Working on scenery transformations to enable us to fly fluidly over the

poles with no discontinuity/distortion in scenery.

diff --git a/LaRCsim/Makefile b/LaRCsim/Makefile
index a195d5189a6495a987671143966181dd383c1cc0..1fdf85cbf8340e5fd5fb14df1de31b9ea94253e5 100644 (file)
--- a/LaRCsim/Makefile
+++ b/LaRCsim/Makefile
@@ -11,7 +11,7 @@
 TARGET = libLaRCsim.a
 
 LaRCsimFILES = atmos_62.c ls_accel.c ls_aux.c ls_geodesy.c ls_gravity.c \
-       ls_step.c ls_model.c default_model_routines.c ls_init.c ls_sync.c
+       ls_step.c ls_model.c default_model_routines.c ls_init.c # ls_sync.c
 
 NavionFILES = navion_aero.c navion_engine.c navion_gear.c navion_init.c
 
@@ -55,6 +55,10 @@ include depend
 
 #---------------------------------------------------------------------------
 # $Log$
+# Revision 1.7  1997/07/07 20:59:48  curt
+# Working on scenery transformations to enable us to fly fluidly over the
+# poles with no discontinuity/distortion in scenery.
+#
 # Revision 1.6  1997/06/27 21:38:06  curt
 # Working on Makefile structure.
 #

diff --git a/Main/GLmain.c b/Main/GLmain.c
index ea3082728240aa77388f94a9c47179be2b164bd7..404633118e98ab4549572cce12f9e3e9d081dc48 100644 (file)
--- a/Main/GLmain.c
+++ b/Main/GLmain.c
@@ -38,15 +38,15 @@
     #include "GLTKkey.h"
 #endif
 
+#include "../constants.h"
+
 #include "../Aircraft/aircraft.h"
 #include "../Scenery/scenery.h"
 #include "../Math/mat3.h"
+#include "../Math/polar.h"
 #include "../Timer/fg_timer.h"
 
 
-#define DEG_TO_RAD       0.017453292
-#define RAD_TO_DEG       57.29577951
-
 #ifndef M_PI
 #define M_PI        3.14159265358979323846     /* pi */
 #endif
@@ -80,7 +80,7 @@ static GLfloat sun_vec[4] = {-3.0, 1.0, 2.0, 0.0 };
 /* static GLint scenery, runway; */
 
 /* Another hack */
-double fogDensity = 2000.0;
+double fogDensity = 80.0; /* in meters = about 70 miles */
 double view_offset = 0.0;
 double goal_view_offset = 0.0;
 
@@ -134,7 +134,7 @@ static void fgInitVisuals() {
  **************************************************************************/
 
 static void fgUpdateViewParams() {
-    double pos_x, pos_y, pos_z;
+    struct fgCartesianPoint view_pos;
     struct flight_params *f;
     MAT3mat R, TMP;
     MAT3vec vec, up, forward, fwrd_view;
@@ -144,17 +144,16 @@ static void fgUpdateViewParams() {
     /* Tell GL we are about to modify the projection parameters */
     glMatrixMode(GL_PROJECTION);
     glLoadIdentity();
-    gluPerspective(45.0, 1.0/win_ratio, 0.01, 6000.0);
+    gluPerspective(45.0, 1.0/win_ratio, 0.1, 200000.0);
 
     glMatrixMode(GL_MODELVIEW);
     glLoadIdentity();
     
-    /* calculate position in arc seconds */
-    pos_x = (FG_Longitude * RAD_TO_DEG) * 3600.0;
-    pos_y = (FG_Latitude   * RAD_TO_DEG) * 3600.0;
-    pos_z = FG_Altitude * 0.01; /* (Convert feet to aproximate arcsecs) */
+    /* calculate position in current FG view coordinate system */
+    view_pos = fgGeodetic2Cartesian(FG_Longitude, FG_Latitude);
+    view_pos = fgRotateCartesianPoint(view_pos);
 
