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"sg-izing" the matrix/vector code so that I can hopefully eventually remove

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the older "MAT3" code.
This commit is contained in:
curt 1999-10-04 04:02:10 +00:00
parent ad7718ff02
commit 38999ec3e0
3 changed files with 76 additions and 189 deletions
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6
src/Main/main.cxx
View file

@ -285,7 +285,7 @@ static void fgRenderFrame( void ) {
xglMatrixMode(GL_MODELVIEW); xglMatrixMode(GL_MODELVIEW);
xglLoadIdentity(); xglLoadIdentity();
sgMat4 vm_tmp, view_mat; sgMat4 vm_tmp, view_mat;
sgTransposeNegateMat4 ( vm_tmp, current_view.sgVIEW ) ; sgTransposeNegateMat4 ( vm_tmp, current_view.VIEW ) ;
sgCopyMat4( view_mat, copy_of_ssgOpenGLAxisSwapMatrix ) ; sgCopyMat4( view_mat, copy_of_ssgOpenGLAxisSwapMatrix ) ;
sgPreMultMat4( view_mat, vm_tmp ) ; sgPreMultMat4( view_mat, vm_tmp ) ;
xglLoadMatrixf( (float *)view_mat ); xglLoadMatrixf( (float *)view_mat );
@ -414,7 +414,7 @@ static void fgRenderFrame( void ) {
sgMat4 sgTMP; sgMat4 sgTMP;
sgMat4 sgTUX; sgMat4 sgTUX;
sgMultMat4( sgTMP, sgROT, current_view.sgVIEW_ROT ); sgMultMat4( sgTMP, sgROT, current_view.VIEW_ROT );
sgMultMat4( sgTUX, sgTMP, sgTRANS ); sgMultMat4( sgTUX, sgTMP, sgTRANS );
sgCoord tuxpos; sgCoord tuxpos;
@ -422,7 +422,7 @@ static void fgRenderFrame( void ) {
penguin_pos->setTransform( &tuxpos ); penguin_pos->setTransform( &tuxpos );
} }
ssgSetCamera( current_view.sgVIEW ); ssgSetCamera( current_view.VIEW );
// position tile nodes and update range selectors // position tile nodes and update range selectors
global_tile_mgr.prep_ssg_nodes(); global_tile_mgr.prep_ssg_nodes();

