X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FMain%2Fviewer.cxx;h=af9fe455ee859d9a2a5e92159e42d1abee5191db;hb=b125315e5067b9cb2ed6c800106b9c520afb4cf1;hp=85401aa2985e4542d1e4b5a6116ef177866beaff;hpb=470ee55fb7b3a913a14cb4e23ae526e624091822;p=flightgear.git diff --git a/src/Main/viewer.cxx b/src/Main/viewer.cxx index 85401aa29..af9fe455e 100644 --- a/src/Main/viewer.cxx +++ b/src/Main/viewer.cxx @@ -2,8 +2,10 @@ // // 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 +// 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 @@ -17,359 +19,721 @@ // // 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 +#include "fg_props.hxx" + #ifdef HAVE_CONFIG_H # include #endif -#include // plib include - -#include #include -#include +#include #include +#include +#include #include -#include -#include +#include
#include +#include -#include "globals.hxx" #include "viewer.hxx" +#include "CameraGroup.hxx" + +using namespace flightgear; + +//////////////////////////////////////////////////////////////////////// +// Implementation of FGViewer. +//////////////////////////////////////////////////////////////////////// + +// 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), + _damp_sync(0), + _damp_roll(0), + _damp_pitch(0), + _damp_heading(0), + _scaling_type(FG_SCALING_MAX), + _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_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 +} -// Constructor -FGViewer::FGViewer( void ) + +// Destructor +FGViewer::~FGViewer( void ) { +} + +void +FGViewer::init () { } +void +FGViewer::bind () +{ +} -#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 ) +void +FGViewer::unbind () { - 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]; +void +FGViewer::setType ( int type ) +{ + if (type == 0) + _type = FG_LOOKFROM; + if (type == 1) + _type = FG_LOOKAT; +} - 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::setInternal ( bool internal ) +{ + _internal = internal; } -#endif +void +FGViewer::setLongitude_deg (double lon_deg) +{ + _dirty = true; + _lon_deg = lon_deg; +} -// 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::setLatitude_deg (double lat_deg) +{ + _dirty = true; + _lat_deg = lat_deg; +} + +void +FGViewer::setAltitude_ft (double alt_ft) +{ + _dirty = true; + _alt_ft = alt_ft; } -#endif +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; +} -// 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::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; +} -// Update the view parameters -void FGViewer::update() { +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; +} - sgVec3 minus_z, forward; - sgMat4 VIEWo; +void +FGViewer::setRoll_deg (double roll_deg) +{ + _dirty = true; + _roll_deg = roll_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::setPitch_deg (double pitch_deg) +{ + _dirty = true; + _pitch_deg = pitch_deg; +} - cur_zero_elev = sgPolarToCart3d(p) - scenery.center; +void +FGViewer::setHeading_deg (double heading_deg) +{ + _dirty = true; + _heading_deg = heading_deg; +} - // 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::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; + _offset_m.x() = x_offset_m; +} + +void +FGViewer::setYOffset_m (double y_offset_m) +{ + _dirty = true; + _offset_m.y() = y_offset_m; +} + +void +FGViewer::setZOffset_m (double z_offset_m) +{ + _dirty = true; + _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; + _offset_m.x() = x_offset_m; + _offset_m.y() = y_offset_m; + _offset_m.z() = 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; +} + +// 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 () +{ + // Update location data ... + double lat, lon, alt, head, pitch, roll; + if ( _from_model ) { + SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel(); + lat = placement->getLatitudeDeg(); + lon = placement->getLongitudeDeg(); + alt = placement->getElevationFt(); + + head = placement->getHeadingDeg(); + pitch = placement->getPitchDeg(); + roll = placement->getRollDeg(); + } else { + lat = _lat_deg; + lon = _lon_deg; + alt = _alt_ft; + head = _heading_deg; + pitch = _pitch_deg; + roll = _roll_deg; + } + if ( !