Moved into simgear.
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2 changed files with 0 additions and 458 deletions
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// location.cxx -- class for determining model location in the flightgear world.
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//
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// Written by Jim Wilson, David Megginson, started April 2002.
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// Based largely on code by Curtis Olson and Norman Vine.
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//
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// Copyright (C) 2002 Curtis L. Olson - curt@flightgear.org
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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//
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// $Id$
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#include <simgear/compiler.h>
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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include <simgear/debug/logstream.hxx>
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#include <simgear/constants.h>
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#include <simgear/math/point3d.hxx>
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#include <simgear/math/polar3d.hxx>
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#include <simgear/math/sg_geodesy.hxx>
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#include <simgear/math/vector.hxx>
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#include <Scenery/scenery.hxx>
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#include "globals.hxx"
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#include "location.hxx"
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/**
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* make model transformation Matrix - based on optimizations by NHV
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*/
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static void MakeTRANS( sgMat4 dst, const double Theta,
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const double Phi, const double Psi,
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const sgMat4 UP)
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{
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SGfloat cosTheta = (SGfloat) cos(Theta);
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SGfloat sinTheta = (SGfloat) sin(Theta);
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SGfloat cosPhi = (SGfloat) cos(Phi);
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SGfloat sinPhi = (SGfloat) sin(Phi);
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SGfloat sinPsi = (SGfloat) sin(Psi) ;
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SGfloat cosPsi = (SGfloat) cos(Psi) ;
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sgMat4 tmp;
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tmp[0][0] = cosPhi * cosTheta;
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tmp[0][1] = sinPhi * cosPsi + cosPhi * -sinTheta * -sinPsi;
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tmp[0][2] = sinPhi * sinPsi + cosPhi * -sinTheta * cosPsi;
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tmp[1][0] = -sinPhi * cosTheta;
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tmp[1][1] = cosPhi * cosPsi + -sinPhi * -sinTheta * -sinPsi;
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tmp[1][2] = cosPhi * sinPsi + -sinPhi * -sinTheta * cosPsi;
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tmp[2][0] = sinTheta;
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tmp[2][1] = cosTheta * -sinPsi;
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tmp[2][2] = cosTheta * cosPsi;
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float a = UP[0][0];
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float b = UP[1][0];
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float c = UP[2][0];
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dst[2][0] = a*tmp[0][0] + b*tmp[0][1] + c*tmp[0][2] ;
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dst[1][0] = a*tmp[1][0] + b*tmp[1][1] + c*tmp[1][2] ;
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dst[0][0] = -(a*tmp[2][0] + b*tmp[2][1] + c*tmp[2][2]) ;
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dst[3][0] = SG_ZERO ;
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a = UP[0][1];
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b = UP[1][1];
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c = UP[2][1];
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dst[2][1] = a*tmp[0][0] + b*tmp[0][1] + c*tmp[0][2] ;
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dst[1][1] = a*tmp[1][0] + b*tmp[1][1] + c*tmp[1][2] ;
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dst[0][1] = -(a*tmp[2][0] + b*tmp[2][1] + c*tmp[2][2]) ;
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dst[3][1] = SG_ZERO ;
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a = UP[0][2];
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c = UP[2][2];
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dst[2][2] = a*tmp[0][0] + c*tmp[0][2] ;
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dst[1][2] = a*tmp[1][0] + c*tmp[1][2] ;
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dst[0][2] = -(a*tmp[2][0] + c*tmp[2][2]) ;
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dst[3][2] = SG_ZERO ;
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dst[2][3] = SG_ZERO ;
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dst[1][3] = SG_ZERO ;
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dst[0][3] = SG_ZERO ;
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dst[3][3] = SG_ONE ;
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}
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////////////////////////////////////////////////////////////////////////
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// Implementation of FGLocation.
