<File
RelativePath="..\..\simgear\scene\model\CheckSceneryVisitor.hxx">
</File>
- <File
- RelativePath="..\..\simgear\scene\model\location.cxx">
- </File>
- <File
- RelativePath="..\..\simgear\scene\model\location.hxx">
- </File>
<File
RelativePath="..\..\simgear\scene\model\model.cxx">
</File>
RelativePath="..\..\simgear\math\linintp2.inl"\r
>\r
</File>\r
- <File\r
- RelativePath="..\..\simgear\scene\model\location.hxx"\r
- >\r
- </File>\r
<File\r
RelativePath="..\..\simgear\debug\logstream.hxx"\r
>\r
RelativePath="..\..\simgear\nasal\lib.c"\r
>\r
</File>\r
- <File\r
- RelativePath="..\..\simgear\scene\model\location.cxx"\r
- >\r
- </File>\r
<File\r
RelativePath="..\..\simgear\debug\logstream.cxx"\r
>\r
include_HEADERS = \
animation.hxx \
particles.hxx \
- location.hxx \
model.hxx \
modellib.hxx \
ModelRegistry.hxx \
libsgmodel_a_SOURCES = \
animation.cxx \
particles.cxx \
- location.cxx \
model.cxx \
modellib.cxx \
ModelRegistry.cxx \
+++ /dev/null
-// location.cxx -- class for determining model location in the flightgear world.
-//
-// Written by Jim Wilson, David Megginson, started April 2002.
-// Based largely on code by Curtis Olson and Norman Vine.
-//
-// Copyright (C) 2002 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
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-// General Public License for more details.
-//
-// 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-//
-// $Id$
-
-
-#include <simgear/compiler.h>
-
-#ifdef HAVE_CONFIG_H
-# include <simgear_config.h>
-#endif
-
-#include <simgear/debug/logstream.hxx>
-#include <simgear/constants.h>
-#include <simgear/math/point3d.hxx>
-#include <simgear/math/polar3d.hxx>
-#include <simgear/math/sg_geodesy.hxx>
-
-#include "location.hxx"
-
-
-/**
- * make model transformation Matrix - based on optimizations by NHV
- */
-static void MakeTRANS( sgMat4 dst, const double Theta,
- const double Phi, const double Psi,
- const sgMat4 UP)
-{
- 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) ;
-
- sgMat4 tmp;
-
- tmp[0][0] = cosPhi * cosTheta;
- tmp[0][1] = sinPhi * cosPsi + cosPhi * -sinTheta * -sinPsi;
- tmp[0][2] = sinPhi * sinPsi + cosPhi * -sinTheta * cosPsi;
-
- tmp[1][0] = -sinPhi * cosTheta;
- tmp[1][1] = cosPhi * cosPsi + -sinPhi * -sinTheta * -sinPsi;
- tmp[1][2] = cosPhi * sinPsi + -sinPhi * -sinTheta * cosPsi;
-
- tmp[2][0] = sinTheta;
- tmp[2][1] = cosTheta * -sinPsi;
- tmp[2][2] = cosTheta * cosPsi;
-
- float a = UP[0][0];
- float b = UP[1][0];
- float c = UP[2][0];
- dst[2][0] = a*tmp[0][0] + b*tmp[0][1] + c*tmp[0][2] ;
- dst[1][0] = a*tmp[1][0] + b*tmp[1][1] + c*tmp[1][2] ;
- dst[0][0] = -(a*tmp[2][0] + b*tmp[2][1] + c*tmp[2][2]) ;
- dst[3][0] = SG_ZERO ;
-
- a = UP[0][1];
- b = UP[1][1];
- c = UP[2][1];
- dst[2][1] = a*tmp[0][0] + b*tmp[0][1] + c*tmp[0][2] ;
- dst[1][1] = a*tmp[1][0] + b*tmp[1][1] + c*tmp[1][2] ;
- dst[0][1] = -(a*tmp[2][0] + b*tmp[2][1] + c*tmp[2][2]) ;
- dst[3][1] = SG_ZERO ;
-
- a = UP[0][2];
- c = UP[2][2];
- dst[2][2] = a*tmp[0][0] + c*tmp[0][2] ;
- dst[1][2] = a*tmp[1][0] + c*tmp[1][2] ;
- dst[0][2] = -(a*tmp[2][0] + c*tmp[2][2]) ;
- dst[3][2] = SG_ZERO ;
-
- dst[2][3] = SG_ZERO ;
- dst[1][3] = SG_ZERO ;
- dst[0][3] = SG_ZERO ;
- dst[3][3] = SG_ONE ;
-}
-
-
-////////////////////////////////////////////////////////////////////////
-// Implementation of SGLocation.
