94 lines
2.7 KiB
C++
94 lines
2.7 KiB
C++
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#include <Math/mat3.h>
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#include <Include/fg_constants.h>
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main() {
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MAT3mat R_Phi, R_Theta, R_Psi, R_Lat, R_Lon, T_view;
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MAT3mat TMP, AIRCRAFT, WORLD, EYE_TO_WORLD, WORLD_TO_EYE;
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MAT3hvec vec, eye, vec1;
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double FG_Phi = 0.00;
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double FG_Theta = 0.00;
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double FG_Psi = 0.00;
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// double FG_Latitude = 33.3528917 * DEG_TO_RAD;
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double FG_Latitude = 0.0;
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// double FG_Longitude = -110.6642444 * DEG_TO_RAD;
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double FG_Longitude = 90.0 * DEG_TO_RAD;
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// double view_pos[] = {2936.3222, 1736.9243, 3689.5359, 1.0};
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double view_pos[] = {0.0, 0.0, 0.0, 1.0};
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// Roll Matrix
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MAT3_SET_HVEC(vec, 0.0, 0.0, -1.0, 1.0);
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MAT3rotate(R_Phi, vec, FG_Phi);
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printf("Roll matrix (Phi)\n");
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MAT3print(R_Phi, stdout);
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// Pitch Matrix
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MAT3_SET_HVEC(vec, 1.0, 0.0, 0.0, 1.0);
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MAT3rotate(R_Theta, vec, FG_Theta);
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printf("\nPitch matrix (Theta)\n");
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MAT3print(R_Theta, stdout);
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// Yaw Matrix
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MAT3_SET_HVEC(vec, 0.0, -1.0, 0.0, 1.0);
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MAT3rotate(R_Psi, vec, FG_PI + FG_Psi);
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printf("\nYaw matrix (Psi)\n");
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MAT3print(R_Psi, stdout);
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// Latitude
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MAT3_SET_HVEC(vec, 1.0, 0.0, 0.0, 1.0);
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// R_Lat = rotate about X axis
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MAT3rotate(R_Lat, vec, FG_Latitude);
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printf("\nLatitude matrix\n");
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MAT3print(R_Lat, stdout);
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// Longitude
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MAT3_SET_HVEC(vec, 0.0, 0.0, 1.0, 1.0);
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// R_Lon = rotate about Z axis
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MAT3rotate(R_Lon, vec, FG_Longitude - FG_PI_2 );
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printf("\nLongitude matrix\n");
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MAT3print(R_Lon, stdout);
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// View position in scenery centered coordinates
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MAT3translate(T_view, view_pos);
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printf("\nTranslation matrix\n");
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MAT3print(T_view, stdout);
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// aircraft roll/pitch/yaw
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MAT3mult(TMP, R_Phi, R_Theta);
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MAT3mult(AIRCRAFT, TMP, R_Psi);
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printf("\naircraft roll pitch yaw\n");
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MAT3print(AIRCRAFT, stdout);
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// lon/lat
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MAT3mult(WORLD, R_Lat, R_Lon);
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printf("\nworld\n");
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MAT3print(WORLD, stdout);
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MAT3mult(EYE_TO_WORLD, AIRCRAFT, WORLD);
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MAT3mult(EYE_TO_WORLD, EYE_TO_WORLD, T_view);
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printf("\nEye to world\n");
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MAT3print(EYE_TO_WORLD, stdout);
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MAT3invert(WORLD_TO_EYE, EYE_TO_WORLD);
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printf("\nWorld to eye\n");
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MAT3print(WORLD_TO_EYE, stdout);
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MAT3_SET_HVEC(eye, 0.0, 0.0, 0.0, 1.0);
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MAT3mult_vec(vec, eye, EYE_TO_WORLD);
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printf("\neye -> world = %.2f %.2f %.2f\n", vec[0], vec[1], vec[2]);
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MAT3_SET_HVEC(vec1, 0.0, 6378138.12, 0.0, 1.0);
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MAT3mult_vec(vec, vec1, EYE_TO_WORLD);
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printf( "\n+y (eye) -> +y (world) = %.2f %.2f %.2f\n",
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vec[0], vec[1], vec[2]);
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MAT3mult_vec(vec1, vec, WORLD_TO_EYE);
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printf( "\n+y (world) -> +y (eye) = %.2f %.2f %.2f\n",
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vec1[0], vec1[1], vec1[2]);
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}
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