Tie view orientations directly
- remove need for cached orientations in view-manager
This commit is contained in:
James Turner
parent
3171cbce75
commit
65d5038962
4 changed files with 183 additions and 161 deletions
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@ -249,6 +249,34 @@ View::bind ()
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false /* do not set current property value */);
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fgSetArchivable("/sim/current-view/goal-roll-offset-deg");
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// expose various quaternions under the debug/ subtree
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_tiedProperties.Tie("debug/orientation-w", this, &View::getOrientation_w);
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_tiedProperties.Tie("debug/orientation-x", this, &View::getOrientation_x);
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_tiedProperties.Tie("debug/orientation-y", this, &View::getOrientation_y);
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_tiedProperties.Tie("debug/orientation-z", this, &View::getOrientation_z);
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_tiedProperties.Tie("debug/orientation_offset-w", this,
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&View::getOrOffset_w);
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_tiedProperties.Tie("debug/orientation_offset-x", this,
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&View::getOrOffset_x);
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_tiedProperties.Tie("debug/orientation_offset-y", this,
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&View::getOrOffset_y);
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_tiedProperties.Tie("debug/orientation_offset-z", this,
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&View::getOrOffset_z);
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_tiedProperties.Tie("debug/frame-w", this, &View::getFrame_w);
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_tiedProperties.Tie("debug/frame-x", this, &View::getFrame_x);
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_tiedProperties.Tie("debug/frame-y", this, &View::getFrame_y);
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_tiedProperties.Tie("debug/frame-z", this, &View::getFrame_z);
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// expose the raw (OpenGL) orientation to the property tree,
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// for the sound-manager
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_tiedProperties.Tie("raw-orientation", 0, this, &View::getRawOrientation_w);
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_tiedProperties.Tie("raw-orientation", 1, this, &View::getRawOrientation_x);
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_tiedProperties.Tie("raw-orientation", 2, this, &View::getRawOrientation_y);
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_tiedProperties.Tie("raw-orientation", 3, this, &View::getRawOrientation_z);
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// following config properties are exposed on current-view but don't change,
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// so we can simply copy them here.
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_tiedProperties.getRoot()->setStringValue("name", _name);
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@ -871,6 +899,138 @@ View::update (double dt)
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recalc();
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}
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double View::getRawOrientation_w() const
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{
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return mViewOrientation.w();
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}
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double View::getRawOrientation_x() const
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{
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return mViewOrientation.x();
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}
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double View::getRawOrientation_y() const
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{
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return mViewOrientation.y();
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}
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double View::getRawOrientation_z() const
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{
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return mViewOrientation.z();
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}
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// This takes the conventional aviation XYZ body system
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// i.e. x=forward, y=starboard, z=bottom
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// which is widely used in FGFS
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// and rotates it into the OpenGL camera system
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// i.e. Xprime=starboard, Yprime=top, Zprime=aft.
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static const SGQuatd fsb2sta()
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{
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return SGQuatd(-0.5, -0.5, 0.5, 0.5);
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}
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// reference frame orientation.
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// This is the view orientation you get when you have no
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// view offset, i.e. the offset operator is the identity.
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//
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// For example, in the familiar "cockpit lookfrom" view,
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// the reference frame is equal to the aircraft attitude,
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// i.e. it is the view looking towards 12:00 straight ahead.
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//
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// FIXME: Somebody needs to figure out what is the reference
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// frame view for the other view modes.
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//
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// Conceptually, this quat represents a rotation relative
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// to the ECEF reference orientation, as described at
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// http://www.av8n.com/physics/coords.htm#sec-orientation
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//
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// See the NOTE concerning reference orientations, below.
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//
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// The components of this quat are expressed in
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// the conventional aviation basis set,
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// i.e. x=forward, y=starboard, z=bottom
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double View::getFrame_w() const
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{
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return ((mViewOrientation*conj(fsb2sta())*conj(mViewOffsetOr))).w();
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}
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double View::getFrame_x() const
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{
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return ((mViewOrientation*conj(fsb2sta())*conj(mViewOffsetOr))).x();
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}
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double View::getFrame_y() const
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{
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return ((mViewOrientation*conj(fsb2sta())*conj(mViewOffsetOr))).y();
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}
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double View::getFrame_z() const
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{
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return ((mViewOrientation*conj(fsb2sta())*conj(mViewOffsetOr))).z();
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}
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// view offset.
