Additional tweaks to fix the ssg texture (state) problems. Tweaked near

[flightgear.git] / src / Main / views.cxx

diff --git a/src/Main/views.cxx b/src/Main/views.cxx
index d7f692add7700ccd791a16bdfedc475226063b8d..b8cd9ce603ed37c593792afd78edbb9955d52417 100644 (file)
--- a/src/Main/views.cxx
+++ b/src/Main/views.cxx
@@ -508,8 +508,6 @@ void FGView::UpdateViewMath( FGInterface *f ) {
     MAT3mat R, TMP, UP, LOCAL, VIEW;
     double ntmp;
 
-    sgMat4 sgLOCAL, sgUP, sgVIEW;
-
     if ( update_fov ) {
        // printf("Updating fov\n");
        UpdateFOV( current_options );
@@ -603,38 +601,81 @@ void FGView::UpdateViewMath( FGInterface *f ) {
 
     } else {
 
+       // calculate the transformation matrix to go from LaRCsim to ssg
+       sgVec3 vec1;
+       sgSetVec3( vec1, 0.0, 1.0, 0.0 );
+       sgMat4 mat1;
+       sgMakeRotMat4( mat1, 90, vec1 );
+
+       sgVec3 vec2;
+       sgSetVec3( vec2, 1.0, 0.0, 0.0 );
+       sgMat4 mat2;
+       sgMakeRotMat4( mat2, 90, vec2 );
+
+       sgMultMat4( sgLARC_TO_SSG, mat1, mat2 );
+
+       /*
+       cout << "LaRCsim to SSG:" << endl;
+       MAT3mat print;
+       int i;
+       int j;
+       for ( i = 0; i < 4; i++ ) {
+           for ( j = 0; j < 4; j++ ) {
+               print[i][j] = sgLARC_TO_SSG[i][j];
+           }
+       }
+       MAT3print( print, stdout);
+       */
+
        // 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());
-       /* printf("Roll matrix\n"); */
-       /* MAT3print(R, stdout); */
+       // 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);
-       /* MAT3mult_vec(vec, vec, R); */
        MAT3rotate(TMP, vec, f->get_Theta());
-       /* printf("Pitch matrix\n"); */
-       /* MAT3print(TMP, stdout); */
+       // 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);
-       /* 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); */
+       // cout << "Yaw matrix" << endl;
+       // MAT3print(TMP, stdout);
        MAT3mult(LOCAL, R, TMP);
-       // cout << "FG derived LOCAL matrix using MAT3 routines" << endl;
+       // cout << "LOCAL matrix:" << endl;
        // MAT3print(LOCAL, stdout);
 
-       sgMakeRotMat4( sgLOCAL, 
-                      f->get_Psi() * RAD_TO_DEG,
-                      f->get_Phi() * RAD_TO_DEG,
-                      f->get_Theta() * RAD_TO_DEG );
+       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 << "FG derived LOCAL matrix using sg routines" << endl;
        MAT3mat print;
        int i;
        int j;
@@ -644,15 +685,6 @@ void FGView::UpdateViewMath( FGInterface *f ) {
            }
        }
        MAT3print( print, stdout);
-
-       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 ) 
 
@@ -706,10 +738,14 @@ void FGView::UpdateViewMath( FGInterface *f ) {
 
     // Calculate the VIEW matrix
     MAT3mult(VIEW, LOCAL, UP);
-    cout << "VIEW matrix" << endl;;
-    MAT3print(VIEW, stdout);
+    // cout << "VIEW matrix" << endl;;
+    // MAT3print(VIEW, stdout);
 
-    sgMultMat4( sgVIEW, sgLOCAL, sgUP );
+    sgMat4 sgTMP;
+    sgMultMat4( sgTMP, sgLOCAL, sgUP );
+    sgMultMat4( sgVIEW, sgLARC_TO_SSG, sgTMP );
+
+    /*
     cout << "FG derived VIEW matrix using sg routines" << endl;
     MAT3mat print;
     int i;
@@ -720,6 +756,8 @@ void FGView::UpdateViewMath( FGInterface *f ) {
        }
     }
     MAT3print( print, stdout);
+    */
+
 
     // generate the current up, forward, and fwrd-view vectors
     MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);