X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FMain%2Fviewer.cxx;h=4b77efb8cbd4c28a09797d020a140903d3c08ad7;hb=f6e80608797fa9ab9d44444eb7b031e412b83067;hp=0fc291b5472f838b86fed3d2e01d924f3c8d6418;hpb=780b4a813e9c6753355238158f069f4e3ec8937f;p=flightgear.git diff --git a/src/Main/viewer.cxx b/src/Main/viewer.cxx index 0fc291b54..4b77efb8c 100644 --- a/src/Main/viewer.cxx +++ b/src/Main/viewer.cxx @@ -26,6 +26,8 @@ #include +#include "fg_props.hxx" + #ifdef HAVE_CONFIG_H # include #endif @@ -38,20 +40,98 @@ #include -/* from lookat */ #include -#include "globals.hxx" -/* end from lookat */ +#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), @@ -64,9 +144,6 @@ FGViewer::FGViewer( void ): _roll_deg(0), _pitch_deg(0), _heading_deg(0), - _x_offset_m(0), - _y_offset_m(0), - _z_offset_m(0), _heading_offset_deg(0), _pitch_offset_deg(0), _roll_offset_deg(0), @@ -74,6 +151,15 @@ FGViewer::FGViewer( void ): _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 } @@ -85,12 +171,16 @@ FGViewer::~FGViewer( void ) { void FGViewer::init () { - if ( _type == FG_LOOKAT ) { - set_reverse_view_offset(true); - } + if ( _from_model ) + _location = (FGLocation *) globals->get_aircraft_model()->get3DModel()->getFGLocation(); + else + _location = (FGLocation *) new FGLocation; - if ( _type == FG_RPH ) { - set_reverse_view_offset(false); + if ( _type == FG_LOOKAT ) { + if ( _at_model ) + _target_location = (FGLocation *) globals->get_aircraft_model()->get3DModel()->getFGLocation(); + else + _target_location = (FGLocation *) new FGLocation; } } @@ -108,7 +198,7 @@ void FGViewer::setType ( int type ) { if (type == 0) - _type = FG_RPH; + _type = FG_LOOKFROM; if (type == 1) _type = FG_LOOKAT; } @@ -203,6 +293,36 @@ FGViewer::setOrientation (double roll_deg, double pitch_deg, double heading_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) { @@ -321,6 +441,21 @@ FGViewer::getZeroElevViewPos () 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 @@ -328,194 +463,188 @@ FGViewer::getZeroElevViewPos () void FGViewer::recalc () { - sgVec3 minus_z, right, forward, tilt; - sgMat4 tmpROT; // temp rotation work matrices - sgMat4 VIEW_HEADINGOFFSET, VIEW_PITCHOFFSET; - sgVec3 tmpVec3; // temp work vector (3) - - - // The position vectors originate from the view point or target location - // depending on the type of view. - // FIXME: In particular this routine will need to support both locations - // and chase view (aka lookat) is only unique in that the - // eye position is calculated in relation to the object's position. - // FIXME: Later note: actually the object (target) info needs to be held - // by the model class. - if (_type == FG_RPH) { - // position is the location of the pilot - recalcPositionVectors( _lon_deg, _lat_deg, _alt_ft ); - // Make the world up rotation matrix for rph - sgMakeRotMat4( UP, _lon_deg, 0.0, -_lat_deg ); + if (_type == FG_LOOKFROM) { + recalcLookFrom(); } else { - // position is the location of the object being looked at - recalcPositionVectors( _target_lon_deg, _target_lat_deg, _target_alt_ft ); - // Make the world up rotation matrix for lookat - sgMakeRotMat4( UP, _target_lon_deg, 0.0, -_target_lat_deg ); + recalcLookAt(); } - // the coordinates generated by the above "recalcPositionVectors" - sgCopyVec3(_zero_elev, _zero_elev_view_pos); - sgCopyVec3(_view_pos, _relative_view_pos); + set_clean(); +} + +// recalculate for LookFrom view type... +void +FGViewer::recalcLookFrom () +{ + sgVec3 right, forward; + sgVec3 