X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FMain%2Fviewer.cxx;h=4b77efb8cbd4c28a09797d020a140903d3c08ad7;hb=a4e81f4ff075e6a3c0c2ea1b5a29c0bcdfdbc671;hp=85401aa2985e4542d1e4b5a6116ef177866beaff;hpb=470ee55fb7b3a913a14cb4e23ae526e624091822;p=flightgear.git diff --git a/src/Main/viewer.cxx b/src/Main/viewer.cxx index 85401aa29..4b77efb8c 100644 --- a/src/Main/viewer.cxx +++ b/src/Main/viewer.cxx @@ -2,6 +2,8 @@ // // 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 // @@ -24,352 +26,724 @@ #include +#include "fg_props.hxx" + #ifdef HAVE_CONFIG_H # include #endif -#include // plib include - -#include #include +#include #include #include -#include +#include -#include -#include #include -#include "globals.hxx" +#include +#include
+#include +#include + #include "viewer.hxx" + +////////////////////////////////////////////////////////////////// +// Norman's Optimized matrix rotators! // +////////////////////////////////////////////////////////////////// + + +// Since these are pure rotation matrices we can save some bookwork +// by considering them to be 3x3 until the very end -- NHV +static void MakeVIEW_OFFSET( sgMat4 dst, + const float angle1, const sgVec3 axis1, + const float angle2, const sgVec3 axis2 ) +{ + // make rotmatrix1 from angle and axis + float s = (float) sin ( angle1 ) ; + float c = (float) cos ( angle1 ) ; + float t = SG_ONE - c ; + + sgMat3 mat1; + float tmp = t * axis1[0]; + mat1[0][0] = tmp * axis1[0] + c ; + mat1[0][1] = tmp * axis1[1] + s * axis1[2] ; + mat1[0][2] = tmp * axis1[2] - s * axis1[1] ; + + tmp = t * axis1[1]; + mat1[1][0] = tmp * axis1[0] - s * axis1[2] ; + mat1[1][1] = tmp * axis1[1] + c ; + mat1[1][2] = tmp * axis1[2] + s * axis1[0] ; + + tmp = t * axis1[2]; + mat1[2][0] = tmp * axis1[0] + s * axis1[1] ; + mat1[2][1] = tmp * axis1[1] - s * axis1[0] ; + mat1[2][2] = tmp * axis1[2] + c ; + + // make rotmatrix2 from angle and axis + s = (float) sin ( angle2 ) ; + c = (float) cos ( angle2 ) ; + t = SG_ONE - c ; + + sgMat3 mat2; + tmp = t * axis2[0]; + mat2[0][0] = tmp * axis2[0] + c ; + mat2[0][1] = tmp * axis2[1] + s * axis2[2] ; + mat2[0][2] = tmp * axis2[2] - s * axis2[1] ; + + tmp = t * axis2[1]; + mat2[1][0] = tmp * axis2[0] - s * axis2[2] ; + mat2[1][1] = tmp * axis2[1] + c ; + mat2[1][2] = tmp * axis2[2] + s * axis2[0] ; + + tmp = t * axis2[2]; + mat2[2][0] = tmp * axis2[0] + s * axis2[1] ; + mat2[2][1] = tmp * axis2[1] - s * axis2[0] ; + mat2[2][2] = tmp * axis2[2] + c ; + + // multiply matrices + for ( int j = 0 ; j < 3 ; j++ ) { + dst[0][j] = mat2[0][0] * mat1[0][j] + + mat2[0][1] * mat1[1][j] + + mat2[0][2] * mat1[2][j]; + + dst[1][j] = mat2[1][0] * mat1[0][j] + + mat2[1][1] * mat1[1][j] + + mat2[1][2] * mat1[2][j]; + + dst[2][j] = mat2[2][0] * mat1[0][j] + + mat2[2][1] * mat1[1][j] + + mat2[2][2] * mat1[2][j]; + } + // fill in 4x4 matrix elements + dst[0][3] = SG_ZERO; + dst[1][3] = SG_ZERO; + 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; +} + + +//////////////////////////////////////////////////////////////////////// +// Implementation of FGViewer. +//////////////////////////////////////////////////////////////////////// // Constructor -FGViewer::FGViewer( void ) +FGViewer::FGViewer( fgViewType Type, bool from_model, int from_model_index, bool at_model, int at_model_index, double x_offset_m, double y_offset_m, double z_offset_m, double near_m ): + _scaling_type(FG_SCALING_MAX), + _fov_deg(55.0), + _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), + _heading_offset_deg(0), + _pitch_offset_deg(0), + _roll_offset_deg(0), + _goal_heading_offset_deg(0.0), + _goal_pitch_offset_deg(0.0) { + sgdZeroVec3(_absolute_view_pos); + _type = Type; + _from_model = from_model; + _from_model_index = from_model_index; + _at_model = at_model; + _at_model_index = at_model_index; + _x_offset_m = x_offset_m; + _y_offset_m = y_offset_m; + _z_offset_m = z_offset_m; + _ground_level_nearplane_m = near_m; + //a reasonable guess for init, so that the math doesn't blow up } -#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 ) +// Destructor +FGViewer::~FGViewer( void ) { +} + +void +FGViewer::init () { - 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]; + if ( _from_model ) + _location = (FGLocation *) globals->get_aircraft_model()->get3DModel()->getFGLocation(); + else + _location = (FGLocation *) new FGLocation; + + if ( _type == FG_LOOKAT ) { + if ( _at_model ) + _target_location = (FGLocation *) globals->get_aircraft_model()->get3DModel()->getFGLocation(); + else + _target_location = (FGLocation *) new FGLocation; + } +} - dst[0][j] = m2[1][0] * m1[0][j] + - m2[1][1] * m1[1][j] + - m2[1][2] * m1[2][j]; +void +FGViewer::bind () +{ +} - 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::unbind () +{ } -#endif +void +FGViewer::setType ( int type ) +{ + if (type == 0) + _type = FG_LOOKFROM; + if (type == 1) + _type = FG_LOOKAT; +} -// 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::setLongitude_deg (double lon_deg) +{ + _dirty = true; + _lon_deg = lon_deg; } -#endif +void +FGViewer::setLatitude_deg (double lat_deg) +{ + _dirty = true; + _lat_deg = lat_deg; +} -// 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::setAltitude_ft (double alt_ft) +{ + _dirty = true; + _alt_ft = alt_ft; } +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; +} -// Update the view parameters -void FGViewer::update() { +void +FGViewer::setTargetLongitude_deg (double lon_deg) +{ + _dirty = true; + _target_lon_deg = lon_deg; +} - sgVec3 minus_z, forward; - sgMat4 VIEWo; +void +FGViewer::setTargetLatitude_deg (double lat_deg) +{ + _dirty = true; + _target_lat_deg = lat_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::setTargetAltitude_ft (double alt_ft) +{ + _dirty = true; + _target_alt_ft = alt_ft; +} - cur_zero_elev = sgPolarToCart3d(p) - scenery.center; +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; +} - // 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::setRoll_deg (double roll_deg) +{ + _dirty = true; + _roll_deg = roll_deg; +} + +void +FGViewer::setPitch_deg (double pitch_deg) +{ + _dirty = true; + _pitch_deg = pitch_deg; +} + +void +FGViewer::setHeading_deg (double heading_deg) +{ + _dirty = true; + _heading_deg = heading_deg; +} + +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; + _x_offset_m = x_offset_m; +} + +void +FGViewer::setYOffset_m (double y_offset_m) +{ + _dirty = true; + _y_offset_m = y_offset_m; +} + +void +FGViewer::setZOffset_m (double z_offset_m) +{ + _dirty = true; + _z_offset_m = z_offset_m; +} + +void +FGViewer::setPositionOffsets (double x_offset_m, double y_offset_m, double z_offset_m) +{ + _dirty = true; + _x_offset_m = x_offset_m; + _y_offset_m = y_offset_m; + _z_offset_m = 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; +} + +double * +FGViewer::get_absolute_view_pos () +{ + if (_dirty) + recalc(); + return _absolute_view_pos; +} + +float * +FGViewer::getRelativeViewPos () +{ + if (_dirty) + recalc(); + return _relative_view_pos; +} + +float * +FGViewer::getZeroElevViewPos () +{ + if (_dirty) + recalc(); + return _zero_elev_view_pos; +} + +void +FGViewer::updateFromModelLocation (FGLocation * location) +{ + sgCopyMat4(LOCAL, location->getCachedTransformMatrix()); +} + +void +FGViewer::recalcOurOwnLocation (FGLocation * location, double