 )
- * sin ( phi ) = z
- *
- * Note that cos ( phi ) can further be inserted to the above
- * formulas:
- *
- * cos ( theta ) = x / cos ( phi )
- * sin ( theta ) = y / cos ( phi )
- *
- * ...etc. Because of those relations and the standard trigonometric
- * relations, it is pssible to reduce the transforms down to what
- * is used below. It may be that any primary axis chosen will give the
- * same results (modulo a sign convention) using thie method.
- *
- * Particularly nice is to notice that all divisions that might
- * have caused trouble when parallel to certain planes or
- * axis go away with care paid to reducing the expressions.
- * After checking, it does perform correctly under all cases, since
- * in all the cases of division where the denominator would have
- * been zero, the numerator would have been zero as well, giving
- * the expected result.
- */
-
- one_c = 1.0F - c;
-
- // xx = vx * vx;
- // yy = vy * vy;
- // zz = vz * vz;
-
- // xy = vx * vy;
- // yz = vy * vz;
- // zx = vz * vx;
-
-
- M(0,0) = (one_c * vx * vx) + c;
- xs = vx * s;
- yz = vy * vz * one_c;
- M(1,2) = yz + xs;
- M(2,1) = yz - xs;
-
- M(1,1) = (one_c * vy * vy) + c;
- ys = vy * s;
- zx = vz * vx * one_c;
- M(0,2) = zx - ys;
- M(2,0) = zx + ys;
-
- M(2,2) = (one_c * vz *vz) + c;
- zs = vz * s;
- xy = vx * vy * one_c;
- M(0,1) = xy + zs;
- M(1,0) = xy - zs;
-
- // M(0,0) = (one_c * xx) + c;
- // M(1,0) = (one_c * xy) - zs;
- // M(2,0) = (one_c * zx) + ys;
-
- // M(0,1) = (one_c * xy) + zs;
- // M(1,1) = (one_c * yy) + c;
- // M(2,1) = (one_c * yz) - xs;
-
- // M(0,2) = (one_c * zx) - ys;
- // M(1,2) = (one_c * yz) + xs;
- // M(2,2) = (one_c * zz) + c;
-
-#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 FGView::UpdateViewMath( FGInterface *f ) {
- Point3D p;
- MAT3vec vec, forward, v0, minus_z;
- MAT3mat R, TMP, UP, LOCAL, VIEW;
- double ntmp;
+void FGView::UpdateViewMath( const FGInterface& f ) {
- sgMat4 sgLOCAL, sgUP, sgVIEW;
+ Point3D p;
+ sgVec3 v0, minus_z, sgvec, forward;
+ sgMat4 VIEWo, TMP;
if ( update_fov ) {
- // printf("Updating fov\n");
- UpdateFOV( current_options );
+ ssgSetFOV( current_options.get_fov(),
+ current_options.get_fov() * win_ratio );
update_fov = false;
}
scenery.center = scenery.next_center;
-#if !defined(FG_VIEW_INLINE_OPTIMIZATIONS)
// printf("scenery center = %.2f %.2f %.2f\n", scenery.center.x,
// scenery.center.y, scenery.center.z);
// calculate the cartesion coords of the current lat/lon/0 elev
- p = Point3D( f->get_Longitude(),
- f->get_Lat_geocentric(),
- f->get_Sea_level_radius() * FEET_TO_METER );
+ p = Point3D( f.get_Longitude(),
+ f.get_Lat_geocentric(),
+ f.get_Sea_level_radius() * FEET_TO_METER );
cur_zero_elev = fgPolarToCart3d(p) - scenery.center;
// 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 ( f->get_Altitude() * FEET_TO_METER >
+ if ( f.get_Altitude() * FEET_TO_METER >
(scenery.cur_elev + 0.5 * METER_TO_FEET) ) {
- p.setz( p.radius() + f->get_Altitude() * FEET_TO_METER );
+ p.setz( p.radius() + f.get_Altitude() * FEET_TO_METER );
} else {
p.setz( p.radius() + scenery.cur_elev + 0.5 * METER_TO_FEET );
}
abs_view_pos = fgPolarToCart3d(p);
-#else // FG_VIEW_INLINE_OPTIMIZATIONS
-
