From 38999ec3e0c9371f72ca07995efb077aa0400609 Mon Sep 17 00:00:00 2001 From: curt Date: Mon, 4 Oct 1999 04:02:10 +0000 Subject: [PATCH] "sg-izing" the matrix/vector code so that I can hopefully eventually remove the older "MAT3" code. --- src/Main/main.cxx | 6 +- src/Main/views.cxx | 231 +++++++++++++-------------------------------- src/Main/views.hxx | 28 ++---- 3 files changed, 76 insertions(+), 189 deletions(-) diff --git a/src/Main/main.cxx b/src/Main/main.cxx index 86bb5f073..60f26a424 100644 --- a/src/Main/main.cxx +++ b/src/Main/main.cxx @@ -285,7 +285,7 @@ static void fgRenderFrame( void ) { xglMatrixMode(GL_MODELVIEW); xglLoadIdentity(); sgMat4 vm_tmp, view_mat; - sgTransposeNegateMat4 ( vm_tmp, current_view.sgVIEW ) ; + sgTransposeNegateMat4 ( vm_tmp, current_view.VIEW ) ; sgCopyMat4( view_mat, copy_of_ssgOpenGLAxisSwapMatrix ) ; sgPreMultMat4( view_mat, vm_tmp ) ; xglLoadMatrixf( (float *)view_mat ); @@ -414,7 +414,7 @@ static void fgRenderFrame( void ) { sgMat4 sgTMP; sgMat4 sgTUX; - sgMultMat4( sgTMP, sgROT, current_view.sgVIEW_ROT ); + sgMultMat4( sgTMP, sgROT, current_view.VIEW_ROT ); sgMultMat4( sgTUX, sgTMP, sgTRANS ); sgCoord tuxpos; @@ -422,7 +422,7 @@ static void fgRenderFrame( void ) { penguin_pos->setTransform( &tuxpos ); } - ssgSetCamera( current_view.sgVIEW ); + ssgSetCamera( current_view.VIEW ); // position tile nodes and update range selectors global_tile_mgr.prep_ssg_nodes(); diff --git a/src/Main/views.cxx b/src/Main/views.cxx index ab3c4607d..781648f86 100644 --- a/src/Main/views.cxx +++ b/src/Main/views.cxx @@ -32,7 +32,6 @@ #include #include #include -#include #include #include #include @@ -79,25 +78,25 @@ void FGView::Init( void ) { } // This never changes -- NHV - sgLARC_TO_SSG[0][0] = 0.0; - sgLARC_TO_SSG[0][1] = 1.0; - sgLARC_TO_SSG[0][2] = -0.0; - sgLARC_TO_SSG[0][3] = 0.0; + 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; - sgLARC_TO_SSG[1][0] = 0.0; - sgLARC_TO_SSG[1][1] = 0.0; - sgLARC_TO_SSG[1][2] = 1.0; - sgLARC_TO_SSG[1][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; - sgLARC_TO_SSG[2][0] = 1.0; - sgLARC_TO_SSG[2][1] = -0.0; - sgLARC_TO_SSG[2][2] = 0.0; - sgLARC_TO_SSG[2][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; - sgLARC_TO_SSG[3][0] = 0.0; - sgLARC_TO_SSG[3][1] = 0.0; - sgLARC_TO_SSG[3][2] = 0.0; - sgLARC_TO_SSG[3][3] = 1.0; + 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; force_update_fov_math(); } @@ -124,46 +123,21 @@ void FGView::UpdateViewParams( const FGInterface& f ) { // convert sgMat4 to MAT3 and print static void print_sgMat4( sgMat4 &in) { - MAT3mat print; - int i; - int j; + int i, j; for ( i = 0; i < 4; i++ ) { for ( j = 0; j < 4; j++ ) { - print[i][j] = in[i][j]; + printf("%10.4f ", in[i][j]); } + cout << endl; } - MAT3print( print, stdout); -} - - -// convert convert MAT3 to sgMat4 -static void MAT3mat_To_sgMat4( MAT3mat &in, sgMat4 &out ) { - out[0][0] = in[0][0]; - out[0][1] = in[0][1]; - out[0][2] = in[0][2]; - out[0][3] = in[0][3]; - out[1][0] = in[1][0]; - out[1][1] = in[1][1]; - out[1][2] = in[1][2]; - out[1][3] = in[1][3]; - out[2][0] = in[2][0]; - out[2][1] = in[2][1]; - out[2][2] = in[2][2]; - out[2][3] = in[2][3]; - out[3][0] = in[3][0]; - out[3][1] = in[3][1]; - out[3][2] = in[3][2]; - out[3][3] = in[3][3]; } // Update the view parameters void FGView::UpdateViewMath( const FGInterface& f ) { Point3D p; - sgVec3 v0, minus_z; - MAT3vec