First baby steps towards restructuring the view architecture. I've
created a new class, FGViewPoint (declared in viewer.hxx) that holds a single position in FlightGear coordinates, and have used it to factor a lot of the common code out of viewer_lookat.cxx and viewer_rph.cxx. I don't know whether this new class will stay or not; it might just be a temporary step, or it might end up taking over much of the current viewer functionality. It would be a bad idea to code against it right now.
This commit is contained in:
david
parent
bdbd69effd
commit
efe559ead4
4 changed files with 179 additions and 247 deletions
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@ -30,10 +30,110 @@
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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 <Scenery/scenery.hxx>
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#include "viewer.hxx"
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////////////////////////////////////////////////////////////////////////
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// Implementation of FGViewPoint.
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////////////////////////////////////////////////////////////////////////
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FGViewPoint::FGViewPoint ()
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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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{
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}
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FGViewPoint::~FGViewPoint ()
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{
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}
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void
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FGViewPoint::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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const double *
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FGViewPoint::getAbsoluteViewPos () const
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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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const float *
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FGViewPoint::getRelativeViewPos () const
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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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const float *
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FGViewPoint::getZeroElevViewPos () const
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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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void
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FGViewPoint::recalc () 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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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) - scenery.get_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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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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sgdVec3 scenery_center;
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sgdSetVec3(scenery_center,
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scenery.get_center().x(),
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scenery.get_center().y(),
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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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////////////////////////////////////////////////////////////////////////
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// Implementation of FGViewer.
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////////////////////////////////////////////////////////////////////////
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// Constructor
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FGViewer::FGViewer( void ):
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scalingType(FG_SCALING_MAX),
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@ -42,6 +42,71 @@
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#define FG_FOV_MAX 179.9
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/**
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* Representation of a single viewpoint in the FlightGear world.
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*/
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class FGViewPoint
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{
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public:
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FGViewPoint ();
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virtual ~FGViewPoint ();
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/**
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* Set the geodetic position for the view point.
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*/
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virtual void setPosition (double lon_deg, double lat_deg, double alt_ft);
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/**
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* Get the longitude in degrees.
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*/
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virtual double getLongitude_deg () const { return _lon_deg; }
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/**
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* Get the latitude in degrees.
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*/
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virtual double getLatitude_deg () const { return _lat_deg; }
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/**
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* Get the altitude in feet ASL.
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*/
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virtual double getAltitudeASL_ft () const { return _alt_ft; }
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/**
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* Get the absolute view position in fgfs coordinates.
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*/
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virtual const double * getAbsoluteViewPos () const;
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/**
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* Get the relative view position in fgfs coordinates.
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*
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* The position is relative to the scenery centre.
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*/
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virtual const float * getRelativeViewPos () const;
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/**
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* Get the absolute zero-elevation view position in fgfs coordinates.
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*/
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virtual const float * getZeroElevViewPos () const;
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private:
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void recalc () const;
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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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bool _dirty;
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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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};
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// Define a structure containing view information
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class FGViewer {
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@ -70,6 +135,8 @@ protected:
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fgViewType _type;
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fgScalingType scalingType;
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FGViewPoint view_point;
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// the nominal field of view (angle, in degrees)
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double fov;
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@ -89,57 +89,16 @@ void fgMakeLookAtMat4 ( sgMat4 dst, const sgVec3 eye, const sgVec3 center,
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}
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#if 0
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// convert sgMat4 to MAT3 and print
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static void print_sgMat4( sgMat4 &in) {
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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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printf("%10.4f ", in[i][j]);
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}
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cout << endl;
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}
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}
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#endif
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// Update the view parameters
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void FGViewerLookAt::update() {
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Point3D tmp;
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sgVec3 minus_z;
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// convert to geocentric coordinates
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double geoc_lat;
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sgGeodToGeoc( geod_view_pos[1], geod_view_pos[2],
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&sea_level_radius, &geoc_lat );
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// calculate the cartesion coords of the current lat/lon/0 elev
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Point3D p = Point3D( geod_view_pos[0], geoc_lat, sea_level_radius );
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tmp = sgPolarToCart3d(p) - scenery.get_center();
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sgSetVec3( zero_elev, tmp[0], tmp[1], tmp[2] );
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// calculate view position in current FG view coordinate system
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// p.lon & p.lat are already defined earlier, p.radius was set to
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// the sea level radius, so now we add in our altitude.
