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287
src/Main/viewer_lookat.cxx
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287
src/Main/viewer_lookat.cxx
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// viewer_lookat.hxx -- class for managing a "look at" viewer in
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// the flightgear world.
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//
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// Written by Curtis Olson, started October 2000.
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//
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// Copyright (C) 2000 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 <plib/ssg.h> // plib include
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#include <simgear/constants.h>
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#include <simgear/debug/logstream.hxx>
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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/vector.hxx>
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#include <Scenery/scenery.hxx>
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#include "globals.hxx"
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#include "viewer_lookat.hxx"
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// Constructor
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FGViewerLookAt::FGViewerLookAt( void )
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{
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}
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static void fgLookAt( sgVec3 eye, sgVec3 center, sgVec3 up, sgMat4 &m ) {
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double x[3], y[3], z[3];
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double mag;
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/* Make rotation matrix */
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/* Z vector */
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z[0] = eye[0] - center[0];
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z[1] = eye[1] - center[1];
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z[2] = eye[2] - center[2];
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mag = sqrt( z[0]*z[0] + z[1]*z[1] + z[2]*z[2] );
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if (mag) { /* mpichler, 19950515 */
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z[0] /= mag;
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z[1] /= mag;
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z[2] /= mag;
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}
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/* Y vector */
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y[0] = up[0];
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y[1] = up[1];
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y[2] = up[2];
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/* X vector = Y cross Z */
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x[0] = y[1]*z[2] - y[2]*z[1];
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x[1] = -y[0]*z[2] + y[2]*z[0];
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x[2] = y[0]*z[1] - y[1]*z[0];
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/* Recompute Y = Z cross X */
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y[0] = z[1]*x[2] - z[2]*x[1];
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y[1] = -z[0]*x[2] + z[2]*x[0];
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y[2] = z[0]*x[1] - z[1]*x[0];
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/* mpichler, 19950515 */
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/* cross product gives area of parallelogram, which is < 1.0 for
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* non-perpendicular unit-length vectors; so normalize x, y here
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*/
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mag = sqrt( x[0]*x[0] + x[1]*x[1] + x[2]*x[2] );
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if (mag) {
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x[0] /= mag;
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x[1] /= mag;
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x[2] /= mag;
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}
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mag = sqrt( y[0]*y[0] + y[1]*y[1] + y[2]*y[2] );
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if (mag) {
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y[0] /= mag;
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y[1] /= mag;
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y[2] /= mag;
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}
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#define M(row,col) m[row][col]
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M(0,0) = x[0]; M(0,1) = x[1]; M(0,2) = x[2]; M(0,3) = 0.0;
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M(1,0) = y[0]; M(1,1) = y[1]; M(1,2) = y[2]; M(1,3) = 0.0;
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M(2,0) = z[0]; M(2,1) = z[1]; M(2,2) = z[2]; M(2,3) = 0.0;
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M(3,0) = -eye[0]; M(3,1) = -eye[1]; M(3,2) = -eye[2]; M(3,3) = 1.0;
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#undef M
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}
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// Initialize a view structure
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void FGViewerLookAt::init( void ) {
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set_dirty();
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FG_LOG( FG_VIEW, FG_INFO, "Initializing View parameters" );
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view_offset = goal_view_offset =
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globals->get_options()->get_default_view_offset();
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sgSetVec3( pilot_offset, 0.0, 0.0, 0.0 );
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globals->get_options()->set_win_ratio( globals->get_options()->get_xsize() /
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globals->get_options()->get_ysize()
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);
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}
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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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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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dst[0][0] = cosPhi * cosTheta;
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dst[0][1] = sinPhi * cosPsi + cosPhi * -sinTheta * -sinPsi;
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dst[0][2] = sinPhi * sinPsi + cosPhi * -sinTheta * cosPsi;
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dst[0][3] = SG_ZERO;
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dst[1][0] = -sinPhi * cosTheta;
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dst[1][1] = cosPhi * cosPsi + -sinPhi * -sinTheta * -sinPsi;
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dst[1][2] = cosPhi * sinPsi + -sinPhi * -sinTheta * cosPsi;
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dst[1][3] = SG_ZERO ;
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dst[2][0] = sinTheta;
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dst[2][1] = cosTheta * -sinPsi;
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dst[2][2] = cosTheta * cosPsi;
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dst[2][3] = SG_ZERO;
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dst[3][0] = SG_ZERO;
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dst[3][1] = SG_ZERO;
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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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// 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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// Update the view parameters
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void FGViewerLookAt::update() {
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Point3D tmp;
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sgVec3 minus_z, forward;
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sgMat4 VIEWo;
