#include <string.h>
#include <Include/general.hxx>
+#include <Include/fg_constants.h>
#include <Debug/logstream.hxx>
#include <Aircraft/aircraft.hxx>
#include <Airports/simple.hxx>
#include <Cockpit/panel.hxx>
+#include <Controls/controls.hxx>
#include <FDM/flight.hxx>
#include <Main/options.hxx>
#include <Main/fg_init.hxx>
#include <Screen/screen-dump.hxx>
#include <Time/fg_time.hxx>
-#ifdef WIN32
+#if defined( WIN32 ) && !defined( __CYGWIN__ )
# include <Screen/win32-printer.h>
#endif
+/*
+ * trackball.h
+ * A virtual trackball implementation
+ * Written by Gavin Bell for Silicon Graphics, November 1988.
+ */
+/*
+ * Pass the x and y coordinates of the last and current positions of
+ * the mouse, scaled so they are from (-1.0 ... 1.0).
+ *
+ * The resulting rotation is returned as a quaternion rotation in the
+ * first paramater.
+ */
+void
+trackball(float q[4], float p1x, float p1y, float p2x, float p2y);
+
+/*
+ * Given two quaternions, add them together to get a third quaternion.
+ * Adding quaternions to get a compound rotation is analagous to adding
+ * translations to get a compound translation. When incrementally
+ * adding rotations, the first argument here should be the new
+
+ * rotation, the second and third the total rotation (which will be
+ * over-written with the resulting new total rotation).
+ */
+void
+add_quats(float *q1, float *q2, float *dest);
+
+/*
+ * A useful function, builds a rotation matrix in Matrix based on
+ * given quaternion.
+ */
+void
+build_rotmatrix(float m[4][4], float q[4]);
+
+/*
+ * This function computes a quaternion based on an axis (defined by
+ * the given vector) and an angle about which to rotate. The angle is
+ * expressed in radians. The result is put into the third argument.
+ */
+void
+axis_to_quat(float a[3], float phi, float q[4]);
+
+
#include "gui.h"
FG_USING_STD(string);
FG_USING_STD(cout);
#endif
+#if defined(WIN32) || defined(__CYGWIN32__)
+#define WIN32_CURSOR_TWEAKS
+#elif (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 9)
+#define X_CURSOR_TWEAKS
+#endif
+
// hack, should come from an include someplace
extern void fgInitVisuals( void );
extern void fgReshape( int width, int height );
static char global_dialog_string[256];
+// from autopilot.cxx
extern void NewAltitude( puObject *cb );
extern void NewHeading( puObject *cb );
extern void fgAPAdjust( puObject * );
-extern void fgLatLonFormatToggle( puObject *);
extern void NewTgtAirport( puObject *cb );
+bool fgAPTerrainFollowEnabled( void );
+bool fgAPAltitudeEnabled( void );
+bool fgAPHeadingEnabled( void );
+bool fgAPWayPointEnabled( void );
+bool fgAPAutoThrottleEnabled( void );
+
+// from cockpit.cxx
+extern void fgLatLonFormatToggle( puObject *);
/* --------------------------------------------------------------------
Mouse stuff
static int last_buttons = 0 ;
static int mouse_active = 0;
static int menu_on = 0;
+static int mouse_joystick_control = 0;
+
+//static time_t mouse_off_time;
+//static int mouse_timed_out;
+
+// to allow returning to previous view
+// on second left click in MOUSE_VIEW mode
+// This has file scope so that it can be reset
+// if the little rodent is moved NHV
+static int _mVtoggle;
+
+// we break up the glutGetModifiers return mask
+// once per loop and stash what we need in these
+static int glut_active_shift;
+static int glut_active_ctrl;
+static int glut_active_alt;
+
+static float lastquat[4];
+static float curquat[4];
+static float _quat0[4];
+float quat_mat[4][4];
+
+// uncomment this for view to exactly follow mouse in MOUSE_VIEW mode
+// else smooth out the view panning to .01 radian per frame
+// see view_offset smoothing mechanism in main.cxx
+#define NO_SMOOTH_MOUSE_VIEW
+
+// uncomment following to
+#define RESET_VIEW_ON_LEAVING_MOUSE_VIEW