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if ( geod_view_pos[2] > (scenery.get_cur_elev() + 0.5 * SG_METER_TO_FEET) ) {
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p.setz( p.radius() + geod_view_pos[2] );
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} else {
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p.setz( p.radius() + scenery.get_cur_elev() + 0.5 * SG_METER_TO_FEET );
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}
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tmp = sgPolarToCart3d(p);
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sgdSetVec3( abs_view_pos, tmp[0], tmp[1], tmp[2] );
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// view_pos = abs_view_pos - scenery.center;
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sgdVec3 sc;
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sgdSetVec3( sc,
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scenery.get_center().x(),
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scenery.get_center().y(),
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scenery.get_center().z() );
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sgdVec3 vp;
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sgdSubVec3( vp, abs_view_pos, sc );
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sgSetVec3( view_pos, vp );
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view_point.setPosition(geod_view_pos[0] * SGD_RADIANS_TO_DEGREES,
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geod_view_pos[1] * SGD_RADIANS_TO_DEGREES,
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geod_view_pos[2] * SG_METER_TO_FEET);
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sgCopyVec3(zero_elev, view_point.getZeroElevViewPos());
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sgdCopyVec3(abs_view_pos, view_point.getAbsoluteViewPos());
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sgCopyVec3(view_pos, view_point.getRelativeViewPos());
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sgVec3 tmp_offset;
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sgCopyVec3( tmp_offset, pilot_offset );
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@ -159,30 +118,8 @@ void FGViewerLookAt::update() {
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sgAddVec3( view_pos, tmp_offset );
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// !!!!!!!!!! testing
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// sgAddVec3( view_pos, pilot_offset );
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SG_LOG( SG_VIEW, SG_DEBUG, "sea level radius = " << sea_level_radius );
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SG_LOG( SG_VIEW, SG_DEBUG, "Polar view pos = " << p );
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SG_LOG( SG_VIEW, SG_DEBUG, "Absolute view pos = "
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<< abs_view_pos[0] << ","
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<< abs_view_pos[1] << ","
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<< abs_view_pos[2] );
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SG_LOG( SG_VIEW, SG_DEBUG, "Relative view pos = "
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<< view_pos[0] << "," << view_pos[1] << "," << view_pos[2] );
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SG_LOG( SG_VIEW, SG_DEBUG, "pilot offset = "
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<< pilot_offset[0] << "," << pilot_offset[1] << ","
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<< pilot_offset[2] );
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SG_LOG( SG_VIEW, SG_DEBUG, "view forward = "
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<< view_forward[0] << "," << view_forward[1] << ","
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<< view_forward[2] );
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SG_LOG( SG_VIEW, SG_DEBUG, "view up = "
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<< view_up[0] << "," << view_up[1] << ","
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<< view_up[2] );
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// Make the VIEW matrix.