-    printf("*** pos_z = %.2f\n", pos_z);
+    printf("*** Altitude = %.2f meters\n", FG_Altitude * FEET_TO_METER);
 
     /* build current rotation matrix */
     MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
@@ -191,8 +190,11 @@ static void fgUpdateViewParams() {
     MAT3rotate(TMP, up, view_offset);
     MAT3mult_vec(fwrd_view, forward, TMP);
 
-    gluLookAt(pos_x, pos_y, pos_z,
-             pos_x + fwrd_view[0], pos_y + fwrd_view[1], pos_z + fwrd_view[2],
+    printf("View pos = %.4f, %.4f, %.4f\n", view_pos.y, view_pos.z,  
+          FG_Altitude * FEET_TO_METER);
+    gluLookAt(view_pos.y, view_pos.z,  FG_Altitude * FEET_TO_METER * 0.001,
+             view_pos.y + fwrd_view[0], view_pos.z + fwrd_view[1], 
+             FG_Altitude * FEET_TO_METER * 0.001 + fwrd_view[2],
              up[0], up[1], up[2]);
 
     glLightfv( GL_LIGHT0, GL_POSITION, sun_vec );
@@ -468,10 +470,10 @@ int main( int argc, char *argv[] ) {
     FG_Runway_heading = 102.0 * DEG_TO_RAD;
 
     /* Initial Position */
-    /* FG_Latitude  = (  120070.41 / 3600.0 ) * DEG_TO_RAD;
-    FG_Longitude = ( -398391.28 / 3600.0 ) * DEG_TO_RAD; */
-    FG_Latitude  = 0.0;
-    FG_Longitude = 0.0;
+    FG_Latitude  = (  120070.41 / 3600.0 ) * DEG_TO_RAD;
+    FG_Longitude = ( -398391.28 / 3600.0 ) * DEG_TO_RAD;
+    /* FG_Latitude  = 0.0;
+    FG_Longitude = 0.0; */
     FG_Altitude  = FG_Runway_altitude + 3.758099;
 
     printf("Initial position is: (%.4f, %.4f, %.2f)\n", FG_Latitude, 
@@ -580,9 +582,13 @@ int main( int argc, char *argv[] ) {
 
 
 /* $Log$
-/* Revision 1.26  1997/07/05 20:43:34  curt
-/* renamed mat3 directory to Math so we could add other math related routines.
+/* Revision 1.27  1997/07/07 20:59:49  curt
+/* Working on scenery transformations to enable us to fly fluidly over the
+/* poles with no discontinuity/distortion in scenery.
 /*
+ * Revision 1.26  1997/07/05 20:43:34  curt
+ * renamed mat3 directory to Math so we could add other math related routines.
+ *
  * Revision 1.25  1997/06/29 21:19:17  curt
  * Working on scenery management system.
  *

diff --git a/Main/depend b/Main/depend
index d7f5c8a3766eb1a23b664f8fc08e58fafcfdf837..cb706147b50f924f9dbabac2ce7f7115381d5e51 100644 (file)
--- a/Main/depend
+++ b/Main/depend
@@ -11,11 +11,12 @@ GLUTkey.o: GLUTkey.c GLUTkey.h ../Aircraft/aircraft.h \
  ../Aircraft/../Flight/LaRCsim/../flight.h \
  ../Aircraft/../Controls/controls.h \
  ../Aircraft/../Controls/../limits.h
-GLmain.o: GLmain.c ../Aircraft/aircraft.h \
+GLmain.o: GLmain.c ../constants.h ../Aircraft/aircraft.h \
  ../Aircraft/../Flight/flight.h ../Aircraft/../Flight/Slew/slew.h \
  ../Aircraft/../Flight/LaRCsim/ls_interface.h \
  ../Aircraft/../Flight/LaRCsim/../flight.h \
  ../Aircraft/../Controls/controls.h \
  ../Aircraft/../Controls/../limits.h ../Scenery/scenery.h \
- ../Math/mat3.h ../Timer/fg_timer.h
-mesh2GL.o: mesh2GL.c ../Scenery/mesh.h ../Math/mat3.h
+ ../Math/mat3.h ../Math/polar.h ../Math/../types.h ../Timer/fg_timer.h
+mesh2GL.o: mesh2GL.c ../constants.h ../Scenery/mesh.h ../Math/mat3.h \
+ ../Math/polar.h ../Math/../types.h

