false /* do not set current property value */);
fgSetArchivable("/sim/current-view/goal-roll-offset-deg");
+// expose various quaternions under the debug/ subtree
+ _tiedProperties.Tie("debug/orientation-w", this, &View::getOrientation_w);
+ _tiedProperties.Tie("debug/orientation-x", this, &View::getOrientation_x);
+ _tiedProperties.Tie("debug/orientation-y", this, &View::getOrientation_y);
+ _tiedProperties.Tie("debug/orientation-z", this, &View::getOrientation_z);
+
+ _tiedProperties.Tie("debug/orientation_offset-w", this,
+ &View::getOrOffset_w);
+ _tiedProperties.Tie("debug/orientation_offset-x", this,
+ &View::getOrOffset_x);
+ _tiedProperties.Tie("debug/orientation_offset-y", this,
+ &View::getOrOffset_y);
+ _tiedProperties.Tie("debug/orientation_offset-z", this,
+ &View::getOrOffset_z);
+
+ _tiedProperties.Tie("debug/frame-w", this, &View::getFrame_w);
+ _tiedProperties.Tie("debug/frame-x", this, &View::getFrame_x);
+ _tiedProperties.Tie("debug/frame-y", this, &View::getFrame_y);
+ _tiedProperties.Tie("debug/frame-z", this, &View::getFrame_z);
+
+
+// expose the raw (OpenGL) orientation to the property tree,
+// for the sound-manager
+ _tiedProperties.Tie("raw-orientation", 0, this, &View::getRawOrientation_w);
+ _tiedProperties.Tie("raw-orientation", 1, this, &View::getRawOrientation_x);
+ _tiedProperties.Tie("raw-orientation", 2, this, &View::getRawOrientation_y);
+ _tiedProperties.Tie("raw-orientation", 3, this, &View::getRawOrientation_z);
+
// following config properties are exposed on current-view but don't change,
// so we can simply copy them here.
_tiedProperties.getRoot()->setStringValue("name", _name);
recalc();
}
+double View::getRawOrientation_w() const
+{
+ return mViewOrientation.w();
+}
+
+double View::getRawOrientation_x() const
+{
+ return mViewOrientation.x();
+}
+
+double View::getRawOrientation_y() const
+{
+ return mViewOrientation.y();
+}
+
+double View::getRawOrientation_z() const
+{
+ return mViewOrientation.z();
+}
+
+// This takes the conventional aviation XYZ body system
+// i.e. x=forward, y=starboard, z=bottom
+// which is widely used in FGFS
+// and rotates it into the OpenGL camera system
+// i.e. Xprime=starboard, Yprime=top, Zprime=aft.
+static const SGQuatd fsb2sta()
+{
+ return SGQuatd(-0.5, -0.5, 0.5, 0.5);
+}
+
+// reference frame orientation.
+// This is the view orientation you get when you have no
+// view offset, i.e. the offset operator is the identity.
+//
+// For example, in the familiar "cockpit lookfrom" view,
+// the reference frame is equal to the aircraft attitude,
+// i.e. it is the view looking towards 12:00 straight ahead.
+//
+// FIXME: Somebody needs to figure out what is the reference
+// frame view for the other view modes.
+//
+// Conceptually, this quat represents a rotation relative
+// to the ECEF reference orientation, as described at
+// http://www.av8n.com/physics/coords.htm#sec-orientation
+//
+// See the NOTE concerning reference orientations, below.
+//
+// The components of this quat are expressed in
+// the conventional aviation basis set,
+// i.e. x=forward, y=starboard, z=bottom
+double View::getFrame_w() const
+{
+ return ((mViewOrientation*conj(fsb2sta())*conj(mViewOffsetOr))).w();
+}
+
+double View::getFrame_x() const
+{
+ return ((mViewOrientation*conj(fsb2sta())*conj(mViewOffsetOr))).x();
+}
+
+double View::getFrame_y() const
+{
+ return ((mViewOrientation*conj(fsb2sta())*conj(mViewOffsetOr))).y();
+}
+
+double View::getFrame_z() const
+{
+ return ((mViewOrientation*conj(fsb2sta())*conj(mViewOffsetOr))).z();
+}
+
+
+// view offset.