231
src/Main/views.cxx
View file

@ -32,7 +32,6 @@
#include <Cockpit/panel.hxx> #include <Cockpit/panel.hxx>
#include <Debug/logstream.hxx> #include <Debug/logstream.hxx>
#include <Include/fg_constants.h> #include <Include/fg_constants.h>
#include <Math/mat3.h>
#include <Math/point3d.hxx> #include <Math/point3d.hxx>
#include <Math/polar3d.hxx> #include <Math/polar3d.hxx>
#include <Math/vector.hxx> #include <Math/vector.hxx>
@ -79,25 +78,25 @@ void FGView::Init( void ) {
} }
// This never changes -- NHV // This never changes -- NHV
sgLARC_TO_SSG[0][0] = 0.0; LARC_TO_SSG[0][0] = 0.0;
sgLARC_TO_SSG[0][1] = 1.0; LARC_TO_SSG[0][1] = 1.0;
sgLARC_TO_SSG[0][2] = -0.0; LARC_TO_SSG[0][2] = -0.0;
sgLARC_TO_SSG[0][3] = 0.0; LARC_TO_SSG[0][3] = 0.0;
sgLARC_TO_SSG[1][0] = 0.0; LARC_TO_SSG[1][0] = 0.0;
sgLARC_TO_SSG[1][1] = 0.0; LARC_TO_SSG[1][1] = 0.0;
sgLARC_TO_SSG[1][2] = 1.0; LARC_TO_SSG[1][2] = 1.0;
sgLARC_TO_SSG[1][3] = 0.0; LARC_TO_SSG[1][3] = 0.0;
sgLARC_TO_SSG[2][0] = 1.0; LARC_TO_SSG[2][0] = 1.0;
sgLARC_TO_SSG[2][1] = -0.0; LARC_TO_SSG[2][1] = -0.0;
sgLARC_TO_SSG[2][2] = 0.0; LARC_TO_SSG[2][2] = 0.0;
sgLARC_TO_SSG[2][3] = 0.0; LARC_TO_SSG[2][3] = 0.0;
sgLARC_TO_SSG[3][0] = 0.0; LARC_TO_SSG[3][0] = 0.0;
sgLARC_TO_SSG[3][1] = 0.0; LARC_TO_SSG[3][1] = 0.0;
sgLARC_TO_SSG[3][2] = 0.0; LARC_TO_SSG[3][2] = 0.0;
sgLARC_TO_SSG[3][3] = 1.0; LARC_TO_SSG[3][3] = 1.0;
force_update_fov_math(); force_update_fov_math();
} }
@ -124,46 +123,21 @@ void FGView::UpdateViewParams( const FGInterface& f ) {
// convert sgMat4 to MAT3 and print // convert sgMat4 to MAT3 and print
static void print_sgMat4( sgMat4 &in) { static void print_sgMat4( sgMat4 &in) {
MAT3mat print; int i, j;
int i;
int j;
for ( i = 0; i < 4; i++ ) { for ( i = 0; i < 4; i++ ) {
for ( j = 0; j < 4; j++ ) { 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 // Update the view parameters
void FGView::UpdateViewMath( const FGInterface& f ) { void FGView::UpdateViewMath( const FGInterface& f ) {
Point3D p; Point3D p;
sgVec3 v0, minus_z; sgVec3 v0, minus_z, sgvec, forward;
MAT3vec vec, forward; sgMat4 VIEWo, TMP;
MAT3mat R, TMP, UP, LOCAL, VIEW;
sgMat4 sgTMP;
if ( update_fov ) { if ( update_fov ) {
ssgSetFOV( current_options.get_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 // Psi (roll, pitch, yaw) in case we aren't running LaRCsim as our
// flight model // flight model
MAT3_SET_VEC(vec, 0.0, 0.0, 1.0); sgVec3 rollvec;
MAT3rotate(R, vec, f.get_Phi()); sgSetVec3( rollvec, 0.0, 0.0, 1.0 );
// cout << "Roll matrix" << endl; sgMat4 PHI; // roll
// MAT3print(R, stdout); sgMakeRotMat4( PHI, f.get_Phi() * RAD_TO_DEG, rollvec );
sgVec3 sgrollvec; sgVec3 pitchvec;
sgSetVec3( sgrollvec, 0.0, 0.0, 1.0 ); sgSetVec3( pitchvec, 0.0, 1.0, 0.0 );
sgMat4 sgPHI; // roll sgMat4 THETA; // pitch
sgMakeRotMat4( sgPHI, f.get_Phi() * RAD_TO_DEG, sgrollvec ); sgMakeRotMat4( THETA, f.get_Theta() * RAD_TO_DEG, pitchvec );
MAT3_SET_VEC(vec, 0.0, 1.0, 0.0); sgMat4 ROT;
MAT3rotate(TMP, vec, f.get_Theta()); sgMultMat4( ROT, PHI, THETA );
// cout << "Pitch matrix" << endl;;
// MAT3print(TMP, stdout);
MAT3mult(R, R, TMP);
// cout << "tmp rotation matrix, R:" << endl;;
// MAT3print(R, stdout);
sgVec3 sgpitchvec; sgVec3 yawvec;
sgSetVec3( sgpitchvec, 0.0, 1.0, 0.0 ); sgSetVec3( yawvec, 1.0, 0.0, 0.0 );
sgMat4 sgTHETA; // pitch sgMat4 PSI; // pitch
sgMakeRotMat4( sgTHETA, f.get_Theta() * RAD_TO_DEG, sgMakeRotMat4( PSI, -f.get_Psi() * RAD_TO_DEG, yawvec );
sgpitchvec );
sgMat4 sgROT; sgMultMat4( LOCAL, ROT, PSI );
sgMultMat4( sgROT, sgPHI, sgTHETA ); // cout << "LOCAL matrix" << endl;
// print_sgMat4( LOCAL );
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 );
// Derive the local UP transformation matrix based on *geodetic* sgMakeRotMat4( UP,
// 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,
f.get_Longitude() * RAD_TO_DEG, f.get_Longitude() * RAD_TO_DEG,
0.0, 0.0,
-f.get_Latitude() * RAD_TO_DEG ); -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 ); 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] << "," // cout << "Local Up = " << local_up[0] << "," << local_up[1] << ","
// << local_up[2] << endl; // << local_up[2] << endl;
@ -294,60 +217,40 @@ void FGView::UpdateViewMath( const FGInterface& f ) {
// printf( " Alt Up = (%.4f, %.4f, %.4f)\n", // printf( " Alt Up = (%.4f, %.4f, %.4f)\n",
// alt_up.x, alt_up.y, alt_up.z); // alt_up.x, alt_up.y, alt_up.z);
// Calculate the VIEW matrix sgMat4 TMP2;
MAT3mult(VIEW, LOCAL, UP); sgMultMat4( VIEWo, LOCAL, UP );
// cout << "VIEW matrix" << endl;; // cout << "VIEWo matrix" << endl;
// MAT3print(VIEW, stdout); // print_sgMat4( VIEWo );
sgMat4 sgTMP2;
sgMultMat4( sgTMP, sgLOCAL, sgUP );
// generate the sg view up vector // generate the sg view up vector
sgVec3 vec1; sgVec3 vec1;
sgSetVec3( vec1, 1.0, 0.0, 0.0 ); sgSetVec3( vec1, 1.0, 0.0, 0.0 );
sgXformVec3( sgview_up, vec1, sgTMP ); sgXformVec3( view_up, vec1, VIEWo );
// generate the view offset matrix // generate the view offset matrix
sgMakeRotMat4( sgVIEW_OFFSET, view_offset * RAD_TO_DEG, sgview_up ); sgMakeRotMat4( VIEW_OFFSET, view_offset * RAD_TO_DEG, view_up );
// cout << "sgVIEW_OFFSET matrix" << endl; // cout << "VIEW_OFFSET matrix" << endl;
// print_sgMat4( sgVIEW_OFFSET ); // print_sgMat4( VIEW_OFFSET );
sgMultMat4( sgTMP2, sgTMP, sgVIEW_OFFSET ); sgMultMat4( TMP2, VIEWo, VIEW_OFFSET );
sgMultMat4( sgVIEW_ROT, sgLARC_TO_SSG, sgTMP2 ); 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; sgSetVec3( sgvec, 0.0, 0.0, 1.0 );
// sgCopyMat4( tmp.m, sgVIEW ); sgXformVec3( forward, sgvec, VIEWo );
// follow.push_back( tmp ); // cout << "forward = " << forward[0] << ","
// << forward[1] << "," << forward[2] << endl;
// 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);
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 // make a vector to the current view position
sgSetVec3( v0, view_pos.x(), view_pos.y(), view_pos.z() ); 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; // << surface_south[1] << "," << surface_south[2] << endl;
// now calculate the surface east vector // now calculate the surface east vector
sgMakeRotMat4( sgTMP, FG_PI_2 * RAD_TO_DEG, sgview_up ); sgMakeRotMat4( TMP, FG_PI_2 * RAD_TO_DEG, view_up );
// cout << "sgMat4 sgTMP" << endl; // cout << "sgMat4 TMP" << endl;
// print_sgMat4( sgTMP ); // print_sgMat4( TMP );
sgXformVec3(surface_east, surface_south, sgTMP); sgXformVec3(surface_east, surface_south, TMP);
// cout << "Surface direction directly east" << surface_east[0] << "," // cout << "Surface direction directly east" << surface_east[0] << ","
// << surface_east[1] << "," << surface_east[2] << endl; // << surface_east[1] << "," << surface_east[2] << endl;
// cout << "Should be close to zero = " // cout << "Should be close to zero = "