- double tmp_radius = f->get_Sea_level_radius() * FEET_TO_METER;
- double tmp = f->get_cos_lat_geocentric() * tmp_radius;
-
- cur_zero_elev.setx(f->get_cos_longitude()*tmp - scenery.center.x());
- cur_zero_elev.sety(f->get_sin_longitude()*tmp - scenery.center.y());
- cur_zero_elev.setz(f->get_sin_lat_geocentric()*tmp_radius - scenery.center.z());
-
- // 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 ( f->get_Altitude() * FEET_TO_METER >
- (scenery.cur_elev + 0.5 * METER_TO_FEET) ) {
- tmp_radius += f->get_Altitude() * FEET_TO_METER;
- } else {
- tmp_radius += scenery.cur_elev + 0.5 * METER_TO_FEET ;
- }
- tmp = f->get_cos_lat_geocentric() * tmp_radius;
- abs_view_pos.setx(f->get_cos_longitude()*tmp);
- abs_view_pos.sety(f->get_sin_longitude()*tmp);
- abs_view_pos.setz(f->get_sin_lat_geocentric()*tmp_radius);
-
-#endif // FG_VIEW_INLINE_OPTIMIZATIONS
-
view_pos = abs_view_pos - scenery.center;
FG_LOG( FG_VIEW, FG_DEBUG, "Polar view pos = " << p );
FG_LOG( FG_VIEW, FG_DEBUG, "Absolute view pos = " << abs_view_pos );
FG_LOG( FG_VIEW, FG_DEBUG, "Relative view pos = " << view_pos );
- // Derive the LOCAL aircraft rotation matrix (roll, pitch, yaw)
- // from FG_T_local_to_body[3][3]
-
- if ( use_larcsim_local_to_body ) {
-
- // Question: Why is the LaRCsim matrix arranged so differently
- // than the one we need???
-
- // Answer (I think): The LaRCsim matrix is generated in a
- // different reference frame than we've set up for our world
-
- LOCAL[0][0] = f->get_T_local_to_body_33();
- LOCAL[0][1] = -f->get_T_local_to_body_32();
- LOCAL[0][2] = -f->get_T_local_to_body_31();
- LOCAL[0][3] = 0.0;
- LOCAL[1][0] = -f->get_T_local_to_body_23();
- LOCAL[1][1] = f->get_T_local_to_body_22();
- LOCAL[1][2] = f->get_T_local_to_body_21();
- LOCAL[1][3] = 0.0;
- LOCAL[2][0] = -f->get_T_local_to_body_13();
- LOCAL[2][1] = f->get_T_local_to_body_12();
- LOCAL[2][2] = f->get_T_local_to_body_11();
- LOCAL[2][3] = 0.0;
- LOCAL[3][0] = LOCAL[3][1] = LOCAL[3][2] = LOCAL[3][3] = 0.0;
- LOCAL[3][3] = 1.0;
-
- // printf("LaRCsim LOCAL matrix\n");
- // MAT3print(LOCAL, stdout);
-
- } else {
-
- // 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
+ // 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, 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 );
- MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
- MAT3rotate(R, vec, f->get_Phi());
- /* printf("Roll matrix\n"); */
- /* MAT3print(R, stdout); */
+ sgVec3 pitchvec;
+ sgSetVec3( pitchvec, 0.0, 1.0, 0.0 );
+ sgMat4 THETA; // pitch
+ sgMakeRotMat4( THETA, f.get_Theta() * RAD_TO_DEG, pitchvec );
- MAT3_SET_VEC(vec, 0.0, 1.0, 0.0);
- /* MAT3mult_vec(vec, vec, R); */
- MAT3rotate(TMP, vec, f->get_Theta());
- /* printf("Pitch matrix\n"); */
- /* MAT3print(TMP, stdout); */
- MAT3mult(R, R, TMP);
+ // ROT = PHI * THETA
+ sgMat4 ROT;
+ // sgMultMat4( ROT, PHI, THETA );
+ sgCopyMat4( ROT, PHI );
+ sgPostMultMat4( ROT, THETA );
- MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
- /* MAT3mult_vec(vec, vec, R); */
- /* MAT3rotate(TMP, vec, FG_Psi - FG_PI_2); */
- MAT3rotate(TMP, vec, -f->get_Psi());
- /* printf("Yaw matrix\n");
- MAT3print(TMP, stdout); */
- MAT3mult(LOCAL, R, TMP);
