X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FMain%2Fviewer.cxx;h=8dcfb982dbf5f4913eb0c573e2d9e55019293c7d;hb=7cde2e800bccd4883f03eceb5283add24755b377;hp=bed93454bb58e0a447b74c7b874a8cdc754743db;hpb=ec6888d4a4d119c11f62bc27292a8f17fb8a18af;p=flightgear.git diff --git a/src/Main/viewer.cxx b/src/Main/viewer.cxx index bed93454b..8dcfb982d 100644 --- a/src/Main/viewer.cxx +++ b/src/Main/viewer.cxx @@ -5,7 +5,7 @@ // 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 +// Copyright (C) 1997 - 2000 Curtis L. Olson - http://www.flightgear.org/~curt // // This program is free software; you can redistribute it and/or // modify it under the terms of the GNU General Public License as @@ -19,206 +19,96 @@ // // You should have received a copy of the GNU General Public License // along with this program; if not, write to the Free Software -// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. +// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. // // $Id$ +#ifdef HAVE_CONFIG_H +# include "config.h" +#endif #include -#ifdef HAVE_CONFIG_H -# include -#endif +#include "fg_props.hxx" #include #include -#include -#include -#include +#include +#include +#include
#include - -/* from lookat */ -#include -#include "globals.hxx" -/* end from lookat */ +#include #include "viewer.hxx" - -////////////////////////////////////////////////////////////////// -// Norman's Optimized matrix rotators! // -////////////////////////////////////////////////////////////////// - -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 ; -} - - -// 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; -} - -// Taking advantage of the 3x3 nature of this -- NHV -inline static void MakeWithWorldUp( sgMat4 dst, const sgMat4 UP, const sgMat4 LOCAL ) -{ - sgMat4 tmp; - - float a = UP[0][0]; - float b = UP[1][0]; - float c = UP[2][0]; - tmp[0][0] = a*LOCAL[0][0] + b*LOCAL[0][1] + c*LOCAL[0][2] ; - tmp[1][0] = a*LOCAL[1][0] + b*LOCAL[1][1] + c*LOCAL[1][2] ; - tmp[2][0] = a*LOCAL[2][0] + b*LOCAL[2][1] + c*LOCAL[2][2] ; - tmp[3][0] = SG_ZERO ; - - a = UP[0][1]; - b = UP[1][1]; - c = UP[2][1]; - tmp[0][1] = a*LOCAL[0][0] + b*LOCAL[0][1] + c*LOCAL[0][2] ; - tmp[1][1] = a*LOCAL[1][0] + b*LOCAL[1][1] + c*LOCAL[1][2] ; - tmp[2][1] = a*LOCAL[2][0] + b*LOCAL[2][1] + c*LOCAL[2][2] ; - tmp[3][1] = SG_ZERO ; - - a = UP[0][2]; - c = UP[2][2]; - tmp[0][2] = a*LOCAL[0][0] + c*LOCAL[0][2] ; - tmp[1][2] = a*LOCAL[1][0] + c*LOCAL[1][2] ; - tmp[2][2] = a*LOCAL[2][0] + c*LOCAL[2][2] ; - tmp[3][2] = SG_ZERO ; - - tmp[0][3] = SG_ZERO ; - tmp[1][3] = SG_ZERO ; - tmp[2][3] = SG_ZERO ; - tmp[3][3] = SG_ONE ; - sgCopyMat4(dst, tmp); -} - +#include "CameraGroup.hxx" +using namespace flightgear; + //////////////////////////////////////////////////////////////////////// // Implementation of FGViewer. //////////////////////////////////////////////////////////////////////// -// Constructor -FGViewer::FGViewer( void ): - _scaling_type(FG_SCALING_MAX), - _fov_deg(55.0), +// Constructor... +FGViewer::FGViewer( fgViewType Type, bool from_model, int from_model_index, + bool at_model, int at_model_index, + double damp_roll, double damp_pitch, double damp_heading, + double x_offset_m, double y_offset_m, double z_offset_m, + double heading_offset_deg, double pitch_offset_deg, + double roll_offset_deg, + double fov_deg, double aspect_ratio_multiplier, + double target_x_offset_m, double target_y_offset_m, + double target_z_offset_m, double near_m, bool internal ): _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), - _x_offset_m(0), - _y_offset_m(0), - _z_offset_m(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); - //a reasonable guess for init, so that the math doesn't blow up + _damp_sync(0), + _damp_roll(0), + _damp_pitch(0), + _damp_heading(0), + _scaling_type(FG_SCALING_MAX), + _aspect_ratio(0), + _cameraGroup(CameraGroup::getDefault()) +{ + _absolute_view_pos = SGVec3d(0, 0, 0); + _type = Type; + _from_model = from_model; + _from_model_index = from_model_index; + _at_model = at_model; + _at_model_index = at_model_index; + + _internal = internal; + + if (damp_roll > 0.0) + _damp_roll = 1.0 / pow(10.0, fabs(damp_roll)); + if (damp_pitch > 0.0) + _damp_pitch = 1.0 / pow(10.0, fabs(damp_pitch)); + if (damp_heading > 0.0) + _damp_heading = 1.0 / pow(10.0, fabs(damp_heading)); + + _offset_m.x() = x_offset_m; + _offset_m.y() = y_offset_m; + _offset_m.z() = z_offset_m; + _heading_offset_deg = heading_offset_deg; + _pitch_offset_deg = pitch_offset_deg; + _roll_offset_deg = roll_offset_deg; + _goal_heading_offset_deg = heading_offset_deg; + _goal_pitch_offset_deg = pitch_offset_deg; + _goal_roll_offset_deg = roll_offset_deg; + if (fov_deg > 0) { + _fov_deg = fov_deg; + } else { + _fov_deg = 55; + } + _aspect_ratio = 1; + _aspect_ratio_multiplier = aspect_ratio_multiplier; + _target_offset_m.x() = target_x_offset_m; + _target_offset_m.y() = target_y_offset_m; + _target_offset_m.z() = target_z_offset_m; + _ground_level_nearplane_m = near_m; + // a reasonable guess for init, so that the math doesn't blow up } @@ -245,69 +135,29 @@ void FGViewer::setType ( int type ) { if (type == 0) - _type = FG_RPH; + _type = FG_LOOKFROM; if (type == 1) _type = FG_LOOKAT; } void -FGViewer::setLongitude_deg (double lon_deg) -{ - _dirty = true; - _lon_deg = lon_deg; -} - -void -FGViewer::setLatitude_deg (double lat_deg) +FGViewer::setInternal ( bool internal ) { - _dirty = true; - _lat_deg = lat_deg; -} - -void -FGViewer::setAltitude_ft (double alt_ft) -{ - _dirty = true; - _alt_ft = alt_ft; + _internal = internal; } 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; -} - -void -FGViewer::setTargetLongitude_deg (double lon_deg) -{ - _dirty = true; - _target_lon_deg = lon_deg; -} - -void -FGViewer::setTargetLatitude_deg (double lat_deg) -{ - _dirty = true; - _target_lat_deg = lat_deg; -} - -void -FGViewer::setTargetAltitude_ft (double alt_ft) -{ - _dirty = true; - _target_alt_ft = alt_ft; + _position = SGGeod::fromDegFt(lon_deg, lat_deg, alt_ft); } 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; + _target = SGGeod::fromDegFt(lon_deg, lat_deg, alt_ft); } void @@ -374,30 +224,51 @@ void FGViewer::setXOffset_m (double x_offset_m) { _dirty = true; - _x_offset_m = x_offset_m; + _offset_m.x() = x_offset_m; } void FGViewer::setYOffset_m (double y_offset_m) { _dirty = true; - _y_offset_m = y_offset_m; + _offset_m.y() = y_offset_m; } void FGViewer::setZOffset_m (double z_offset_m) { _dirty = true; - _z_offset_m = z_offset_m; + _offset_m.z() = z_offset_m; +} + +void +FGViewer::setTargetXOffset_m (double target_x_offset_m) +{ + _dirty = true; + _target_offset_m.x() = target_x_offset_m; +} + +void +FGViewer::setTargetYOffset_m (double target_y_offset_m) +{ + _dirty = true; + _target_offset_m.y() = target_y_offset_m; +} + +void +FGViewer::setTargetZOffset_m (double target_z_offset_m) +{ + _dirty = true; + _target_offset_m.z() = target_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; + _offset_m.x() = x_offset_m; + _offset_m.y() = y_offset_m; + _offset_m.z() = z_offset_m; } void @@ -464,235 +335,198 @@ FGViewer::setOrientationOffsets (double roll_offset_deg, double 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; -} - - // 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 () { - sgVec3 minus_z, right, forward, tilt; - sgMat4 tmpROT; // temp rotation work matrices - sgMat4 VIEW_HEADINGOFFSET, VIEW_PITCHOFFSET; - sgVec3 tmpVec3; // temp work vector (3) - sgVec3 eye_pos, object_pos; - - // The position vectors originate from the view point or target location - // depending on the type of view. - // FIXME: Later