-////////////////////////////////////////////////////////////////////////
-
-// Constructor
-SGLocation::SGLocation( void ):
- _orientation_dirty(true),
- _position_dirty(true),
- _lon_deg(-1000),
- _lat_deg(0),
- _alt_ft(0),
- _roll_deg(0),
- _pitch_deg(0),
- _heading_deg(0),
- _cur_elev_m(0)
-{
- sgdZeroVec3(_absolute_view_pos);
- sgMakeRotMat4( UP, 0.0, 0.0, 0.0 );
- sgMakeRotMat4( TRANS, 0.0, 0.0, 0.0 );
-}
-
-
-// Destructor
-SGLocation::~SGLocation( void ) {
-}
-
-void
-SGLocation::setPosition (double lon_deg, double lat_deg, double alt_ft)
-{
- _position_dirty = true;
- _lon_deg = lon_deg;
- _lat_deg = lat_deg;
- _alt_ft = alt_ft;
-}
-
-void
-SGLocation::setOrientation (double roll_deg, double pitch_deg, double heading_deg)
-{
- _orientation_dirty = true;
- _roll_deg = roll_deg;
- _pitch_deg = pitch_deg;
- _heading_deg = heading_deg;
-}
-
-double *
-SGLocation::get_absolute_view_pos()
-{
- recalcAbsolutePosition();
- return _absolute_view_pos;
-}
-
-float *
-SGLocation::get_view_pos( const Point3D& scenery_center )
-{
- recalcAbsolutePosition();
- for (int i = 0; i < 3; i++)
- _relative_view_pos[i] = _absolute_view_pos[i] - scenery_center[i];
- return _relative_view_pos;
-}
-
-void
-SGLocation::recalcOrientation() const
-{
- if (_orientation_dirty) {
- // Make sure UP matrix is up-to-date.
- recalcAbsolutePosition();
-
- // Create local matrix with current geodetic position. Converting
- // the orientation (pitch/roll/heading) to vectors.
- MakeTRANS( TRANS, _pitch_deg * SG_DEGREES_TO_RADIANS,
- _roll_deg * SG_DEGREES_TO_RADIANS,
- -_heading_deg * SG_DEGREES_TO_RADIANS,
- UP );
- _orientation_dirty = false;
- }
-}
-
-/*
- * Update values derived from the longitude, latitude and altitude parameters
- * of this instance. This encompasses absolute position in cartesian
- * coordinates, the local up, east and south vectors and the UP Matrix.
- */
-void
-SGLocation::recalcAbsolutePosition() const
-{
- if (_position_dirty) {
- double lat = _lat_deg * SGD_DEGREES_TO_RADIANS;
- double lon = _lon_deg * SGD_DEGREES_TO_RADIANS;
- double alt = _alt_ft * SG_FEET_TO_METER;
-
- sgGeodToCart(lat, lon, alt, _absolute_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 for output
- sgSetVec3( _world_up, UP[0][0], UP[0][1], UP[0][2] );
-
- // Calculate the surface east and south vectors using the (normalized)
- // partial derivatives of the up vector Could also be fetched and
- // normalized from the UP rotation matrix, but I doubt this would
- // be more efficient.