eye_pos; + sgVec3 position_offset; // eye position offsets (xyz) - // get the world up radial vector from planet center - // (ie. effect of aircraft location on earth "sphere" approximation) - sgSetVec3( _world_up, UP[0][0], UP[0][1], UP[0][2] ); + // 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(); - // Creat local matrix with current geodetic position. Converting - // the orientation (pitch/roll/heading) to vectors. - fgMakeLOCAL( LOCAL, _pitch_deg * SG_DEGREES_TO_RADIANS, - _roll_deg * SG_DEGREES_TO_RADIANS, - -_heading_deg * SG_DEGREES_TO_RADIANS); - // Adjust LOCAL to current world_up vector (adjustment for planet location) - sgPostMultMat4( LOCAL, UP ); // make sg vectors view up, right and forward vectors from LOCAL - sgSetVec3( _view_up, LOCAL[0][0], LOCAL[0][1], LOCAL[0][2] ); + 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[2][0], LOCAL[2][1], LOCAL[2][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) - // create xyz offsets Vector - sgVec3 position_offset; - sgSetVec3( position_offset, _y_offset_m, _x_offset_m, _z_offset_m ); + // 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]); - // generate the heading offset matrix using heading_offset angle(s) - if (_type == FG_LOOKAT) { - // Note that when in "chase view" the offset is in relation to the - // orientation heading (_heading_deg) of the model being looked at as - // it is used to rotate around the model. - sgMakeRotMat4( VIEW_HEADINGOFFSET, _heading_offset_deg -_heading_deg, _world_up ); - } - if (_type == FG_RPH) { - // generate the view offset matrix using orientation offset (heading) - sgMakeRotMat4( VIEW_HEADINGOFFSET, _heading_offset_deg, _view_up ); - } + // 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 ); - // create a tilt matrix using orientation offset (pitch) - sgMakeRotMat4( VIEW_PITCHOFFSET, _pitch_offset_deg, right ); + // multiply the OFFSETS (for heading and pitch) into the VIEW + sgPostMultMat4(VIEW, VIEW_OFFSET); - sgCopyMat4(VIEW_OFFSET, VIEW_HEADINGOFFSET); - sgPreMultMat4(VIEW_OFFSET, VIEW_PITCHOFFSET); + // add the position data to the matrix + sgSetVec4(VIEW[3], _view_pos[0], _view_pos[1], _view_pos[2],SG_ONE); +} - if (_type == FG_LOOKAT) { - - // transfrom "offset" and "orientation offset" to vector - sgXformVec3( position_offset, position_offset, UP ); - sgXformVec3( position_offset, position_offset, VIEW_HEADINGOFFSET ); - sgXformPnt3( position_offset, position_offset, VIEW_PITCHOFFSET ); +void +FGViewer::recalcLookAt () +{ - sgVec3 object_pos, eye_pos; - // copy to coordinates to object... - sgCopyVec3( object_pos, _view_pos ); + sgVec3 right; + sgVec3 eye_pos, at_pos; + sgVec3 position_offset; // eye position offsets (xyz) - // add the offsets from object to the coordinates to get "eye" - sgAddVec3( eye_pos, _view_pos, position_offset ); + // The position vectors originate from the view point or target location + // depending on the type of view. - // Make the VIEW matrix for "lookat". - sgMakeLookAtMat4( VIEW, eye_pos, object_pos, _view_up ); - } + // LOOKAT mode... - if (_type == FG_RPH) { - - sgXformVec3( position_offset, position_offset, LOCAL); - // add the offsets including rotations to the coordinates - sgAddVec3( _view_pos, position_offset ); - - // Make the VIEW matrix. - VIEW[0][0] = right[0]; - VIEW[0][1] = right[1]; - VIEW[0][2] = right[2]; - VIEW[1][0] = forward[0]; - VIEW[1][1] = forward[1]; - VIEW[1][2] = forward[2]; - VIEW[2][0] = _view_up[0]; - VIEW[2][1] = _view_up[1]; - VIEW[2][2] = _view_up[2]; - // multiply