/* --------------------------------------------------------------------
Support for mouse as control yoke (david@megginson.com)
} MouseMode;
MouseMode mouse_mode = MOUSE_POINTER;
-static float aileron_sensitivity = 500.0;
-static float elevator_sensitivity = 500.0;
-static float brake_sensitivity = 250.0;
-static float throttle_sensitivity = 250.0;
-static float rudder_sensitivity = 500.0;
-static float trim_sensitivity = 1000.0;
-
-void guiMotionFunc ( int x, int y )
-{
- if (mouse_mode == MOUSE_POINTER) {
- puMouse ( x, y ) ;
- glutPostRedisplay () ;
- } else {
- int ww = current_view.get_winWidth();
- int wh = current_view.get_winHeight();
-
- // Mouse as yoke
- if (mouse_mode == MOUSE_YOKE) {
- if (last_buttons & (1 << GLUT_LEFT_BUTTON)) {
- float brake_offset = (_mX - x) / brake_sensitivity;
- float throttle_offset = (_mY - y) / throttle_sensitivity;
- controls.move_brake(FGControls::ALL_WHEELS, brake_offset);
- controls.move_throttle(FGControls::ALL_ENGINES, throttle_offset);
- } else if (last_buttons & (1 << GLUT_MIDDLE_BUTTON)) {
- float rudder_offset = (x - _mX) / rudder_sensitivity;
- float trim_offset = (_mY - y) / trim_sensitivity;
- controls.move_rudder(rudder_offset);
- controls.move_elevator_trim(trim_offset);
- } else {
- float aileron_offset = (x - _mX) / aileron_sensitivity;
- float elevator_offset = (_mY - y) / elevator_sensitivity;
- controls.move_aileron(aileron_offset);
- controls.move_elevator(elevator_offset);
- }
-
- // Mouse as view
- } else {
- FGView * v = ¤t_view;
- double offset = v->get_goal_view_offset();
- double full = FG_PI * 2.0;
- offset += (_mX - x) / 500.0;
- while (offset < 0) {
- offset += full;
- }
- while (offset > full) {
- offset -= full;
- }
- v->set_view_offset(offset);
- v->set_goal_view_offset(offset);
- }
-
- // Keep the mouse in the window.
- if (x < 5 || x > ww-5 || y < 5 || y > wh-5) {
- _mX = x = ww / 2;
- _mY = y = wh / 2;
- glutWarpPointer(x, y);
- }
- }
- // Record the new mouse position.
- _mX = x;
- _mY = y;
+static double aileron_sensitivity = 1.0/500.0;
+static double elevator_sensitivity = 1.0/500.0;
+static double brake_sensitivity = 1.0/250.0;
+static double throttle_sensitivity = 1.0/250.0;
+static double rudder_sensitivity = 1.0/500.0;
+static double trim_sensitivity = 1.0/1000.0;
+
+static inline void Quat0( void ) {
+ curquat[0] = _quat0[0];
+ curquat[1] = _quat0[1];
+ curquat[2] = _quat0[2];
+ curquat[3] = _quat0[3];
}
-void guiMouseFunc(int button, int updown, int x, int y)
-{
- // Was the left button pressed?
- if (updown == GLUT_DOWN && button == GLUT_LEFT_BUTTON) {
- switch (mouse_mode) {
- case MOUSE_POINTER:
- break;
- case MOUSE_YOKE:
- break;
- case MOUSE_VIEW:
- current_view.set_view_offset( 0.00 );
- current_view.set_goal_view_offset( 0.00 );
- break;
- }
-
- // Or was it the right button?
- } else if (updown == GLUT_DOWN && button == GLUT_RIGHT_BUTTON) {
- switch (mouse_mode) {
- case MOUSE_POINTER:
- mouse_mode = MOUSE_YOKE;
- _savedX = x;
- _savedY = y;
- glutSetCursor(GLUT_CURSOR_NONE);
- FG_LOG( FG_INPUT, FG_INFO, "Mouse in yoke mode" );
- break;
- case MOUSE_YOKE:
- mouse_mode = MOUSE_VIEW;
- FG_LOG( FG_INPUT, FG_INFO, "Mouse in view mode" );
- break;
- case MOUSE_VIEW:
- mouse_mode = MOUSE_POINTER;
- _mX = x = _savedX;
- _mY = y = _savedY;
- glutWarpPointer(x, y);
- glutSetCursor(GLUT_CURSOR_INHERIT);
- FG_LOG( FG_INPUT, FG_INFO, "Mouse in pointer mode" );
- break;
- }
- }
-
- // Register the new position (if it
- // hasn't been registered already).
- _mX = x;
- _mY = y;
-
- // Note which button is pressed.
- if ( updown == GLUT_DOWN ) {
- last_buttons |= ( 1 << button ) ;
- } else {
- last_buttons &= ~( 1 << button ) ;
- }
-
- // If we're in pointer mode, let PUI
- // know what's going on.
