+++ /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 - curt@flightgear.org
-//
-// 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., 675 Mass Ave, Cambridge, MA 02139, USA.
-//
-// $Id$
-
-
-#include <simgear/compiler.h>
-
-#ifdef HAVE_CONFIG_H
-# include <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 <simgear/math/vector.hxx>
-
-#include <Scenery/scenery.hxx>
-
-#include "globals.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 FGLocation.
-////////////////////////////////////////////////////////////////////////
-
-// Constructor
-FGLocation::FGLocation( void ):
- _dirty(true),
- _lon_deg(0),
- _lat_deg(0),
- _alt_ft(0),
- _roll_deg(0),
- _pitch_deg(0),
- _heading_deg(0),
- _cur_elev_m(0),
- _tile_center(0)
-{
- sgdZeroVec3(_absolute_view_pos);
- sgZeroVec3(_relative_view_pos);
- sgZeroVec3(_zero_elev_view_pos);
- sgMakeRotMat4( UP, 0.0, 0.0, 0.0 );
- sgMakeRotMat4( TRANS, 0.0, 0.0, 0.0 );
-}
-
-
-// Destructor
-FGLocation::~FGLocation( void ) {
-}
-
-void
-FGLocation::init ()
-{
-}
-
-void
-FGLocation::bind ()
-{
-}
-
-void
-FGLocation::unbind ()
-{
-}
-
-void
-FGLocation::setPosition (double lon_deg, double lat_deg, double alt_ft)
-{
- _dirty = true;
- _lon_deg = lon_deg;
- _lat_deg = lat_deg;
- _alt_ft = alt_ft;
-}
-
-void
-FGLocation::setOrientation (double roll_deg, double pitch_deg, double heading_deg)
-{
- _dirty = true;
- _roll_deg = roll_deg;
- _pitch_deg = pitch_deg;
- _heading_deg = heading_deg;
-}
-
-double *
-FGLocation::get_absolute_view_pos ()
-{
- if (_dirty)
- recalc();
- return _absolute_view_pos;
-}
-
-float *
-FGLocation::getRelativeViewPos ()
-{
- if (_dirty)
- recalc();
- return _relative_view_pos;
-}
-
-float *
-FGLocation::getZeroElevViewPos ()
-{
- if (_dirty)
- recalc();
- return _zero_elev_view_pos;
-}
-
-
-// recalc() is done every time one of the setters is called (making the
-// cached data "dirty") on the next "get". It calculates all the outputs
-// for viewer.
-void
-FGLocation::recalc ()
-{
-
- recalcPosition( _lon_deg, _lat_deg, _alt_ft );
-
- // 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] );
-
- // Creat 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);
-
- // Given a vector pointing straight down (-Z), map into onto the
- // local plane representing "horizontal". This should give us the
- // local direction for moving "south".
- sgVec3 minus_z;
- sgSetVec3( minus_z, 0.0, 0.0, -1.0 );
-
- sgmap_vec_onto_cur_surface_plane(_world_up, _relative_view_pos, minus_z,
- _surface_south);
- sgNormalizeVec3(_surface_south);
-
- // now calculate the surface east vector
- sgVec3 world_down;
- sgNegateVec3(world_down, _world_up);
- sgVectorProductVec3(_surface_east, _surface_south, world_down);
-
- set_clean();
-}
-
-void
-FGLocation::recalcPosition (double lon_deg, double lat_deg, double alt_ft) const
-{
- double sea_level_radius_m;
- double lat_geoc_rad;
-
-
- // Convert from geodetic to geocentric
- // coordinates.
- sgGeodToGeoc(lat_deg * SGD_DEGREES_TO_RADIANS,
- alt_ft * SG_FEET_TO_METER,
- &sea_level_radius_m,
- &lat_geoc_rad);
-
- // Calculate the cartesian coordinates
- // of point directly below at sea level.
- // aka Zero Elevation Position
- Point3D p = Point3D(lon_deg * SG_DEGREES_TO_RADIANS,
- lat_geoc_rad,
- sea_level_radius_m);
- Point3D tmp = sgPolarToCart3d(p) - _tile_center;
- sgSetVec3(_zero_elev_view_pos, tmp[0], tmp[1], tmp[2]);
-
- // Calculate the absolute view position
- // in fgfs coordinates.
- // aka Absolute View Position
- p.setz(p.radius() + alt_ft * SG_FEET_TO_METER);
- tmp = sgPolarToCart3d(p);
- sgdSetVec3(_absolute_view_pos, tmp[0], tmp[1], tmp[2]);
-
- // Calculate the relative view position
- // from the scenery center.
- // aka Relative View Position
-
- // FIXME: view position should ONLY be calculated in the viewer...
- // Anything else should calculate their own positions relative to the
- // viewer's tile_center.
- sgdVec3 scenery_center;
- sgdSetVec3(scenery_center,
- globals->get_scenery()->get_center().x(),
- globals->get_scenery()->get_center().y(),
- globals->get_scenery()->get_center().z());
- sgdVec3 view_pos;
- sgdSubVec3(view_pos, _absolute_view_pos, scenery_center);
- sgSetVec3(_relative_view_pos, view_pos);
-
-}
-
-void
-FGLocation::update (int dt)
-{
-}
+++ /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., 675 Mass Ave, Cambridge, MA 02139, USA.
-//
-// $Id$
-
-
-#ifndef _LOCATION_HXX
-#define _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
-
-#include "fgfs.hxx"
-
-
-// Define a structure containing view information
-class FGLocation
-{
-
-public:
-
- // Constructor
- FGLocation( void );
-
- // Destructor
- virtual ~FGLocation( void );
-
- //////////////////////////////////////////////////////////////////////
- // Part 1: standard FGSubsystem implementation.
- //////////////////////////////////////////////////////////////////////
-
- virtual void init ();
- virtual void bind ();
- virtual void unbind ();
- void update (int dt);
-
-
- //////////////////////////////////////////////////////////////////////
- // 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 zero view_pos
- virtual float * get_view_pos() { return _relative_view_pos; }
- // Get the absolute view position in fgfs coordinates.
- virtual double * get_absolute_view_pos ();
- // Get zero elev
- virtual float * get_zero_elev() { return _zero_elev_view_pos; }
- // Get world up vector
- virtual float *get_world_up() { return _world_up; }
- // Get the relative (to scenery center) view position in fgfs coordinates.
- virtual float * getRelativeViewPos ();
- // Get the absolute zero-elevation view position in fgfs coordinates.
- virtual float * getZeroElevViewPos ();
- // Get surface east vector
- virtual float *get_surface_east() { return _surface_east; }
- // Get surface south vector
- virtual float *get_surface_south() { 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; }
- // Interface to current buckets for use with tilemgr...
- void set_tile_center ( Point3D tile_center ) { _tile_center = tile_center; }
- inline Point3D get_tile_center () { return _tile_center; }
-
- // Matrices...
- virtual const sgVec4 * getTransformMatrix() { if ( _dirty ) { recalc(); } return TRANS; }
- virtual const sgVec4 * getCachedTransformMatrix() { return TRANS; }
- virtual const sgVec4 * getUpMatrix() { if ( _dirty ) { recalc(); } return UP; }
- virtual const sgVec4 * getCachedUpMatrix() { return UP; }
-
-
-private:
-
- //////////////////////////////////////////////////////////////////
- // private data //
- //////////////////////////////////////////////////////////////////
-
- // flag forcing a recalc of derived view parameters
- bool _dirty;
-
- mutable sgdVec3 _absolute_view_pos;
- mutable sgVec3 _relative_view_pos;
- mutable sgVec3 _zero_elev_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;
- Point3D _tile_center;
-
- // surface vector heading south
- sgVec3 _surface_south;
-
- // surface vector heading east (used to unambiguously align sky
- // with sun)
- sgVec3 _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;
-
- // sg versions of our friendly matrices
- sgMat4 TRANS, UP;
-
- //////////////////////////////////////////////////////////////////
- // private functions //
- //////////////////////////////////////////////////////////////////
-
- void recalc ();
- void recalcPosition (double lon_deg, double lat_deg, double alt_ft) const;
-
- inline void set_dirty() { _dirty = true; }
- inline void set_clean() { _dirty = false; }
-
-};
-
-
-#endif // _LOCATION_HXX
projects / flightgear.git / commitdiff