// viewer.cxx -- class for managing a viewer in the flightgear world.
//
// Written by Curtis Olson, started August 1997.
// overhaul started October 2000.
// partially rewritten by Jim Wilson jim@kelcomaine.com using interface
// by David Megginson March 2002
//
// Copyright (C) 1997 - 2000 Curtis L. Olson - http://www.flightgear.org/~curt
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
#ifdef HAVE_CONFIG_H
# include "config.h"
#endif
#include <simgear/compiler.h>
#include <cassert>
#include "fg_props.hxx"
#include <simgear/debug/logstream.hxx>
#include <simgear/constants.h>
#include <simgear/scene/model/placement.hxx>
#include <simgear/scene/util/OsgMath.hxx>
#include <Main/globals.hxx>
#include <Scenery/scenery.hxx>
#include <Model/acmodel.hxx>
#include "viewer.hxx"
#include "CameraGroup.hxx"
using namespace flightgear;
////////////////////////////////////////////////////////////////////////
// Implementation of FGViewer.
////////////////////////////////////////////////////////////////////////
// Constructor...
FGViewer::FGViewer( fgViewType Type, bool from_model, int from_model_index,
bool at_model, int at_model_index,
double damp_roll, double damp_pitch, double damp_heading,
double x_offset_m, double y_offset_m, double z_offset_m,
double heading_offset_deg, double pitch_offset_deg,
double roll_offset_deg,
double fov_deg, double aspect_ratio_multiplier,
double target_x_offset_m, double target_y_offset_m,
double target_z_offset_m, double near_m, bool internal ):
_dirty(true),
_roll_deg(0),
_pitch_deg(0),
_heading_deg(0),
_scaling_type(FG_SCALING_MAX),
_cameraGroup(CameraGroup::getDefault())
{
_absolute_view_pos = SGVec3d(0, 0, 0);
_type = Type;
_from_model = from_model;
_from_model_index = from_model_index;
_at_model = at_model;
_at_model_index = at_model_index;
_internal = internal;
_dampFactor = SGVec3d::zeros();
_dampOutput = SGVec3d::zeros();
_dampTarget = SGVec3d::zeros();
if (damp_roll > 0.0)
_dampFactor[0] = 1.0 / pow(10.0, fabs(damp_roll));
if (damp_pitch > 0.0)
_dampFactor[1] = 1.0 / pow(10.0, fabs(damp_pitch));
if (damp_heading > 0.0)
_dampFactor[2] = 1.0 / pow(10.0, fabs(damp_heading));
_offset_m.x() = x_offset_m;
_offset_m.y() = y_offset_m;
_offset_m.z() = z_offset_m;
_heading_offset_deg = heading_offset_deg;
_pitch_offset_deg = pitch_offset_deg;
_roll_offset_deg = roll_offset_deg;
_goal_heading_offset_deg = heading_offset_deg;
_goal_pitch_offset_deg = pitch_offset_deg;
_goal_roll_offset_deg = roll_offset_deg;
if (fov_deg > 0) {
_fov_deg = fov_deg;
} else {
_fov_deg = 55;
}
_aspect_ratio_multiplier = aspect_ratio_multiplier;
_target_offset_m.x() = target_x_offset_m;
_target_offset_m.y() = target_y_offset_m;
_target_offset_m.z() = target_z_offset_m;
_ground_level_nearplane_m = near_m;
// a reasonable guess for init, so that the math doesn't blow up
}
// Destructor
FGViewer::~FGViewer( void ) {
}
void
FGViewer::init ()
{
}
void
FGViewer::bind ()
{
}
void
FGViewer::unbind ()
{
}
void
FGViewer::setType ( int type )
{
if (type == 0)
_type = FG_LOOKFROM;
if (type == 1)
_type = FG_LOOKAT;
}
void
FGViewer::setInternal ( bool internal )
{
_internal = internal;
}
void
FGViewer::setPosition (double lon_deg, double lat_deg, double alt_ft)
{
_dirty = true;
_position = SGGeod::fromDegFt(lon_deg, lat_deg, alt_ft);
}
void
FGViewer::setTargetPosition (double lon_deg, double lat_deg, double alt_ft)
{
_dirty = true;
_target = SGGeod::fromDegFt(lon_deg, lat_deg, alt_ft);
}
void
FGViewer::setRoll_deg (double roll_deg)
{
_dirty = true;
_roll_deg = roll_deg;
}
void
FGViewer::setPitch_deg (double pitch_deg)
{
_dirty = true;
_pitch_deg = pitch_deg;
}
void