- if (mouse_mode == MOUSE_POINTER) {
- puMouse (button, updown, x,y);
- glutPostRedisplay ();
- }
+static inline int left_button( void ) {
+ return( last_buttons & (1 << GLUT_LEFT_BUTTON) );
}
-int guiGetMouseButton(void)
-{
- return last_buttons;
+static inline int middle_button( void ) {
+ return( last_buttons & (1 << GLUT_MIDDLE_BUTTON) );
}
-void guiGetMouse(int *x, int *y)
-{
- *x = _mX;
- *y = _mY;
-};
+static inline int right_button( void ) {
+ return( last_buttons & (1 << GLUT_RIGHT_BUTTON) );
+}
static inline void TurnCursorOn( void )
{
mouse_active = ~0;
-#if defined ( WIN32 ) || defined(__CYGWIN32__)
- glutSetCursor(GLUT_CURSOR_INHERIT);
+#if defined(WIN32_CURSOR_TWEAKS)
+ switch (mouse_mode) {
+ case MOUSE_POINTER:
+ glutSetCursor(GLUT_CURSOR_INHERIT);
+ break;
+ case MOUSE_YOKE:
+ glutSetCursor(GLUT_CURSOR_CROSSHAIR);
+ break;
+ case MOUSE_VIEW:
+ glutSetCursor(GLUT_CURSOR_LEFT_RIGHT);
+ break;
+ }
#endif
-#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 9)
- glutWarpPointer( glutGet((GLenum)GLUT_SCREEN_WIDTH)/2, glutGet((GLenum)GLUT_SCREEN_HEIGHT)/2);
+#if defined(X_CURSOR_TWEAKS)
+ glutWarpPointer( current_view.get_winWidth()/2, current_view.get_winHeight()/2);
#endif
}
static inline void TurnCursorOff( void )
{
mouse_active = 0;
-#if defined ( WIN32 ) || defined(__CYGWIN32__)
+#if defined(WIN32_CURSOR_TWEAKS)
glutSetCursor(GLUT_CURSOR_NONE);
-#else // I guess this is what we want to do ??
-#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 9)
- glutWarpPointer( glutGet((GLenum)GLUT_SCREEN_WIDTH), glutGet((GLenum)GLUT_SCREEN_HEIGHT));
-#endif
+#elif defined(X_CURSOR_TWEAKS)
+ glutWarpPointer( current_view.get_winWidth(), current_view.get_winHeight());
#endif
}
void maybeToggleMouse( void )
{
-#ifdef WIN32
+#if defined(WIN32_CURSOR_TWEAKS)
static int first_time = ~0;
static int mouse_changed = 0;
TurnCursorOn();
}
} else {
+ if( mouse_mode != MOUSE_POINTER )
+ return;
if( mouse_changed ) {
mouse_changed = ~mouse_changed;
if(mouse_active) {
if( restore ) {
glutSetCursor(cursor);
} else {
- cursor = glutGet( (GLenum)GLUT_WINDOW_CURSOR );
-#ifdef WIN32
+ cursor = glutGet( GLUT_WINDOW_CURSOR );
+#if defined(WIN32_CURSOR_TWEAKS)
TurnCursorOn();
#endif
glutSetCursor( GLUT_CURSOR_WAIT );
}
}
+
+int guiGetMouseButton(void)
+{
+ return last_buttons;
+}
+
+void guiGetMouse(int *x, int *y)
+{
+ *x = _mX;
+ *y = _mY;
+};
+
+void guiMotionFunc ( int x, int y )
+{
+ int ww, wh, need_warp = 0;
+ float W, H;
+ double offset;
+// FGTime *t = FGTime::cur_time_params;
+// if( mouse_timed_out ) {
+// if( t->get_cur_time() > mouse_off_time ) {
+// moused_timed_out = 0;
+// TurnCursorOn();
+// glutPostRedisplay () ;
+// }
+// }
+
+ if (mouse_mode == MOUSE_POINTER) {
+ puMouse ( x, y ) ;
+ glutPostRedisplay () ;
+ } else {
+ if( x == _mX && y == _mY)
+ return;
+
+ // reset left click MOUSE_VIEW toggle feature
+ _mVtoggle = 0;
+
+ ww = current_view.get_winWidth();
+ wh = current_view.get_winHeight();
+
+ switch (mouse_mode) {
+ case MOUSE_YOKE:
+ if( !mouse_joystick_control ) {
+ mouse_joystick_control = 1;
+ current_options.set_control_mode( fgOPTIONS::FG_MOUSE );
+ } else {
+ if ( left_button() ) {
+ offset = (_mX - x) * brake_sensitivity;
+ controls.move_brake(FGControls::ALL_WHEELS, offset);
+ offset = (_mY - y) * throttle_sensitivity;
+ controls.move_throttle(FGControls::ALL_ENGINES, offset);
+ } else if ( right_button() ) {
+ if( !fgAPHeadingEnabled() ) {
+ offset = (x - _mX) * rudder_sensitivity;
+ controls.move_rudder(offset);
+ }
+ if( !fgAPAltitudeEnabled() ) {
+ offset = (_mY - y) * trim_sensitivity;
+ controls.move_elevator_trim(offset);
+ }
+ } else {
+ if( !fgAPHeadingEnabled() ) {
+ offset = (x - _mX) * aileron_sensitivity;
+ controls.move_aileron(offset);
+ }
+ if( !fgAPAltitudeEnabled() ) {
+ offset = (_mY - y) * elevator_sensitivity;
+ controls.move_elevator(offset);
+ }
+ }
+ }
+ // Keep the mouse in the window.