lon_deg, double lat_deg, double alt_ft, + double roll_deg, double pitch_deg, double heading_deg) +{ + // update from our own data... + location->setPosition( lon_deg, lat_deg, alt_ft ); + location->setOrientation( roll_deg, pitch_deg, heading_deg ); + sgCopyMat4(LOCAL, location->getTransformMatrix()); +} + +// 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 () +{ + + sgVec3 right, forward; + sgVec3 eye_pos; + sgVec3 position_offset; // eye position offsets (xyz) + + // LOOKFROM mode... + + // Update location data... + if ( _from_model ) { + // update or data from model location + updateFromModelLocation(_location); + } else { + // update from our own data... + recalcOurOwnLocation( _location, _lon_deg, _lat_deg, _alt_ft, + _roll_deg, _pitch_deg, _heading_deg ); + } + + // copy data from location class to local items... + copyLocationData(); + + // make sg vectors view up, right and forward vectors from LOCAL + sgSetVec3( _view_up, LOCAL[2][0], LOCAL[2][1], LOCAL[2][2] ); + sgSetVec3( right, LOCAL[1][0], LOCAL[1][1], LOCAL[1][2] ); + sgSetVec3( forward, -LOCAL[0][0], -LOCAL[0][1], -LOCAL[0][2] ); + + + // Note that when in "lookfrom" view the "view up" vector is always applied + // to the viewer. View up is based on verticle of the aircraft itself. (see + // "LOCAL" matrix above) + + // Orientation Offsets matrix + MakeVIEW_OFFSET( VIEW_OFFSET, + _heading_offset_deg * SG_DEGREES_TO_RADIANS, _view_up, + _pitch_offset_deg * SG_DEGREES_TO_RADIANS, right ); + + // Make the VIEW matrix. + sgSetVec4(VIEW[0], right[0], right[1], right[2],SG_ZERO); + sgSetVec4(VIEW[1], forward[0], forward[1], forward[2],SG_ZERO); + sgSetVec4(VIEW[2], _view_up[0], _view_up[1], _view_up[2],SG_ZERO); + sgSetVec4(VIEW[3], SG_ZERO, SG_ZERO, SG_ZERO,SG_ONE); + + // rotate matrix to get a matrix to apply Eye Position Offsets + sgMat4 VIEW_UP; // L0 forward L1 right L2 up + sgCopyVec4(VIEW_UP[0], LOCAL[1]); + sgCopyVec4(VIEW_UP[1], LOCAL[2]); + sgCopyVec4(VIEW_UP[2], LOCAL[0]); + sgZeroVec4(VIEW_UP[3]); + + // Eye Position Offsets to vector + sgSetVec3( position_offset, _x_offset_m, _y_offset_m, _z_offset_m ); + sgXformVec3( position_offset, position_offset, VIEW_UP); + + // add the offsets including rotations to the translation vector + sgAddVec3( _view_pos, position_offset ); + + // multiply the OFFSETS (for heading and pitch) into the VIEW + sgPostMultMat4(VIEW, VIEW_OFFSET); + + // add the position data to the matrix + sgSetVec4(VIEW[3], _view_pos[0], _view_pos[1], _view_pos[2],SG_ONE); + +} + +void +FGViewer::recalcLookAt () +{ + + sgVec3 right; + sgVec3 eye_pos, at_pos; + sgVec3 position_offset; // eye position offsets (xyz) + + // The position vectors originate from the view point or target location + // depending on the type of view. + + // LOOKAT mode... + + // Update location data for target... + if ( _at_model ) { + // update or data from model location + updateFromModelLocation(_target_location); + } else { + // if not model then calculate our own target position... + recalcOurOwnLocation( _target_location, _target_lon_deg, _target_lat_deg, _target_alt_ft, + _target_roll_deg, _target_pitch_deg, _target_heading_deg ); + } + // calculate the "at" target object positon relative to eye or view's tile center... + sgdVec3 dVec3; + sgdSetVec3(dVec3, _location->get_tile_center()[0], _location->get_tile_center()[1], _location->get_tile_center()[2]); + sgdSubVec3(dVec3, _target_location->get_absolute_view_pos(), dVec3 ); + sgSetVec3(at_pos, dVec3[0], dVec3[1], dVec3[2]); + + // Update location data for eye... + if ( _from_model ) { + // update or data from model location + updateFromModelLocation(_location); + } else { + // update from our own data, just the rotation here... + recalcOurOwnLocation( _location, _lon_deg, _lat_deg, _alt_ft, + _roll_deg, _pitch_deg, _heading_deg ); + } + // save the eye positon... + sgCopyVec3(eye_pos, _location->get_view_pos()); + + // copy data from location class to local items... + copyLocationData(); + + // make sg vectors view up, right and forward vectors from LOCAL + sgSetVec3( _view_up, LOCAL[2][0], LOCAL[2][1], LOCAL[2][2] ); + sgSetVec3( right, LOCAL[1][0], LOCAL[1][1], LOCAL[1][2] ); + + // Note that when in "lookat" view the "world up" vector is always applied + // to the viewer. World up is based on verticle at a given lon/lat (see + // matrix "UP" above). + + // Orientation Offsets matrix + MakeVIEW_OFFSET( VIEW_OFFSET, + (_heading_offset_deg -_heading_deg) * SG_DEGREES_TO_RADIANS, _world_up, + _pitch_offset_deg * SG_DEGREES_TO_RADIANS, right ); + + // add in the Orientation Offsets here + sgSetVec3( position_offset, _x_offset_m, _y_offset_m, _z_offset_m ); + sgXformVec3( position_offset, position_offset, UP); + + sgXformVec3( position_offset, position_offset, VIEW_OFFSET ); + + // add the Position offsets from object to the eye position + sgAddVec3( eye_pos, eye_pos, position_offset ); + + // Make the VIEW matrix for a "LOOKAT". + sgMakeLookAtMat4( VIEW, eye_pos, at_pos, _view_up ); + +} + +// copy results from location class to viewer... +// FIXME: some of these should be changed to reference directly to FGLocation... +void +FGViewer::copyLocationData() +{ + // Get our friendly vectors from the eye location... + sgCopyVec3(_zero_elev_view_pos, _location->get_zero_elev()); + sgCopyVec3(_relative_view_pos, _location->get_view_pos()); + sgdCopyVec3(_absolute_view_pos, _location->get_absolute_view_pos()); + sgCopyMat4(UP, _location->getCachedUpMatrix()); + sgCopyVec3(_world_up, _location->get_world_up()); + // these are the vectors that the sun and moon code like to get... + sgCopyVec3(_surface_east, _location->get_surface_east()); + sgCopyVec3(_surface_south, _location->get_surface_south()); + + // Update viewer's postion data for the eye location... + _lon_deg = _location->getLongitude_deg(); + _lat_deg = _location->getLatitude_deg(); + _alt_ft = _location->getAltitudeASL_ft(); + _roll_deg = _location->getRoll_deg(); + _pitch_deg = _location->getPitch_deg(); + _heading_deg = _location->getHeading_deg(); + + // Update viewer's postion data for the target (at object) location + if (_type == FG_LOOKAT) { + _target_lon_deg = _target_location->getLongitude_deg(); + _target_lat_deg = _target_location->getLatitude_deg(); + _target_alt_ft = _target_location->getAltitudeASL_ft(); + _target_roll_deg = _target_location->getRoll_deg(); + _target_pitch_deg = _target_location->getPitch_deg(); + _target_heading_deg = _target_location->getHeading_deg(); + } + + // copy coordinates to outputs for viewer... + sgCopyVec3(_zero_elev, _zero_elev_view_pos); + sgCopyVec3(_view_pos, _relative_view_pos); +} + +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) * + SG_RADIANS_TO_DEGREES * 2; + } + default: + assert(false); } + return 0.0; +} - 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] ); + + +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) * + 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) * + SG_RADIANS_TO_DEGREES * 2; + } else { + // v_fov == fov + return _fov_deg; + } + default: + assert(false); + } + return 0.0; } +void +FGViewer::update (double 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 ); + } + } + } -// Destructor -FGViewer::~FGViewer( void ) { + 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 ); + } + } + } }