Making progress with coordinate system overhaul.
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curt
parent
2bbf8d1770
commit
dcda920723
1 changed files with 41 additions and 35 deletions
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@ -141,10 +141,33 @@ static void fgUpdateViewParams() {
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glLoadIdentity();
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/* calculate view position in current FG view coordinate system */
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view_pos = fgPolarToCart(FG_Lon_geocentric, FG_Lat_geocentric,
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view_pos = fgPolarToCart(FG_Longitude, FG_Lat_geocentric,
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FG_Radius_to_vehicle * FEET_TO_METER + 1.0);
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printf("View pos = %.4f, %.4f, %.4f\n", view_pos.x, view_pos.y, view_pos.z);
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/* Derive the LOCAL aircraft rotation matrix (roll, pitch, yaw) */
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MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
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MAT3rotate(R, vec, FG_Phi);
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/* printf("Roll 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, FG_Theta);
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/* printf("Pitch matrix\n"); */
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/* MAT3print(TMP, stdout); */
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MAT3mult(R, R, TMP);
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MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
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/* MAT3mult_vec(vec, vec, R); */
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/* MAT3rotate(TMP, vec, FG_Psi - FG_PI_2); */
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MAT3rotate(TMP, vec, -FG_Psi);
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/* printf("Yaw matrix\n");
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MAT3print(TMP, stdout); */
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MAT3mult(LOCAL, R, TMP);
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/* printf("LOCAL matrix\n"); */
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/* MAT3print(LOCAL, stdout); */
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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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@ -159,8 +182,8 @@ static void fgUpdateViewParams() {
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/* MAT3print(TMP, stdout); */
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MAT3mult(UP, R, TMP);
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printf("Local up matrix\n");
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MAT3print(UP, stdout);
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/* printf("Local up matrix\n"); */
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/* MAT3print(UP, stdout); */
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MAT3_SET_VEC(local_up, 1.0, 0.0, 0.0);
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MAT3mult_vec(local_up, local_up, UP);
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@ -174,39 +197,16 @@ static void fgUpdateViewParams() {
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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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/* Derive the LOCAL aircraft rotation matrix (roll, pitch, yaw) */
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MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
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MAT3rotate(R, vec, FG_Phi);
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/* printf("Roll 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, -FG_Theta);
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/* printf("Pitch matrix\n"); */
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/* MAT3print(TMP, stdout); */
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MAT3mult(R, R, TMP);
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MAT3_SET_VEC(vec, 0.0, 0.0, -1.0);
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/* MAT3mult_vec(vec, vec, R); */
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/* MAT3rotate(TMP, vec, FG_PI + FG_PI_2 + FG_Psi + view_offset); */
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MAT3rotate(TMP, vec, FG_Psi - FG_PI_2);
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/* printf("Yaw matrix\n");
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MAT3print(TMP, stdout); */
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MAT3mult(LOCAL, R, TMP);
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printf("LOCAL matrix\n");
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MAT3print(LOCAL, stdout);
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/* Derive the VIEW matrix */
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MAT3mult(VIEW, UP, LOCAL);
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printf("VIEW matrix\n");
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MAT3print(VIEW, stdout);
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MAT3mult(VIEW, LOCAL, UP);
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/* printf("VIEW matrix\n"); */
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/* MAT3print(VIEW, stdout); */
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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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MAT3_SET_VEC(vec, 0.0, 1.0, 0.0);
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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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@ -217,7 +217,7 @@ static void fgUpdateViewParams() {
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gluLookAt(view_pos.x, view_pos.y, view_pos.z,
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view_pos.x + view_forward[0], view_pos.y + view_forward[1],
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view_pos.z + view_forward[2],
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local_up[0], local_up[1], local_up[2]);
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view_up[0], view_up[1], view_up[2]);
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glLightfv( GL_LIGHT0, GL_POSITION, sun_vec );
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}
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@ -542,7 +542,8 @@ int main( int argc, char *argv[] ) {
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/* Initial Orientation */
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FG_Phi = -2.658474E-06;
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FG_Theta = 7.401790E-03;
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FG_Psi = 270.0 * DEG_TO_RAD;
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/* FG_Psi = 270.0 * DEG_TO_RAD; */
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FG_Psi = 0.0 * DEG_TO_RAD;
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/* Initial Angular B rates */
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FG_P_body = 7.206685E-05;
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@ -580,7 +581,9 @@ int main( int argc, char *argv[] ) {
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rough_elev = mesh_altitude(FG_Longitude * RAD_TO_DEG * 3600.0,
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FG_Latitude * RAD_TO_DEG * 3600.0);
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printf("Ground elevation is %.2f meters here.\n", rough_elev);
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if ( rough_elev > -9990.0 ) {
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FG_Runway_altitude = rough_elev * METER_TO_FEET;
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}
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if ( FG_Altitude < FG_Runway_altitude ) {
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FG_Altitude = FG_Runway_altitude + 3.758099;
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@ -652,9 +655,12 @@ int printf (const char *format, ...) {
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/* $Log$
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/* Revision 1.41 1997/07/31 22:52:37 curt
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/* Working on redoing internal coordinate systems & scenery transformations.
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/* Revision 1.42 1997/08/01 19:43:33 curt
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/* Making progress with coordinate system overhaul.
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/*
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* Revision 1.41 1997/07/31 22:52:37 curt
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* Working on redoing internal coordinate systems & scenery transformations.
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*
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* Revision 1.40 1997/07/30 16:12:42 curt
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* Moved fg_random routines from Util/ to Math/
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*
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