vec, forward; - MAT3mat R, TMP, UP, LOCAL, VIEW; - sgMat4 sgTMP; + sgVec3 v0, minus_z, sgvec, forward; + sgMat4 VIEWo, TMP; if ( update_fov ) { ssgSetFOV( current_options.get_fov(), @@ -205,86 +179,35 @@ void FGView::UpdateViewMath( const FGInterface& f ) { // Psi (roll, pitch, yaw) in case we aren't running LaRCsim as our // flight model - MAT3_SET_VEC(vec, 0.0, 0.0, 1.0); - MAT3rotate(R, vec, f.get_Phi()); - // cout << "Roll matrix" << endl; - // MAT3print(R, stdout); + sgVec3 rollvec; + sgSetVec3( rollvec, 0.0, 0.0, 1.0 ); + sgMat4 PHI; // roll + sgMakeRotMat4( PHI, f.get_Phi() * RAD_TO_DEG, rollvec ); - sgVec3 sgrollvec; - sgSetVec3( sgrollvec, 0.0, 0.0, 1.0 ); - sgMat4 sgPHI; // roll - sgMakeRotMat4( sgPHI, f.get_Phi() * RAD_TO_DEG, sgrollvec ); + sgVec3 pitchvec; + sgSetVec3( pitchvec, 0.0, 1.0, 0.0 ); + sgMat4 THETA; // pitch + sgMakeRotMat4( THETA, f.get_Theta() * RAD_TO_DEG, pitchvec ); - MAT3_SET_VEC(vec, 0.0, 1.0, 0.0); - MAT3rotate(TMP, vec, f.get_Theta()); - // cout << "Pitch matrix" << endl;; - // MAT3print(TMP, stdout); - MAT3mult(R, R, TMP); - // cout << "tmp rotation matrix, R:" << endl;; - // MAT3print(R, stdout); + sgMat4 ROT; + sgMultMat4( ROT, PHI, THETA ); - sgVec3 sgpitchvec; - sgSetVec3( sgpitchvec, 0.0, 1.0, 0.0 ); - sgMat4 sgTHETA; // pitch - sgMakeRotMat4( sgTHETA, f.get_Theta() * RAD_TO_DEG, - sgpitchvec ); + sgVec3 yawvec; + sgSetVec3( yawvec, 1.0, 0.0, 0.0 ); + sgMat4 PSI; // pitch + sgMakeRotMat4( PSI, -f.get_Psi() * RAD_TO_DEG, yawvec ); - sgMat4 sgROT; - sgMultMat4( sgROT, sgPHI, sgTHETA ); - - MAT3_SET_VEC(vec, 1.0, 0.0, 0.0); - MAT3rotate(TMP, vec, -f.get_Psi()); - // cout << "Yaw matrix" << endl; - // MAT3print(TMP, stdout); - MAT3mult(LOCAL, R, TMP); - // cout << "LOCAL matrix:" << endl; - // MAT3print(LOCAL, stdout); - - sgVec3 sgyawvec; - sgSetVec3( sgyawvec, 1.0, 0.0, 0.0 ); - sgMat4 sgPSI; // pitch - sgMakeRotMat4( sgPSI, -f.get_Psi() * RAD_TO_DEG, sgyawvec ); - - sgMultMat4( sgLOCAL, sgROT, sgPSI ); - // cout << "sgLOCAL matrix" << endl; - // print_sgMat4( sgLOCAL ); + sgMultMat4( LOCAL, ROT, PSI ); + // cout << "LOCAL matrix" << endl; + // print_sgMat4( LOCAL ); - // Derive the local UP transformation matrix based on *geodetic* - // coordinates - MAT3_SET_VEC(vec, 0.0, 0.0, 1.0); - MAT3rotate(R, vec, f.get_Longitude()); // R = rotate about Z axis - // printf("Longitude matrix\n"); - // MAT3print(R, stdout); - - MAT3_SET_VEC(vec, 0.0, 1.0, 0.0); - MAT3mult_vec(vec, vec, R); - MAT3rotate(TMP, vec, -f.get_Latitude()); // TMP = rotate about X axis - // printf("Latitude matrix\n"); - // MAT3print(TMP, stdout); - - MAT3mult(UP, R, TMP); - // cout << "Local up matrix" << endl;; - // MAT3print(UP, stdout); - - sgMakeRotMat4( sgUP, + sgMakeRotMat4( UP, f.get_Longitude() * RAD_TO_DEG, 0.0, -f.get_Latitude() * RAD_TO_DEG ); - /* - cout << "FG derived UP matrix using sg routines" << endl; - MAT3mat print; - int i; - int j; - for ( i = 0; i < 4; i++ ) { - for ( j = 0; j < 4; j++ ) { - print[i][j] = sgUP[i][j]; - } - } - MAT3print( print, stdout); - */ sgSetVec3( local_up, 1.0, 0.0, 0.0 ); - sgXformVec3( local_up, sgUP ); + sgXformVec3( local_up, UP ); // cout << "Local Up = " << local_up[0] << "," << local_up[1] << "," // << local_up[2] << endl; @@ -294,60 +217,40 @@ void FGView::UpdateViewMath( const FGInterface& f ) { // printf( " Alt Up = (%.4f, %.4f, %.4f)\n", // alt_up.x, alt_up.y, alt_up.z); - // Calculate