FGViewer::setHeading_deg (double heading_deg)
{
_dirty = true;
_heading_deg = heading_deg;
}
void
FGViewer::setOrientation (double roll_deg, double pitch_deg, double heading_deg)
{
_dirty = true;
_roll_deg = roll_deg;
_pitch_deg = pitch_deg;
_heading_deg = heading_deg;
}
void
FGViewer::setTargetRoll_deg (double target_roll_deg)
{
_dirty = true;
_target_roll_deg = target_roll_deg;
}
void
FGViewer::setTargetPitch_deg (double target_pitch_deg)
{
_dirty = true;
_target_pitch_deg = target_pitch_deg;
}
void
FGViewer::setTargetHeading_deg (double target_heading_deg)
{
_dirty = true;
_target_heading_deg = target_heading_deg;
}
void
FGViewer::setTargetOrientation (double target_roll_deg, double target_pitch_deg, double target_heading_deg)
{
_dirty = true;
_target_roll_deg = target_roll_deg;
_target_pitch_deg = target_pitch_deg;
_target_heading_deg = target_heading_deg;
}
void
FGViewer::setXOffset_m (double x_offset_m)
{
_dirty = true;
_offset_m.x() = x_offset_m;
}
void
FGViewer::setYOffset_m (double y_offset_m)
{
_dirty = true;
_offset_m.y() = y_offset_m;
}
void
FGViewer::setZOffset_m (double z_offset_m)
{
_dirty = true;
_offset_m.z() = z_offset_m;
}
void
FGViewer::setTargetXOffset_m (double target_x_offset_m)
{
_dirty = true;
_target_offset_m.x() = target_x_offset_m;
}
void
FGViewer::setTargetYOffset_m (double target_y_offset_m)
{
_dirty = true;
_target_offset_m.y() = target_y_offset_m;
}
void
FGViewer::setTargetZOffset_m (double target_z_offset_m)
{
_dirty = true;
_target_offset_m.z() = target_z_offset_m;
}
void
FGViewer::setPositionOffsets (double x_offset_m, double y_offset_m, double z_offset_m)
{
_dirty = true;
_offset_m.x() = x_offset_m;
_offset_m.y() = y_offset_m;
_offset_m.z() = z_offset_m;
}
void
FGViewer::setRollOffset_deg (double roll_offset_deg)
{
_dirty = true;
_roll_offset_deg = roll_offset_deg;
}
void
FGViewer::setPitchOffset_deg (double pitch_offset_deg)
{
_dirty = true;
_pitch_offset_deg = pitch_offset_deg;
}
void
FGViewer::setHeadingOffset_deg (double heading_offset_deg)
{
_dirty = true;
if (_at_model && (_offset_m.x() == 0.0)&&(_offset_m.z() == 0.0))
{
/* avoid optical effects (e.g. rotating sky) when "looking at" with
* heading offsets x==z==0 (view heading cannot change). */
_heading_offset_deg = 0.0;
}
else
_heading_offset_deg = heading_offset_deg;
}
void
FGViewer::setGoalRollOffset_deg (double goal_roll_offset_deg)
{
_dirty = true;
_goal_roll_offset_deg = goal_roll_offset_deg;
}
void
FGViewer::setGoalPitchOffset_deg (double goal_pitch_offset_deg)
{
_dirty = true;
_goal_pitch_offset_deg = goal_pitch_offset_deg;
if ( _goal_pitch_offset_deg < -90 ) {
_goal_pitch_offset_deg = -90.0;
}
if ( _goal_pitch_offset_deg > 90.0 ) {
_goal_pitch_offset_deg = 90.0;
}
}
void
FGViewer::setGoalHeadingOffset_deg (double goal_heading_offset_deg)
{
_dirty = true;
if (_at_model && (_offset_m.x() == 0.0)&&(_offset_m.z() == 0.0))
{
/* avoid optical effects (e.g. rotating sky) when "looking at" with
* heading offsets x==z==0 (view heading cannot change). */
_goal_heading_offset_deg = 0.0;
return;
}
_goal_heading_offset_deg = goal_heading_offset_deg;
while ( _goal_heading_offset_deg < 0.0 ) {
_goal_heading_offset_deg += 360;
}
while ( _goal_heading_offset_deg > 360 ) {
_goal_heading_offset_deg -= 360;
}
}
void
FGViewer::setOrientationOffsets (double roll_offset_deg, double pitch_offset_deg, double heading_offset_deg)
{
_dirty = true;
_roll_offset_deg = roll_offset_deg;
_pitch_offset_deg = pitch_offset_deg;
_heading_offset_deg = heading_offset_deg;
}
// recalc() is done every time one of the setters is called (making the
// cached data "dirty") on the next "get". It calculates all the outputs
// for viewer.
