#include "viewer.hxx"
\f
-//////////////////////////////////////////////////////////////////
-// 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 * axis3[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;
-}
-
-
////////////////////////////////////////////////////////////////////////
// Implementation of FGViewer.
////////////////////////////////////////////////////////////////////////
_damp_roll(0),
_damp_pitch(0),
_damp_heading(0),
- _scaling_type(FG_SCALING_MAX)
+ _scaling_type(FG_SCALING_MAX),
+ _location(0),
+ _target_location(0)
{
- sgdZeroVec3(_absolute_view_pos);
+ _absolute_view_pos = SGVec3d(0, 0, 0);
_type = Type;
_from_model = from_model;
_from_model_index = from_model_index;
if (damp_heading > 0.0)
_damp_heading = 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;
_fov_deg = 55;
}
_aspect_ratio_multiplier = aspect_ratio_multiplier;
- _target_x_offset_m = target_x_offset_m;
- _target_y_offset_m = target_y_offset_m;
- _target_z_offset_m = target_z_offset_m;
+ _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
}
if ( _from_model )
_location = (SGLocation *) globals->get_aircraft_model()->get3DModel()->getSGLocation();
else
- _location = (SGLocation *) new SGLocation;
+ _location = new SGLocation;
if ( _type == FG_LOOKAT ) {
if ( _at_model )
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
{
if (_dirty)
recalc();
- return _absolute_view_pos;
-}
-
-float *
-FGViewer::getRelativeViewPos ()
-{
- if (_dirty)
- recalc();
- return _relative_view_pos;
-}
-
-void
-FGViewer::updateFromModelLocation (SGLocation * location)
-{
- sgCopyMat4(LOCAL, location->getTransformMatrix());
-}
-
-void
-FGViewer::updateAtModelLocation (SGLocation * location)
-{
- sgCopyMat4(ATLOCAL, location->getTransformMatrix());
-}
-
-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());
+ return _absolute_view_pos.data();
}
// recalc() is done every time one of the setters is called (making the
recalcLookAt();
}
+ SGVec3d center = globals->get_scenery()->get_center();
+ _view_pos = toVec3f(_absolute_view_pos - center);
+
+ SGGeod geodEyePoint = SGGeod::fromCart(_absolute_view_pos);
+ geodEyePoint.setElevationM(0);
+ _zero_elev = toVec3f(SGVec3d::fromGeod(geodEyePoint) - center);
+
+ SGQuatd hlOr = SGQuatd::fromLonLat(geodEyePoint);
+ _surface_south = toVec3f(hlOr.backTransform(-SGVec3d::e1()));
+ _surface_east = toVec3f(hlOr.backTransform(SGVec3d::e2()));
+ _world_up = toVec3f(hlOr.backTransform(-SGVec3d::e3()));
+
+ // 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();
+ }
+
set_clean();
}
void
FGViewer::recalcLookFrom ()
{
- sgVec3 right, forward;
- sgVec3 position_offset; // eye position offsets (xyz)
-
- // LOOKFROM mode...
-
- // Update location data...
- if ( _from_model ) {
- // update or data from model location
- updateFromModelLocation(_location);
- } else {
+ // Update location data ...
+ if ( !_from_model ) {
+ _location->setPosition( _lon_deg, _lat_deg, _alt_ft );
+ _location->setOrientation( _roll_deg, _pitch_deg, _heading_deg );
+ _location->getTransformMatrix();
+ }
+ double lat = _location->getLatitude_deg();
+ double lon = _location->getLongitude_deg();
+ double alt = _location->getAltitudeASL_ft();
+ double head = _location->getHeading_deg();
+ double pitch = _location->getPitch_deg();
+ double roll = _location->getRoll_deg();
+ if ( !_from_model ) {
// update from our own data...