- float sin_lon = sin(_lon_deg * SGD_DEGREES_TO_RADIANS);
- float sin_lat = sin(_lat_deg * SGD_DEGREES_TO_RADIANS);
- float cos_lon = cos(_lon_deg * SGD_DEGREES_TO_RADIANS);
- float cos_lat = cos(_lat_deg * SGD_DEGREES_TO_RADIANS);
-
- _surface_south[0] = (sin_lat*cos_lon);
- _surface_south[1] = (sin_lat*sin_lon);
- _surface_south[2] = - cos_lat;
-
- _surface_east[0] = -sin_lon;
- _surface_east[1] = cos_lon;
- _surface_east[2] = 0.f;
-
- _position_dirty = false;
- }
-}
+++ /dev/null
-// location.hxx -- class for determining model location in the flightgear world.
-//
-// Written by Jim Wilson, David Megginson, started April 2002.
-//
-// Copyright (C) 2002 Jim Wilson, David Megginson
-//
-// This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-// General Public License for more details.
-//
-// 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-//
-// $Id$
-
-
-#ifndef _SG_LOCATION_HXX
-#define _SG_LOCATION_HXX
-
-
-#ifndef __cplusplus
-# error This library requires C++
-#endif
-
-#include <simgear/compiler.h>
-#include <simgear/constants.h>
-#include <simgear/math/point3d.hxx>
-
-#include <plib/sg.h> // plib include
-
-
-// Define a structure containing view information
-class SGLocation
-{
-
-public:
- // Constructor
- SGLocation( void );
-
- // Destructor
- virtual ~SGLocation( void );
-
- //////////////////////////////////////////////////////////////////////
- // Part 2: user settings.
- //////////////////////////////////////////////////////////////////////
-
- // Geodetic position of model...
- virtual double getLongitude_deg () const { return _lon_deg; }
- virtual double getLatitude_deg () const { return _lat_deg; }
- virtual double getAltitudeASL_ft () const { return _alt_ft; }
- virtual void setPosition (double lon_deg, double lat_deg, double alt_ft);
-
-
- // Reference orientation rotations...
- // These are rotations that represent the plane attitude effect on
- // the view (in Pilot view). IE The view frustrum rotates as the plane
- // turns, pitches, and rolls.
- // In model view (lookat/chaseview) these end up changing the angle that
- // the eye is looking at the ojbect (ie the model).
- // FIXME: the FGModel class should have its own version of these so that
- // it can generate it's own model rotations.
- virtual double getRoll_deg () const { return _roll_deg; }
- virtual double getPitch_deg () const {return _pitch_deg; }
- virtual double getHeading_deg () const {return _heading_deg; }
- virtual void setOrientation (double roll_deg, double pitch_deg, double heading_deg);
-
-
- //////////////////////////////////////////////////////////////////////
- // Part 3: output vectors and matrices in FlightGear coordinates.
- //////////////////////////////////////////////////////////////////////
-
- // Vectors and positions...
-
- //! Get the absolute view position in fgfs coordinates.
- virtual double * get_absolute_view_pos( );
-
- //! Return the position relative to the given scenery center.
- virtual float * get_view_pos( const Point3D& scenery_center );
- float * get_view_pos( const SGVec3d& sc )
- { return get_view_pos(Point3D(sc[0], sc[1], sc[2])); }
-
- // Get world up vector
- virtual float *get_world_up()
- { recalcAbsolutePosition(); return _world_up; }
-
- // Get surface east vector
- virtual float *get_surface_east()
- { recalcAbsolutePosition(); return _surface_east; }
-
- // Get surface south vector
- virtual float *get_surface_south()
- { recalcAbsolutePosition(); return _surface_south; }
-
- // Elevation of ground under location (based on scenery output)...
- void set_cur_elev_m ( double elev ) { _cur_elev_m = elev; }
- inline double get_cur_elev_m () { return _cur_elev_m; }
-
- // Matrices...