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// This rotation takes you from the aforementioned
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// reference frame view orientation to whatever
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// actual current view orientation is.
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//
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// The components of this quaternion are expressed in
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// the conventional aviation basis set,
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// i.e. x=forward, y=starboard, z=bottom
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double View::getOrOffset_w() const{
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return mViewOffsetOr.w();
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}
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double View::getOrOffset_x() const{
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return mViewOffsetOr.x();
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}
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double View::getOrOffset_y() const{
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return mViewOffsetOr.y();
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}
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double View::getOrOffset_z() const{
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return mViewOffsetOr.z();
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}
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// current view orientation.
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// This is a rotation relative to the earth-centered (ec)
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// reference frame.
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//
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// NOTE: Here we remove a factor of fsb2sta so that
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// the components of this quat are displayed using the
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// conventional ECEF basis set. This is *not* the way
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// the view orientation is stored in the views[] array,
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// but is easier for non-graphics hackers to understand.
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// If we did not remove this factor of fsb2sta here and
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// in getCurrentViewFrame, that would be equivalent to
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// the following peculiar reference orientation:
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// Suppose you are over the Gulf of Guinea, at (lat,lon) = (0,0).
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// Then the reference frame orientation can be achieved via:
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// -- The aircraft X-axis (nose) headed south.
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// -- The aircraft Y-axis (starboard wingtip) pointing up.
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// -- The aircraft Z-axis (belly) pointing west.
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// To say the same thing in other words, and perhaps more to the
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// point: If we use the OpenGL camera orientation conventions,
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// i.e. Xprime=starboard, Yprime=top, Zprime=aft, then the
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// aforementioned peculiar reference orientation at (lat,lon)
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// = (0,0) can be described as:
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// -- aircraft Xprime axis (starboard) pointed up
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// -- aircraft Yprime axis (top) pointed east
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// -- aircraft Zprime axis (aft) pointed north
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// meaning the OpenGL axes are aligned with the ECEF axes.
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double View::getOrientation_w() const{
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return (mViewOrientation * conj(fsb2sta())).w();
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}
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double View::getOrientation_x() const{
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return (mViewOrientation * conj(fsb2sta())).x();
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}
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double View::getOrientation_y() const{
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return (mViewOrientation * conj(fsb2sta())).y();
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}
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double View::getOrientation_z() const{
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return (mViewOrientation * conj(fsb2sta())).z();
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}
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double View::get_aspect_ratio() const
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{
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return flightgear::CameraGroup::getDefault()->getMasterAspectRatio();
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@ -252,7 +252,28 @@ private:
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void setPosition (const SGGeod& geod);
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void setTargetPosition (const SGGeod& geod);
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double getRawOrientation_w() const;
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double getRawOrientation_x() const;
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double getRawOrientation_y() const;
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double getRawOrientation_z() const;
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// quaternion accessors, for debugging:
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double getFrame_w() const;
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double getFrame_x() const;
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double getFrame_y() const;
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double getFrame_z() const;
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double getOrientation_w() const;
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double getOrientation_x() const;
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double getOrientation_y() const;
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double getOrientation_z() const;
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double getOrOffset_w() const;
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double getOrOffset_x() const;
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double getOrOffset_y() const;
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double getOrOffset_z() const;
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//////////////////////////////////////////////////////////////////
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// private data //
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//////////////////////////////////////////////////////////////////
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@ -45,9 +45,7 @@ FGViewMgr::FGViewMgr( void ) :
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view_number(fgGetNode("/sim/current-view/view-number", true)),
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config_list(fgGetNode("/sim", true)->getChildren("view")),
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abs_viewer_position(SGVec3d::zeros()),
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current(0),
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current_view_orientation(SGQuatd::zeros()),
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current_view_or_offset(SGQuatd::zeros())
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current(0)
