--- /dev/null
+// viewer_lookat.hxx -- class for managing a "look at" viewer in
+// the flightgear world.
+//
+// Written by Curtis Olson, started October 2000.
+//
+// Copyright (C) 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 <Scenery/scenery.hxx>
+
+#include "globals.hxx"
+#include "viewer_lookat.hxx"
+
+
+// Constructor
+FGViewerLookAt::FGViewerLookAt( void )
+{
+}
+
+
+static void fgLookAt( sgVec3 eye, sgVec3 center, sgVec3 up, sgMat4 &m ) {
+ double x[3], y[3], z[3];
+ double mag;
+
+ /* Make rotation matrix */
+
+ /* Z vector */
+ z[0] = eye[0] - center[0];
+ z[1] = eye[1] - center[1];
+ z[2] = eye[2] - center[2];
+ mag = sqrt( z[0]*z[0] + z[1]*z[1] + z[2]*z[2] );
+ if (mag) { /* mpichler, 19950515 */
+ z[0] /= mag;
+ z[1] /= mag;
+ z[2] /= mag;
+ }
+
+ /* Y vector */
+ y[0] = up[0];
+ y[1] = up[1];
+ y[2] = up[2];
+
+ /* X vector = Y cross Z */
+ x[0] = y[1]*z[2] - y[2]*z[1];
+ x[1] = -y[0]*z[2] + y[2]*z[0];
+ x[2] = y[0]*z[1] - y[1]*z[0];
+
+ /* Recompute Y = Z cross X */
+ y[0] = z[1]*x[2] - z[2]*x[1];
+ y[1] = -z[0]*x[2] + z[2]*x[0];
+ y[2] = z[0]*x[1] - z[1]*x[0];
+
+ /* mpichler, 19950515 */
+ /* cross product gives area of parallelogram, which is < 1.0 for
+ * non-perpendicular unit-length vectors; so normalize x, y here
+ */
+
+ mag = sqrt( x[0]*x[0] + x[1]*x[1] + x[2]*x[2] );
+ if (mag) {
+ x[0] /= mag;
+ x[1] /= mag;
+ x[2] /= mag;
+ }
+
+ mag = sqrt( y[0]*y[0] + y[1]*y[1] + y[2]*y[2] );
+ if (mag) {
+ y[0] /= mag;
+ y[1] /= mag;
+ y[2] /= mag;
+ }
+
+#define M(row,col) m[row][col]
+ M(0,0) = x[0]; M(0,1) = x[1]; M(0,2) = x[2]; M(0,3) = 0.0;
+ M(1,0) = y[0]; M(1,1) = y[1]; M(1,2) = y[2]; M(1,3) = 0.0;
+ M(2,0) = z[0]; M(2,1) = z[1]; M(2,2) = z[2]; M(2,3) = 0.0;
+ M(3,0) = -eye[0]; M(3,1) = -eye[1]; M(3,2) = -eye[2]; M(3,3) = 1.0;
+#undef M
+}
+
+
+// Initialize a view structure
+void FGViewerLookAt::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()
+ );
+}
+
+
+#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 FGViewerLookAt::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] );
+
+ // view_pos = abs_view_pos - scenery.center;
+ 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 );
+
+ 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] );
+ FG_LOG( FG_VIEW, FG_DEBUG, "view forward = "
+ << view_forward[0] << "," << view_forward[1] << ","
+ << view_forward[2] );
+ FG_LOG( FG_VIEW, FG_DEBUG, "view up = "
+ << view_up[0] << "," << view_up[1] << ","
+ << view_up[2] );
+
+ // Make the VIEW matrix.
+ fgLookAt( view_pos, view_forward, view_up, VIEW );
+ // cout << "VIEW matrix" << endl;
+ // print_sgMat4( VIEW );
+
+ // the VIEW matrix includes both rotation and translation. Let's
+ // knock out the translation part to make the VIEW_ROT matrix
+ sgCopyMat4( VIEW_ROT, VIEW );
+ VIEW_ROT[3][0] = VIEW_ROT[3][1] = VIEW_ROT[3][2] = 0.0;
+
+ // Make the world up rotation matrix
+ sgMakeRotMat4( UP,
+ geod_view_pos[0] * RAD_TO_DEG,
+ 0.0,
+ -geod_view_pos[1] * RAD_TO_DEG );
+
+ // use a clever observation into the nature of our tranformation
+ // matrix to grab the world_up vector
+ sgSetVec3( world_up, UP[0][0], UP[0][1], UP[0][2] );
+ // cout << "World Up = " << world_up[0] << "," << world_up[1] << ","
+ // << world_up[2] << endl;
+
+
+ //!!!!!!!!!!!!!!!!!!!
+ // 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(world_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 world_down;
+ sgNegateVec3(world_down, world_up);
+ sgVectorProductVec3(surface_east, surface_south, world_down);
+#else
+ sgMakeRotMat4( TMP, FG_PI_2 * RAD_TO_DEG, world_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
+FGViewerLookAt::~FGViewerLookAt( void ) {
+}
--- /dev/null
+// viewer_lookat.hxx -- class for managing a "look at" viewer in
+// the flightgear world.
+//
+// Written by Curtis Olson, started October 2000.
+//
+// Copyright (C) 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_LOOKAT_HXX
+#define _VIEWER_LOOKAT_HXX
+
+
+#ifndef __cplusplus
+# error This library requires C++
+#endif
+
+
+#include "viewer.hxx"
+
+
+// Define a structure containing view information
+class FGViewerLookAt: public FGViewer {
+
+private:
+
+ // 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
+ FGViewerLookAt( void );
+
+ // Destructor
+ ~FGViewerLookAt( void );
+
+ // Initialize a view class
+ void init( void );
+
+ //////////////////////////////////////////////////////////////////////
+ // setter functions
+ //////////////////////////////////////////////////////////////////////
+ inline void set_view_forward( sgVec3 vf ) {
+ set_dirty();
+ sgCopyVec3( view_forward, vf );
+ }
+ inline void set_view_up( sgVec3 vf ) {
+ set_dirty();
+ sgCopyVec3( view_up, vf );
+ }
+
+ //////////////////////////////////////////////////////////////////////
+ // accessor functions
+ //////////////////////////////////////////////////////////////////////
+ inline float *get_view_forward() { return view_forward; }
+ inline float *get_view_up() { return view_up; }
+
+ //////////////////////////////////////////////////////////////////////
+ // derived values accessor functions
+ //////////////////////////////////////////////////////////////////////
+};
+
+
+#endif // _VIEWER_LOOKAT_HXX
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