+ if (x < 5 || x > ww-5 || y < 5 || y > wh-5) {
+ x = ww / 2;
+ y = wh / 2;
+ need_warp = 1;
+ }
+ break;
+
+ case MOUSE_VIEW:
+ if( y <= 0 ) {
+#define CONTRAINED_MOUSE_VIEW_Y
+#ifdef CONTRAINED_MOUSE_VIEW_Y
+ y = 1;
+#else
+ y = wh-2;
+#endif // CONTRAINED_MOUSE_VIEW_Y
+ need_warp = 1;
+ } else if( y >= wh-1) {
+#ifdef CONTRAINED_MOUSE_VIEW_Y
+ y = wh-2;
+#else
+ y = 1;
+#endif // CONTRAINED_MOUSE_VIEW_Y
+ need_warp = 1;
+ }
+ // wrap MOUSE_VIEW mode cursor x position
+ if ( x <= 0 ) {
+ need_warp = 1;
+ x = ww-2;
+ } else if ( x >= ww-1 ) {
+ need_warp = 1;
+ x = 1;
+ }
+ // try to get FG_PI movement in each half of screen
+ // do spherical pan
+ W = ww;
+ H = wh;
+ if( middle_button() ) {
+ trackball(lastquat,
+ (2.0f * _mX - W) / W,
+ 0, //(H - 2.0f * y) / H, // 3
+ (2.0f * x - W) / W,
+ 0 //(H - 2.0f * _mY) / H // 1
+ );
+ x = _mX;
+ y = _mY;
+ need_warp = 1;
+ } else {
+ trackball(lastquat,
+ 0, //(2.0f * _mX - W) / W, // 0
+ (H - 2.0f * y) / H, // 3
+ 0, //(2.0f * x - W) / W, // 2
+ (H - 2.0f * _mY) / H // 1
+ );
+ }
+ add_quats(lastquat, curquat, curquat);
+ build_rotmatrix(quat_mat, curquat);
+
+ // do horizontal pan
+ // this could be done in above quat
+ // but requires redoing view pipeline
+ offset = current_view.get_goal_view_offset();
+ offset += ((_mX - x) * FG_2PI / W );
+ while (offset < 0.0) {
+ offset += FG_2PI;
+ }
+ while (offset > FG_2PI) {
+ offset -= FG_2PI;
+ }
+ current_view.set_goal_view_offset(offset);
+#ifdef NO_SMOOTH_MOUSE_VIEW
+ current_view.set_view_offset(offset);
+#endif
+ break;
+
+ default:
+ break;
+ }
+ }
+ if( need_warp)
+ glutWarpPointer(x, y);
+
+ // Record the new mouse position.
+ _mX = x;
+ _mY = y;
+}
+
+
+void guiMouseFunc(int button, int updown, int x, int y)
+{
+ int glutModifiers;
+
+ // private MOUSE_VIEW state variables
+ // to allow alternate left clicks in MOUSE_VIEW mode
+ // to toggle between current offsets and straight ahead
+ // uses _mVtoggle
+ static int _mVx, _mVy, _Vx, _Vy;
+ static float _quat[4];
+ static double _view_offset;
+
+ // general purpose variables
+ double offset;
+
+ glutModifiers = glutGetModifiers();
+ glut_active_shift = glutModifiers & GLUT_ACTIVE_SHIFT;
+ glut_active_ctrl = glutModifiers & GLUT_ACTIVE_CTRL;
+ glut_active_alt = glutModifiers & GLUT_ACTIVE_ALT;
+
+ // Was the left button pressed?