void
FGViewer::recalc ()
{
if (_type == FG_LOOKFROM) {
recalcLookFrom();
} else {
recalcLookAt();
}
set_clean();
}
// recalculate for LookFrom view type...
void
FGViewer::recalcLookFrom ()
{
// Update location data ...
if ( _from_model ) {
SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
_position = placement->getPosition();
_heading_deg = placement->getHeadingDeg();
_pitch_deg = placement->getPitchDeg();
_roll_deg = placement->getRollDeg();
}
double head = _heading_deg;
double pitch = _pitch_deg;
double roll = _roll_deg;
if ( !_from_model ) {
// update from our own data...
setDampTarget(roll, pitch, head);
getDampOutput(roll, pitch, head);
}
// The rotation rotating from the earth centerd frame to
// the horizontal local frame
SGQuatd hlOr = SGQuatd::fromLonLat(_position);
// The rotation from the horizontal local frame to the basic view orientation
SGQuatd hlToBody = SGQuatd::fromYawPitchRollDeg(head, pitch, roll);
// The rotation offset, don't know why heading is negative here ...
mViewOffsetOr
= SGQuatd::fromYawPitchRollDeg(-_heading_offset_deg, _pitch_offset_deg,
_roll_offset_deg);
// Compute the eyepoints orientation and position
// wrt the earth centered frame - that is global coorinates
SGQuatd ec2body = hlOr*hlToBody;
// The cartesian position of the basic view coordinate
SGVec3d position = SGVec3d::fromGeod(_position);
// This is rotates the x-forward, y-right, z-down coordinate system the where
// simulation runs into the OpenGL camera system with x-right, y-up, z-back.
SGQuatd q(-0.5, -0.5, 0.5, 0.5);
_absolute_view_pos = position + (ec2body*q).backTransform(_offset_m);
mViewOrientation = ec2body*mViewOffsetOr*q;
}
void
FGViewer::recalcLookAt ()
{
// The geodetic position of our target to look at
if ( _at_model ) {
SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
_target = placement->getPosition();
_target_heading_deg = placement->getHeadingDeg();
_target_pitch_deg = placement->getPitchDeg();
_target_roll_deg = placement->getRollDeg();
} else {
// if not model then calculate our own target position...
setDampTarget(_target_roll_deg, _target_pitch_deg, _target_heading_deg);
getDampOutput(_target_roll_deg, _target_pitch_deg, _target_heading_deg);
}
SGQuatd geodTargetOr = SGQuatd::fromYawPitchRollDeg(_target_heading_deg,
_target_pitch_deg,
_target_roll_deg);
SGQuatd geodTargetHlOr = SGQuatd::fromLonLat(_target);
if ( _from_model ) {
SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
_position = placement->getPosition();
_heading_deg = placement->getHeadingDeg();
_pitch_deg = placement->getPitchDeg();
_roll_deg = placement->getRollDeg();
} else {
// update from our own data, just the rotation here...
setDampTarget(_roll_deg, _pitch_deg, _heading_deg);
getDampOutput(_roll_deg, _pitch_deg, _heading_deg);
}
SGQuatd geodEyeOr = SGQuatd::fromYawPitchRollDeg(_heading_deg, _pitch_deg, _roll_deg);
SGQuatd geodEyeHlOr = SGQuatd::fromLonLat(_position);
// the rotation offset, don't know why heading is negative here ...
mViewOffsetOr =
SGQuatd::fromYawPitchRollDeg(-_heading_offset_deg + 180, _pitch_offset_deg,
_roll_offset_deg);
// Offsets to the eye position
SGVec3d eyeOff(-_offset_m.z(), _offset_m.x(), -_offset_m.y());
SGQuatd ec2eye = geodEyeHlOr*geodEyeOr;
SGVec3d eyeCart = SGVec3d::fromGeod(_position);
eyeCart += (ec2eye*mViewOffsetOr).backTransform(eyeOff);
SGVec3d atCart = SGVec3d::fromGeod(_target);
// add target offsets to at_position...