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fgMakeLookAtMat4( VIEW, view_pos, view_forward, view_up );
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// cout << "VIEW matrix" << endl;
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// print_sgMat4( VIEW );
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// the VIEW matrix includes both rotation and translation. Let's
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// knock out the translation part to make the VIEW_ROT matrix
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@ -198,9 +135,6 @@ void FGViewerLookAt::update() {
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// use a clever observation into the nature of our tranformation
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// matrix to grab the world_up vector
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sgSetVec3( world_up, UP[0][0], UP[0][1], UP[0][2] );
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// cout << "World Up = " << world_up[0] << "," << world_up[1] << ","
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// << world_up[2] << endl;
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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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@ -210,25 +144,11 @@ void FGViewerLookAt::update() {
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sgmap_vec_onto_cur_surface_plane(world_up, view_pos, minus_z,
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surface_south);
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sgNormalizeVec3(surface_south);
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// cout << "Surface direction directly south " << surface_south[0] << ","
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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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#define USE_FAST_SURFACE_EAST
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#ifdef USE_FAST_SURFACE_EAST
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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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#else
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sgMakeRotMat4( TMP, SGD_PI_2 * SGD_RADIANS_TO_DEGREES, world_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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#endif // USE_FAST_SURFACE_EAST
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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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// << sgScalarProductVec3(surface_south, surface_east) << endl;
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set_clean();
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}
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@ -48,33 +48,9 @@
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FGViewerRPH::FGViewerRPH( void )
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{
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set_reverse_view_offset(false);
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#ifndef USE_FAST_VIEWROT
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// This never changes -- NHV
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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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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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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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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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#endif // USE_FAST_VIEWROT
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}
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#define USE_FAST_VIEWROT
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#ifdef USE_FAST_VIEWROT
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// VIEW_ROT = LARC_TO_SSG * ( VIEWo * VIEW_OFFSET )
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// This takes advantage of the fact that VIEWo and VIEW_OFFSET
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// only have entries in the upper 3x3 block
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@ -102,11 +78,8 @@ inline static void fgMakeViewRot( sgMat4 dst, const sgMat4 m1, const sgMat4 m2 )
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dst[3][2] = SG_ZERO;
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dst[3][3] = SG_ONE;
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}
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#endif
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#define USE_FAST_LOCAL
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#ifdef USE_FAST_LOCAL
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inline static void fgMakeLOCAL( sgMat4 dst, const double Theta,
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const double Phi, const double Psi)
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{
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@ -137,145 +110,39 @@ inline static void fgMakeLOCAL( sgMat4 dst, const double Theta,
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dst[3][2] = SG_ZERO;
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dst[3][3] = SG_ONE ;
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}
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#endif
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#if 0
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// convert sgMat4 to MAT3 and print
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static void print_sgMat4( sgMat4 &in) {
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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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printf("%10.4f ", in[i][j]);
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}
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cout << endl;
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}
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}
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#endif
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// Update the view parameters
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void FGViewerRPH::update() {
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Point3D tmp;
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sgVec3 minus_z, right, forward, tilt;
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sgMat4 VIEWo;
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// convert to geocentric coordinates
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double geoc_lat;
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sgGeodToGeoc( geod_view_pos[1], geod_view_pos[2],
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&sea_level_radius, &geoc_lat );
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// calculate the cartesion coords of the current lat/lon/0 elev
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Point3D p = Point3D( geod_view_pos[0], geoc_lat, sea_level_radius );
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tmp = sgPolarToCart3d(p) - scenery.get_center();
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sgSetVec3( zero_elev, tmp[0], tmp[1], tmp[2] );
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// calculate view position in current FG view coordinate system
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// p.lon & p.lat are already defined earlier, p.radius was set to
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// the sea level radius, so now we add in our altitude.