+// This rotation takes you from the aforementioned
+// reference frame view orientation to whatever
+// actual current view orientation is.
+//
+// The components of this quaternion are expressed in
+// the conventional aviation basis set,
+// i.e. x=forward, y=starboard, z=bottom
+double View::getOrOffset_w() const{
+ return mViewOffsetOr.w();
+}
+double View::getOrOffset_x() const{
+ return mViewOffsetOr.x();
+}
+double View::getOrOffset_y() const{
+ return mViewOffsetOr.y();
+}
+double View::getOrOffset_z() const{
+ return mViewOffsetOr.z();
+}
+
+
+// current view orientation.
+// This is a rotation relative to the earth-centered (ec)
+// reference frame.
+//
+// NOTE: Here we remove a factor of fsb2sta so that
+// the components of this quat are displayed using the
+// conventional ECEF basis set. This is *not* the way
+// the view orientation is stored in the views[] array,
+// but is easier for non-graphics hackers to understand.
+// If we did not remove this factor of fsb2sta here and
+// in getCurrentViewFrame, that would be equivalent to
+// the following peculiar reference orientation:
+// Suppose you are over the Gulf of Guinea, at (lat,lon) = (0,0).
+// Then the reference frame orientation can be achieved via:
+// -- The aircraft X-axis (nose) headed south.
+// -- The aircraft Y-axis (starboard wingtip) pointing up.
+// -- The aircraft Z-axis (belly) pointing west.
+// To say the same thing in other words, and perhaps more to the
+// point: If we use the OpenGL camera orientation conventions,
+// i.e. Xprime=starboard, Yprime=top, Zprime=aft, then the
+// aforementioned peculiar reference orientation at (lat,lon)
+// = (0,0) can be described as:
+// -- aircraft Xprime axis (starboard) pointed up
+// -- aircraft Yprime axis (top) pointed east
+// -- aircraft Zprime axis (aft) pointed north
+// meaning the OpenGL axes are aligned with the ECEF axes.
+double View::getOrientation_w() const{
+ return (mViewOrientation * conj(fsb2sta())).w();
+}
+double View::getOrientation_x() const{
+ return (mViewOrientation * conj(fsb2sta())).x();
+}
+double View::getOrientation_y() const{
+ return (mViewOrientation * conj(fsb2sta())).y();
+}
+double View::getOrientation_z() const{
+ return (mViewOrientation * conj(fsb2sta())).z();
+}
+
double View::get_aspect_ratio() const
{
return flightgear::CameraGroup::getDefault()->getMasterAspectRatio();
void setPosition (const SGGeod& geod);
void setTargetPosition (const SGGeod& geod);
-
+
+ double getRawOrientation_w() const;
+ double getRawOrientation_x() const;
+ double getRawOrientation_y() const;
+ double getRawOrientation_z() const;
+
+ // quaternion accessors, for debugging:
+ double getFrame_w() const;
+ double getFrame_x() const;
+ double getFrame_y() const;
+ double getFrame_z() const;
+
+ double getOrientation_w() const;
+ double getOrientation_x() const;
+ double getOrientation_y() const;
+ double getOrientation_z() const;
+
+ double getOrOffset_w() const;
+ double getOrOffset_x() const;
+ double getOrOffset_y() const;
+ double getOrOffset_z() const;
+
//////////////////////////////////////////////////////////////////
// private data //
//////////////////////////////////////////////////////////////////
view_number(fgGetNode("/sim/current-view/view-number", true)),
config_list(fgGetNode("/sim", true)->getChildren("view")),
abs_viewer_position(SGVec3d::zeros()),
- current(0),
- current_view_orientation(SGQuatd::zeros()),
- current_view_or_offset(SGQuatd::zeros())
+ current(0)
{
}
_tiedProperties.Tie("viewer-lon-deg", this, &FGViewMgr::getViewLon_deg);