28
src/Main/views.hxx
View file

@ -36,7 +36,6 @@
#include <sg.h> // plib include #include <sg.h> // plib include
#include <FDM/flight.hxx> #include <FDM/flight.hxx>
#include <Math/mat3.h>
#include <Math/point3d.hxx> #include <Math/point3d.hxx>
#include <Time/fg_time.hxx> #include <Time/fg_time.hxx>
#include <Time/light.hxx> #include <Time/light.hxx>
@ -46,16 +45,6 @@
FG_USING_STD(list); FG_USING_STD(list);
// class FGMat4Wrapper {
// public:
// sgMat4 m;
// };
// typedef list < FGMat4Wrapper > sgMat4_list;
// typedef sgMat4_list::iterator sgMat4_list_iterator;
// typedef sgMat4_list::const_iterator const_sgMat4_list_iterator;
// used in views.cxx and tilemgr.cxx // used in views.cxx and tilemgr.cxx
#define USE_FAST_FOV_CLIP #define USE_FAST_FOV_CLIP
@ -143,28 +132,23 @@ public:
// up vector for the view (usually point straight up through the // up vector for the view (usually point straight up through the
// top of the aircraft // top of the aircraft
MAT3vec view_up; sgVec3 view_up;
sgVec3 sgview_up;
// the vector pointing straight out the nose of the aircraft // the vector pointing straight out the nose of the aircraft
MAT3vec view_forward; sgVec3 view_forward;
// Transformation matrix for eye coordinates to aircraft coordinates // Transformation matrix for eye coordinates to aircraft coordinates
MAT3mat AIRCRAFT; // sgMat4 AIRCRAFT;
// Transformation matrix for the view direction offset relative to // Transformation matrix for the view direction offset relative to
// the AIRCRAFT matrix // the AIRCRAFT matrix
MAT3mat VIEW_OFFSET; sgMat4 VIEW_OFFSET;
sgMat4 sgVIEW_OFFSET;
// Current model view matrix; // Current model view matrix;
GLfloat MODEL_VIEW[16]; GLfloat MODEL_VIEW[16];
// sg versions of our friendly matrices // sg versions of our friendly matrices
sgMat4 sgLOCAL, sgUP, sgVIEW_ROT, sgTRANS, sgVIEW, sgLARC_TO_SSG; sgMat4 LOCAL, UP, VIEW_ROT, TRANS, VIEW, LARC_TO_SSG;
// queue of view matrices so we can have a follow view
// sgMat4_list follow;
public: public:
@ -236,7 +220,7 @@ public:
inline float *get_surface_south() { return surface_south; } inline float *get_surface_south() { return surface_south; }
inline float *get_surface_east() { return surface_east; } inline float *get_surface_east() { return surface_east; }
inline float *get_local_up() { return local_up; } inline float *get_local_up() { return local_up; }
inline double *get_view_forward() { return view_forward; } inline float *get_view_forward() { return view_forward; }
inline GLfloat *get_MODEL_VIEW() { return MODEL_VIEW; } inline GLfloat *get_MODEL_VIEW() { return MODEL_VIEW; }
}; };