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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],
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geod_view_pos[1],
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sea_level_radius );
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tmp = sgPolarToCart3d(p) - scenery.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.cur_elev + 0.5 * 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.cur_elev + 0.5 * 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, scenery.center.x(), scenery.center.y(), scenery.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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FG_LOG( FG_VIEW, FG_DEBUG, "sea level radius = " << sea_level_radius );
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FG_LOG( FG_VIEW, FG_DEBUG, "Polar view pos = " << p );
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FG_LOG( FG_VIEW, FG_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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FG_LOG( FG_VIEW, FG_DEBUG, "Relative view pos = "
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<< view_pos[0] << "," << view_pos[1] << "," << view_pos[2] );
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FG_LOG( FG_VIEW, FG_DEBUG, "view forward = "
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<< view_forward[0] << "," << view_forward[1] << ","
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<< view_forward[2] );
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FG_LOG( FG_VIEW, FG_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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fgLookAt( view_pos, view_forward, view_up, VIEW );
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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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sgCopyMat4( VIEW_ROT, VIEW );
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VIEW_ROT[3][0] = VIEW_ROT[3][1] = VIEW_ROT[3][2] = 0.0;
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// Make the world up rotation matrix
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sgMakeRotMat4( UP,
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geod_view_pos[0] * RAD_TO_DEG,
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0.0,
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-geod_view_pos[1] * RAD_TO_DEG );
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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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//!!!!!!!!!!!!!!!!!!!
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// THIS IS THE EXPERIMENTAL VIEWING ANGLE SHIFTER
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// THE MAJORITY OF THE WORK IS DONE IN GUI.CXX
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// this in gui.cxx for now just testing
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extern float quat_mat[4][4];
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sgPreMultMat4( VIEW, quat_mat);
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// !!!!!!!!!! testing
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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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sgSetVec3( minus_z, 0.0, 0.0, -1.0 );
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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, FG_PI_2 * RAD_TO_DEG, 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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// Destructor
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FGViewerLookAt::~FGViewerLookAt( void ) {
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}
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94
src/Main/viewer_lookat.hxx
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94
src/Main/viewer_lookat.hxx
Normal file
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@ -0,0 +1,94 @@
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// viewer_lookat.hxx -- class for managing a "look at" viewer in
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// the flightgear world.
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//
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// Written by Curtis Olson, started October 2000.
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//
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// Copyright (C) 2000 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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#ifndef _VIEWER_LOOKAT_HXX
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#define _VIEWER_LOOKAT_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 "viewer.hxx"
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// Define a structure containing view information
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class FGViewerLookAt: public FGViewer {
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private:
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// up vector for the view (usually point straight up through the
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// top of the aircraft
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sgVec3 view_up;
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// the vector pointing straight out the nose of the aircraft
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sgVec3 view_forward;
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// Transformation matrix for the view direction offset relative to
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// the AIRCRAFT matrix
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sgMat4 VIEW_OFFSET;
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// sg versions of our friendly matrices
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sgMat4 LOCAL, TRANS, LARC_TO_SSG;
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// Update the view volume, position, and orientation
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void update();
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public:
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// Constructor
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FGViewerLookAt( void );
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// Destructor
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~FGViewerLookAt( void );
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// Initialize a view class
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void init( void );
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//////////////////////////////////////////////////////////////////////
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// setter functions
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//////////////////////////////////////////////////////////////////////
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inline void set_view_forward( sgVec3 vf ) {
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set_dirty();
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sgCopyVec3( view_forward, vf );
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}
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inline void set_view_up( sgVec3 vf ) {
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set_dirty();
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sgCopyVec3( view_up, vf );
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}
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//////////////////////////////////////////////////////////////////////
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// accessor functions
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//////////////////////////////////////////////////////////////////////
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inline float *get_view_forward() { return view_forward; }
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inline float *get_view_up() { return view_up; }
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//////////////////////////////////////////////////////////////////////
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// derived values accessor functions
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//////////////////////////////////////////////////////////////////////
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};
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#endif // _VIEWER_LOOKAT_HXX
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