_tiedProperties.Tie("viewer-lat-deg", this, &FGViewMgr::getViewLat_deg);
_tiedProperties.Tie("viewer-elev-ft", this, &FGViewMgr::getViewElev_ft);
-
-
- _tiedProperties.Tie("debug/orientation-w", this,
- &FGViewMgr::getCurrentViewOrientation_w);
- _tiedProperties.Tie("debug/orientation-x", this,
- &FGViewMgr::getCurrentViewOrientation_x);
- _tiedProperties.Tie("debug/orientation-y", this,
- &FGViewMgr::getCurrentViewOrientation_y);
- _tiedProperties.Tie("debug/orientation-z", this,
- &FGViewMgr::getCurrentViewOrientation_z);
-
- _tiedProperties.Tie("debug/orientation_offset-w", this,
- &FGViewMgr::getCurrentViewOrOffset_w);
- _tiedProperties.Tie("debug/orientation_offset-x", this,
- &FGViewMgr::getCurrentViewOrOffset_x);
- _tiedProperties.Tie("debug/orientation_offset-y", this,
- &FGViewMgr::getCurrentViewOrOffset_y);
- _tiedProperties.Tie("debug/orientation_offset-z", this,
- &FGViewMgr::getCurrentViewOrOffset_z);
-
- _tiedProperties.Tie("debug/frame-w", this,
- &FGViewMgr::getCurrentViewFrame_w);
- _tiedProperties.Tie("debug/frame-x", this,
- &FGViewMgr::getCurrentViewFrame_x);
- _tiedProperties.Tie("debug/frame-y", this,
- &FGViewMgr::getCurrentViewFrame_y);
- _tiedProperties.Tie("debug/frame-z", this,
- &FGViewMgr::getCurrentViewFrame_z);
}
void
setViewTargetYOffset_m(target_y_offs->getDoubleValue());
setViewTargetZOffset_m(target_z_offs->getDoubleValue());
- current_view_orientation = currentView->getViewOrientation();
- current_view_or_offset = currentView->getViewOrientationOffset();
-
// Update the current view
do_axes();
currentView->update(dt);
toOsg(currentView->getViewOrientation()));
cameraGroup->setCameraParameters(currentView->get_v_fov(),
cameraGroup->getMasterAspectRatio());
-
- // expose the raw (OpenGL) orientation to the property tree,
- // for the sound-manager
- for (int i=0; i<4; ++i) {
- _tiedProperties.getRoot()->getChild("raw-orientation", i, true)->setDoubleValue(current_view_orientation[i]);
- }
}
void FGViewMgr::clear()
return (view != NULL) ? view->getPosition().getElevationFt() : 0.0;
}
-
-// reference frame orientation.
-// This is the view orientation you get when you have no
-// view offset, i.e. the offset operator is the identity.
-//
-// For example, in the familiar "cockpit lookfrom" view,
-// the reference frame is equal to the aircraft attitude,
-// i.e. it is the view looking towards 12:00 straight ahead.
-//
-// FIXME: Somebody needs to figure out what is the reference
-// frame view for the other view modes.
-//
-// Conceptually, this quat represents a rotation relative
-// to the ECEF reference orientation, as described at
-// http://www.av8n.com/physics/coords.htm#sec-orientation
-//
-// See the NOTE concerning reference orientations, below.
-//
-// The components of this quat are expressed in
-// the conventional aviation basis set,
-// i.e. x=forward, y=starboard, z=bottom
-double FGViewMgr::getCurrentViewFrame_w() const{
- return ((current_view_orientation*conj(fsb2sta())*conj(current_view_or_offset))).w();
-}
-double FGViewMgr::getCurrentViewFrame_x() const{
- return ((current_view_orientation*conj(fsb2sta())*conj(current_view_or_offset))).x();
-}
-double FGViewMgr::getCurrentViewFrame_y() const{
- return ((current_view_orientation*conj(fsb2sta())*conj(current_view_or_offset))).y();
-}
-double FGViewMgr::getCurrentViewFrame_z() const{
- return ((current_view_orientation*conj(fsb2sta())*conj(current_view_or_offset))).z();
-}
-
-
-// view offset.
-// This rotation takes you from the aforementioned
-// reference frame view orientation to whatever
-// actual current view orientation is.