diff --git a/Main/mesh2GL.c b/Main/mesh2GL.c
index af1646c197e6d341c81e0886bfa9b3a532ad8f18..846fb73d5ca5105294c8ee5ed0ab7b55626230a9 100644 (file)
--- a/Main/mesh2GL.c
+++ b/Main/mesh2GL.c
@@ -26,16 +26,20 @@
 
 #include <GL/glut.h>
 
+#include "../constants.h"
 #include "../Scenery/mesh.h"
 #include "../Math/mat3.h"
+#include "../Math/polar.h"
 
 
 /* walk through mesh and make ogl calls */
 GLint mesh2GL(struct mesh *m) {
     GLint mesh;
-    static GLfloat color[4] = { 0.5, 0.4, 0.25, 1.0 };
+    /* static GLfloat color[4] = { 0.5, 0.4, 0.25, 1.0 }; */ /* dark desert */
+    static GLfloat color[4] = { 0.5, 0.5, 0.25, 1.0 };
 
     float x1, y1, x2, y2, z11, z12, z21, z22;
+    struct fgCartesianPoint p11, p12, p21, p22;
 
     MAT3vec v1, v2, normal; 
     int i, j, istep, jstep, iend, jend;
@@ -43,7 +47,10 @@ GLint mesh2GL(struct mesh *m) {
 
     printf("In mesh2GL(), generating GL call list.\n");
 
-    istep = jstep = 4;  /* Detail level 1 -- 1200 ... */
+    istep = jstep = 25;  /* Detail level 1 -- 1200 ... */
+
+    /* setup the batch transformation */
+    fgRotateBatchInit(-m->originx * ARCSEC_TO_RAD, -m->originy * ARCSEC_TO_RAD);
 
     mesh = glGenLists(1);
     glNewList(mesh, GL_COMPILE);
@@ -63,31 +70,51 @@ GLint mesh2GL(struct mesh *m) {
        glBegin(GL_TRIANGLE_STRIP);
 
        for ( j = 0; j < jend; j += jstep ) {
-           z11 = 0.03 * m->mesh_data[j         * m->rows + i        ];
-           z12 = 0.03 * m->mesh_data[j         * m->rows + (i+istep)];
-           z21 = 0.03 * m->mesh_data[(j+jstep) * m->rows + i        ];
-           z22 = 0.03 * m->mesh_data[(j+jstep) * m->rows + (i+istep)];
+           p11 = fgGeodetic2Cartesian(x1*ARCSEC_TO_RAD, y1*ARCSEC_TO_RAD);
+           /* printf("A geodetic is (%.2f, %.2f)\n", x1, y1); */
+           /* printf("A cart is (%.8f, %.8f, %.8f)\n", p11.x, p11.y, p11.z); */
+           p11 = fgRotateCartesianPoint(p11);
+           /* printf("A point is (%.8f, %.8f, %.8f)\n", p11.y, p11.z, z11); */
+
+           p12 = fgGeodetic2Cartesian(x1*ARCSEC_TO_RAD, y2*ARCSEC_TO_RAD);
+           p12 = fgRotateCartesianPoint(p12);
+
+           p21 = fgGeodetic2Cartesian(x2*ARCSEC_TO_RAD, y1*ARCSEC_TO_RAD);
+           p21 = fgRotateCartesianPoint(p21);
 