- // cout << "FG derived LOCAL matrix using MAT3 routines" << endl;
- // MAT3print(LOCAL, stdout);
+ sgVec3 yawvec;
+ sgSetVec3( yawvec, 1.0, 0.0, 0.0 );
+ sgMat4 PSI; // pitch
+ sgMakeRotMat4( PSI, -f.get_Psi() * RAD_TO_DEG, yawvec );
- sgMakeRotMat4( sgLOCAL,
- f->get_Psi() * RAD_TO_DEG,
- f->get_Phi() * RAD_TO_DEG,
- f->get_Theta() * RAD_TO_DEG );
- /*
- cout << "FG derived LOCAL 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] = sgLOCAL[i][j];
- }
- }
- MAT3print( print, stdout);
+ // LOCAL = ROT * PSI
+ // sgMultMat4( LOCAL, ROT, PSI );
+ sgCopyMat4( LOCAL, ROT );
+ sgPostMultMat4( LOCAL, PSI );
- sgMat4 sgIDENT;
- sgMakeIdentMat4( sgIDENT );
- for ( i = 0; i < 4; i++ ) {
- for ( j = 0; j < 4; j++ ) {
- print[i][j] = sgIDENT[i][j];
- }
- }
- MAT3print( print, stdout);
- */
- } // if ( use_larcsim_local_to_body )
-
-#if !defined(FG_VIEW_INLINE_OPTIMIZATIONS)
+#endif // YIKES
- // 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,
- f->get_Longitude() * RAD_TO_DEG,
+ // 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);
- */
+ -f.get_Latitude() * RAD_TO_DEG );
- MAT3_SET_VEC(local_up, 1.0, 0.0, 0.0);
- MAT3mult_vec(local_up, local_up, UP);
-
- // printf( "Local Up = (%.4f, %.4f, %.4f)\n",
- // local_up[0], local_up[1], local_up[2]);
+ 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
// 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);
-
- sgMultMat4( sgVIEW, sgLOCAL, sgUP );
- 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);
-
- // 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);
-
- 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);
-
- // make a vector to the current view position
- MAT3_SET_VEC(v0, view_pos.x(), view_pos.y(), view_pos.z());
-
- // 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".
- MAT3_SET_VEC(minus_z, 0.0, 0.0, -1.0);
- map_vec_onto_cur_surface_plane(local_up, v0, minus_z, surface_south);
- MAT3_NORMALIZE_VEC(surface_south, ntmp);
- // printf( "Surface direction directly south %.2f %.2f %.2f\n",
- // surface_south[0], surface_south[1], surface_south[2]);
-
- // now calculate the surface east vector
- MAT3rotate(TMP, view_up, FG_PI_2);
- MAT3mult_vec(surface_east, surface_south, TMP);
- // printf( "Surface direction directly east %.2f %.2f %.2f\n",
- // surface_east[0], surface_east[1], surface_east[2]);
- // printf( "Should be close to zero = %.2f\n",
- // MAT3_DOT_PRODUCT(surface_south, surface_east));
-
-#else // FG_VIEW_INLINE_OPTIMIZATIONS
-
- // // Build spherical to cartesian transform matrix directly
- double cos_lat = f->get_cos_latitude(); // cos(-f->get_Latitude());
- double sin_lat = -f->get_sin_latitude(); // sin(-f->get_Latitude());
- double cos_lon = f->get_cos_longitude(); //cos(f->get_Longitude());
- double sin_lon = f->get_sin_longitude(); //sin(f->get_Longitude());
-
- double *mat = (double *)UP;
-
- mat[0] = cos_lat*cos_lon;
- mat[1] = cos_lat*sin_lon;
- mat[2] = -sin_lat;
- mat[3] = 0.0;
- mat[4] = -sin_lon;
- mat[5] = cos_lon;
- mat[6] = 0.0;
- mat[7] = 0.0;
- mat[8] = sin_lat*cos_lon;
- mat[9] = sin_lat*sin_lon;
- mat[10] = cos_lat;
- mat[11] = mat[12] = mat[13] = mat[14] = 0.0;
- mat[15] = 1.0;
-
- MAT3mult(VIEW, LOCAL, UP);
-
- // THESE COULD JUST BE POINTERS !!!
