"sg-izing" the matrix/vector code so that I can hopefully eventually remove
the older "MAT3" code.
This commit is contained in:
curt
parent
ad7718ff02
commit
38999ec3e0
3 changed files with 76 additions and 189 deletions
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@ -285,7 +285,7 @@ static void fgRenderFrame( void ) {
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xglMatrixMode(GL_MODELVIEW);
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xglLoadIdentity();
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sgMat4 vm_tmp, view_mat;
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sgTransposeNegateMat4 ( vm_tmp, current_view.sgVIEW ) ;
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sgTransposeNegateMat4 ( vm_tmp, current_view.VIEW ) ;
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sgCopyMat4( view_mat, copy_of_ssgOpenGLAxisSwapMatrix ) ;
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sgPreMultMat4( view_mat, vm_tmp ) ;
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xglLoadMatrixf( (float *)view_mat );
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@ -414,7 +414,7 @@ static void fgRenderFrame( void ) {
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sgMat4 sgTMP;
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sgMat4 sgTUX;
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sgMultMat4( sgTMP, sgROT, current_view.sgVIEW_ROT );
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sgMultMat4( sgTMP, sgROT, current_view.VIEW_ROT );
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sgMultMat4( sgTUX, sgTMP, sgTRANS );
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sgCoord tuxpos;
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@ -422,7 +422,7 @@ static void fgRenderFrame( void ) {
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penguin_pos->setTransform( &tuxpos );
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}
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ssgSetCamera( current_view.sgVIEW );
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ssgSetCamera( current_view.VIEW );
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// position tile nodes and update range selectors
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global_tile_mgr.prep_ssg_nodes();
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@ -32,7 +32,6 @@
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#include <Cockpit/panel.hxx>
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#include <Debug/logstream.hxx>
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#include <Include/fg_constants.h>
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#include <Math/mat3.h>
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#include <Math/point3d.hxx>
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#include <Math/polar3d.hxx>
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#include <Math/vector.hxx>
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@ -79,25 +78,25 @@ void FGView::Init( void ) {
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}
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// This never changes -- NHV
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sgLARC_TO_SSG[0][0] = 0.0;
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sgLARC_TO_SSG[0][1] = 1.0;
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sgLARC_TO_SSG[0][2] = -0.0;
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sgLARC_TO_SSG[0][3] = 0.0;
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LARC_TO_SSG[0][0] = 0.0;
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LARC_TO_SSG[0][1] = 1.0;
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LARC_TO_SSG[0][2] = -0.0;
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LARC_TO_SSG[0][3] = 0.0;
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sgLARC_TO_SSG[1][0] = 0.0;
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sgLARC_TO_SSG[1][1] = 0.0;
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sgLARC_TO_SSG[1][2] = 1.0;
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sgLARC_TO_SSG[1][3] = 0.0;
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LARC_TO_SSG[1][0] = 0.0;
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LARC_TO_SSG[1][1] = 0.0;
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LARC_TO_SSG[1][2] = 1.0;
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LARC_TO_SSG[1][3] = 0.0;
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sgLARC_TO_SSG[2][0] = 1.0;
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sgLARC_TO_SSG[2][1] = -0.0;
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sgLARC_TO_SSG[2][2] = 0.0;
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sgLARC_TO_SSG[2][3] = 0.0;
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LARC_TO_SSG[2][0] = 1.0;
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LARC_TO_SSG[2][1] = -0.0;
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LARC_TO_SSG[2][2] = 0.0;
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LARC_TO_SSG[2][3] = 0.0;
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sgLARC_TO_SSG[3][0] = 0.0;
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sgLARC_TO_SSG[3][1] = 0.0;
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sgLARC_TO_SSG[3][2] = 0.0;
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sgLARC_TO_SSG[3][3] = 1.0;
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LARC_TO_SSG[3][0] = 0.0;
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LARC_TO_SSG[3][1] = 0.0;
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LARC_TO_SSG[3][2] = 0.0;
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LARC_TO_SSG[3][3] = 1.0;
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force_update_fov_math();
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}
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@ -124,46 +123,21 @@ void FGView::UpdateViewParams( const FGInterface& f ) {
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// convert sgMat4 to MAT3 and print
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static void print_sgMat4( sgMat4 &in) {
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MAT3mat print;
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int i;
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int j;
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int i, j;
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for ( i = 0; i < 4; i++ ) {
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for ( j = 0; j < 4; j++ ) {
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print[i][j] = in[i][j];
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printf("%10.4f ", in[i][j]);
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}
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cout << endl;
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}
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MAT3print( print, stdout);
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}
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// convert convert MAT3 to sgMat4
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static void MAT3mat_To_sgMat4( MAT3mat &in, sgMat4 &out ) {
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out[0][0] = in[0][0];