- recalcOurOwnLocation( _location, _lon_deg, _lat_deg, _alt_ft,
- _roll_deg, _pitch_deg, _heading_deg );
+ dampEyeData(roll, pitch, head);
}
- // 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 );
-
- // 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 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 frame
+ SGQuatd hlOr = SGQuatd::fromLonLat(geodPos);
+ // the rotation from the horizontal local frame to the basic view orientation
+ SGQuatd hlToBody = SGQuatd::fromYawPitchRollDeg(head, pitch, roll);
+ // 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::fromYawPitchRollDeg(-_heading_offset_deg, _pitch_offset_deg,
+ _roll_offset_deg);
- // 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]);
-
- // Eye Position Offsets to vector
- sgSetVec3( position_offset, _x_offset_m, _y_offset_m, _z_offset_m );
- sgXformVec3( position_offset, position_offset, VIEW_UP);
-
- // add the offsets including rotations to the translation vector
- sgAddVec3( _view_pos, position_offset );
-
- // multiply the OFFSETS (for heading and pitch) into the VIEW
- sgPostMultMat4(VIEW, VIEW_OFFSET);
-
- // add the position data to the matrix
- sgSetVec4(VIEW[3], _view_pos[0], _view_pos[1], _view_pos[2],SG_ONE);
+ // The offset vector is meant: x +right/-left, y +up/-down, z, +back/-fwd
+ // We work in the body coordinate system which is slightly different
+ SGVec3d off(-_offset_m.z(), _offset_m.x(), -_offset_m.y());
+ // 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(off);
+ mViewOrientation = ec2body*viewOffsetOr;
}
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
+ SGGeod geodTargetPos;
+ SGQuatd geodTargetOr;
if ( _at_model ) {
- // update or data from model location
- updateAtModelLocation(_target_location);
+ geodTargetPos = SGGeod::fromDegFt(_target_location->getLongitude_deg(),
+ _target_location->getLatitude_deg(),
+ _target_location->getAltitudeASL_ft());
+ double head = _target_location->getHeading_deg();
+ double pitch = _target_location->getPitch_deg();
+ double roll = _target_location->getRoll_deg();
+ geodTargetOr = SGQuatd::fromYawPitchRollDeg(head, pitch, roll);
} else {
+ dampEyeData(_target_roll_deg, _target_pitch_deg, _target_heading_deg);
+ _target_location->setPosition( _target_lon_deg, _target_lat_deg, _target_alt_ft );
+ _target_location->setOrientation( _target_roll_deg, _target_pitch_deg, _target_heading_deg );
+ _target_location->getTransformMatrix();
+
// 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 );
+ geodTargetPos = SGGeod::fromDegFt(_target_lon_deg,
+ _target_lat_deg,
+ _target_alt_ft);
+ geodTargetOr = SGQuatd::fromYawPitchRollDeg(_target_heading_deg,
+ _target_pitch_deg,
+ _target_roll_deg);
}
- // calculate the "at" target object positon relative to eye or view's tile center...
- SGVec3d center = globals->get_scenery()->get_center();
- sgdVec3 dVec3;
- sgdSetVec3(dVec3, center[0], center[1], center[2]);
- sgdSubVec3(dVec3, _target_location->get_absolute_view_pos(), dVec3 );
- sgSetVec3(at_pos, dVec3[0], dVec3[1], dVec3[2]);
+ SGQuatd geodTargetHlOr = SGQuatd::fromLonLat(geodTargetPos);
- // Update location data for eye...
+
+ SGGeod geodEyePos;
+ SGQuatd geodEyeOr;
if ( _from_model ) {
- // update or data from model location
- updateFromModelLocation(_location);
+ geodEyePos = SGGeod::fromDegFt(_location->getLongitude_deg(),
+ _location->getLatitude_deg(),
+ _location->getAltitudeASL_ft());
+ double head = _location->getHeading_deg();
+ double pitch = _location->getPitch_deg();
+ double roll = _location->getRoll_deg();
+ geodEyeOr = SGQuatd::fromYawPitchRollDeg(head, pitch, roll);
} else {
+ dampEyeData(_roll_deg, _pitch_deg, _heading_deg);
+ _location->setPosition( _lon_deg, _lat_deg, _alt_ft );
+ _location->setOrientation( _roll_deg, _pitch_deg, _heading_deg );
+ _location->getTransformMatrix();
+
// update from our own data, just the rotation here...
