From dc8657f57f0ee6e2bc86088f5d4051bb23836465 Mon Sep 17 00:00:00 2001 From: frohlich Date: Tue, 24 Mar 2009 08:12:58 +0000 Subject: [PATCH] Clean up placementtrans a bit. Modified Files: simgear/scene/model/placement.cxx simgear/scene/model/placementtrans.cxx simgear/scene/model/placementtrans.hxx --- simgear/scene/model/placement.cxx | 14 ++--- simgear/scene/model/placementtrans.cxx | 81 +++++++++----------------- simgear/scene/model/placementtrans.hxx | 7 ++- 3 files changed, 35 insertions(+), 67 deletions(-) diff --git a/simgear/scene/model/placement.cxx b/simgear/scene/model/placement.cxx index f46243d3..2a3f0d43 100644 --- a/simgear/scene/model/placement.cxx +++ b/simgear/scene/model/placement.cxx @@ -10,8 +10,7 @@ #include #include - -#include "placementtrans.hxx" +#include #include "placement.hxx" @@ -54,10 +53,9 @@ SGModelPlacement::update() // The orientation, composed from the horizontal local orientation and the // orientation wrt the horizontal local frame SGQuatd orient = SGQuatd::fromLonLat(_position); - orient *= SGQuatd::fromAngleAxisDeg(180, SGVec3d(0, 1, 0)); + orient *= SGQuatd::fromRealImag(0, SGVec3d(0, 1, 0)); orient *= SGQuatd::fromYawPitchRollDeg(-_heading_deg, _pitch_deg, -_roll_deg); - SGMatrixd rotation(inverse(orient)); - _transform->setTransform(position, rotation); + _transform->setTransform(position, orient); } bool @@ -150,8 +148,7 @@ SGModelPlacement::setBodyLinearVelocity(const SGVec3d& linear) SGSceneUserData* userData; userData = SGSceneUserData::getOrCreateSceneUserData(_transform); SGSceneUserData::Velocity* vel = userData->getOrCreateVelocity(); - SGQuatd orientation = SGQuatd::fromAngleAxisDeg(180, SGVec3d(0, 1, 0)); - vel->linear = orientation.backTransform(linear); + vel->linear = SGVec3d(-linear[0], linear[1], -linear[2]); } void @@ -160,8 +157,7 @@ SGModelPlacement::setBodyAngularVelocity(const SGVec3d& angular) SGSceneUserData* userData; userData = SGSceneUserData::getOrCreateSceneUserData(_transform); SGSceneUserData::Velocity* vel = userData->getOrCreateVelocity(); - SGQuatd orientation = SGQuatd::fromAngleAxisDeg(180, SGVec3d(0, 1, 0)); - vel->angular = orientation.backTransform(angular); + vel->angular = SGVec3d(-angular[0], angular[1], -angular[2]); } // end of model.cxx diff --git a/simgear/scene/model/placementtrans.cxx b/simgear/scene/model/placementtrans.cxx index a59c24d4..ed452793 100644 --- a/simgear/scene/model/placementtrans.cxx +++ b/simgear/scene/model/placementtrans.cxx @@ -64,10 +64,7 @@ public: SGPlacementTransform::SGPlacementTransform(void) : _placement_offset(0, 0, 0), - _rotation(1, 0, 0, 0, - 0, 1, 0, 0, - 0, 0, 1, 0, - 0, 0, 0, 1) + _rotation(SGQuatd::unit()) { setUpdateCallback(new UpdateCallback); } @@ -89,18 +86,13 @@ bool SGPlacementTransform::computeLocalToWorldMatrix(osg::Matrix& matrix, osg::NodeVisitor*) const { - osg::Matrix t; - for (int i = 0; i < 3; ++i) { - for (int j = 0; j < 3; ++j) { - t(j, i) = _rotation(i, j); - } - t(3, i) = _placement_offset(i); + if (_referenceFrame == RELATIVE_RF) { + matrix.preMultTranslate(_placement_offset.osg()); + matrix.preMultRotate(_rotation.osg()); + } else { + matrix.makeRotate(_rotation.osg()); + matrix.postMultTranslate(_placement_offset.osg()); } - - if (_referenceFrame == RELATIVE_RF) - matrix.preMult(t); - else - matrix = t; return true; } @@ -108,19 +100,13 @@ bool SGPlacementTransform::computeWorldToLocalMatrix(osg::Matrix& matrix, osg::NodeVisitor*) const { - osg::Matrix t; - for (int i = 0; i < 3; ++i) { - for (int j = 0; j < 3; ++j) { - t(j, i) = _rotation(i, j); - } - t(3, i) = _placement_offset(i); + if (_referenceFrame == RELATIVE_RF) { + matrix.postMultTranslate(-_placement_offset.osg()); + matrix.postMultRotate(inverse(_rotation).osg()); + } else { + matrix.makeRotate(inverse(_rotation).osg()); + matrix.preMultTranslate(-_placement_offset.osg()); } - t = osg::Matrix::inverse(t); - - if (_referenceFrame == RELATIVE_RF) - matrix.postMult(t); - else - matrix = t; return true; } @@ -132,25 +118,16 @@ namespace { bool PlacementTrans_readLocalData(osg::Object& obj, osgDB::Input& fr) { SGPlacementTransform& trans = static_cast(obj); - SGMatrixd rotation(1, 0, 0, 0, - 0, 1, 0, 0, - 0, 0, 1, 0, - 0, 0, 0, 1); + SGQuatd rotation = SGQuatd::unit(); SGVec3d placementOffset(0, 0, 0); - if (fr[0].matchWord("rotation") && fr[1].isOpenBracket()) { - fr += 2; - for (int i = 0; i < 3; i++) { - SGVec3d scratch; - if (!fr.readSequence(scratch.osg())) - return false; - fr += 3; - for (int j = 0; j < 3; j++) - rotation(j, i) = scratch[j]; - } - if (fr[0].isCloseBracket()) - ++fr; - else + if (fr[0].matchWord("rotation")) { + ++fr; + osg::Vec4d vec4; + if (fr.readSequence(vec4)) { + rotation = SGQuatd(vec4[0], vec4[1], vec4[2], vec4[3]); + fr += 4; + } else return false; } if (fr[0].matchWord("placement")) { @@ -168,20 +145,14 @@ bool PlacementTrans_writeLocalData(const osg::Object& obj, osgDB::Output& fw) { const SGPlacementTransform& trans = static_cast(obj); - const SGMatrixd& rotation = trans.getRotation(); + const SGQuatd& rotation = trans.getRotation(); const SGVec3d& placement = trans.getGlobalPos(); - fw.indent() << "rotation {" << std::endl; - fw.moveIn(); - for (int i = 0; i < 3; i++) { - fw.indent(); - for (int j = 0; j < 3; j++) { - fw << rotation(j, i) << " "; - } - fw << std::endl; + fw.indent() << "rotation "; + for (int i = 0; i < 4; i++) { + fw << rotation(i) << " "; } - fw.moveOut(); - fw.indent() << "}" << std::endl; + fw << std::endl; int prec = fw.precision(); fw.precision(15); fw.indent() << "placement "; diff --git a/simgear/scene/model/placementtrans.hxx b/simgear/scene/model/placementtrans.hxx index b7d42ef3..b4489bb7 100644 --- a/simgear/scene/model/placementtrans.hxx +++ b/simgear/scene/model/placementtrans.hxx @@ -45,12 +45,13 @@ public: void setTransform(const SGVec3d& off) { _placement_offset = off; dirtyBound(); } - void setTransform(const SGVec3d& off, const SGMatrixd& rot) + void setTransform(const SGVec3d& off, const SGQuatd& rot) { _placement_offset = off; _rotation = rot; dirtyBound(); } const SGVec3d& getGlobalPos() const { return _placement_offset; } - const SGMatrixd& getRotation() const { return _rotation; } + const SGQuatd& getRotation() const + { return _rotation; } virtual bool computeLocalToWorldMatrix(osg::Matrix&,osg::NodeVisitor*) const; virtual bool computeWorldToLocalMatrix(osg::Matrix&,osg::NodeVisitor*) const; @@ -67,7 +68,7 @@ private: ////////////////////////////////////////////////////////////////// SGVec3d _placement_offset; - SGMatrixd _rotation; + SGQuatd _rotation; }; #endif // _SG_LOCATION_HXX -- 2.39.5