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Patch from Jim Wilson:

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Made a couple more adjustments, now the function builds the
transformation matrix (sans the translation) directly from the five
inputs.  After realizing that it may be necessary for the new location
class to publish a world up vector, comments were added indicating
which values constitute world up.
This commit is contained in:
david 2002-04-07 15:04:49 +00:00
parent e2e6b19ddf
commit 50c13f7972
1 changed files with 82 additions and 18 deletions
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100
src/Model/model.cxx
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@ -121,6 +121,79 @@ set_translation (sgMat4 &matrix, double position_m, sgVec3 &axis)
sgMakeTransMat4(matrix, xyz);
}
/**
* make model transformation Matrix - based on optimizations by NHV
*/
static void MakeTRANS( sgMat4 dst, const double Theta,
const double Phi, const double Psi,
const double lon, const double lat)
{
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) ;
SGfloat cosLon = SGD_ONE;
SGfloat sinLon = SGD_ZERO;
SGfloat cosLat = SGD_ONE;
SGfloat sinLat = SGD_ZERO;
if ( lon != SG_ZERO ) {
sinLon = (SGfloat) sin( lon ) ;
cosLon = (SGfloat) cos( lon ) ;
}
if ( lat != SG_ZERO ) {
sinLat = (SGfloat) sin( lat ) ;
cosLat = (SGfloat) cos( lat ) ;
}
sgMat4 tmp;
tmp[0][0] = cosPhi * cosTheta;
tmp[0][1] = sinPhi * cosPsi + cosPhi * -sinTheta * -sinPsi;
tmp[0][2] = sinPhi * sinPsi + cosPhi * -sinTheta * cosPsi;
tmp[1][0] = -sinPhi * cosTheta;
tmp[1][1] = cosPhi * cosPsi + -sinPhi * -sinTheta * -sinPsi;
tmp[1][2] = cosPhi * sinPsi + -sinPhi * -sinTheta * cosPsi;
tmp[2][0] = sinTheta;
tmp[2][1] = cosTheta * -sinPsi;
tmp[2][2] = cosTheta * cosPsi;
float a = cosLon * cosLat; // world up [0]
float b = -sinLon;
float c = sinLat * cosLon;
dst[2][0] = a*tmp[0][0] + b*tmp[0][1] + c*tmp[0][2] ;
dst[1][0] = a*tmp[1][0] + b*tmp[1][1] + c*tmp[1][2] ;
dst[0][0] = -(a*tmp[2][0] + b*tmp[2][1] + c*tmp[2][2]) ;
dst[3][0] = SG_ZERO ;
a = cosLat * sinLon; // world up [1]
b = cosLon;
c = sinLat * sinLon;
dst[2][1] = a*tmp[0][0] + b*tmp[0][1] + c*tmp[0][2] ;
dst[1][1] = a*tmp[1][0] + b*tmp[1][1] + c*tmp[1][2] ;
dst[0][1] = -(a*tmp[2][0] + b*tmp[2][1] + c*tmp[2][2]) ;
dst[3][1] = SG_ZERO ;
a = -sinLat; // world up [2]
c = cosLat;
dst[2][2] = a*tmp[0][0] + c*tmp[0][2] ;
dst[1][2] = a*tmp[1][0] + c*tmp[1][2] ;
dst[0][2] = -(a*tmp[2][0] + c*tmp[2][2]) ;
dst[3][2] = SG_ZERO ;
dst[2][3] = SG_ZERO ;
dst[1][3] = SG_ZERO ;
dst[0][3] = SG_ZERO ;
dst[3][3] = SG_ONE ;
}
// TODO: once this is working, look at Norm's optimized version
static void
@ -152,25 +225,14 @@ world_coordinate( sgCoord *obj_pos,
sgMat4 POS;
sgMakeTransMat4( POS, offset.x(), offset.y(), offset.z() );
// setup transforms
sgVec3 obj_bk, obj_rt, obj_up;
sgSetVec3( obj_bk, 1.0, 0.0, 0.0); // X axis
sgSetVec3( obj_rt, 0.0, 1.0, 0.0); // Y axis
sgSetVec3( obj_up, 0.0, 0.0, 1.0); // Z axis
sgMat4 ROT_lon, ROT_lat, ROT_hdg, ROT_pitch, ROT_roll;
sgMakeRotMat4( ROT_lon, lon_deg, obj_up );
sgMakeRotMat4( ROT_lat, 90 - lat_deg, obj_rt );
sgMakeRotMat4( ROT_hdg, -hdg_deg, obj_up );
sgMakeRotMat4( ROT_pitch, pitch_deg, obj_rt );
sgMakeRotMat4( ROT_roll, -roll_deg, obj_bk );
sgMat4 TRANS;
sgCopyMat4( TRANS, ROT_roll );
sgPostMultMat4( TRANS, ROT_pitch );
sgPostMultMat4( TRANS, ROT_hdg );
sgPostMultMat4( TRANS, ROT_lat );
sgPostMultMat4( TRANS, ROT_lon );
MakeTRANS( TRANS, pitch_deg * SG_DEGREES_TO_RADIANS,
roll_deg * SG_DEGREES_TO_RADIANS,
-hdg_deg * SG_DEGREES_TO_RADIANS,
lon_deg * SG_DEGREES_TO_RADIANS,
-lat_deg * SG_DEGREES_TO_RADIANS );
sgPostMultMat4( TRANS, POS );
sgSetCoord( obj_pos, TRANS );
@ -608,3 +670,5 @@ FG3DModel::TranslateAnimation::update (int dt)
// end of model.cxx