X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FMain%2Fviewer.cxx;h=ffa05fc3f3499b4160771df8af9b43eb1759ee81;hb=d558b52cb6df91952963e95e6e6e987133b507bb;hp=b39b1414451097894138aa7c5307a24f39fa32b9;hpb=d05121ef4689d2b50b3fe1848cbb0d1f5a1db877;p=flightgear.git diff --git a/src/Main/viewer.cxx b/src/Main/viewer.cxx index b39b14144..ffa05fc3f 100644 --- a/src/Main/viewer.cxx +++ b/src/Main/viewer.cxx @@ -19,25 +19,20 @@ // // 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 #include -#include -#include -#include -#include #include #include @@ -47,125 +42,10 @@ #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, - const float angle3, const sgVec3 axis3 ) -{ - // 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 ; - - - // make rotmatrix3 from angle and axis (roll) - s = (float) sin ( angle3 ) ; - c = (float) cos ( angle3 ) ; - t = SG_ONE - c ; - - sgMat3 mat3; - tmp = t * axis3[0]; - mat3[0][0] = tmp * axis3[0] + c ; - mat3[0][1] = tmp * axis3[1] + s * axis3[2] ; - mat3[0][2] = tmp * axis3[2] - s * axis3[1] ; - - tmp = t * axis2[1]; - mat3[1][0] = tmp * axis3[0] - s * axis3[2] ; - mat3[1][1] = tmp * axis3[1] + c ; - mat3[1][2] = tmp * axis3[2] + s * axis3[0] ; - - tmp = t * axis3[2]; - mat3[2][0] = tmp * axis3[0] + s * axis3[1] ; - mat3[2][1] = tmp * axis3[1] - s * axis3[0] ; - mat3[2][2] = tmp * axis3[2] + c ; - - sgMat3 matt; - - // multiply matrices - for ( int j = 0 ; j < 3 ; j++ ) { - matt[0][j] = mat2[0][0] * mat1[0][j] + - mat2[0][1] * mat1[1][j] + - mat2[0][2] * mat1[2][j]; - - matt[1][j] = mat2[1][0] * mat1[0][j] + - mat2[1][1] * mat1[1][j] + - mat2[1][2] * mat1[2][j]; - - matt[2][j] = mat2[2][0] * mat1[0][j] + - mat2[2][1] * mat1[1][j] + - mat2[2][2] * mat1[2][j]; - } - - // multiply matrices - for ( int j = 0 ; j < 3 ; j++ ) { - dst[0][j] = mat3[0][0] * matt[0][j] + - mat3[0][1] * matt[1][j] + - mat3[0][2] * matt[2][j]; - - dst[1][j] = mat3[1][0] * matt[0][j] + - mat3[1][1] * matt[1][j] + - mat3[1][2] * matt[2][j]; - - dst[2][j] = mat3[2][0] * matt[0][j] + - mat3[2][1] * matt[1][j] + - mat3[2][2] * matt[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; -} - +#include "CameraGroup.hxx" +using namespace flightgear; + //////////////////////////////////////////////////////////////////////// // Implementation of FGViewer. //////////////////////////////////////////////////////////////////////// @@ -176,26 +56,19 @@ FGViewer::FGViewer( fgViewType Type, bool from_model, int from_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 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) + _scaling_type(FG_SCALING_MAX), + _aspect_ratio(0), + _cameraGroup(CameraGroup::getDefault()) { - sgdZeroVec3(_absolute_view_pos); + _absolute_view_pos = SGVec3d(0, 0, 0); _type = Type; _from_model = from_model; _from_model_index = from_model_index; @@ -204,16 +77,20 @@ FGViewer::FGViewer( fgViewType Type, bool from_model, int from_model_index, _internal = internal; + _dampFactor = SGVec3d::zeros(); + _dampOutput = SGVec3d::zeros(); + _dampTarget = SGVec3d::zeros(); + if (damp_roll > 0.0) - _damp_roll = 1.0 / pow(10.0, fabs(damp_roll)); + _dampFactor[0] = 1.0 / pow(10.0, fabs(damp_roll)); if (damp_pitch > 0.0) - _damp_pitch = 1.0 / pow(10.0, fabs(damp_pitch)); + _dampFactor[1] = 1.0 / pow(10.0, fabs(damp_pitch)); if (damp_heading > 0.0) - _damp_heading = 1.0 / pow(10.0, fabs(damp_heading)); + _dampFactor[2] = 1.0 / pow(10.0, fabs(damp_heading)); - _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; _heading_offset_deg = heading_offset_deg; _pitch_offset_deg = pitch_offset_deg; _roll_offset_deg = roll_offset_deg; @@ -225,9 +102,11 @@ FGViewer::FGViewer( fgViewType Type, bool from_model, int from_model_index, } else { _fov_deg = 55; } - _target_x_offset_m = target_x_offset_m; - _target_y_offset_m = target_y_offset_m; - _target_z_offset_m = target_z_offset_m; + _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 } @@ -240,17 +119,6 @@ FGViewer::~FGViewer( void ) { void FGViewer::init () { - if ( _from_model ) - _location = (SGLocation *) globals->get_aircraft_model()->get3DModel()->getSGLocation(); - else - _location = (SGLocation *) new SGLocation; - - if ( _type == FG_LOOKAT ) { - if ( _at_model ) - _target_location = (SGLocation *) globals->get_aircraft_model()->get3DModel()->getSGLocation(); - else - _target_location = (SGLocation *) new SGLocation; - } } void @@ -278,64 +146,18 @@ FGViewer::setInternal ( bool internal ) _internal = internal; } -void -FGViewer::setLongitude_deg (double lon_deg) -{ - _dirty = true; - _lon_deg = lon_deg; -} - -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; -} - 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 @@ -402,51 +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_x_offset_m = target_x_offset_m; + _target_offset_m.x() = target_x_offset_m; } void FGViewer::setTargetYOffset_m (double target_y_offset_m) { _dirty = true; - _target_y_offset_m = target_y_offset_m; + _target_offset_m.y() = target_y_offset_m; } void FGViewer::setTargetZOffset_m (double target_z_offset_m) { _dirty = true; - _target_z_offset_m = target_z_offset_m; + _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 @@ -513,55 +335,6 @@ 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; -} - -void -FGViewer::updateFromModelLocation (SGLocation * location) -{ - sgCopyMat4(LOCAL, location->getCachedTransformMatrix()); -} - -void -FGViewer::updateAtModelLocation (SGLocation * location) -{ - sgCopyMat4(ATLOCAL, - location->getCachedTransformMatrix()); -} - -void -FGViewer::recalcOurOwnLocation (SGLocation * location, double lon_deg, double lat_deg, double alt_ft, - double roll_deg, double pitch_deg, double heading_deg) -{ - // update from our own data... - dampEyeData(roll_deg, pitch_deg, heading_deg); - location->setPosition( lon_deg, lat_deg, alt_ft ); - location->setOrientation( roll_deg, pitch_deg, heading_deg ); - sgCopyMat4(LOCAL, - location->getTransformMatrix(globals->get_scenery()->get_center())); -} - // 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. @@ -581,251 +354,171 @@ FGViewer::recalc () void FGViewer::recalcLookFrom () { - - sgVec3 right, forward; - // sgVec3 eye_pos; - sgVec3 position_offset; // eye position offsets (xyz) - - // LOOKFROM mode... - - // Update location data... + // 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 ); + SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel(); + _position = placement->getPosition(); + + _heading_deg = placement->getHeadingDeg(); + _pitch_deg = placement->getPitchDeg(); + _roll_deg = placement->getRollDeg(); } - // 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, - _roll_offset_deg * SG_DEGREES_TO_RADIANS, forward ); + double head = _heading_deg; + double pitch = _pitch_deg; + double roll = _roll_deg; + if ( !_from_model ) { + // update from our own data... + setDampTarget(roll, pitch, head); + getDampOutput(roll, pitch, head); + } - // 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); + // The rotation rotating from the earth centerd frame to + // the horizontal local frame + SGQuatd hlOr = SGQuatd::fromLonLat(_position); - // rotate model or local 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]); + // The rotation from the horizontal local frame to the basic view orientation + SGQuatd hlToBody = SGQuatd::fromYawPitchRollDeg(head, pitch, roll); - // Eye Position Offsets to vector - sgSetVec3( position_offset, _x_offset_m, _y_offset_m, _z_offset_m ); - sgXformVec3( position_offset, position_offset, VIEW_UP); + // The rotation offset, don't know why heading is negative here ... + mViewOffsetOr + = SGQuatd::fromYawPitchRollDeg(-_heading_offset_deg, _pitch_offset_deg, + _roll_offset_deg); - // add the offsets including rotations to the translation vector - sgAddVec3( _view_pos, position_offset ); + // Compute the eyepoints orientation and position + // wrt the earth centered frame - that is global coorinates + SGQuatd ec2body = hlOr*hlToBody; - // multiply the OFFSETS (for heading and pitch) into the VIEW - sgPostMultMat4(VIEW, VIEW_OFFSET); + // The cartesian position of the basic view coordinate + SGVec3d position = SGVec3d::fromGeod(_position); - // add the position data to the matrix - sgSetVec4(VIEW[3], _view_pos[0], _view_pos[1], _view_pos[2],SG_ONE); + // 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); + _absolute_view_pos = position + (ec2body*q).backTransform(_offset_m); + mViewOrientation = ec2body*mViewOffsetOr*q; } void FGViewer::recalcLookAt () { - - sgVec3 right, forward; - sgVec3 eye_pos, at_pos; - sgVec3 position_offset; // eye position offsets (xyz) - sgVec3 target_position_offset; // target 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... + // The geodetic position of our target to look at if ( _at_model ) { - // update or data from model location - updateAtModelLocation(_target_location); + 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... - recalcOurOwnLocation( _target_location, _target_lon_deg, _target_lat_deg, _target_alt_ft, - _target_roll_deg, _target_pitch_deg, _target_heading_deg ); + setDampTarget(_target_roll_deg, _target_pitch_deg, _target_heading_deg); + getDampOutput(_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(globals->get_scenery()->get_center()), - dVec3 ); - sgSetVec3(at_pos, dVec3[0], dVec3[1], dVec3[2]); - - // Update location data for eye... + + SGQuatd geodTargetOr = SGQuatd::fromYawPitchRollDeg(_target_heading_deg, + _target_pitch_deg, + _target_roll_deg); + SGQuatd geodTargetHlOr = SGQuatd::fromLonLat(_target); + + if ( _from_model ) { - // update or data from model location - updateFromModelLocation(_location); + 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... - recalcOurOwnLocation( _location, _lon_deg, _lat_deg, _alt_ft, - _roll_deg, _pitch_deg, _heading_deg ); + setDampTarget(_roll_deg, _pitch_deg, _heading_deg); + getDampOutput(_roll_deg, _pitch_deg, _heading_deg); } - // save the eye positon... - sgCopyVec3(eye_pos, _location->get_view_pos()); + SGQuatd geodEyeOr = SGQuatd::fromYawPitchRollDeg(_heading_deg, _pitch_deg, _roll_deg); + SGQuatd geodEyeHlOr = SGQuatd::fromLonLat(_position); - // copy data from location class to local items... - copyLocationData(); + // the rotation offset, don't know why heading is negative here ... + mViewOffsetOr = + SGQuatd::fromYawPitchRollDeg(-_heading_offset_deg + 180, _pitch_offset_deg, + _roll_offset_deg); - // 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] ); + // 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); - // rotate model or local 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]); + SGVec3d atCart = SGVec3d::fromGeod(_target); - // get Orientation Offsets matrix - MakeVIEW_OFFSET( VIEW_OFFSET, - (_heading_offset_deg - 180) * SG_DEGREES_TO_RADIANS, _view_up, - _pitch_offset_deg * SG_DEGREES_TO_RADIANS, right, - _roll_offset_deg * SG_DEGREES_TO_RADIANS, forward ); - - // add in the position offsets - sgSetVec3( position_offset, _y_offset_m, _x_offset_m, _z_offset_m ); - sgXformVec3( position_offset, position_offset, VIEW_UP); - - // apply the Orientation offsets - sgXformVec3( position_offset, position_offset, VIEW_OFFSET ); + // 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; - // add the Position offsets from object to the eye position - sgAddVec3( eye_pos, eye_pos, position_offset ); + // Compute the eyepoints orientation and position + // wrt the earth centered frame - that is global coorinates + _absolute_view_pos = eyeCart; - // add target offsets to at_position... - sgSetVec3(target_position_offset, _target_z_offset_m, _target_x_offset_m, - _target_y_offset_m ); - sgXformVec3(target_position_offset, target_position_offset, ATLOCAL); - sgAddVec3( at_pos, at_pos, target_position_offset); - - sgAddVec3( eye_pos, eye_pos, target_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 SGLocation... -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(globals->get_scenery()->get_center())); - 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(); - } + // 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); +} - // copy coordinates to outputs for viewer... - sgCopyVec3(_zero_elev, _zero_elev_view_pos); - sgCopyVec3(_view_pos, _relative_view_pos); +void +FGViewer::setDampTarget(double roll, double pitch, double heading) +{ + _dampTarget = SGVec3d(roll, pitch, heading); } void -FGViewer::dampEyeData (double &roll_deg, double &pitch_deg, double &heading_deg) +FGViewer::getDampOutput(double& roll, double& pitch, double& heading) { - const double interval = 0.01; + roll = _dampOutput[0]; + pitch = _dampOutput[1]; + heading = _dampOutput[2]; +} + +void +FGViewer::updateDampOutput(double dt) +{ 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; + if ((last_view != this) || (dt > 1.0)) { + _dampOutput = _dampTarget; 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); - } - - 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); - } - } + + const double interval = 0.01; + while (dt > interval) { + + for (unsigned int i=0; i<3; ++i) { + if (_dampFactor[i] <= 0.0) { + // axis is un-damped, set output to target directly + _dampOutput[i] = _dampTarget[i]; + continue; + } + + double d = _dampOutput[i] - _dampTarget[i]; + if (d > 180.0) { + _dampOutput[i] -= 360.0; + } else if (d < -180.0) { + _dampOutput[i] += 360.0; + } + + _dampOutput[i] = (_dampTarget[i] * _dampFactor[i]) + + (_dampOutput[i] * (1.0 - _dampFactor[i])); + } // of axis iteration + + dt -= interval; + } // of dt subdivision by interval } double @@ -840,8 +533,10 @@ 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); @@ -856,13 +551,17 @@ 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; @@ -876,8 +575,8 @@ FGViewer::get_v_fov() void FGViewer::update (double dt) { - _damp_sync += dt; - + updateDampOutput(dt); + int i; int dt_ms = int(dt * 1000); for ( i = 0; i < dt_ms; i++ ) { @@ -951,5 +650,7 @@ FGViewer::update (double dt) } } } - + recalc(); + _cameraGroup->update(toOsg(_absolute_view_pos), toOsg(mViewOrientation)); + _cameraGroup->setCameraParameters(get_v_fov(), get_aspect_ratio()); }