-//
-// The components of this quaternion are expressed in
-// the conventional aviation basis set,
-// i.e. x=forward, y=starboard, z=bottom
-double FGViewMgr::getCurrentViewOrOffset_w() const{
- return current_view_or_offset.w();
-}
-double FGViewMgr::getCurrentViewOrOffset_x() const{
- return current_view_or_offset.x();
-}
-double FGViewMgr::getCurrentViewOrOffset_y() const{
- return current_view_or_offset.y();
-}
-double FGViewMgr::getCurrentViewOrOffset_z() const{
- return current_view_or_offset.z();
-}
-
-
-// current view orientation.
-// This is a rotation relative to the earth-centered (ec)
-// reference frame.
-//
-// NOTE: Here we remove a factor of fsb2sta so that
-// the components of this quat are displayed using the
-// conventional ECEF basis set. This is *not* the way
-// the view orientation is stored in the views[] array,
-// but is easier for non-graphics hackers to understand.
-// If we did not remove this factor of fsb2sta here and
-// in getCurrentViewFrame, that would be equivalent to
-// the following peculiar reference orientation:
-// Suppose you are over the Gulf of Guinea, at (lat,lon) = (0,0).
-// Then the reference frame orientation can be achieved via:
-// -- The aircraft X-axis (nose) headed south.
-// -- The aircraft Y-axis (starboard wingtip) pointing up.
-// -- The aircraft Z-axis (belly) pointing west.
-// To say the same thing in other words, and perhaps more to the
-// point: If we use the OpenGL camera orientation conventions,
-// i.e. Xprime=starboard, Yprime=top, Zprime=aft, then the
-// aforementioned peculiar reference orientation at (lat,lon)
-// = (0,0) can be described as:
-// -- aircraft Xprime axis (starboard) pointed up
-// -- aircraft Yprime axis (top) pointed east
-// -- aircraft Zprime axis (aft) pointed north
-// meaning the OpenGL axes are aligned with the ECEF axes.
-double FGViewMgr::getCurrentViewOrientation_w() const{
- return (current_view_orientation * conj(fsb2sta())).w();
-}
-double FGViewMgr::getCurrentViewOrientation_x() const{
- return (current_view_orientation * conj(fsb2sta())).x();
-}
-double FGViewMgr::getCurrentViewOrientation_y() const{
- return (current_view_orientation * conj(fsb2sta())).y();
-}
-double FGViewMgr::getCurrentViewOrientation_z() const{
- return (current_view_orientation * conj(fsb2sta())).z();
-}
-
void
FGViewMgr::do_axes ()
{
double getViewLon_deg() const;
double getViewLat_deg() const;
double getViewElev_ft() const;
-
-// quaternion accessors, for debugging:
- double getCurrentViewOrientation_w() const;
- double getCurrentViewOrientation_x() const;
- double getCurrentViewOrientation_y() const;
- double getCurrentViewOrientation_z() const;
- double getCurrentViewOrOffset_w() const;
- double getCurrentViewOrOffset_x() const;
- double getCurrentViewOrOffset_y() const;
- double getCurrentViewOrOffset_z() const;
- double getCurrentViewFrame_w() const;
- double getCurrentViewFrame_x() const;
- double getCurrentViewFrame_y() const;
- double getCurrentViewFrame_z() const;
bool inited;
SGPropertyNode_ptr view_number;
SGVec3d abs_viewer_position;
int current;
- SGQuatd current_view_orientation, current_view_or_offset;
SGPropertyNode_ptr current_x_offs, current_y_offs, current_z_offs;
SGPropertyNode_ptr target_x_offs, target_y_offs, target_z_offs;
};
-// This takes the conventional aviation XYZ body system
-// i.e. x=forward, y=starboard, z=bottom
-// which is widely used in FGFS
-// and rotates it into the OpenGL camera system
-// i.e. Xprime=starboard, Yprime=top, Zprime=aft.
-inline const SGQuatd fsb2sta()
-{
- return SGQuatd(-0.5, -0.5, 0.5, 0.5);
-}
#endif // _VIEWMGR_HXX
projects / flightgear.git / commitdiff