- MAT3_SET_VEC(local_up, mat[0], mat[1], mat[2]);
- MAT3_SET_VEC(view_up, VIEW[0][0], VIEW[0][1], VIEW[0][2]);
- MAT3_SET_VEC(forward, VIEW[2][0], VIEW[2][1], VIEW[2][2]);
-
- getRotMatrix((double *)TMP, view_up, view_offset);
- MAT3mult_vec(view_forward, forward, TMP);
+ // 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;
+ 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
- MAT3_SET_VEC(v0, view_pos.x(), view_pos.y(), view_pos.z());
+ sgSetVec3( v0, view_pos.x(), view_pos.y(), view_pos.z() );
// 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".
- MAT3_SET_VEC(minus_z, 0.0, 0.0, -1.0);
- map_vec_onto_cur_surface_plane(local_up, v0, minus_z, surface_south);
+ sgSetVec3( minus_z, 0.0, 0.0, -1.0 );
- MAT3_NORMALIZE_VEC(surface_south, ntmp);
- // printf( "Surface direction directly south %.6f %.6f %.6f\n",
- // surface_south[0], surface_south[1], surface_south[2]);
+ sgmap_vec_onto_cur_surface_plane(local_up, v0, 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
- getRotMatrix((double *)TMP, view_up, FG_PI_2);
- MAT3mult_vec(surface_east, surface_south, TMP);
- // printf( "Surface direction directly east %.6f %.6f %.6f\n",
- // surface_east[0], surface_east[1], surface_east[2]);
- // printf( "Should be close to zero = %.6f\n",
- // MAT3_DOT_PRODUCT(surface_south, surface_east));
-#endif // !defined(FG_VIEW_INLINE_OPTIMIZATIONS)
-}
-
-
-// Update the "World to Eye" transformation matrix
-// This is most useful for view frustum culling
-void FGView::UpdateWorldToEye( FGInterface *f ) {
- MAT3mat R_Phi, R_Theta, R_Psi, R_Lat, R_Lon, T_view;
- MAT3mat TMP;
- MAT3hvec vec;
-
- if ( use_larcsim_local_to_body ) {
-
- // Question: hey this is even different then LOCAL[][] above??
- // Answer: yet another coordinate system, this time the
- // coordinate system in which we do our view frustum culling.