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////////////////////////////////////////////////////////////////////////
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// Constructor
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FGLocation::FGLocation( void ):
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_dirty(true),
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_lon_deg(0),
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_lat_deg(0),
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_alt_ft(0),
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_roll_deg(0),
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_pitch_deg(0),
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_heading_deg(0),
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_cur_elev_m(0),
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_tile_center(0)
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{
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sgdZeroVec3(_absolute_view_pos);
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sgZeroVec3(_relative_view_pos);
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sgZeroVec3(_zero_elev_view_pos);
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sgMakeRotMat4( UP, 0.0, 0.0, 0.0 );
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sgMakeRotMat4( TRANS, 0.0, 0.0, 0.0 );
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}
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// Destructor
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FGLocation::~FGLocation( void ) {
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}
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void
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FGLocation::init ()
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{
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}
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void
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FGLocation::bind ()
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{
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}
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void
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FGLocation::unbind ()
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{
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}
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void
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FGLocation::setPosition (double lon_deg, double lat_deg, double alt_ft)
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{
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_dirty = true;
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_lon_deg = lon_deg;
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_lat_deg = lat_deg;
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_alt_ft = alt_ft;
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}
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void
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FGLocation::setOrientation (double roll_deg, double pitch_deg, double heading_deg)
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{
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_dirty = true;
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_roll_deg = roll_deg;
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_pitch_deg = pitch_deg;
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_heading_deg = heading_deg;
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}
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double *
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FGLocation::get_absolute_view_pos ()
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{
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if (_dirty)
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recalc();
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return _absolute_view_pos;
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}
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float *
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FGLocation::getRelativeViewPos ()
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{
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if (_dirty)
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recalc();
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return _relative_view_pos;
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}
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float *
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FGLocation::getZeroElevViewPos ()
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{
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if (_dirty)
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recalc();
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return _zero_elev_view_pos;
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}
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// recalc() is done every time one of the setters is called (making the
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// cached data "dirty") on the next "get". It calculates all the outputs
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// for viewer.
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void
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FGLocation::recalc ()
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{
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recalcPosition( _lon_deg, _lat_deg, _alt_ft );
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// Make the world up rotation matrix for eye positioin...
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sgMakeRotMat4( UP, _lon_deg, 0.0, -_lat_deg );
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// get the world up radial vector from planet center for output
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sgSetVec3( _world_up, UP[0][0], UP[0][1], UP[0][2] );
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// Creat local matrix with current geodetic position. Converting
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// the orientation (pitch/roll/heading) to vectors.
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MakeTRANS( TRANS, _pitch_deg * SG_DEGREES_TO_RADIANS,
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_roll_deg * SG_DEGREES_TO_RADIANS,
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-_heading_deg * SG_DEGREES_TO_RADIANS,
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UP);
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// Given a vector pointing straight down (-Z), map into onto the
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// local plane representing "horizontal". This should give us the
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// local direction for moving "south".
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sgVec3 minus_z;
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sgSetVec3( minus_z, 0.0, 0.0, -1.0 );
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sgmap_vec_onto_cur_surface_plane(_world_up, _relative_view_pos, minus_z,
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_surface_south);
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sgNormalizeVec3(_surface_south);
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// now calculate the surface east vector
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sgVec3 world_down;
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sgNegateVec3(world_down, _world_up);
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sgVectorProductVec3(_surface_east, _surface_south, world_down);
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set_clean();
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}
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void
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FGLocation::recalcPosition (double lon_deg, double lat_deg, double alt_ft) const
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{
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double sea_level_radius_m;
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double lat_geoc_rad;
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// Convert from geodetic to geocentric
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// coordinates.
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sgGeodToGeoc(lat_deg * SGD_DEGREES_TO_RADIANS,
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alt_ft * SG_FEET_TO_METER,
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&sea_level_radius_m,
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&lat_geoc_rad);
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// Calculate the cartesian coordinates
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// of point directly below at sea level.
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// aka Zero Elevation Position
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Point3D p = Point3D(lon_deg * SG_DEGREES_TO_RADIANS,
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lat_geoc_rad,
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sea_level_radius_m);
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Point3D tmp = sgPolarToCart3d(p) - _tile_center;
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sgSetVec3(_zero_elev_view_pos, tmp[0], tmp[1], tmp[2]);
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// Calculate the absolute view position
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// in fgfs coordinates.
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// aka Absolute View Position
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p.setz(p.radius() + alt_ft * SG_FEET_TO_METER);
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tmp = sgPolarToCart3d(p);
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sgdSetVec3(_absolute_view_pos, tmp[0], tmp[1], tmp[2]);
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// Calculate the relative view position
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// from the scenery center.
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// aka Relative View Position
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// FIXME: view position should ONLY be calculated in the viewer...
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// Anything else should calculate their own positions relative to the
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// viewer's tile_center.
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sgdVec3 scenery_center;
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sgdSetVec3(scenery_center,
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globals->get_scenery()->get_center().x(),
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globals->get_scenery()->get_center().y(),
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globals->get_scenery()->get_center().z());
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sgdVec3 view_pos;
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sgdSubVec3(view_pos, _absolute_view_pos, scenery_center);
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sgSetVec3(_relative_view_pos, view_pos);
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}
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void
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FGLocation::update (int dt)
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{
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}
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@ -1,176 +0,0 @@
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// location.hxx -- class for determining model location in the flightgear world.
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//
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// Written by Jim Wilson, David Megginson, started April 2002.