+ if (updown == GLUT_DOWN ) {
+ if( button == GLUT_LEFT_BUTTON)
+ {
+ switch (mouse_mode) {
+ case MOUSE_POINTER:
+ break;
+ case MOUSE_YOKE:
+ break;
+ case MOUSE_VIEW:
+ if(_mVtoggle) {
+ // resume previous view offsets
+ _mX = _mVx;
+ _mY = _mVy;
+ x = _Vx;
+ y = _Vy;
+ curquat[0] = _quat[0];
+ curquat[1] = _quat[1];
+ curquat[2] = _quat[2];
+ curquat[3] = _quat[3];
+ current_view.set_goal_view_offset(_view_offset);
+#ifdef NO_SMOOTH_MOUSE_VIEW
+ current_view.set_view_offset(_view_offset);
+#endif
+ } else {
+ // center view
+ _mVx = _mX;
+ _mVy = _mY;
+ _Vx = x;
+ _Vy = y;
+ _quat[0] = curquat[0];
+ _quat[1] = curquat[1];
+ _quat[2] = curquat[2];
+ _quat[3] = curquat[3];
+ x = current_view.get_winWidth()/2;
+ y = current_view.get_winHeight()/2;
+ Quat0();
+ _view_offset = current_view.get_goal_view_offset();
+ current_view.set_goal_view_offset(0.0);
+#ifdef NO_SMOOTH_MOUSE_VIEW
+ current_view.set_view_offset(0.0);
+#endif
+ }
+ glutWarpPointer( x , y);
+ build_rotmatrix(quat_mat, curquat);
+ _mVtoggle = ~_mVtoggle;
+ break;
+ }
+ }else if ( button == GLUT_RIGHT_BUTTON) {
+ switch (mouse_mode) {
+ case MOUSE_POINTER:
+ mouse_mode = MOUSE_YOKE;
+ mouse_joystick_control = 0;
+ _savedX = x;
+ _savedY = y;
+ // start with zero point in center of screen
+ _mX = current_view.get_winWidth()/2;
+ _mY = current_view.get_winHeight()/2;
+
+ // try to have the MOUSE_YOKE position
+ // reflect the current stick position
+ offset = controls.get_aileron();
+ x = _mX - (int)(offset * aileron_sensitivity);
+ offset = controls.get_elevator();
+ y = _mY - (int)(offset * elevator_sensitivity);
+
+ glutSetCursor(GLUT_CURSOR_CROSSHAIR);
+ FG_LOG( FG_INPUT, FG_INFO, "Mouse in yoke mode" );
+ break;
+
+ case MOUSE_YOKE:
+ mouse_mode = MOUSE_VIEW;
+ current_options.set_control_mode( fgOPTIONS::FG_JOYSTICK );
+ x = current_view.get_winWidth()/2;
+ y = current_view.get_winHeight()/2;
+ _mVtoggle = 0;
+ Quat0();
+ build_rotmatrix(quat_mat, curquat);
+ glutSetCursor(GLUT_CURSOR_LEFT_RIGHT);
+ FG_LOG( FG_INPUT, FG_INFO, "Mouse in view mode" );
+ break;
+
+ case MOUSE_VIEW:
+ mouse_mode = MOUSE_POINTER;
+ x = _savedX;
+ y = _savedY;
+#ifdef RESET_VIEW_ON_LEAVING_MOUSE_VIEW
+ Quat0();
+ build_rotmatrix(quat_mat, curquat);
+ current_view.set_goal_view_offset(0.0);
+#ifdef NO_SMOOTH_MOUSE_VIEW
+ current_view.set_view_offset(0.0);
+#endif
+#endif // RESET_VIEW_ON_LEAVING_MOUSE_VIEW
+ glutSetCursor(GLUT_CURSOR_INHERIT);
+
+ if(!menu_on)
+ TurnCursorOff();
+
+ FG_LOG( FG_INPUT, FG_INFO, "Mouse in pointer mode" );
+ break;
+ }
+ glutWarpPointer( x, y );
+ } // END RIGHT BUTTON
+ } // END UPDOWN == GLUT_DOWN
+
+ // Note which button is pressed.
+ if ( updown == GLUT_DOWN ) {
+ last_buttons |= ( 1 << button ) ;
+ } else {
+ last_buttons &= ~( 1 << button ) ;
+ }
+
+ // If we're in pointer mode, let PUI
+ // know what's going on.