- virtual const sgVec4 *getTransformMatrix() {
- recalcOrientation();
- return TRANS;
- }
- virtual const sgVec4 *getCachedTransformMatrix() { return TRANS; }
-
- virtual const sgVec4 *getUpMatrix(const Point3D& scenery_center) {
- recalcAbsolutePosition();
- return UP;
- }
- const sgVec4 *getUpMatrix( const SGVec3d& sc )
- { return getUpMatrix(Point3D(sc[0], sc[1], sc[2])); }
-
- virtual const sgVec4 *getCachedUpMatrix() { return UP; }
-
-private:
-
- //////////////////////////////////////////////////////////////////
- // private data //
- //////////////////////////////////////////////////////////////////
-
- // flag forcing a recalc of derived view parameters
- mutable bool _orientation_dirty, _position_dirty;
-
- mutable sgdVec3 _absolute_view_pos;
- mutable sgVec3 _relative_view_pos;
-
- double _lon_deg;
- double _lat_deg;
- double _alt_ft;
-
- double _roll_deg;
- double _pitch_deg;
- double _heading_deg;
-
- // elevation of ground under this location...
- double _cur_elev_m;
-
- // surface vector heading south
- mutable sgVec3 _surface_south;
-
- // surface vector heading east (used to unambiguously align sky
- // with sun)
- mutable sgVec3 _surface_east;
-
- // world up vector (normal to the plane tangent to the earth's
- // surface at the spot we are directly above)
- mutable sgVec3 _world_up;
-
- // sg versions of our friendly matrices
- mutable sgMat4 TRANS, UP;
-
- //////////////////////////////////////////////////////////////////
- // private functions //
- //////////////////////////////////////////////////////////////////
-
- void recalcOrientation() const;
- void recalcAbsolutePosition() const;
-};
-
-
-#endif // _SG_LOCATION_HXX
#include <simgear/scene/util/SGSceneUserData.hxx>
-#include "location.hxx"
#include "placementtrans.hxx"
#include "placement.hxx"
_pitch_deg(0),
_heading_deg(0),
_selector(new osg::Switch),
- _transform(new SGPlacementTransform),
- _location(new SGLocation)
+ _transform(new SGPlacementTransform)
{
}
SGModelPlacement::~SGModelPlacement ()
{
- delete _location;
}
void
void
SGModelPlacement::update()
{
- _location->setPosition( _position.getLongitudeDeg(),
- _position.getLatitudeDeg(),
- _position.getElevationFt() );
- _location->setOrientation( _roll_deg, _pitch_deg, _heading_deg );
-
- const sgVec4 *t = _location->getTransformMatrix();
- SGMatrixd rotation;
- for (unsigned i = 0; i < 4; ++i)
- for (unsigned j = 0; j < 4; ++j)
- rotation(i, j) = t[j][i];
- SGVec3d pos(_location->get_absolute_view_pos());
- _transform->setTransform(pos, rotation);
+ // The cartesian position
+ SGVec3d position = SGVec3d::fromGeod(_position);
+
+ // The orientation, composed from the horizontal local orientation and the
+ // orientation wrt the horizontal local frame
+ SGQuatd orient = SGQuatd::fromLonLat(_position);
+ orient *= SGQuatd::fromAngleAxisDeg(180, SGVec3d(0, 1, 0));
+ orient *= SGQuatd::fromYawPitchRollDeg(-_heading_deg, _pitch_deg, -_roll_deg);
+ SGMatrixd rotation(inverse(orient));
+ _transform->setTransform(position, rotation);
}
bool
#include "placementtrans.hxx"
-// Don't pull in the headers, since we don't need them here.
-class SGLocation;
-
-
// Has anyone done anything *really* stupid, like making min and max macros?
#ifdef min
#undef min
virtual osg::Node* getSceneGraph () { return _selector.get(); }
- virtual SGLocation * getSGLocation () { return _location; }
-
virtual bool getVisible () const;
virtual void setVisible (bool visible);
osg::ref_ptr<osg::Switch> _selector;
osg::ref_ptr<SGPlacementTransform> _transform;
-
- // Location
- SGLocation * _location;
};
#endif // _SG_PLACEMENT_HXX
projects / simgear.git / commitdiff