-           v1[0] = x2 - x1; v1[1] = 0;       v1[2] = z21 - z11;
-           v2[0] = 0;       v2[1] = y2 - y1; v2[2] = z12 - z11;
+           p22 = fgGeodetic2Cartesian(x2*ARCSEC_TO_RAD, y2*ARCSEC_TO_RAD);
+           p22 = fgRotateCartesianPoint(p22);
+
+           z11 = 0.001 * m->mesh_data[j         * m->rows + i        ];
+           z12 = 0.001 * m->mesh_data[j         * m->rows + (i+istep)];
+           z21 = 0.001 * m->mesh_data[(j+jstep) * m->rows + i        ];
+           z22 = 0.001 * m->mesh_data[(j+jstep) * m->rows + (i+istep)];
+
+           v1[0] = p21.y - p11.y; v1[1] = p21.z - p11.z; v1[2] = z21 - z11;
+           v2[0] = p12.y - p11.y; v2[1] = p12.z - p11.z; v2[2] = z12 - z11;
            MAT3cross_product(normal, v1, v2);
            MAT3_NORMALIZE_VEC(normal,temp);
            glNormal3d(normal[0], normal[1], normal[2]);
-
+           /* printf("normal 1 = (%.2f %.2f %.2f\n", normal[0], normal[1], 
+                  normal[2]); */
+           
            if ( j == 0 ) {
                /* first time through */
-               glVertex3f(x1, y1, z11);
-               glVertex3f(x1, y2, z12);
+               glVertex3d(p11.y, p11.z, z11);
+               glVertex3d(p12.y, p12.z, z12);
            }
-
-           glVertex3f(x2, y1, z21);
            
-           v1[0] = x2 - x1; v1[1] = y1 - y2; v1[2] = z21 - z12;
-           v2[0] = x2 - x1; v2[1] = 0; v2[2] = z22 - z12;
+           glVertex3d(p21.y, p21.z, z21);
+           
+           v1[0] = p21.y - p12.y; v1[1] = p21.z - p12.z; v1[2] = z21 - z12;
+           v2[0] = p22.y - p12.y; v2[1] = p22.z - p12.z; v2[2] = z22 - z12;
            MAT3cross_product(normal, v1, v2);
            MAT3_NORMALIZE_VEC(normal,temp);
            glNormal3d(normal[0], normal[1], normal[2]);
-           glVertex3f(x2, y2, z22);
+           /* printf("normal 2 = (%.2f %.2f %.2f\n", normal[0], normal[1], 
+                  normal[2]); */
+
+           glVertex3d(p22.y, p22.z, z22);
 
            x1 = x2;
            x2 = x1 + (m->row_step * jstep);
@@ -104,10 +131,15 @@ GLint mesh2GL(struct mesh *m) {
 }
 
 
+
 /* $Log$
-/* Revision 1.24  1997/07/05 20:43:35  curt
-/* renamed mat3 directory to Math so we could add other math related routines.
+/* Revision 1.25  1997/07/07 20:59:50  curt
+/* Working on scenery transformations to enable us to fly fluidly over the
+/* poles with no discontinuity/distortion in scenery.
 /*
+ * Revision 1.24  1997/07/05 20:43:35  curt
+ * renamed mat3 directory to Math so we could add other math related routines.
+ *
  * Revision 1.23  1997/07/03 00:51:14  curt
  * Playing with terrain color.
  *

diff --git a/Scenery/geometry.c b/Scenery/geometry.c
index f2ec13016f1f515685dca083d786a46f57e0f6eb..d81c862a97e1c05d36974060c4ee9f2992c699d1 100644 (file)
--- a/Scenery/geometry.c
+++ b/Scenery/geometry.c
@@ -58,7 +58,11 @@ void vrmlGeomOptionName(char *name) {
 
     switch(vrmlGeometryType) {
     case VRML_ELEV_GRID:
-       if ( strcmp(name, "xDimension") == 0 ) {
+       if ( strcmp(name, "xOrigin") == 0 ) {
+           mesh_set_option_name(&eg, "origin_lon");
+       } else if ( strcmp(name, "zOrigin") == 0 ) {
+           mesh_set_option_name(&eg, "origin_lat");
+       } else if ( strcmp(name, "xDimension") == 0 ) {
            mesh_set_option_name(&eg, "rows");
        } else if ( strcmp(name, "zDimension") == 0 ) {
            mesh_set_option_name(&eg, "cols");
@@ -112,9 +116,13 @@ int vrmlFreeGeometry() {
 