the VIEW matrix - MAT3mult(VIEW, LOCAL, UP); - // cout << "VIEW matrix" << endl;; - // MAT3print(VIEW, stdout); - - sgMat4 sgTMP2; - sgMultMat4( sgTMP, sgLOCAL, sgUP ); + sgMat4 TMP2; + sgMultMat4( VIEWo, LOCAL, UP ); + // cout << "VIEWo matrix" << endl; + // print_sgMat4( VIEWo ); // generate the sg view up vector sgVec3 vec1; sgSetVec3( vec1, 1.0, 0.0, 0.0 ); - sgXformVec3( sgview_up, vec1, sgTMP ); + sgXformVec3( view_up, vec1, VIEWo ); // generate the view offset matrix - sgMakeRotMat4( sgVIEW_OFFSET, view_offset * RAD_TO_DEG, sgview_up ); - // cout << "sgVIEW_OFFSET matrix" << endl; - // print_sgMat4( sgVIEW_OFFSET ); + sgMakeRotMat4( VIEW_OFFSET, view_offset * RAD_TO_DEG, view_up ); + // cout << "VIEW_OFFSET matrix" << endl; + // print_sgMat4( VIEW_OFFSET ); - sgMultMat4( sgTMP2, sgTMP, sgVIEW_OFFSET ); - sgMultMat4( sgVIEW_ROT, sgLARC_TO_SSG, sgTMP2 ); + sgMultMat4( TMP2, VIEWo, VIEW_OFFSET ); + sgMultMat4( VIEW_ROT, LARC_TO_SSG, TMP2 ); + // cout << "VIEW_ROT matrix" << endl; + // print_sgMat4( VIEW_ROT ); - sgMakeTransMat4( sgTRANS, view_pos.x(), view_pos.y(), view_pos.z() ); + sgMakeTransMat4( TRANS, view_pos.x(), view_pos.y(), view_pos.z() ); - sgMultMat4( sgVIEW, sgVIEW_ROT, sgTRANS ); + sgMultMat4( VIEW, VIEW_ROT, TRANS ); - // FGMat4Wrapper tmp; - // sgCopyMat4( tmp.m, sgVIEW ); - // follow.push_back( tmp ); - - // generate the current up, forward, and fwrd-view vectors - MAT3_SET_VEC(vec, 1.0, 0.0, 0.0); - MAT3mult_vec(view_up, vec, VIEW); - - /* - cout << "FG derived VIEW matrix using sg routines" << endl; - MAT3mat print; - int i; - int j; - for ( i = 0; i < 4; i++ ) { - for ( j = 0; j < 4; j++ ) { - print[i][j] = sgVIEW[i][j]; - } - } - MAT3print( print, stdout); - */ - - MAT3_SET_VEC(vec, 0.0, 0.0, 1.0); - MAT3mult_vec(forward, vec, VIEW); - // printf( "Forward vector is (%.2f,%.2f,%.2f)\n", forward[0], forward[1], - // forward[2]); - - MAT3rotate(TMP, view_up, view_offset); - MAT3mult_vec(view_forward, forward, TMP); + sgSetVec3( sgvec, 0.0, 0.0, 1.0 ); + sgXformVec3( forward, sgvec, VIEWo ); + // cout << "forward = " << forward[0] << "," + // << forward[1] << "," << forward[2] << endl; + sgMakeRotMat4( TMP, view_offset * RAD_TO_DEG, view_up ); + sgXformVec3( view_forward, forward, TMP ); + // cout << "view_forward = " << view_forward[0] << "," + // << view_forward[1] << "," << view_forward[2] << endl; + // make a vector to the current view position sgSetVec3( v0, view_pos.x(), view_pos.y(), view_pos.z() ); @@ -362,10 +265,10 @@ void FGView::UpdateViewMath( const FGInterface& f ) { // << surface_south[1] << "," << surface_south[2] << endl; // now calculate the surface east vector - sgMakeRotMat4( sgTMP, FG_PI_2 * RAD_TO_DEG, sgview_up ); - // cout << "sgMat4 sgTMP" << endl; - // print_sgMat4( sgTMP ); - sgXformVec3(surface_east, surface_south, sgTMP); + sgMakeRotMat4( TMP, FG_PI_2 * RAD_TO_DEG, view_up ); + // cout << "sgMat4 TMP" << endl; + // print_sgMat4( TMP ); + sgXformVec3(surface_east, surface_south, TMP); // cout << "Surface direction directly east" << surface_east[0] << "," // << surface_east[1] << "," << surface_east[2] << endl; // cout << "Should be close to zero = " diff --git a/src/Main/views.hxx b/src/Main/views.hxx index d507222b1..d1dab9d3d 100644 --- a/src/Main/views.hxx +++ b/src/Main/views.hxx @@ -36,7 +36,6 @@ #include // plib include #include -#include #include #include