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out[0][1] = in[0][1];
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out[0][2] = in[0][2];
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out[0][3] = in[0][3];
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out[1][0] = in[1][0];
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out[1][1] = in[1][1];
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out[1][2] = in[1][2];
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out[1][3] = in[1][3];
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out[2][0] = in[2][0];
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out[2][1] = in[2][1];
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out[2][2] = in[2][2];
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out[2][3] = in[2][3];
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out[3][0] = in[3][0];
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out[3][1] = in[3][1];
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out[3][2] = in[3][2];
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out[3][3] = in[3][3];
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}
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// Update the view parameters
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void FGView::UpdateViewMath( const FGInterface& f ) {
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Point3D p;
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sgVec3 v0, minus_z;
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MAT3vec vec, forward;
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MAT3mat R, TMP, UP, LOCAL, VIEW;
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sgMat4 sgTMP;
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sgVec3 v0, minus_z, sgvec, forward;
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sgMat4 VIEWo, TMP;
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if ( update_fov ) {
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ssgSetFOV( current_options.get_fov(),
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@ -205,86 +179,35 @@ void FGView::UpdateViewMath( const FGInterface& f ) {
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// Psi (roll, pitch, yaw) in case we aren't running LaRCsim as our
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// flight model
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MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
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MAT3rotate(R, vec, f.get_Phi());
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// cout << "Roll matrix" << endl;
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// MAT3print(R, stdout);
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sgVec3 rollvec;
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sgSetVec3( rollvec, 0.0, 0.0, 1.0 );
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sgMat4 PHI; // roll
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sgMakeRotMat4( PHI, f.get_Phi() * RAD_TO_DEG, rollvec );
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sgVec3 sgrollvec;
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sgSetVec3( sgrollvec, 0.0, 0.0, 1.0 );
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sgMat4 sgPHI; // roll
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sgMakeRotMat4( sgPHI, f.get_Phi() * RAD_TO_DEG, sgrollvec );
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sgVec3 pitchvec;
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sgSetVec3( pitchvec, 0.0, 1.0, 0.0 );
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sgMat4 THETA; // pitch
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sgMakeRotMat4( THETA, f.get_Theta() * RAD_TO_DEG, pitchvec );
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MAT3_SET_VEC(vec, 0.0, 1.0, 0.0);
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MAT3rotate(TMP, vec, f.get_Theta());
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// cout << "Pitch matrix" << endl;;
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// MAT3print(TMP, stdout);
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MAT3mult(R, R, TMP);
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// cout << "tmp rotation matrix, R:" << endl;;
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// MAT3print(R, stdout);
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sgMat4 ROT;
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sgMultMat4( ROT, PHI, THETA );
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sgVec3 sgpitchvec;
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sgSetVec3( sgpitchvec, 0.0, 1.0, 0.0 );
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sgMat4 sgTHETA; // pitch
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sgMakeRotMat4( sgTHETA, f.get_Theta() * RAD_TO_DEG,
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sgpitchvec );
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sgVec3 yawvec;
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sgSetVec3( yawvec, 1.0, 0.0, 0.0 );
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sgMat4 PSI; // pitch
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sgMakeRotMat4( PSI, -f.get_Psi() * RAD_TO_DEG, yawvec );
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sgMat4 sgROT;
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sgMultMat4( sgROT, sgPHI, sgTHETA );
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sgMultMat4( LOCAL, ROT, PSI );
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// cout << "LOCAL matrix" << endl;
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// print_sgMat4( LOCAL );
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MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
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MAT3rotate(TMP, vec, -f.get_Psi());
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// cout << "Yaw matrix" << endl;
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// MAT3print(TMP, stdout);
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MAT3mult(LOCAL, R, TMP);
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// cout << "LOCAL matrix:" << endl;
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// MAT3print(LOCAL, stdout);
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sgVec3 sgyawvec;
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sgSetVec3( sgyawvec, 1.0, 0.0, 0.0 );
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sgMat4 sgPSI; // pitch
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sgMakeRotMat4( sgPSI, -f.get_Psi() * RAD_TO_DEG, sgyawvec );
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sgMultMat4( sgLOCAL, sgROT, sgPSI );
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// cout << "sgLOCAL matrix" << endl;
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// print_sgMat4( sgLOCAL );
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// Derive the local UP transformation matrix based on *geodetic*
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// coordinates
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MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
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MAT3rotate(R, vec, f.get_Longitude()); // R = rotate about Z axis