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//
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// Copyright (C) 2002 Jim Wilson, David Megginson
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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//
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// $Id$
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#ifndef _LOCATION_HXX
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#define _LOCATION_HXX
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#ifndef __cplusplus
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# error This library requires C++
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#endif
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#include <simgear/compiler.h>
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#include <simgear/constants.h>
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#include <simgear/math/point3d.hxx>
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#include <plib/sg.h> // plib include
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#include "fgfs.hxx"
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// Define a structure containing view information
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class FGLocation
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{
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public:
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// Constructor
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FGLocation( void );
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// Destructor
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virtual ~FGLocation( void );
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//////////////////////////////////////////////////////////////////////
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// Part 1: standard FGSubsystem implementation.
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//////////////////////////////////////////////////////////////////////
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virtual void init ();
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virtual void bind ();
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virtual void unbind ();
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void update (int dt);
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//////////////////////////////////////////////////////////////////////
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// Part 2: user settings.
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//////////////////////////////////////////////////////////////////////
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// Geodetic position of model...
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virtual double getLongitude_deg () const { return _lon_deg; }
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virtual double getLatitude_deg () const { return _lat_deg; }
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virtual double getAltitudeASL_ft () const { return _alt_ft; }
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virtual void setPosition (double lon_deg, double lat_deg, double alt_ft);
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// Reference orientation rotations...
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// These are rotations that represent the plane attitude effect on
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// the view (in Pilot view). IE The view frustrum rotates as the plane
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// turns, pitches, and rolls.
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// In model view (lookat/chaseview) these end up changing the angle that
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// the eye is looking at the ojbect (ie the model).
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// FIXME: the FGModel class should have its own version of these so that
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// it can generate it's own model rotations.
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virtual double getRoll_deg () const { return _roll_deg; }
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virtual double getPitch_deg () const {return _pitch_deg; }
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virtual double getHeading_deg () const {return _heading_deg; }
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virtual void setOrientation (double roll_deg, double pitch_deg, double heading_deg);
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//////////////////////////////////////////////////////////////////////
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// Part 3: output vectors and matrices in FlightGear coordinates.
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//////////////////////////////////////////////////////////////////////
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// Vectors and positions...
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// Get zero view_pos
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virtual float * get_view_pos() { return _relative_view_pos; }
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// Get the absolute view position in fgfs coordinates.
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virtual double * get_absolute_view_pos ();
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// Get zero elev
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virtual float * get_zero_elev() { return _zero_elev_view_pos; }
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// Get world up vector
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virtual float *get_world_up() { return _world_up; }
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// Get the relative (to scenery center) view position in fgfs coordinates.
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virtual float * getRelativeViewPos ();
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// Get the absolute zero-elevation view position in fgfs coordinates.
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virtual float * getZeroElevViewPos ();
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// Get surface east vector
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virtual float *get_surface_east() { return _surface_east; }
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// Get surface south vector
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virtual float *get_surface_south() { return _surface_south; }
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// Elevation of ground under location (based on scenery output)...
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void set_cur_elev_m ( double elev ) { _cur_elev_m = elev; }
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inline double get_cur_elev_m () { return _cur_elev_m; }
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// Interface to current buckets for use with tilemgr...
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void set_tile_center ( Point3D tile_center ) { _tile_center = tile_center; }
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inline Point3D get_tile_center () { return _tile_center; }
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// Matrices...
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virtual const sgVec4 * getTransformMatrix() { if ( _dirty ) { recalc(); } return TRANS; }
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virtual const sgVec4 * getCachedTransformMatrix() { return TRANS; }
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virtual const sgVec4 * getUpMatrix() { if ( _dirty ) { recalc(); } return UP; }
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virtual const sgVec4 * getCachedUpMatrix() { return UP; }
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private:
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//////////////////////////////////////////////////////////////////
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// private data //
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//////////////////////////////////////////////////////////////////
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// flag forcing a recalc of derived view parameters
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bool _dirty;
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mutable sgdVec3 _absolute_view_pos;
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mutable sgVec3 _relative_view_pos;
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mutable sgVec3 _zero_elev_view_pos;
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double _lon_deg;
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double _lat_deg;
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double _alt_ft;
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double _roll_deg;
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double _pitch_deg;
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double _heading_deg;
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// elevation of ground under this location...
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double _cur_elev_m;
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Point3D _tile_center;
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// surface vector heading south
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sgVec3 _surface_south;
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// surface vector heading east (used to unambiguously align sky
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// with sun)
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sgVec3 _surface_east;
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// world up vector (normal to the plane tangent to the earth's
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// surface at the spot we are directly above
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sgVec3 _world_up;
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// sg versions of our friendly matrices
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sgMat4 TRANS, UP;
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//////////////////////////////////////////////////////////////////
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// private functions //
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//////////////////////////////////////////////////////////////////
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void recalc ();
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void recalcPosition (double lon_deg, double lat_deg, double alt_ft) const;
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inline void set_dirty() { _dirty = true; }
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inline void set_clean() { _dirty = false; }
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};
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#endif // _LOCATION_HXX
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