note: actually the object (target) info needs to be held - // by the model class. - - if (_type == FG_RPH) { - // eye position is the location of the pilot - recalcPositionVectors( _lon_deg, _lat_deg, _alt_ft ); + if (_type == FG_LOOKFROM) { + recalcLookFrom(); } else { - // eye position is now calculated based on lon/lat; - recalcPositionVectors( _lon_deg, _lat_deg, _alt_ft ); - sgCopyVec3(eye_pos, _relative_view_pos); - - // object position is the location of the object being looked at - recalcPositionVectors( _target_lon_deg, _target_lat_deg, _target_alt_ft ); + recalcLookAt(); } - // the coordinates generated by the above "recalcPositionVectors" - sgCopyVec3(_zero_elev, _zero_elev_view_pos); - sgCopyVec3(_view_pos, _relative_view_pos); - - // Make the world up rotation matrix for eye positioin... - sgMakeRotMat4( UP, _lon_deg, 0.0, -_lat_deg ); - - - // 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] ); - - - - // 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) - MakeWithWorldUp( LOCAL, UP, LOCAL ); - // copy the LOCAL matrix to COCKPIT_ROT for publication... - sgCopyMat4( LOCAL_ROT, LOCAL ); - - // make sg vectors view up, right and forward vectors from LOCAL - sgSetVec3( _view_up, LOCAL[0][0], LOCAL[0][1], LOCAL[0][2] ); - sgSetVec3( right, LOCAL[1][0], LOCAL[1][1], LOCAL[1][2] ); - sgSetVec3( forward, LOCAL[2][0], LOCAL[2][1], LOCAL[2][2] ); - - - - // create xyz offsets Vector - sgVec3 position_offset; - sgSetVec3( position_offset, _y_offset_m, _x_offset_m, _z_offset_m ); + set_clean(); +} - // Eye rotations. - // Looking up/down left/right in pilot view (lookfrom mode) - // or Floating Rotatation around the object in chase view (lookat mode). - // Generate the offset matrix to be applied using offset angles: - if (_type == FG_LOOKAT) { - // 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). - MakeVIEW_OFFSET( VIEW_OFFSET, - _heading_offset_deg * SG_DEGREES_TO_RADIANS, _world_up, - _pitch_offset_deg * SG_DEGREES_TO_RADIANS, right ); - } - if (_type == FG_RPH) { - // 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) - MakeVIEW_OFFSET( VIEW_OFFSET, - _heading_offset_deg * SG_DEGREES_TO_RADIANS, _view_up, - _pitch_offset_deg * SG_DEGREES_TO_RADIANS, right ); +// recalculate for LookFrom view type... +void +FGViewer::recalcLookFrom () +{ + // Update location data ... + if ( _from_model ) { + SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel(); + _position = placement->getPosition(); + + _heading_deg = placement->getHeadingDeg(); + _pitch_deg = placement->getPitchDeg(); + _roll_deg = placement->getRollDeg(); } - - - if (_type == FG_LOOKAT) { - - // transfrom "offset" and "orientation offset" to vector - sgXformVec3( position_offset, position_offset, UP ); - - // add heading to offset so that the eye does heading as such... - sgMakeRotMat4(tmpROT, -_heading_deg, _world_up); - sgPostMultMat4(VIEW_OFFSET, tmpROT); - sgXformVec3( position_offset, position_offset, VIEW_OFFSET ); - - // add the offsets from object to the eye position - sgAddVec3( eye_pos, eye_pos, position_offset ); - // copy object - sgCopyVec3( object_pos, _view_pos ); - - // Make the VIEW matrix for "lookat". - sgMakeLookAtMat4( VIEW, eye_pos, object_pos, _view_up ); + double head = _heading_deg; + double pitch = _pitch_deg; + double roll = _roll_deg; + if ( !