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// printf("Longitude matrix\n");
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// MAT3print(R, stdout);
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MAT3_SET_VEC(vec, 0.0, 1.0, 0.0);
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MAT3mult_vec(vec, vec, R);
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MAT3rotate(TMP, vec, -f.get_Latitude()); // TMP = rotate about X axis
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// printf("Latitude matrix\n");
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// MAT3print(TMP, stdout);
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MAT3mult(UP, R, TMP);
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// cout << "Local up matrix" << endl;;
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// MAT3print(UP, stdout);
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sgMakeRotMat4( sgUP,
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sgMakeRotMat4( UP,
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f.get_Longitude() * RAD_TO_DEG,
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0.0,
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-f.get_Latitude() * RAD_TO_DEG );
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/*
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cout << "FG derived UP matrix using sg routines" << endl;
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MAT3mat print;
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int i;
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int j;
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for ( i = 0; i < 4; i++ ) {
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for ( j = 0; j < 4; j++ ) {
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print[i][j] = sgUP[i][j];
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}
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}
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MAT3print( print, stdout);
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*/
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sgSetVec3( local_up, 1.0, 0.0, 0.0 );
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sgXformVec3( local_up, sgUP );
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sgXformVec3( local_up, UP );
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// cout << "Local Up = " << local_up[0] << "," << local_up[1] << ","
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// << local_up[2] << endl;
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@ -294,59 +217,39 @@ void FGView::UpdateViewMath( const FGInterface& f ) {
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// printf( " Alt Up = (%.4f, %.4f, %.4f)\n",
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// alt_up.x, alt_up.y, alt_up.z);
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// Calculate the VIEW matrix
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MAT3mult(VIEW, LOCAL, UP);
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// cout << "VIEW matrix" << endl;;
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// MAT3print(VIEW, stdout);
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sgMat4 sgTMP2;
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sgMultMat4( sgTMP, sgLOCAL, sgUP );
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sgMat4 TMP2;
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sgMultMat4( VIEWo, LOCAL, UP );
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// cout << "VIEWo matrix" << endl;
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// print_sgMat4( VIEWo );
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// generate the sg view up vector
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sgVec3 vec1;
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sgSetVec3( vec1, 1.0, 0.0, 0.0 );
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sgXformVec3( sgview_up, vec1, sgTMP );
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sgXformVec3( view_up, vec1, VIEWo );
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// generate the view offset matrix
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sgMakeRotMat4( sgVIEW_OFFSET, view_offset * RAD_TO_DEG, sgview_up );
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// cout << "sgVIEW_OFFSET matrix" << endl;
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// print_sgMat4( sgVIEW_OFFSET );
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sgMakeRotMat4( VIEW_OFFSET, view_offset * RAD_TO_DEG, view_up );
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// cout << "VIEW_OFFSET matrix" << endl;
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// print_sgMat4( VIEW_OFFSET );
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sgMultMat4( sgTMP2, sgTMP, sgVIEW_OFFSET );
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sgMultMat4( sgVIEW_ROT, sgLARC_TO_SSG, sgTMP2 );
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sgMultMat4( TMP2, VIEWo, VIEW_OFFSET );
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sgMultMat4( VIEW_ROT, LARC_TO_SSG, TMP2 );
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// cout << "VIEW_ROT matrix" << endl;
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// print_sgMat4( VIEW_ROT );
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sgMakeTransMat4( sgTRANS, view_pos.x(), view_pos.y(), view_pos.z() );
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sgMakeTransMat4( TRANS, view_pos.x(), view_pos.y(), view_pos.z() );
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sgMultMat4( sgVIEW, sgVIEW_ROT, sgTRANS );
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sgMultMat4( VIEW, VIEW_ROT, TRANS );
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// FGMat4Wrapper tmp;
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// sgCopyMat4( tmp.m, sgVIEW );
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// follow.push_back( tmp );
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sgSetVec3( sgvec, 0.0, 0.0, 1.0 );
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sgXformVec3( forward, sgvec, VIEWo );
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// cout << "forward = " << forward[0] << ","
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// << forward[1] << "," << forward[2] << endl;
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// generate the current up, forward, and fwrd-view vectors
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MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
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MAT3mult_vec(view_up, vec, VIEW);
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/*
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cout << "FG derived VIEW matrix using sg routines" << endl;
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MAT3mat print;
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int i;
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int j;
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for ( i = 0; i < 4; i++ ) {
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for ( j = 0; j < 4; j++ ) {
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print[i][j] = sgVIEW[i][j];