-
- AIRCRAFT[0][0] = -f->get_T_local_to_body_22();
- AIRCRAFT[0][1] = -f->get_T_local_to_body_23();
- AIRCRAFT[0][2] = f->get_T_local_to_body_21();
- AIRCRAFT[0][3] = 0.0;
- AIRCRAFT[1][0] = f->get_T_local_to_body_32();
- AIRCRAFT[1][1] = f->get_T_local_to_body_33();
- AIRCRAFT[1][2] = -f->get_T_local_to_body_31();
- AIRCRAFT[1][3] = 0.0;
- AIRCRAFT[2][0] = f->get_T_local_to_body_12();
- AIRCRAFT[2][1] = f->get_T_local_to_body_13();
- AIRCRAFT[2][2] = -f->get_T_local_to_body_11();
- AIRCRAFT[2][3] = 0.0;
- AIRCRAFT[3][0] = AIRCRAFT[3][1] = AIRCRAFT[3][2] = AIRCRAFT[3][3] = 0.0;
- AIRCRAFT[3][3] = 1.0;
-
- } else {
-
- // Roll Matrix
- MAT3_SET_HVEC(vec, 0.0, 0.0, -1.0, 1.0);
- MAT3rotate(R_Phi, vec, f->get_Phi());
- // printf("Roll matrix (Phi)\n");
- // MAT3print(R_Phi, stdout);
-
- // Pitch Matrix
- MAT3_SET_HVEC(vec, 1.0, 0.0, 0.0, 1.0);
- MAT3rotate(R_Theta, vec, f->get_Theta());
- // printf("\nPitch matrix (Theta)\n");
- // MAT3print(R_Theta, stdout);
-
- // Yaw Matrix
- MAT3_SET_HVEC(vec, 0.0, -1.0, 0.0, 1.0);
- MAT3rotate(R_Psi, vec, f->get_Psi() + FG_PI /* - view_offset */ );
- // MAT3rotate(R_Psi, vec, f->get_Psi() + FG_PI - view_offset );
- // printf("\nYaw matrix (Psi)\n");
- // MAT3print(R_Psi, stdout);
-
- // aircraft roll/pitch/yaw
- MAT3mult(TMP, R_Phi, R_Theta);
- MAT3mult(AIRCRAFT, TMP, R_Psi);
-
- } // if ( use_larcsim_local_to_body )
-
-#if !defined(FG_VIEW_INLINE_OPTIMIZATIONS)
-
- // printf("AIRCRAFT matrix\n");
- // MAT3print(AIRCRAFT, stdout);
-
- // View rotation matrix relative to current aircraft orientation
- MAT3_SET_HVEC(vec, 0.0, -1.0, 0.0, 1.0);
- MAT3mult_vec(vec, vec, AIRCRAFT);
- // printf("aircraft up vector = %.2f %.2f %.2f\n",
- // vec[0], vec[1], vec[2]);
- MAT3rotate(TMP, vec, -view_offset );
- MAT3mult(VIEW_OFFSET, AIRCRAFT, TMP);
- // printf("VIEW_OFFSET matrix\n");
- // MAT3print(VIEW_OFFSET, stdout);
-
- // View position in scenery centered coordinates
- MAT3_SET_HVEC(vec, view_pos.x(), view_pos.y(), view_pos.z(), 1.0);
- MAT3translate(T_view, vec);
- // printf("\nTranslation matrix\n");
- // MAT3print(T_view, stdout);
-
- // Latitude
- MAT3_SET_HVEC(vec, 1.0, 0.0, 0.0, 1.0);
- // R_Lat = rotate about X axis
- MAT3rotate(R_Lat, vec, f->get_Latitude());
- // printf("\nLatitude matrix\n");
- // MAT3print(R_Lat, stdout);
-
- // Longitude
- MAT3_SET_HVEC(vec, 0.0, 0.0, 1.0, 1.0);
- // R_Lon = rotate about Z axis
- MAT3rotate(R_Lon, vec, f->get_Longitude() - FG_PI_2 );
- // printf("\nLongitude matrix\n");
- // MAT3print(R_Lon, stdout);
-
- // lon/lat
- MAT3mult(WORLD, R_Lat, R_Lon);
- // printf("\nworld\n");
- // MAT3print(WORLD, stdout);
-