_from_model ) { + // update from our own data... + dampEyeData(roll, pitch, head); + } + + // The geodetic position of our base view position + SGGeod geodPos = SGGeod::fromDegFt(lon, lat, alt); + // The rotation rotating from the earth centerd frame to + // the horizontal local OpenGL frame + SGQuatd hlOr = SGQuatd::viewHL(geodPos); + + // the rotation from the horizontal local frame to the basic view orientation + SGQuatd hlToBody = SGQuatd::fromYawPitchRollDeg(head, pitch, roll); + hlToBody = SGQuatd::simToView(hlToBody); + + // The cartesian position of the basic view coordinate + SGVec3d position = SGVec3d::fromGeod(geodPos); + // the rotation offset, don't know why heading is negative here ... + SGQuatd viewOffsetOr = SGQuatd::simToView( + SGQuatd::fromYawPitchRollDeg(-_heading_offset_deg, _pitch_offset_deg, + _roll_offset_deg)); + + // Compute the eyepoints orientation and position + // wrt the earth centered frame - that is global coorinates + SGQuatd ec2body = hlOr*hlToBody; + _absolute_view_pos = position + ec2body.backTransform(_offset_m); + mViewOrientation = ec2body*viewOffsetOr; +} + +void +FGViewer::recalcLookAt () +{ + // The geodetic position of our target to look at + SGGeod geodTargetPos; + SGQuatd geodTargetOr; + if ( _at_model ) { + SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel(); + double lat = placement->getLatitudeDeg(); + double lon = placement->getLongitudeDeg(); + double alt = placement->getElevationFt(); + geodTargetPos = SGGeod::fromDegFt(lon, lat, alt); + + double head = placement->getHeadingDeg(); + double pitch = placement->getPitchDeg(); + double roll = placement->getRollDeg(); + geodTargetOr = SGQuatd::fromYawPitchRollDeg(head, pitch, roll); + } else { + dampEyeData(_target_roll_deg, _target_pitch_deg, _target_heading_deg); + + // if not model then calculate our own target position... + geodTargetPos = SGGeod::fromDegFt(_target_lon_deg, + _target_lat_deg, + _target_alt_ft); + geodTargetOr = SGQuatd::fromYawPitchRollDeg(_target_heading_deg, + _target_pitch_deg, + _target_roll_deg); + } + SGQuatd geodTargetHlOr = SGQuatd::fromLonLat(geodTargetPos); + + + SGGeod geodEyePos; + SGQuatd geodEyeOr; + if ( _from_model ) { + SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel(); + double lat = placement->getLatitudeDeg(); + double lon = placement->getLongitudeDeg(); + double alt = placement->getElevationFt(); + geodEyePos = SGGeod::fromDegFt(lon, lat, alt); + + double head = placement->getHeadingDeg(); + double pitch = placement->getPitchDeg(); + double roll = placement->getRollDeg(); + geodEyeOr = SGQuatd::fromYawPitchRollDeg(head, pitch, roll); + } else { + dampEyeData(_roll_deg, _pitch_deg, _heading_deg); + + // update from our own data, just the rotation here... + geodEyePos = SGGeod::fromDegFt(_lon_deg, _lat_deg, _alt_ft); + geodEyeOr = SGQuatd::fromYawPitchRollDeg(_heading_deg, + _pitch_deg, + _roll_deg); + } + SGQuatd geodEyeHlOr = SGQuatd::fromLonLat(geodEyePos); + + // the rotation offset, don't know why heading is negative here ... + SGQuatd eyeOffsetOr = + 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(geodEyePos); + eyeCart += (ec2eye*eyeOffsetOr).backTransform(eyeOff); + + SGVec3d atCart = SGVec3d::fromGeod(geodTargetPos); + + // 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 0-th unit vector + // rotate up to 2-th unit vector + 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; + } + + 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); } - 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] ); + 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 +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*_aspect_ratio_multiplier)) + * SG_RADIANS_TO_DEGREES * 2; + } + default: + assert(false); + } + return 0.0; +} -// Destructor -FGViewer::~FGViewer( void ) { + + +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*_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*_aspect_ratio_multiplier)) + * SG_RADIANS_TO_DEGREES * 2; + } else { + // v_fov == fov + return _fov_deg; + } + default: + assert(false); + } + return 0.0; +} + +void +FGViewer::update (double dt) +{ + _damp_sync += 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 ); + } + } + } + + 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 ); + } + } + } + + + 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(_absolute_view_pos.osg(), mViewOrientation.osg()); + _cameraGroup->setCameraParameters(get_v_fov(), get_aspect_ratio()); }