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if ( geod_view_pos[2] > (scenery.get_cur_elev() + 0.5 * SG_METER_TO_FEET) ) {
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p.setz( p.radius() + geod_view_pos[2] );
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} else {
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p.setz( p.radius() + scenery.get_cur_elev() + 0.5 * SG_METER_TO_FEET );
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}
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tmp = sgPolarToCart3d(p);
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sgdSetVec3( abs_view_pos, tmp[0], tmp[1], tmp[2] );
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// view_pos = abs_view_pos - scenery.center;
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sgdVec3 sc;
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sgdSetVec3( sc,
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scenery.get_center().x(),
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scenery.get_center().y(),
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scenery.get_center().z() );
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sgdVec3 vp;
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sgdSubVec3( vp, abs_view_pos, sc );
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sgSetVec3( view_pos, vp );
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SG_LOG( SG_VIEW, SG_DEBUG, "sea level radius = " << sea_level_radius );
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SG_LOG( SG_VIEW, SG_DEBUG, "Polar view pos = " << p );
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SG_LOG( SG_VIEW, SG_DEBUG, "Absolute view pos = "
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<< abs_view_pos[0] << ","
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<< abs_view_pos[1] << ","
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<< abs_view_pos[2] );
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SG_LOG( SG_VIEW, SG_DEBUG, "Scenery center = "
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<< sc[0] << "," << sc[1] << "," << sc[2] );
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SG_LOG( SG_VIEW, SG_DEBUG, "(RPH) Relative view pos = "
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<< view_pos[0] << "," << view_pos[1] << "," << view_pos[2] );
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view_point.setPosition(geod_view_pos[0] * SGD_RADIANS_TO_DEGREES,
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geod_view_pos[1] * SGD_RADIANS_TO_DEGREES,
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geod_view_pos[2] * SG_METER_TO_FEET);
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sgCopyVec3(zero_elev, view_point.getZeroElevViewPos());
|
||||
sgdCopyVec3(abs_view_pos, view_point.getAbsoluteViewPos());
|
||||
sgCopyVec3(view_pos, view_point.getRelativeViewPos());
|
||||
|
||||
// code to calculate LOCAL matrix calculated from Phi, Theta, and
|
||||
// Psi (roll, pitch, yaw) in case we aren't running LaRCsim as our
|
||||
// flight model
|
||||
|
||||
#ifdef USE_FAST_LOCAL
|
||||
|
||||
fgMakeLOCAL( LOCAL, rph[1], rph[0], -rph[2] );
|
||||
|
||||
#else // USE_TEXT_BOOK_METHOD
|
||||
|
||||
sgVec3 rollvec;
|
||||
sgSetVec3( rollvec, 0.0, 0.0, 1.0 );
|
||||
sgMat4 PHI; // roll
|
||||
sgMakeRotMat4( PHI, rph[0] * SGD_RADIANS_TO_DEGREES, rollvec );
|
||||
|
||||
sgVec3 pitchvec;
|
||||
sgSetVec3( pitchvec, 0.0, 1.0, 0.0 );
|
||||
sgMat4 THETA; // pitch
|
||||
sgMakeRotMat4( THETA, rph[1] * SGD_RADIANS_TO_DEGREES, pitchvec );
|
||||
|
||||
// ROT = PHI * THETA
|
||||
sgMat4 ROT;
|
||||