- MAT3mult(EYE_TO_WORLD, VIEW_OFFSET, WORLD);
- MAT3mult(EYE_TO_WORLD, EYE_TO_WORLD, T_view);
- // printf("\nEye to world\n");
- // MAT3print(EYE_TO_WORLD, stdout);
-
- MAT3invert(WORLD_TO_EYE, EYE_TO_WORLD);
- // printf("\nWorld to eye\n");
- // MAT3print(WORLD_TO_EYE, stdout);
-
- // printf( "\nview_pos = %.2f %.2f %.2f\n",
- // view_pos.x, view_pos.y, view_pos.z );
-
- // MAT3_SET_HVEC(eye, 0.0, 0.0, 0.0, 1.0);
- // MAT3mult_vec(vec, eye, EYE_TO_WORLD);
- // printf("\neye -> world = %.2f %.2f %.2f\n", vec[0], vec[1], vec[2]);
-
- // MAT3_SET_HVEC(vec1, view_pos.x, view_pos.y, view_pos.z, 1.0);
- // MAT3mult_vec(vec, vec1, WORLD_TO_EYE);
- // printf( "\nabs_view_pos -> eye = %.2f %.2f %.2f\n",
- // vec[0], vec[1], vec[2]);
-#else // FG_VIEW_INLINE_OPTIMIZATIONS
-
- MAT3_SET_HVEC(vec, -AIRCRAFT[1][0], -AIRCRAFT[1][1], -AIRCRAFT[1][2], -AIRCRAFT[1][3]);
- getRotMatrix((double *)TMP, vec, -view_offset );
- MAT3mult(VIEW_OFFSET, AIRCRAFT, TMP);
- // MAT3print_formatted(VIEW_OFFSET, stdout, "VIEW_OFFSET matrix:\n",
- // NULL, "%#8.6f ", "\n");
-
- // Build spherical to cartesian transform matrix directly
- double *mat = (double *)WORLD; //T_view; //WORLD;
- double cos_lat = f->get_cos_latitude(); //cos(f->get_Latitude());
- double sin_lat = f->get_sin_latitude(); //sin(f->get_Latitude());
- // using trig identities this:
- // mat[0] = cos(f->get_Longitude() - FG_PI_2);//cos_lon;
- // mat[1] = sin(f->get_Longitude() - FG_PI_2);//sin_lon;
- // becomes this: :-)
- mat[0] = f->get_sin_longitude(); //cos_lon;
- mat[1] = -f->get_cos_longitude(); //sin_lon;
- mat[4] = -cos_lat*mat[1]; //mat[1]=sin_lon;
- mat[5] = cos_lat*mat[0]; //mat[0]=cos_lon;
- mat[6] = sin_lat;
- mat[8] = sin_lat*mat[1]; //mat[1]=sin_lon;
- mat[9] = -sin_lat*mat[0]; //mat[0]=cos_lon;
- mat[10] = cos_lat;
-
- // BUILD EYE_TO_WORLD = AIRCRAFT * WORLD
- // and WORLD_TO_EYE = Inverse( EYE_TO_WORLD) concurrently
- // by Transposing the 3x3 rotation sub-matrix
- WORLD_TO_EYE[0][0] = EYE_TO_WORLD[0][0] =
- VIEW_OFFSET[0][0]*mat[0] + VIEW_OFFSET[0][1]*mat[4] + VIEW_OFFSET[0][2]*mat[8];
-
- WORLD_TO_EYE[1][0] = EYE_TO_WORLD[0][1] =
- VIEW_OFFSET[0][0]*mat[1] + VIEW_OFFSET[0][1]*mat[5] + VIEW_OFFSET[0][2]*mat[9];
-
- WORLD_TO_EYE[2][0] = EYE_TO_WORLD[0][2] =
- VIEW_OFFSET[0][1]*mat[6] + VIEW_OFFSET[0][2]*mat[10];
-
- WORLD_TO_EYE[0][1] = EYE_TO_WORLD[1][0] =
- VIEW_OFFSET[1][0]*mat[0] + VIEW_OFFSET[1][1]*mat[4] + VIEW_OFFSET[1][2]*mat[8];
-
- WORLD_TO_EYE[1][1] = EYE_TO_WORLD[1][1] =
- VIEW_OFFSET[1][0]*mat[1] + VIEW_OFFSET[1][1]*mat[5] + VIEW_OFFSET[1][2]*mat[9];
-
- WORLD_TO_EYE[2][1] = EYE_TO_WORLD[1][2] =