- recalcOurOwnLocation( _location, _lon_deg, _lat_deg, _alt_ft,
- _roll_deg, _pitch_deg, _heading_deg );
+ geodEyePos = SGGeod::fromDegFt(_lon_deg, _lat_deg, _alt_ft);
+ geodEyeOr = SGQuatd::fromYawPitchRollDeg(_heading_deg,
+ _pitch_deg,
+ _roll_deg);
}
- // save the eye positon...
- sgCopyVec3(eye_pos, _location->get_view_pos(center));
-
- // copy data from location class to local items...
- copyLocationData();
+ SGQuatd geodEyeHlOr = SGQuatd::fromLonLat(geodEyePos);
- // 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] );
+ // 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);
- // 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]);
+ // Offsets to the eye position
+ SGVec3d eyeOff(-_offset_m.z(), _offset_m.y(), -_offset_m.x());
+ SGQuatd ec2eye = geodEyeHlOr*geodEyeOr;
+ SGVec3d eyeCart = SGVec3d::fromGeod(geodEyePos);
+ eyeCart += (ec2eye*eyeOffsetOr).backTransform(eyeOff);
- // 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 the Position offsets from object to the eye position
- sgAddVec3( eye_pos, eye_pos, position_offset );
+ SGVec3d atCart = SGVec3d::fromGeod(geodTargetPos);
// 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()
-{
- SGVec3d center = globals->get_scenery()->get_center();
- // Get our friendly vectors from the eye location...
- sgdCopyVec3(_absolute_view_pos, _location->get_absolute_view_pos());
- sgCopyVec3(_relative_view_pos, _location->get_view_pos(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();
- }
-
- // copy coordinates to outputs for viewer...
- sgCopyVec3(_zero_elev, _relative_view_pos);
- sgAddScaledVec3(_zero_elev, _world_up, -_alt_ft*SG_FEET_TO_METER);
- sgCopyVec3(_view_pos, _relative_view_pos);
+ 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, 0, up, 2);
}
void
// orientation rotations listed below. This has the effect of the
// eye moving around and "looking at" the object (model) from
// different angles.
- virtual double getXOffset_m () const { return _x_offset_m; }
- virtual double getYOffset_m () const { return _y_offset_m; }
- virtual double getZOffset_m () const { return _z_offset_m; }
- virtual double getTargetXOffset_m () const { return _target_x_offset_m; }
- virtual double getTargetYOffset_m () const { return _target_y_offset_m; }
- virtual double getTargetZOffset_m () const { return _target_z_offset_m; }
+ virtual double getXOffset_m () const { return _offset_m.x(); }
+ virtual double getYOffset_m () const { return _offset_m.y(); }
+ virtual double getZOffset_m () const { return _offset_m.z(); }
+ virtual double getTargetXOffset_m () const { return _target_offset_m.x(); }
+ virtual double getTargetYOffset_m () const { return _target_offset_m.y(); }
+ virtual double getTargetZOffset_m () const { return _target_offset_m.z(); }
virtual void setXOffset_m (double x_offset_m);
virtual void setYOffset_m (double y_offset_m);
virtual void setZOffset_m (double z_offset_m);
// Vectors and positions...
// Get zero view_pos
- virtual float * get_view_pos() {if ( _dirty ) { recalc(); } return _view_pos; }
+ const SGVec3f& get_view_pos() {if ( _dirty ) { recalc(); } return _view_pos; }
// Get the absolute view position in fgfs coordinates.
virtual double * get_absolute_view_pos ();
// Get zero elev
- virtual float * get_zero_elev() {if ( _dirty ) { recalc(); } return _zero_elev; }
+ const SGVec3f& get_zero_elev() {if ( _dirty ) { recalc(); } return _zero_elev; }
// Get world up vector
- virtual float *get_world_up() {if ( _dirty ) { recalc(); } return _world_up; }
- // Get the relative (to scenery center) view position in fgfs coordinates.
- virtual float * getRelativeViewPos ();
+ const SGVec3f& get_world_up() {if ( _dirty ) { recalc(); } return _world_up; }
// Get surface east vector
- virtual float *get_surface_east() { if ( _dirty ) { recalc(); } return _surface_east; }
+ const SGVec3f& get_surface_east() { if ( _dirty ) { recalc(); } return _surface_east; }
// Get surface south vector
- virtual float *get_surface_south() {if ( _dirty ) { recalc(); } return _surface_south; }
+ const SGVec3f& get_surface_south() {if ( _dirty ) { recalc(); } return _surface_south; }
- // Matrices...