+ if (mouse_mode == MOUSE_POINTER) {
+ puMouse (button, updown, x,y);
+ }
+
+ // Register the new position (if it
+ // hasn't been registered already).
+ _mX = x;
+ _mY = y;
+
+ glutPostRedisplay ();
+}
+
/* ================ General Purpose Functions ================ */
// Intercept the Escape Key
if( menu_on ) {
// printf("Hiding Menu\n");
mainMenuBar->hide ();
-#ifdef WIN32
- TurnCursorOff();
-#endif // #ifdef WIN32
+#if defined(WIN32_CURSOR_TWEAKS)
+ if( mouse_mode == MOUSE_POINTER )
+ TurnCursorOff();
+#endif // #ifdef WIN32_CURSOR_TWEAKS
} else {
// printf("Showing Menu\n");
mainMenuBar->reveal();
void reInit(puObject *cb)
{
BusyCursor(0);
+ Quat0();
+ build_rotmatrix(quat_mat, curquat);
fgReInitSubsystems();
BusyCursor(1);
}
-#ifdef WIN32
+#if defined( WIN32 ) && !defined( __CYGWIN__)
// win32 print screen function
void printScreen ( puObject *obj ) {
bool show_pu_cursor = false;
---------------------------------------------------------------------*/
char *fileSubmenu [] = {
"Exit", /* "Close", "---------", */
-#ifdef WIN32
+#if defined( WIN32 ) && !defined( __CYGWIN__)
"Print",
#endif
"Snap Shot",
};
puCallback fileSubmenuCb [] = {
MayBeGoodBye, /* hideMenuCb, NULL, */
-#ifdef WIN32
+#if defined( WIN32 ) && !defined( __CYGWIN__)
printScreen,
#endif
/* NULL, notCb, */
puShowCursor();
mouse_active = ~mouse_active;
}
+
+ // MOUSE_VIEW mode stuff
+ trackball(_quat0, 0.0, 0.0, 0.0, 0.0);
+ Quat0();
+ build_rotmatrix(quat_mat, curquat);
// Set up our Dialog Boxes
ConfirmExitDialogInit();
// Set up menu bar toggle
menu_on = ~0;
}
+
+
+
+/*
+ * Trackball code:
+ *
+ * Implementation of a virtual trackball.
+ * Implemented by Gavin Bell, lots of ideas from Thant Tessman and
+ * the August '88 issue of Siggraph's "Computer Graphics," pp. 121-129.
+ *
+ * Vector manip code:
+ *
+ * Original code from:
+ * David M. Ciemiewicz, Mark Grossman, Henry Moreton, and Paul Haeberli
+ *
+ * Much mucking with by:
+ * Gavin Bell
+ */
+#if defined(_WIN32) && !defined( __CYGWIN32__ )
+#pragma warning (disable:4244) /* disable bogus conversion warnings */
+#endif
+#include <math.h>
+#include <stdio.h>
+//#include "trackball.h"
+
+/*
+ * This size should really be based on the distance from the center of
+ * rotation to the point on the object underneath the mouse. That
+ * point would then track the mouse as closely as possible. This is a
+ * simple example, though, so that is left as an Exercise for the
+ * Programmer.
+ */
+#define TRACKBALLSIZE (0.8f)
+#define SQRT(x) sqrt(x)
+
+/*
+ * Local function prototypes (not defined in trackball.h)
+ */
+static float tb_project_to_sphere(float, float, float);
+static void normalize_quat(float [4]);
+
+static void
+vzero(float *v)
+{
+ v[0] = 0.0;
+ v[1] = 0.0;
+ v[2] = 0.0;
+}
+
+static void
+vset(float *v, float x, float y, float z)
+{
+ v[0] = x;
+ v[1] = y;
+ v[2] = z;
+}
+
+static void
+vsub(const float *src1, const float *src2, float *dst)
+{
+ dst[0] = src1[0] - src2[0];
+ dst[1] = src1[1] - src2[1];
+ dst[2] = src1[2] - src2[2];
+}
+
+static void
+vcopy(const float *v1, float *v2)
+{
+ register int i;
+ for (i = 0 ; i < 3 ; i++)
+ v2[i] = v1[i];
+}
+
+static void
+vcross(const float *v1, const float *v2, float *cross)
+{
+ float temp[3];
+
+ temp[0] = (v1[1] * v2[2]) - (v1[2] * v2[1]);
+ temp[1] = (v1[2] * v2[0]) - (v1[0] * v2[2]);
+ temp[2] = (v1[0] * v2[1]) - (v1[1] * v2[0]);
+ vcopy(temp, cross);
+}
+
+static float
+vlength(const float *v)
+{
+ float tmp = v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
+ return SQRT(tmp);
+}
+
+static void
+vscale(float *v, float div)
+{
+ v[0] *= div;
+ v[1] *= div;
+ v[2] *= div;
+}
+
+static void
+vnormal(float *v)
+{
+ vscale(v,1.0/vlength(v));
+}
+
+static float
+vdot(const float *v1, const float *v2)
+{
+ return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
+}
+
+static void
+vadd(const float *src1, const float *src2, float *dst)
+{
+ dst[0] = src1[0] + src2[0];
+ dst[1] = src1[1] + src2[1];
+ dst[2] = src1[2] + src2[2];
+}
+
+/*
+ * Given an axis and angle, compute quaternion.