- VIEW_OFFSET[1][1]*mat[6] + VIEW_OFFSET[1][2]*mat[10];
-
- WORLD_TO_EYE[0][2] = EYE_TO_WORLD[2][0] =
- VIEW_OFFSET[2][0]*mat[0] + VIEW_OFFSET[2][1]*mat[4] + VIEW_OFFSET[2][2]*mat[8];
-
- WORLD_TO_EYE[1][2] = EYE_TO_WORLD[2][1] =
- VIEW_OFFSET[2][0]*mat[1] + VIEW_OFFSET[2][1]*mat[5] + VIEW_OFFSET[2][2]*mat[9];
-
- WORLD_TO_EYE[2][2] = EYE_TO_WORLD[2][2] =
- VIEW_OFFSET[2][1]*mat[6] + VIEW_OFFSET[2][2]*mat[10];
-
- // TRANSLATE TO VIEW POSITION
- EYE_TO_WORLD[3][0] = view_pos.x();
- EYE_TO_WORLD[3][1] = view_pos.y();
- EYE_TO_WORLD[3][2] = view_pos.z();
-
- // FILL 0 ENTRIES
- WORLD_TO_EYE[0][3] = WORLD_TO_EYE[1][3] = WORLD_TO_EYE[2][3] =
- EYE_TO_WORLD[0][3] = EYE_TO_WORLD[1][3] = EYE_TO_WORLD[2][3] = 0.0;
-
- // FILL UNITY ENTRIES
- WORLD_TO_EYE[3][3] = EYE_TO_WORLD[3][3] = 1.0;
-
- /* MAKE THE INVERTED TRANSLATIONS */
- mat = (double *)EYE_TO_WORLD;
- WORLD_TO_EYE[3][0] = -mat[12]*mat[0]
- -mat[13]*mat[1]
- -mat[14]*mat[2];
-
- WORLD_TO_EYE[3][1] = -mat[12]*mat[4]
- -mat[13]*mat[5]
- -mat[14]*mat[6];
-
- WORLD_TO_EYE[3][2] = -mat[12]*mat[8]
- -mat[13]*mat[9]
- -mat[14]*mat[10];
-
- // MAT3print_formatted(EYE_TO_WORLD, stdout, "EYE_TO_WORLD matrix:\n",
- // NULL, "%#8.6f ", "\n");
-
- // MAT3print_formatted(WORLD_TO_EYE, stdout, "WORLD_TO_EYE matrix:\n",
- // NULL, "%#8.6f ", "\n");
-
-#endif // defined(FG_VIEW_INLINE_OPTIMIZATIONS)
+#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;
}
-#if 0
-// Reject non viewable spheres from current View Frustrum by Curt
-// Olson curt@me.umn.edu and Norman Vine nhv@yahoo.com with 'gentle
-// guidance' from Steve Baker sbaker@link.com
-int
-FGView::SphereClip( const Point3D& cp, const double radius )
-{
- double x1, y1;
-
- MAT3vec eye;
- double *mat;
- double x, y, z;
-
- x = cp->x;
- y = cp->y;
- z = cp->z;
-
- mat = (double *)(WORLD_TO_EYE);
-
- eye[2] = x*mat[2] + y*mat[6] + z*mat[10] + mat[14];
-
- // Check near and far clip plane
- if( ( eye[2] > radius ) ||
- ( eye[2] + radius + current_weather.visibility < 0) )
- // ( eye[2] + radius + far_plane < 0) )
- {
- return 1;
- }
-
- // check right and left clip plane (from eye perspective)
- x1 = radius * fov_x_clip;
- eye[0] = (x*mat[0] + y*mat[4] + z*mat[8] + mat[12]) * slope_x;
- if( (eye[2] > -(eye[0]+x1)) || (eye[2] > (eye[0]-x1)) ) {
- return(1);
- }
-
- // check bottom and top clip plane (from eye perspective)
- y1 = radius * fov_y_clip;
- eye[1] = (x*mat[1] + y*mat[5] + z*mat[9] + mat[13]) * slope_y;
- if( (eye[2] > -(eye[1]+y1)) || (eye[2] > (eye[1]-y1)) ) {
- return 1;
- }
-
- return 0;
+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] );
}
-#endif
// Destructor
projects / flightgear.git / blobdiff