- virtual const sgVec4 *get_VIEW() { if ( _dirty ) { recalc(); } return VIEW; }
- virtual const sgVec4 *get_UP() { if ( _dirty ) { recalc(); } return UP; }
+ const SGVec3d& getViewPosition() { if ( _dirty ) { recalc(); } return _absolute_view_pos; }
+ const SGQuatd& getViewOrientation() { if ( _dirty ) { recalc(); } return mViewOrientation; }
//////////////////////////////////////////////////////////////////////
// Part 4: View and frustrum data setters and getters
// flag forcing a recalc of derived view parameters
bool _dirty;
- mutable sgdVec3 _absolute_view_pos;
- mutable sgVec3 _relative_view_pos;
+ SGQuatd mViewOrientation;
+ SGVec3d _absolute_view_pos;
+ SGVec3f _relative_view_pos;
double _lon_deg;
double _lat_deg;
// Position offsets from FDM origin. The X axis is positive
// out the tail, Y is out the right wing, and Z is positive up.
// distance in meters
- double _x_offset_m;
- double _y_offset_m;
- double _z_offset_m;
+ SGVec3d _offset_m;
// Target offsets from FDM origin (for "lookat" targets) The X
// axis is positive out the tail, Y is out the right wing, and Z
// is positive up. distance in meters
- double _target_x_offset_m;
- double _target_y_offset_m;
- double _target_z_offset_m;
+ SGVec3d _target_offset_m;
// orientation offsets from reference (_goal* are for smoothed transitions)
SGLocation * _target_location;
// the nominal field of view (angle, in degrees)
- double _fov_deg;
+ double _fov_deg;
// Ratio of window width and height; height = width *
// aspect_ratio. This value is automatically calculated based on
// window dimentions.
- double _aspect_ratio;
+ double _aspect_ratio;
// default = 1.0, this value is user configurable and is
// multiplied into the aspect_ratio to get the actual vertical fov
double _aspect_ratio_multiplier;
- bool _reverse_view_offset;
-
// view position in opengl world coordinates (this is the
// abs_view_pos translated to scenery.center)
- sgVec3 _view_pos;
+ SGVec3f _view_pos;
// cartesion coordinates of current lon/lat if at sea level
// translated to scenery.center
- sgVec3 _zero_elev;
+ SGVec3f _zero_elev;
// surface vector heading south
- sgVec3 _surface_south;
+ SGVec3f _surface_south;
// surface vector heading east (used to unambiguously align sky
// with sun)
- sgVec3 _surface_east;
+ SGVec3f _surface_east;
// world up vector (normal to the plane tangent to the earth's
// surface at the spot we are directly above
- sgVec3 _world_up;
-
- // up vector for the view (usually point straight up through the
- // top of the aircraft
- sgVec3 _view_up;
-
- // sg versions of our friendly matrices
- sgMat4 VIEW, UP;
- sgMat4 LOCAL, ATLOCAL, TRANS, LARC_TO_SSG;
-
- // Transformation matrix for the view direction offset relative to
- // the AIRCRAFT matrix
- sgMat4 VIEW_OFFSET;
+ SGVec3f _world_up;
//////////////////////////////////////////////////////////////////
// private functions //
void recalc ();
void recalcLookFrom();
void recalcLookAt();
- void copyLocationData();
- void updateFromModelLocation (SGLocation * location);
- void updateAtModelLocation (SGLocation * location);
- void recalcOurOwnLocation (SGLocation * location, double lon_deg, double lat_deg, double alt_ft,
- double roll_deg, double pitch_deg, double heading_deg);
- void dampEyeData (double &roll_deg, double &pitch_deg, double &heading_deg);
+ void dampEyeData(double &roll_deg, double &pitch_deg, double &heading_deg);
// add to _heading_offset_deg
inline void incHeadingOffset_deg( double amt ) {
_roll_offset_deg += amt;
}
- inline void set_reverse_view_offset( bool val ) {
- _reverse_view_offset = val;
- }
-
};
projects / flightgear.git / commitdiff