// sgMultMat4( ROT, PHI, THETA );
|
||||
sgCopyMat4( ROT, PHI );
|
||||
sgPostMultMat4( ROT, THETA );
|
||||
|
||||
sgVec3 yawvec;
|
||||
sgSetVec3( yawvec, 1.0, 0.0, 0.0 );
|
||||
sgMat4 PSI; // heading
|
||||
sgMakeRotMat4( PSI, -rph[2] * SGD_RADIANS_TO_DEGREES, yawvec );
|
||||
|
||||
// LOCAL = ROT * PSI
|
||||
// sgMultMat4( LOCAL, ROT, PSI );
|
||||
sgCopyMat4( LOCAL, ROT );
|
||||
sgPostMultMat4( LOCAL, PSI );
|
||||
|
||||
#endif // USE_FAST_LOCAL
|
||||
|
||||
// cout << "LOCAL matrix" << endl;
|
||||
// print_sgMat4( LOCAL );
|
||||
|
||||
sgMakeRotMat4( UP,
|
||||
geod_view_pos[0] * SGD_RADIANS_TO_DEGREES,
|
||||
0.0,
|
||||
-geod_view_pos[1] * SGD_RADIANS_TO_DEGREES );
|
||||
|
||||
sgSetVec3( world_up, UP[0][0], UP[0][1], UP[0][2] );
|
||||
// sgXformVec3( world_up, UP );
|
||||
// cout << "World Up = " << world_up[0] << "," << world_up[1] << ","
|
||||
// << world_up[2] << endl;
|
||||
|
||||
// Alternative method to Derive world up vector based on
|
||||
// *geodetic* coordinates
|
||||
// alt_up = sgPolarToCart(FG_Longitude, FG_Latitude, 1.0);
|
||||
// printf( " Alt Up = (%.4f, %.4f, %.4f)\n",
|
||||
// alt_up.x, alt_up.y, alt_up.z);
|
||||
|
||||
// VIEWo = LOCAL * UP
|
||||
// sgMultMat4( VIEWo, LOCAL, UP );
|
||||
sgCopyMat4( VIEWo, LOCAL );
|
||||
sgPostMultMat4( VIEWo, UP );
|
||||
// cout << "VIEWo matrix" << endl;
|
||||
// print_sgMat4( VIEWo );
|
||||
|
||||
// generate the sg view up and forward vectors
|
||||
sgSetVec3( view_up, VIEWo[0][0], VIEWo[0][1], VIEWo[0][2] );
|
||||
// cout << "view = " << view[0] << ","
|
||||
// << view[1] << "," << view[2] << endl;
|
||||
sgSetVec3( right, VIEWo[1][0], VIEWo[1][1], VIEWo[1][2] );
|
||||
sgSetVec3( forward, VIEWo[2][0], VIEWo[2][1], VIEWo[2][2] );
|
||||
// cout << "forward = " << forward[0] << ","
|
||||
// << forward[1] << "," << forward[2] << endl;
|
||||
|
||||
// generate the pilot offset vector in world coordinates
|
||||
sgVec3 pilot_offset_world;
|
||||
|
|
@ -297,17 +164,7 @@ void FGViewerRPH::update() {
|
|||
<< view_forward[2] );
|
||||
|
||||
// VIEW_ROT = LARC_TO_SSG * ( VIEWo * VIEW_OFFSET )
|
||||
#ifdef USE_FAST_VIEWROT
|
||||
fgMakeViewRot( VIEW_ROT, VIEW_OFFSET, VIEWo );
|
||||
#else
|
||||
// sgMultMat4( VIEW_ROT, VIEW_OFFSET, VIEWo );
|
||||
// sgPreMultMat4( VIEW_ROT, LARC_TO_SSG );
|
||||
sgCopyMat4( VIEW_ROT, VIEWo );
|
||||
sgPostMultMat4( VIEW_ROT, VIEW_OFFSET );
|
||||
sgPreMultMat4( VIEW_ROT, LARC_TO_SSG );
|
||||
#endif
|
||||
// cout << "VIEW_ROT matrix" << endl;
|
||||
// print_sgMat4( VIEW_ROT );
|
||||
|
||||
sgVec3 trans_vec;
|
||||
sgAddVec3( trans_vec, view_pos, pilot_offset_world );
|
||||
|
|
@ -336,21 +193,9 @@ void FGViewerRPH::update() {
|
|||
// << surface_south[1] << "," << surface_south[2] << endl;
|
||||
|
||||
// now calculate the surface east vector
|
||||
#define USE_FAST_SURFACE_EAST
|
||||
#ifdef USE_FAST_SURFACE_EAST
|
||||
sgVec3 world_down;
|
||||
sgNegateVec3(world_down, world_up);
|
||||
sgVectorProductVec3(surface_east, surface_south, world_down);
|
||||
#else
|
||||
sgMakeRotMat4( TMP, SGD_PI_2 * SGD_RADIANS_TO_DEGREES, world_up );
|
||||
// cout << "sgMat4 TMP" << endl;
|
||||
// print_sgMat4( TMP );
|
||||
sgXformVec3(surface_east, surface_south, TMP);
|
||||
#endif // USE_FAST_SURFACE_EAST
|
||||
// cout << "Surface direction directly east " << surface_east[0] << ","
|
||||
// << surface_east[1] << "," << surface_east[2] << endl;
|
||||
// cout << "Should be close to zero = "
|
||||
// << sgScalarProductVec3(surface_south, surface_east) << endl;
|
||||
|
||||
set_clean();
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue