--- /dev/null
+// viewer_rph.cxx -- class for managing a Roll/Pitch/Heading viewer in
+// the flightgear world.
+//
+// Written by Curtis Olson, started August 1997.
+// overhaul started October 2000.
+//
+// Copyright (C) 1997 - 2000 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 <plib/ssg.h> // plib include
+
+#include <simgear/constants.h>
+#include <simgear/debug/logstream.hxx>
+#include <simgear/math/point3d.hxx>
+#include <simgear/math/polar3d.hxx>
+#include <simgear/math/vector.hxx>
+
+#include <Aircraft/aircraft.hxx>
+#include <Cockpit/panel.hxx>
+#include <Scenery/scenery.hxx>
+
+#include "globals.hxx"
+#include "viewer.hxx"
+
+
+// Constructor
+FGViewerRPH::FGViewerRPH( void )
+{
+}
+
+
+#define USE_FAST_VIEWROT
+#ifdef USE_FAST_VIEWROT
+// VIEW_ROT = LARC_TO_SSG * ( VIEWo * VIEW_OFFSET )
+// This takes advantage of the fact that VIEWo and VIEW_OFFSET
+// only have entries in the upper 3x3 block
+// and that LARC_TO_SSG is just a shift of rows NHV
+inline static void fgMakeViewRot( sgMat4 dst, const sgMat4 m1, const sgMat4 m2 )
+{
+ for ( int j = 0 ; j < 3 ; j++ ) {
+ dst[2][j] = m2[0][0] * m1[0][j] +
+ m2[0][1] * m1[1][j] +
+ m2[0][2] * m1[2][j];
+
+ dst[0][j] = m2[1][0] * m1[0][j] +
+ m2[1][1] * m1[1][j] +
+ m2[1][2] * m1[2][j];
+
+ dst[1][j] = m2[2][0] * m1[0][j] +
+ m2[2][1] * m1[1][j] +
+ m2[2][2] * m1[2][j];
+ }
+ dst[0][3] =
+ dst[1][3] =
+ dst[2][3] =
+ dst[3][0] =
+ dst[3][1] =
+ dst[3][2] = SG_ZERO;
+ dst[3][3] = SG_ONE;
+}
+#endif
+
+
+// Initialize a view structure
+void FGViewerRPH::init( void ) {
+ set_dirty();
+
+ FG_LOG( FG_VIEW, FG_INFO, "Initializing View parameters" );
+
+ view_offset = goal_view_offset =
+ globals->get_options()->get_default_view_offset();
+ sgSetVec3( pilot_offset, 0.0, 0.0, 0.0 );
+
+ globals->get_options()->set_win_ratio( globals->get_options()->get_xsize() /
+ globals->get_options()->get_ysize()
+ );
+
+#ifndef USE_FAST_VIEWROT
+ // This never changes -- NHV
+ LARC_TO_SSG[0][0] = 0.0;
+ LARC_TO_SSG[0][1] = 1.0;
+ LARC_TO_SSG[0][2] = -0.0;
+ LARC_TO_SSG[0][3] = 0.0;
+
+ LARC_TO_SSG[1][0] = 0.0;
+ LARC_TO_SSG[1][1] = 0.0;
+ LARC_TO_SSG[1][2] = 1.0;
+ LARC_TO_SSG[1][3] = 0.0;
+
+ LARC_TO_SSG[2][0] = 1.0;
+ LARC_TO_SSG[2][1] = -0.0;
+ LARC_TO_SSG[2][2] = 0.0;
+ LARC_TO_SSG[2][3] = 0.0;
+
+ LARC_TO_SSG[3][0] = 0.0;
+ LARC_TO_SSG[3][1] = 0.0;
+ LARC_TO_SSG[3][2] = 0.0;
+ LARC_TO_SSG[3][3] = 1.0;
+#endif // USE_FAST_VIEWROT
+}
+
+
+#define USE_FAST_LOCAL
+#ifdef USE_FAST_LOCAL
+inline static void fgMakeLOCAL( sgMat4 dst, const double Theta,
+ const double Phi, const double Psi)
+{
+ 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) ;
+
+ dst[0][0] = cosPhi * cosTheta;
+ dst[0][1] = sinPhi * cosPsi + cosPhi * -sinTheta * -sinPsi;
+ dst[0][2] = sinPhi * sinPsi + cosPhi * -sinTheta * cosPsi;
+ dst[0][3] = SG_ZERO;
+
+ dst[1][0] = -sinPhi * cosTheta;
+ dst[1][1] = cosPhi * cosPsi + -sinPhi * -sinTheta * -sinPsi;
+ dst[1][2] = cosPhi * sinPsi + -sinPhi * -sinTheta * cosPsi;
+ dst[1][3] = SG_ZERO ;
+
+ dst[2][0] = sinTheta;
+ dst[2][1] = cosTheta * -sinPsi;
+ dst[2][2] = cosTheta * cosPsi;
+ 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 ;
+}
+#endif
+
+
+// convert sgMat4 to MAT3 and print
+static void print_sgMat4( sgMat4 &in) {
+ int i, j;
+ for ( i = 0; i < 4; i++ ) {
+ for ( j = 0; j < 4; j++ ) {
+ printf("%10.4f ", in[i][j]);
+ }
+ cout << endl;
+ }
+}
+
+
+// Update the view parameters
+void FGViewerRPH::update() {
+ Point3D tmp;
+ sgVec3 minus_z, forward;
+ sgMat4 VIEWo;
+
+ // calculate the cartesion coords of the current lat/lon/0 elev
+ Point3D p = Point3D( geod_view_pos[0],
+ geod_view_pos[1],
+ sea_level_radius );
+
+ tmp = sgPolarToCart3d(p) - scenery.center;
+ sgSetVec3( zero_elev, tmp[0], tmp[1], tmp[2] );
+
+ // calculate view position in current FG view coordinate system
+ // p.lon & p.lat are already defined earlier, p.radius was set to
+ // the sea level radius, so now we add in our altitude.
+ if ( geod_view_pos[2] > (scenery.cur_elev + 0.5 * METER_TO_FEET) ) {
+ p.setz( p.radius() + geod_view_pos[2] );
+ } else {
+ p.setz( p.radius() + scenery.cur_elev + 0.5 * METER_TO_FEET );
+ }
+
+ tmp = sgPolarToCart3d(p);
+ sgdSetVec3( abs_view_pos, tmp[0], tmp[1], tmp[2] );
+
+ sgdVec3 sc;
+ sgdSetVec3( sc, scenery.center.x(), scenery.center.y(), scenery.center.z());
+ sgdVec3 vp;
+ sgdSubVec3( vp, abs_view_pos, sc );
+ sgSetVec3( view_pos, vp );
+ // view_pos = abs_view_pos - scenery.center;
+
+ FG_LOG( FG_VIEW, FG_DEBUG, "sea level radius = " << sea_level_radius );
+ FG_LOG( FG_VIEW, FG_DEBUG, "Polar view pos = " << p );
+ FG_LOG( FG_VIEW, FG_DEBUG, "Absolute view pos = "
+ << abs_view_pos[0] << ","
+ << abs_view_pos[1] << ","
+ << abs_view_pos[2] );
+ FG_LOG( FG_VIEW, FG_DEBUG, "Relative view pos = "
+ << view_pos[0] << "," << view_pos[1] << "," << view_pos[2] );
+
+ // code to calculate LOCAL matrix calculated from Phi, Theta, and
+ // Psi (roll, pitch, yaw) in case we aren't running LaRCsim as our
+ // flight model
+
+#ifdef USE_FAST_LOCAL
+
+ fgMakeLOCAL( LOCAL, rph[1], rph[0], -rph[2] );
+
+#else // USE_TEXT_BOOK_METHOD
+
+ sgVec3 rollvec;
+ sgSetVec3( rollvec, 0.0, 0.0, 1.0 );
+ sgMat4 PHI; // roll
+ sgMakeRotMat4( PHI, rph[0] * RAD_TO_DEG, rollvec );
+
+ sgVec3 pitchvec;
+ sgSetVec3( pitchvec, 0.0, 1.0, 0.0 );
+ sgMat4 THETA; // pitch
+ sgMakeRotMat4( THETA, rph[1] * RAD_TO_DEG, pitchvec );
+
+ // ROT = PHI * THETA
+ sgMat4 ROT;
+ // sgMultMat4( ROT, PHI, THETA );
+ sgCopyMat4( ROT, PHI );
+ sgPostMultMat4( ROT, THETA );
+
+ sgVec3 yawvec;
+ sgSetVec3( yawvec, 1.0, 0.0, 0.0 );
+ sgMat4 PSI; // heading
+ sgMakeRotMat4( PSI, -rph[2] * RAD_TO_DEG, yawvec );
+
+ // LOCAL = ROT * PSI
+ // sgMultMat4( LOCAL, ROT, PSI );
+ sgCopyMat4( LOCAL, ROT );
+ sgPostMultMat4( LOCAL, PSI );
+
+#endif // USE_FAST_LOCAL
+
+ // cout << "LOCAL matrix" << endl;
+ // print_sgMat4( LOCAL );
+
+ sgMakeRotMat4( UP,
+ geod_view_pos[0] * RAD_TO_DEG,
+ 0.0,
+ -geod_view_pos[1] * RAD_TO_DEG );
+
+ sgSetVec3( local_up, UP[0][0], UP[0][1], UP[0][2] );
+ // sgXformVec3( local_up, UP );
+ // cout << "Local Up = " << local_up[0] << "," << local_up[1] << ","
+ // << local_up[2] << endl;
+
+ // Alternative method to Derive local up vector based on
+ // *geodetic* coordinates
+ // alt_up = sgPolarToCart(FG_Longitude, FG_Latitude, 1.0);
+ // printf( " Alt Up = (%.4f, %.4f, %.4f)\n",
+ // alt_up.x, alt_up.y, alt_up.z);
+
+ // VIEWo = LOCAL * UP
+ // sgMultMat4( VIEWo, LOCAL, UP );
+ sgCopyMat4( VIEWo, LOCAL );
+ sgPostMultMat4( VIEWo, UP );
+ // cout << "VIEWo matrix" << endl;
+ // print_sgMat4( VIEWo );
+
+ // generate the sg view up and forward vectors
+ sgSetVec3( view_up, VIEWo[0][0], VIEWo[0][1], VIEWo[0][2] );
+ // cout << "view = " << view[0] << ","
+ // << view[1] << "," << view[2] << endl;
+ sgSetVec3( forward, VIEWo[2][0], VIEWo[2][1], VIEWo[2][2] );
+ // cout << "forward = " << forward[0] << ","
+ // << forward[1] << "," << forward[2] << endl;
+
+ // generate the pilot offset vector in world coordinates
+ sgVec3 pilot_offset_world;
+ sgSetVec3( pilot_offset_world,
+ pilot_offset[2], pilot_offset[1], -pilot_offset[0] );
+ sgXformVec3( pilot_offset_world, pilot_offset_world, VIEWo );
+
+ // generate the view offset matrix
+ sgMakeRotMat4( VIEW_OFFSET, view_offset * RAD_TO_DEG, view_up );
+ // cout << "VIEW_OFFSET matrix" << endl;
+ // print_sgMat4( VIEW_OFFSET );
+ sgXformVec3( view_forward, forward, VIEW_OFFSET );
+ // cout << "view_forward = " << view_forward[0] << ","
+ // << view_forward[1] << "," << view_forward[2] << endl;
+
+ // VIEW_ROT = LARC_TO_SSG * ( VIEWo * VIEW_OFFSET )
+#ifdef USE_FAST_VIEWROT
+ fgMakeViewRot( VIEW_ROT, VIEW_OFFSET, VIEWo );
+#else
+ // sgMultMat4( VIEW_ROT, VIEW_OFFSET, VIEWo );
+ // sgPreMultMat4( VIEW_ROT, LARC_TO_SSG );
+ sgCopyMat4( VIEW_ROT, VIEWo );
+ sgPostMultMat4( VIEW_ROT, VIEW_OFFSET );
+ sgPreMultMat4( VIEW_ROT, LARC_TO_SSG );
+#endif
+ // cout << "VIEW_ROT matrix" << endl;
+ // print_sgMat4( VIEW_ROT );
+
+ sgVec3 trans_vec;
+ sgAddVec3( trans_vec, view_pos, pilot_offset_world );
+
+ // VIEW = VIEW_ROT * TRANS
+ sgCopyMat4( VIEW, VIEW_ROT );
+ sgPostMultMat4ByTransMat4( VIEW, trans_vec );
+
+ //!!!!!!!!!!!!!!!!!!!
+ // THIS IS THE EXPERIMENTAL VIEWING ANGLE SHIFTER
+ // THE MAJORITY OF THE WORK IS DONE IN GUI.CXX
+ // this in gui.cxx for now just testing
+ extern float quat_mat[4][4];
+ sgPreMultMat4( VIEW, quat_mat);
+ // !!!!!!!!!! testing
+
+ // 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".
+ sgSetVec3( minus_z, 0.0, 0.0, -1.0 );
+
+ sgmap_vec_onto_cur_surface_plane(local_up, view_pos, minus_z,
+ surface_south);
+ sgNormalizeVec3(surface_south);
+ // cout << "Surface direction directly south " << surface_south[0] << ","
+ // << surface_south[1] << "," << surface_south[2] << endl;
+
+ // now calculate the surface east vector
+#define USE_FAST_SURFACE_EAST
+#ifdef USE_FAST_SURFACE_EAST
+ sgVec3 local_down;
+ sgNegateVec3(local_down, local_up);
+ sgVectorProductVec3(surface_east, surface_south, local_down);
+#else
+#define USE_LOCAL_UP
+#ifdef USE_LOCAL_UP
+ sgMakeRotMat4( TMP, FG_PI_2 * RAD_TO_DEG, local_up );
+#else
+ sgMakeRotMat4( TMP, FG_PI_2 * RAD_TO_DEG, view_up );
+#endif // USE_LOCAL_UP
+ // cout << "sgMat4 TMP" << endl;
+ // print_sgMat4( TMP );
+ sgXformVec3(surface_east, surface_south, TMP);
+#endif // USE_FAST_SURFACE_EAST
+ // cout << "Surface direction directly east " << surface_east[0] << ","
+ // << surface_east[1] << "," << surface_east[2] << endl;
+ // cout << "Should be close to zero = "
+ // << sgScalarProductVec3(surface_south, surface_east) << endl;
+
+ set_clean();
+}
+
+
+// Destructor
+FGViewerRPH::~FGViewerRPH( void ) {
+}
--- /dev/null
+// viewer_rph.hxx -- class for managing a Roll/Pitch/Heading viewer in
+// the flightgear world.
+//
+// Written by Curtis Olson, started August 1997.
+// overhaul started October 2000.
+//
+// Copyright (C) 1997 - 2000 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.
+//
+// $Id$
+
+
+#ifndef _VIEWER_RPH_HXX
+#define _VIEWER_RPH_HXX
+
+
+#ifndef __cplusplus
+# error This library requires C++
+#endif
+
+
+#include "viewer.hxx"
+
+
+// Define a structure containing view information
+class FGViewerRPH: public FGViewer {
+
+private:
+
+ // geodetic view position
+ sgdVec3 geod_view_pos;
+
+ // view orientation (roll, pitch, heading)
+ sgVec3 rph;
+
+ // up vector for the view (usually point straight up through the
+ // top of the aircraft
+ sgVec3 view_up;
+
+ // the vector pointing straight out the nose of the aircraft
+ sgVec3 view_forward;
+
+ // Transformation matrix for the view direction offset relative to
+ // the AIRCRAFT matrix
+ sgMat4 VIEW_OFFSET;
+
+ // sg versions of our friendly matrices
+ sgMat4 LOCAL, TRANS, LARC_TO_SSG;
+
+ // Update the view volume, position, and orientation
+ void update();
+
+public:
+
+ // Constructor
+ FGViewerRPH( void );
+
+ // Destructor
+ ~FGViewerRPH( void );
+
+ // Initialize a view class
+ void init( void );
+
+ //////////////////////////////////////////////////////////////////////
+ // setter functions
+ //////////////////////////////////////////////////////////////////////
+ inline void set_geod_view_pos( double lon, double lat, double alt ) {
+ // data should be in radians and meters asl
+ set_dirty();
+ // cout << "set_geod_view_pos = " << lon << ", " << lat << ", " << alt
+ // << endl;
+ sgdSetVec3( geod_view_pos, lon, lat, alt );
+ }
+ inline void set_rph( double r, double p, double h ) {
+ // data should be in radians
+ set_dirty();
+ sgSetVec3( rph, r, p, h );
+ }
+
+ //////////////////////////////////////////////////////////////////////
+ // accessor functions
+ //////////////////////////////////////////////////////////////////////
+ inline double *get_geod_view_pos() { return geod_view_pos; }
+ inline float *get_rph() { return rph; }
+
+ //////////////////////////////////////////////////////////////////////
+ // derived values accessor functions
+ //////////////////////////////////////////////////////////////////////
+};
+
+
+#endif // _VIEWER_RPH_HXX
projects / flightgear.git / commitdiff