_from_model ) { + // update from our own data... + dampEyeData(roll, pitch, head); } - 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[0][3] = 0.0; - VIEW[1][0] = forward[0]; - VIEW[1][1] = forward[1]; - VIEW[1][2] = forward[2]; - VIEW[1][3] = 0.0; - VIEW[2][0] = _view_up[0]; - VIEW[2][1] = _view_up[1]; - VIEW[2][2] = _view_up[2]; - VIEW[2][3] = 0.0; - VIEW[3][0] = 0.0; - VIEW[3][1] = 0.0; - VIEW[3][2] = 0.0; - VIEW[3][3] = 0.0; - // 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; + // The rotation rotating from the earth centerd frame to + // the horizontal local frame + SGQuatd hlOr = SGQuatd::fromLonLat(_position); - } + // The rotation from the horizontal local frame to the basic view orientation + SGQuatd hlToBody = SGQuatd::fromYawPitchRollDeg(head, pitch, roll); - // 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; + // The rotation offset, don't know why heading is negative here ... + mViewOffsetOr + = SGQuatd::fromYawPitchRollDeg(-_heading_offset_deg, _pitch_offset_deg, + _roll_offset_deg); - // 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 ); + // Compute the eyepoints orientation and position + // wrt the earth centered frame - that is global coorinates + SGQuatd ec2body = hlOr*hlToBody; - sgmap_vec_onto_cur_surface_plane(_world_up, _view_pos, minus_z, - _surface_south); - sgNormalizeVec3(_surface_south); + // The cartesian position of the basic view coordinate + SGVec3d position = SGVec3d::fromGeod(_position); - // now calculate the surface east vector - sgVec3 world_down; - sgNegateVec3(world_down, _world_up); - sgVectorProductVec3(_surface_east, _surface_south, world_down); + // This is rotates the x-forward, y-right, z-down coordinate system the where + // simulation runs into the OpenGL camera system with x-right, y-up, z-back. + SGQuatd q(-0.5, -0.5, 0.5, 0.5); - set_clean(); + _absolute_view_pos = position + (ec2body*q).backTransform(_offset_m); + mViewOrientation = ec2body*mViewOffsetOr*q; } void -FGViewer::recalcPositionVectors (double lon_deg, double lat_deg, double alt_ft) const +FGViewer::recalcLookAt () { - double sea_level_radius_m; - double lat_geoc_rad; + // The geodetic position of our target to look at + if ( _at_model ) { + SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel(); + _target = placement->getPosition(); + _target_heading_deg = placement->getHeadingDeg(); + _target_pitch_deg = placement->getPitchDeg(); + _target_roll_deg = placement->getRollDeg(); + } else { + // if not model then calculate our own target position... + dampEyeData(_target_roll_deg, _target_pitch_deg, _target_heading_deg); + } - // 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); + SGQuatd geodTargetOr = SGQuatd::fromYawPitchRollDeg(_target_heading_deg, + _target_pitch_deg, + _target_roll_deg); + SGQuatd geodTargetHlOr = SGQuatd::fromLonLat(_target); - // 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]); - // 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]); + if ( _from_model ) { + SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel(); + _position = placement->getPosition(); + _heading_deg = placement->getHeadingDeg(); + _pitch_deg = placement->getPitchDeg(); + _roll_deg = placement->getRollDeg(); + } else { + // update from our own data, just the rotation here... + dampEyeData(_roll_deg, _pitch_deg, _heading_deg); + } + SGQuatd geodEyeOr = SGQuatd::fromYawPitchRollDeg(_heading_deg, + _pitch_deg, + _roll_deg); + SGQuatd geodEyeHlOr = SGQuatd::fromLonLat(_position); + + // the rotation offset, don't know why heading is negative here ... + mViewOffsetOr = + SGQuatd::fromYawPitchRollDeg(-_heading_offset_deg + 180, _pitch_offset_deg, + _roll_offset_deg); + + // Offsets to the eye position + SGVec3d eyeOff(-_offset_m.z(), _offset_m.x(), -_offset_m.y()); + SGQuatd ec2eye = geodEyeHlOr*geodEyeOr; + SGVec3d eyeCart = SGVec3d::fromGeod(_position); + eyeCart += (ec2eye*mViewOffsetOr).backTransform(eyeOff); + + SGVec3d atCart = SGVec3d::fromGeod(_target); + + // add target offsets to at_position... + SGVec3d target_pos_off(-_target_offset_m.z(), _target_offset_m.x(), + -_target_offset_m.y()); + target_pos_off = (geodTargetHlOr*geodTargetOr).backTransform(target_pos_off); + atCart += target_pos_off; + eyeCart += target_pos_off; + + // Compute