From f4ce3314fd0b103fb5d63748dc17df5d74f88873 Mon Sep 17 00:00:00 2001 From: curt Date: Wed, 25 Oct 2000 22:58:05 +0000 Subject: [PATCH] Initial revision. --- src/Main/viewer_rph.cxx | 367 ++++++++++++++++++++++++++++++++++++++++ src/Main/viewer_rph.hxx | 105 ++++++++++++ 2 files changed, 472 insertions(+) create mode 100644 src/Main/viewer_rph.cxx create mode 100644 src/Main/viewer_rph.hxx diff --git a/src/Main/viewer_rph.cxx b/src/Main/viewer_rph.cxx new file mode 100644 index 000000000..9b0a7c0e9 --- /dev/null +++ b/src/Main/viewer_rph.cxx @@ -0,0 +1,367 @@ +// 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 + +#ifdef HAVE_CONFIG_H +# include +#endif + +#include // plib include + +#include +#include +#include +#include +#include + +#include +#include +#include + +#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 ) { +} diff --git a/src/Main/viewer_rph.hxx b/src/Main/viewer_rph.hxx new file mode 100644 index 000000000..6ae5dd8b8 --- /dev/null +++ b/src/Main/viewer_rph.hxx @@ -0,0 +1,105 @@ +// 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 -- 2.39.5