+ */
+void
+axis_to_quat(float a[3], float phi, float q[4])
+{
+ double sinphi2, cosphi2;
+ double phi2 = phi/2.0;
+ sinphi2 = sin(phi2);
+ cosphi2 = cos(phi2);
+ vnormal(a);
+ vcopy(a,q);
+ vscale(q,sinphi2);
+ q[3] = cosphi2;
+}
+
+/*
+ * Project an x,y pair onto a sphere of radius r OR a hyperbolic sheet
+ * if we are away from the center of the sphere.
+ */
+static float
+tb_project_to_sphere(float r, float x, float y)
+{
+ float d, t, z, tmp;
+
+ tmp = x*x + y*y;
+ d = SQRT(tmp);
+ if (d < r * 0.70710678118654752440) { /* Inside sphere */
+ tmp = r*r - d*d;
+ z = SQRT(tmp);
+ } else { /* On hyperbola */
+ t = r / 1.41421356237309504880;
+ z = t*t / d;
+ }
+ return z;
+}
+
+/*
+ * Quaternions always obey: a^2 + b^2 + c^2 + d^2 = 1.0
+ * If they don't add up to 1.0, dividing by their magnitued will
+ * renormalize them.
+ *
+ * Note: See the following for more information on quaternions:
+ *
+ * - Shoemake, K., Animating rotation with quaternion curves, Computer
+ * Graphics 19, No 3 (Proc. SIGGRAPH'85), 245-254, 1985.
+ * - Pletinckx, D., Quaternion calculus as a basic tool in computer
+ * graphics, The Visual Computer 5, 2-13, 1989.
+ */
+static void
+normalize_quat(float q[4])
+{
+ int i;
+ float mag, tmp;
+
+ tmp = q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3];
+ mag = 1.0 / SQRT(tmp);
+ for (i = 0; i < 4; i++)
+ q[i] *= mag;
+}
+
+/*
+ * Ok, simulate a track-ball. Project the points onto the virtual
+ * trackball, then figure out the axis of rotation, which is the cross
+ * product of P1 P2 and O P1 (O is the center of the ball, 0,0,0)
+ * Note: This is a deformed trackball-- is a trackball in the center,
+ * but is deformed into a hyperbolic sheet of rotation away from the
+ * center. This particular function was chosen after trying out
+ * several variations.
+ *
+ * It is assumed that the arguments to this routine are in the range
+ * (-1.0 ... 1.0)
+ */
+void
+trackball(float q[4], float p1x, float p1y, float p2x, float p2y)
+{
+ float a[3]; /* Axis of rotation */
+ float phi; /* how much to rotate about axis */
+ float p1[3], p2[3], d[3];
+ float t;
+
+ if (p1x == p2x && p1y == p2y) {
+ /* Zero rotation */
+ vzero(q);
+ q[3] = 1.0;
+ return;
+ }
+
+ /*
+ * First, figure out z-coordinates for projection of P1 and P2 to
+ * deformed sphere
+ */
+ vset(p1,p1x,p1y,tb_project_to_sphere(TRACKBALLSIZE,p1x,p1y));
+ vset(p2,p2x,p2y,tb_project_to_sphere(TRACKBALLSIZE,p2x,p2y));
+
+ /*
+ * Now, we want the cross product of P1 and P2
+ */
+ vcross(p2,p1,a);
+
+ /*
+ * Figure out how much to rotate around that axis.
+ */
+ vsub(p1,p2,d);
+ t = vlength(d) / (2.0*TRACKBALLSIZE);
+
+ /*
+ * Avoid problems with out-of-control values...