 
 /* $Log$
-/* Revision 1.1  1997/06/29 21:16:48  curt
-/* More twiddling with the Scenery Management system.
+/* Revision 1.2  1997/07/07 20:59:51  curt
+/* Working on scenery transformations to enable us to fly fluidly over the
+/* poles with no discontinuity/distortion in scenery.
 /*
+ * Revision 1.1  1997/06/29 21:16:48  curt
+ * More twiddling with the Scenery Management system.
+ *
  * Revision 1.1  1997/06/22 21:42:35  curt
  * Initial revision of VRML (subset) parser.
  *

diff --git a/Simulator/Makefile b/Simulator/Makefile
index dca0ec5db39f41860badac76dac57ea52f602105..97a9ef566c696d89dcde11810c299f7d3f68e553 100644 (file)
--- a/Simulator/Makefile
+++ b/Simulator/Makefile
@@ -52,12 +52,21 @@ clean:
 
 tar: clean
        (cd ../..; \
-       tar cvf prototype-0.04.tar FlightGear/COPYING FlightGear/Docs \
-       FlightGear/Scenery/mesa-e.scn FlightGear/Src FlightGear/Thanks)
+       tar cvf prototype-0.05.tar FlightGear/COPYING FlightGear/Docs \
+       FlightGear/Src FlightGear/Thanks)
+
+zip: clean
+       (cd ../..; \
+       zip -r prototype-0.05.zip FlightGear/COPYING FlightGear/Docs \
+       FlightGear/Src FlightGear/Thanks)
 
 
 #---------------------------------------------------------------------------
 # $Log$
+# Revision 1.16  1997/07/07 20:59:47  curt
+# Working on scenery transformations to enable us to fly fluidly over the
+# poles with no discontinuity/distortion in scenery.
+#
 # Revision 1.15  1997/07/05 20:43:27  curt
 # renamed mat3 directory to Math so we could add other math related routines.
 #

diff --git a/Simulator/README b/Simulator/README
index 0a338c24a9364b042a20c102060d23a7a3dc3d0b..f8543dd97410c478360a315a9886c14fb187b6f7 100644 (file)
--- a/Simulator/README
+++ b/Simulator/README
@@ -22,7 +22,7 @@ Strucures and code to implement various flight models.  Provides a
 standardized interface to all interesting flight model variabls.
 
 
-mat3/
+Math/
 -----
 Contains miscellaneous matrix/vector routines.
 

diff --git a/Simulator/make.inc b/Simulator/make.inc
index 5f63c703e7a1207cf3ee57a5392298106fc631e9..013c503771bb5334a65132db4b9dae2845028a17 100644 (file)
--- a/Simulator/make.inc
+++ b/Simulator/make.inc
@@ -57,7 +57,8 @@ AR = ar
 #                much smoother.
 #---------------------------------------------------------------------------
 
-FG_CFLAGS = -g -Wall -DUSE_ITIMER
+# FG_CFLAGS = -g -Wall -DUSE_ITIMER
+FG_CFLAGS = -g -Wall 
 
 
 #---------------------------------------------------------------------------
@@ -99,6 +100,10 @@ GRAPHICS_LIBS = $(MESA_LIBS) $(X11_LIBS)
 
 #---------------------------------------------------------------------------
 # $Log$
+# Revision 1.2  1997/07/07 20:59:48  curt
+# Working on scenery transformations to enable us to fly fluidly over the
+# poles with no discontinuity/distortion in scenery.
+#
 # Revision 1.1  1997/06/27 21:38:00  curt
 # Working on Makefile structure.
 #