From f519b98e165e647ae541cbcd1c41489e95c85e8a Mon Sep 17 00:00:00 2001 From: curt Date: Thu, 26 Oct 2000 21:23:38 +0000 Subject: [PATCH] Initial revision. --- src/Main/viewer_lookat.cxx | 287 +++++++++++++++++++++++++++++++++++++ src/Main/viewer_lookat.hxx | 94 ++++++++++++ 2 files changed, 381 insertions(+) create mode 100644 src/Main/viewer_lookat.cxx create mode 100644 src/Main/viewer_lookat.hxx diff --git a/src/Main/viewer_lookat.cxx b/src/Main/viewer_lookat.cxx new file mode 100644 index 000000000..efb002c6d --- /dev/null +++ b/src/Main/viewer_lookat.cxx @@ -0,0 +1,287 @@ +// 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 + +#ifdef HAVE_CONFIG_H +# include +#endif + +#include // plib include + +#include +#include +#include +#include +#include + +#include + +#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 ) { +} diff --git a/src/Main/viewer_lookat.hxx b/src/Main/viewer_lookat.hxx new file mode 100644 index 000000000..19b2941e9 --- /dev/null +++ b/src/Main/viewer_lookat.hxx @@ -0,0 +1,94 @@ +// 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 -- 2.39.2