+ */
+ if (t > 1.0) t = 1.0;
+ if (t < -1.0) t = -1.0;
+ phi = 2.0 * asin(t);
+
+ axis_to_quat(a,phi,q);
+}
+
+/*
+ * Given two rotations, e1 and e2, expressed as quaternion rotations,
+ * figure out the equivalent single rotation and stuff it into dest.
+ *
+ * This routine also normalizes the result every RENORMCOUNT times it is
+ * called, to keep error from creeping in.
+ *
+ * NOTE: This routine is written so that q1 or q2 may be the same
+ * as dest (or each other).
+ */
+
+#define RENORMCOUNT 97
+
+void
+add_quats(float q1[4], float q2[4], float dest[4])
+{
+ static int count=0;
+ float t1[4], t2[4], t3[4];
+ float tf[4];
+
+#if 0
+printf("q1 = %f %f %f %f\n", q1[0], q1[1], q1[2], q1[3]);
+printf("q2 = %f %f %f %f\n", q2[0], q2[1], q2[2], q2[3]);
+#endif
+
+ vcopy(q1,t1);
+ vscale(t1,q2[3]);
+
+ vcopy(q2,t2);
+ vscale(t2,q1[3]);
+
+ vcross(q2,q1,t3);
+ vadd(t1,t2,tf);
+ vadd(t3,tf,tf);
+ tf[3] = q1[3] * q2[3] - vdot(q1,q2);
+
+#if 0
+printf("tf = %f %f %f %f\n", tf[0], tf[1], tf[2], tf[3]);
+#endif
+
+ dest[0] = tf[0];
+ dest[1] = tf[1];
+ dest[2] = tf[2];
+ dest[3] = tf[3];
+
+ if (++count > RENORMCOUNT) {
+ count = 0;
+ normalize_quat(dest);
+ }
+}
+
+/*
+ * Build a rotation matrix, given a quaternion rotation.
+ *
+ */
+void
+build_rotmatrix(float m[4][4], float q[4])
+{
+//#define TRANSPOSED_QUAT
+#ifndef TRANSPOSED_QUAT
+ m[0][0] = 1.0 - 2.0 * (q[1] * q[1] + q[2] * q[2]);
+ m[0][1] = 2.0 * (q[0] * q[1] - q[2] * q[3]);
+ m[0][2] = 2.0 * (q[2] * q[0] + q[1] * q[3]);
+ m[0][3] = 0.0;
+
+ m[1][0] = 2.0 * (q[0] * q[1] + q[2] * q[3]);
+ m[1][1]= 1.0 - 2.0 * (q[2] * q[2] + q[0] * q[0]);
+ m[1][2] = 2.0 * (q[1] * q[2] - q[0] * q[3]);
+ m[1][3] = 0.0;
+
+ m[2][0] = 2.0 * (q[2] * q[0] - q[1] * q[3]);
+ m[2][1] = 2.0 * (q[1] * q[2] + q[0] * q[3]);
+ m[2][2] = 1.0 - 2.0 * (q[1] * q[1] + q[0] * q[0]);
+
+ m[2][3] = 0.0;
+ m[3][0] = 0.0;
+ m[3][1] = 0.0;
+ m[3][2] = 0.0;
+ m[3][3] = 1.0;
+#else // TRANSPOSED_QUAT
+ m[0][0] = 1.0 - 2.0 * (q[1] * q[1] + q[2] * q[2]);
+ m[0][1] = 2.0 * (q[0] * q[1] + q[2] * q[3]);
+ m[0][2] = 2.0 * (q[2] * q[0] - q[1] * q[3]);
+ m[0][3] = 0.0;
+
+ m[1][0] = 2.0 * (q[0] * q[1] - q[2] * q[3]);
+ m[1][1] = 1.0 - 2.0 * (q[2] * q[2] + q[0] * q[0]);
+ m[1][2] = 2.0 * (q[1] * q[2] + q[0] * q[3]);
+ m[1][3] = 0.0;
+
+ m[2][0] = 2.0 * (q[2] * q[0] + q[1] * q[3]);
+ m[2][1] = 2.0 * (q[1] * q[2] - q[0] * q[3]);
+ m[2][2] = 1.0 - 2.0 * (q[1] * q[1] + q[0] * q[0]);
+ m[2][3] = 0.0;
+
+ m[3][0] = 0.0;
+ m[3][1] = 0.0;
+ m[3][2] = 0.0;
+ m[3][3] = 1.0;
+#endif // 0
+}
+
projects / flightgear.git / commitdiff