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}
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}
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MAT3print( print, stdout);
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*/
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MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
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MAT3mult_vec(forward, vec, VIEW);
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// printf( "Forward vector is (%.2f,%.2f,%.2f)\n", forward[0], forward[1],
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// forward[2]);
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MAT3rotate(TMP, view_up, view_offset);
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MAT3mult_vec(view_forward, forward, TMP);
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sgMakeRotMat4( TMP, view_offset * RAD_TO_DEG, view_up );
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sgXformVec3( view_forward, forward, TMP );
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// cout << "view_forward = " << view_forward[0] << ","
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// << view_forward[1] << "," << view_forward[2] << endl;
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// make a vector to the current view position
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sgSetVec3( v0, view_pos.x(), view_pos.y(), view_pos.z() );
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@ -362,10 +265,10 @@ void FGView::UpdateViewMath( const FGInterface& f ) {
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// << surface_south[1] << "," << surface_south[2] << endl;
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// now calculate the surface east vector
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sgMakeRotMat4( sgTMP, FG_PI_2 * RAD_TO_DEG, sgview_up );
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// cout << "sgMat4 sgTMP" << endl;
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// print_sgMat4( sgTMP );
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sgXformVec3(surface_east, surface_south, sgTMP);
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sgMakeRotMat4( TMP, FG_PI_2 * RAD_TO_DEG, view_up );
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// cout << "sgMat4 TMP" << endl;
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// print_sgMat4( TMP );
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sgXformVec3(surface_east, surface_south, TMP);
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// cout << "Surface direction directly east" << surface_east[0] << ","
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// << surface_east[1] << "," << surface_east[2] << endl;
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// cout << "Should be close to zero = "
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@ -36,7 +36,6 @@
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#include <sg.h> // plib include
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#include <FDM/flight.hxx>
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#include <Math/mat3.h>
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#include <Math/point3d.hxx>
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#include <Time/fg_time.hxx>
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#include <Time/light.hxx>
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@ -46,16 +45,6 @@
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FG_USING_STD(list);
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// class FGMat4Wrapper {
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// public:
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// sgMat4 m;
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// };
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// typedef list < FGMat4Wrapper > sgMat4_list;
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// typedef sgMat4_list::iterator sgMat4_list_iterator;
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// typedef sgMat4_list::const_iterator const_sgMat4_list_iterator;
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// used in views.cxx and tilemgr.cxx
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#define USE_FAST_FOV_CLIP
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@ -143,28 +132,23 @@ public:
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// up vector for the view (usually point straight up through the
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// top of the aircraft
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MAT3vec view_up;
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sgVec3 sgview_up;
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sgVec3 view_up;
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// the vector pointing straight out the nose of the aircraft
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MAT3vec view_forward;
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sgVec3 view_forward;
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// Transformation matrix for eye coordinates to aircraft coordinates
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MAT3mat AIRCRAFT;
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// sgMat4 AIRCRAFT;
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// Transformation matrix for the view direction offset relative to
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// the AIRCRAFT matrix
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MAT3mat VIEW_OFFSET;
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sgMat4 sgVIEW_OFFSET;
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sgMat4 VIEW_OFFSET;
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// Current model view matrix;
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GLfloat MODEL_VIEW[16];
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// sg versions of our friendly matrices
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sgMat4 sgLOCAL, sgUP, sgVIEW_ROT, sgTRANS, sgVIEW, sgLARC_TO_SSG;
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// queue of view matrices so we can have a follow view
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// sgMat4_list follow;
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sgMat4 LOCAL, UP, VIEW_ROT, TRANS, VIEW, LARC_TO_SSG;
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public:
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@ -236,7 +220,7 @@ public:
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inline float *get_surface_south() { return surface_south; }
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inline float *get_surface_east() { return surface_east; }
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inline float *get_local_up() { return local_up; }
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inline double *get_view_forward() { return view_forward; }
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inline float *get_view_forward() { return view_forward; }
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inline GLfloat *get_MODEL_VIEW() { return MODEL_VIEW; }
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};
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