the OFFSETS (for heading and pitch) into the VIEW - sgPostMultMat4(VIEW, VIEW_OFFSET); - - // add the position data to the matrix - VIEW[3][0] = _view_pos[0]; - VIEW[3][1] = _view_pos[1]; - VIEW[3][2] = _view_pos[2]; - VIEW[3][3] = 1.0f; - - - // copy the LOCAL matrix to COCKPIT_ROT for publication... - sgCopyMat4( COCKPIT_ROT, LOCAL ); + // 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()); - // the VIEW matrix includes both rotation and translation. Let's - // knock out the translation part to make the VIEW_ROT matrix - sgCopyMat4( VIEW_ROT, VIEW ); - VIEW_ROT[3][0] = VIEW_ROT[3][1] = VIEW_ROT[3][2] = 0.0; - - // 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(_world_up, _view_pos, minus_z, - _surface_south); - sgNormalizeVec3(_surface_south); + // copy data from location class to local items... + copyLocationData(); - // now calculate the surface east vector - sgVec3 world_down; - sgNegateVec3(world_down, _world_up); - sgVectorProductVec3(_surface_east, _surface_south, world_down); + // 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] ); - set_clean(); -} + // 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). -void -FGViewer::recalcPositionVectors (double lon_deg, double lat_deg, double alt_ft) const -{ - double sea_level_radius_m; - double lat_geoc_rad; + // 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 ); - // Convert from geodetic to geocentric - // coordinates. - sgGeodToGeoc(lat_deg * SGD_DEGREES_TO_RADIANS, - alt_ft * SG_FEET_TO_METER, - &sea_level_radius_m, - &lat_geoc_rad); + // add the Position offsets from object to the eye position + sgAddVec3( eye_pos, eye_pos, position_offset ); - // Calculate the cartesian coordinates - // of point directly below at sea level. - // aka Zero Elevation Position - Point3D p = Point3D(lon_deg * SG_DEGREES_TO_RADIANS, - lat_geoc_rad, - sea_level_radius_m); - Point3D tmp = sgPolarToCart3d(p) - scenery.get_next_center(); - sgSetVec3(_zero_elev_view_pos, tmp[0], tmp[1], tmp[2]); + // Make the VIEW matrix for a "LOOKAT". + sgMakeLookAtMat4( VIEW, eye_pos, at_pos, _view_up ); - // Calculate the absolute view position - // in fgfs coordinates. - // aka Absolute View Position - p.setz(p.radius() + alt_ft * SG_FEET_TO_METER); - tmp = sgPolarToCart3d(p); - sgdSetVec3(_absolute_view_pos, tmp[0], tmp[1], tmp[2]); +} - // Calculate the relative view position - // from the scenery center. - // aka Relative View Position - sgdVec3 scenery_center; - sgdSetVec3(scenery_center, - scenery.get_next_center().x(), - scenery.get_next_center().y(), - scenery.get_next_center().z()); - sgdVec3 view_pos; - sgdSubVec3(view_pos, _absolute_view_pos, scenery_center); - sgSetVec3(_relative_view_pos, view_pos); +// 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 @@ -536,8 +665,11 @@ FGViewer::get_h_fov() default: assert(false); } + return 0.0; } + + double FGViewer::get_v_fov() { @@ -557,13 +689,15 @@ FGViewer::get_v_fov() default: assert(false); } + return 0.0; } void -FGViewer::update (int dt) +FGViewer::update (double dt) { int i; - for ( i = 0; i < dt; 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; @@ -592,7 +726,7 @@ FGViewer::update (int dt) } } - for ( i = 0; i < dt; i++ ) { + for ( i = 0; i < dt_ms; i++ ) { if ( fabs( _goal_pitch_offset_deg - _pitch_offset_deg ) < 1 ) { setPitchOffset_deg( _goal_pitch_offset_deg ); break; @@ -613,36 +747,3 @@ FGViewer::update (int dt) } } } - -void FGViewer::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 ; -} - -