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{
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}
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@ -170,34 +168,6 @@ FGViewMgr::do_bind()
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_tiedProperties.Tie("viewer-lon-deg", this, &FGViewMgr::getViewLon_deg);
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_tiedProperties.Tie("viewer-lat-deg", this, &FGViewMgr::getViewLat_deg);
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_tiedProperties.Tie("viewer-elev-ft", this, &FGViewMgr::getViewElev_ft);
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_tiedProperties.Tie("debug/orientation-w", this,
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&FGViewMgr::getCurrentViewOrientation_w);
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_tiedProperties.Tie("debug/orientation-x", this,
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&FGViewMgr::getCurrentViewOrientation_x);
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_tiedProperties.Tie("debug/orientation-y", this,
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&FGViewMgr::getCurrentViewOrientation_y);
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_tiedProperties.Tie("debug/orientation-z", this,
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&FGViewMgr::getCurrentViewOrientation_z);
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_tiedProperties.Tie("debug/orientation_offset-w", this,
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&FGViewMgr::getCurrentViewOrOffset_w);
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_tiedProperties.Tie("debug/orientation_offset-x", this,
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&FGViewMgr::getCurrentViewOrOffset_x);
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_tiedProperties.Tie("debug/orientation_offset-y", this,
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&FGViewMgr::getCurrentViewOrOffset_y);
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_tiedProperties.Tie("debug/orientation_offset-z", this,
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&FGViewMgr::getCurrentViewOrOffset_z);
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_tiedProperties.Tie("debug/frame-w", this,
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&FGViewMgr::getCurrentViewFrame_w);
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_tiedProperties.Tie("debug/frame-x", this,
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&FGViewMgr::getCurrentViewFrame_x);
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_tiedProperties.Tie("debug/frame-y", this,
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&FGViewMgr::getCurrentViewFrame_y);
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_tiedProperties.Tie("debug/frame-z", this,
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&FGViewMgr::getCurrentViewFrame_z);
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}
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void
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@ -239,9 +209,6 @@ FGViewMgr::update (double dt)
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setViewTargetYOffset_m(target_y_offs->getDoubleValue());
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setViewTargetZOffset_m(target_z_offs->getDoubleValue());
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current_view_orientation = currentView->getViewOrientation();
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current_view_or_offset = currentView->getViewOrientationOffset();
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// Update the current view
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do_axes();
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currentView->update(dt);
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@ -254,12 +221,6 @@ FGViewMgr::update (double dt)
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toOsg(currentView->getViewOrientation()));
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cameraGroup->setCameraParameters(currentView->get_v_fov(),
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cameraGroup->getMasterAspectRatio());
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// expose the raw (OpenGL) orientation to the property tree,
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// for the sound-manager
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for (int i=0; i<4; ++i) {
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_tiedProperties.getRoot()->getChild("raw-orientation", i, true)->setDoubleValue(current_view_orientation[i]);
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}
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}
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void FGViewMgr::clear()
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@ -571,102 +532,6 @@ FGViewMgr::getViewElev_ft() const
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return (view != NULL) ? view->getPosition().getElevationFt() : 0.0;
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}
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// reference frame orientation.
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// This is the view orientation you get when you have no
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// view offset, i.e. the offset operator is the identity.
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//
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// For example, in the familiar "cockpit lookfrom" view,
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// the reference frame is equal to the aircraft attitude,
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// i.e. it is the view looking towards 12:00 straight ahead.
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//
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// FIXME: Somebody needs to figure out what is the reference
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// frame view for the other view modes.
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//
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// Conceptually, this quat represents a rotation relative
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// to the ECEF reference orientation, as described at
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// http://www.av8n.com/physics/coords.htm#sec-orientation
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//
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// See the NOTE concerning reference orientations, below.
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//
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// The components of this quat are expressed in
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// the conventional aviation basis set,
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// i.e. x=forward, y=starboard, z=bottom
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double FGViewMgr::getCurrentViewFrame_w() const{
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return ((current_view_orientation*conj(fsb2sta())*conj(current_view_or_offset))).w();
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}
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double FGViewMgr::getCurrentViewFrame_x() const{
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return ((current_view_orientation*conj(fsb2sta())*conj(current_view_or_offset))).x();
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}
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double FGViewMgr::getCurrentViewFrame_y() const{
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return ((current_view_orientation*conj(fsb2sta())*conj(current_view_or_offset))).y();
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}
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double FGViewMgr::getCurrentViewFrame_z() const{
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return ((current_view_orientation*conj(fsb2sta())*conj(current_view_or_offset))).z();
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}
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// view offset.
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// This rotation takes you from the aforementioned
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// reference frame view orientation to whatever
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// actual current view orientation is.
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//
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// The components of this quaternion are expressed in
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// the conventional aviation basis set,
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// i.e. x=forward, y=starboard, z=bottom
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double FGViewMgr::getCurrentViewOrOffset_w() const{
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return current_view_or_offset.w();
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}
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double FGViewMgr::getCurrentViewOrOffset_x() const{
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return current_view_or_offset.x();
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}
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double FGViewMgr::getCurrentViewOrOffset_y() const{
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return current_view_or_offset.y();
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}
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double FGViewMgr::getCurrentViewOrOffset_z() const{
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return current_view_or_offset.z();
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}
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// current view orientation.
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// This is a rotation relative to the earth-centered (ec)
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// reference frame.
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//
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// NOTE: Here we remove a factor of fsb2sta so that
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// the components of this quat are displayed using the
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// conventional ECEF basis set. This is *not* the way
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// the view orientation is stored in the views[] array,
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// but is easier for non-graphics hackers to understand.
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// If we did not remove this factor of fsb2sta here and
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// in getCurrentViewFrame, that would be equivalent to
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// the following peculiar reference orientation:
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// Suppose you are over the Gulf of Guinea, at (lat,lon) = (0,0).
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// Then the reference frame orientation can be achieved via:
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// -- The aircraft X-axis (nose) headed south.
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// -- The aircraft Y-axis (starboard wingtip) pointing up.
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// -- The aircraft Z-axis (belly) pointing west.
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// To say the same thing in other words, and perhaps more to the
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// point: If we use the OpenGL camera orientation conventions,
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// i.e. Xprime=starboard, Yprime=top, Zprime=aft, then the
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// aforementioned peculiar reference orientation at (lat,lon)
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// = (0,0) can be described as:
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// -- aircraft Xprime axis (starboard) pointed up
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// -- aircraft Yprime axis (top) pointed east
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// -- aircraft Zprime axis (aft) pointed north
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// meaning the OpenGL axes are aligned with the ECEF axes.
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double FGViewMgr::getCurrentViewOrientation_w() const{
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return (current_view_orientation * conj(fsb2sta())).w();
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}
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double FGViewMgr::getCurrentViewOrientation_x() const{
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return (current_view_orientation * conj(fsb2sta())).x();
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}
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double FGViewMgr::getCurrentViewOrientation_y() const{
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return (current_view_orientation * conj(fsb2sta())).y();
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}
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double FGViewMgr::getCurrentViewOrientation_z() const{
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return (current_view_orientation * conj(fsb2sta())).z();
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}
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void
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FGViewMgr::do_axes ()
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{
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@ -116,20 +116,6 @@ private:
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double getViewLon_deg() const;
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double getViewLat_deg() const;
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double getViewElev_ft() const;
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// quaternion accessors, for debugging:
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double getCurrentViewOrientation_w() const;
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double getCurrentViewOrientation_x() const;
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double getCurrentViewOrientation_y() const;
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double getCurrentViewOrientation_z() const;
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double getCurrentViewOrOffset_w() const;
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double getCurrentViewOrOffset_x() const;
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double getCurrentViewOrOffset_y() const;
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double getCurrentViewOrOffset_z() const;
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double getCurrentViewFrame_w() const;
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double getCurrentViewFrame_x() const;
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double getCurrentViewFrame_y() const;
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double getCurrentViewFrame_z() const;
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bool inited;
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SGPropertyNode_ptr view_number;
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@ -139,20 +125,10 @@ private:
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SGVec3d abs_viewer_position;
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int current;
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SGQuatd current_view_orientation, current_view_or_offset;
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SGPropertyNode_ptr current_x_offs, current_y_offs, current_z_offs;
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SGPropertyNode_ptr target_x_offs, target_y_offs, target_z_offs;
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};
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// This takes the conventional aviation XYZ body system
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// i.e. x=forward, y=starboard, z=bottom
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// which is widely used in FGFS
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// and rotates it into the OpenGL camera system
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// i.e. Xprime=starboard, Yprime=top, Zprime=aft.
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inline const SGQuatd fsb2sta()
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{
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return SGQuatd(-0.5, -0.5, 0.5, 0.5);
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}
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#endif // _VIEWMGR_HXX
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