the eyepoints orientation and position + // wrt the earth centered frame - that is global coorinates + _absolute_view_pos = eyeCart; + + // the view direction + SGVec3d dir = normalize(atCart - eyeCart); + // the up directon + SGVec3d up = ec2eye.backTransform(SGVec3d(0, 0, -1)); + // rotate -dir to the 2-th unit vector + // rotate up to 1-th unit vector + // Note that this matches the OpenGL camera coordinate system + // with x-right, y-up, z-back. + mViewOrientation = SGQuatd::fromRotateTo(-dir, 2, up, 1); +} + +void +FGViewer::dampEyeData(double &roll_deg, double &pitch_deg, double &heading_deg) +{ + const double interval = 0.01; + + static FGViewer *last_view = 0; + if (last_view != this) { + _damp_sync = 0.0; + _damped_roll_deg = roll_deg; + _damped_pitch_deg = pitch_deg; + _damped_heading_deg = heading_deg; + last_view = this; + return; + } - // 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); + if (_damp_sync < interval) { + if (_damp_roll > 0.0) + roll_deg = _damped_roll_deg; + if (_damp_pitch > 0.0) + pitch_deg = _damped_pitch_deg; + if (_damp_heading > 0.0) + heading_deg = _damped_heading_deg; + return; + } + + while (_damp_sync >= interval) { + _damp_sync -= interval; + + double d; + if (_damp_roll > 0.0) { + d = _damped_roll_deg - roll_deg; + if (d >= 180.0) + _damped_roll_deg -= 360.0; + else if (d < -180.0) + _damped_roll_deg += 360.0; + roll_deg = _damped_roll_deg = roll_deg * _damp_roll + _damped_roll_deg * (1 - _damp_roll); + } + if (_damp_pitch > 0.0) { + d = _damped_pitch_deg - pitch_deg; + if (d >= 180.0) + _damped_pitch_deg -= 360.0; + else if (d < -180.0) + _damped_pitch_deg += 360.0; + pitch_deg = _damped_pitch_deg = pitch_deg * _damp_pitch + _damped_pitch_deg * (1 - _damp_pitch); + } + + if (_damp_heading > 0.0) { + d = _damped_heading_deg - heading_deg; + if (d >= 180.0) + _damped_heading_deg -= 360.0; + else if (d < -180.0) + _damped_heading_deg += 360.0; + heading_deg = _damped_heading_deg = heading_deg * _damp_heading + _damped_heading_deg * (1 - _damp_heading); + } + } } double @@ -707,26 +541,35 @@ FGViewer::get_h_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; + return + atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) + / (_aspect_ratio*_aspect_ratio_multiplier)) + * SG_RADIANS_TO_DEGREES * 2; } default: assert(false); } + return 0.0; } + + 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; + return + atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) + * (_aspect_ratio*_aspect_ratio_multiplier)) + * 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; + return + atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) + * (_aspect_ratio*_aspect_ratio_multiplier)) + * SG_RADIANS_TO_DEGREES * 2; } else { // v_fov == fov return _fov_deg; @@ -734,13 +577,17 @@ FGViewer::get_v_fov() default: assert(false); } + return 0.0; } void -FGViewer::update (int dt) +FGViewer::update (double dt) { + _damp_sync += 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; @@ -769,7 +616,7 @@ 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; @@ -789,8 +636,29 @@ FGViewer::update (int dt) } } } -} - - + for ( i = 0; i < dt_ms; i++ ) { + if ( fabs( _goal_roll_offset_deg - _roll_offset_deg ) < 1 ) { + setRollOffset_deg( _goal_roll_offset_deg ); + break; + } else { + // move current_view.roll_offset_deg towards + // current_view.goal_roll_offset + if ( _goal_roll_offset_deg > _roll_offset_deg ) + { + incRollOffset_deg( 1.0 ); + } else { + incRollOffset_deg( -1.0 ); + } + if ( _roll_offset_deg > 90 ) { + setRollOffset_deg(90); + } else if ( _roll_offset_deg < -90 ) { + setRollOffset_deg( -90 ); + } + } + } + recalc(); + _cameraGroup->update(toOsg(_absolute_view_pos), toOsg(mViewOrientation)); + _cameraGroup->setCameraParameters(get_v_fov(), get_aspect_ratio()); +}