SGVec3d target_pos_off(-_target_offset_m.z(), _target_offset_m.x(),
-_target_offset_m.y());
target_pos_off = (geodTargetHlOr*geodTargetOr).backTransform(target_pos_off);
atCart += target_pos_off;
eyeCart += target_pos_off;
// Compute the eyepoints orientation and position
// wrt the earth centered frame - that is global coorinates
_absolute_view_pos = eyeCart;
// the view direction
SGVec3d dir = normalize(atCart - eyeCart);
// the up directon
SGVec3d up = ec2eye.backTransform(SGVec3d(0, 0, -1));
// rotate -dir to the 2-th unit vector
// rotate up to 1-th unit vector
// Note that this matches the OpenGL camera coordinate system
// with x-right, y-up, z-back.
mViewOrientation = SGQuatd::fromRotateTo(-dir, 2, up, 1);
}
void
FGViewer::setDampTarget(double roll, double pitch, double heading)
{
_dampTarget = SGVec3d(roll, pitch, heading);
}
void
FGViewer::getDampOutput(double& roll, double& pitch, double& heading)
{
roll = _dampOutput[0];
pitch = _dampOutput[1];
heading = _dampOutput[2];
}
void
FGViewer::updateDampOutput(double dt)
{
static FGViewer *last_view = 0;
if ((last_view != this) || (dt > 1.0)) {
_dampOutput = _dampTarget;
last_view = this;
return;
}
const double interval = 0.01;
while (dt > interval) {
for (unsigned int i=0; i<3; ++i) {
if (_dampFactor[i] <= 0.0) {
// axis is un-damped, set output to target directly
_dampOutput[i] = _dampTarget[i];
continue;
}
double d = _dampOutput[i] - _dampTarget[i];
if (d > 180.0) {
_dampOutput[i] -= 360.0;
} else if (d < -180.0) {
_dampOutput[i] += 360.0;
}
_dampOutput[i] = (_dampTarget[i] * _dampFactor[i]) +
(_dampOutput[i] * (1.0 - _dampFactor[i]));
} // of axis iteration
dt -= interval;
} // of dt subdivision by interval
}
double
FGViewer::get_h_fov()
{
double aspectRatio = _cameraGroup->getMasterAspectRatio();
switch (_scaling_type) {
case FG_SCALING_WIDTH: // h_fov == fov
return _fov_deg;
case FG_SCALING_MAX:
if (aspectRatio < 1.0) {
// h_fov == fov
return _fov_deg;
} else {
// v_fov == fov
return
atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS)
/ (aspectRatio*_aspect_ratio_multiplier))
* SG_RADIANS_TO_DEGREES * 2;
}
default:
assert(false);
}
return 0.0;
}
double
FGViewer::get_v_fov()
{
double aspectRatio = _cameraGroup->getMasterAspectRatio();
switch (_scaling_type) {
case FG_SCALING_WIDTH: // h_fov == fov
return
atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS)
* (aspectRatio*_aspect_ratio_multiplier))
* SG_RADIANS_TO_DEGREES * 2;
case FG_SCALING_MAX:
if (aspectRatio < 1.0) {
// h_fov == fov
return
atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS)
* (aspectRatio*_aspect_ratio_multiplier))
* SG_RADIANS_TO_DEGREES * 2;
} else {
// v_fov == fov
return _fov_deg;
}
default:
assert(false);
}
return 0.0;
}
void
FGViewer::update (double dt)
{
updateDampOutput(dt);
int i;
int dt_ms = int(dt * 1000);
for ( i = 0; i < dt_ms; i++ ) {
if ( fabs( _goal_heading_offset_deg - _heading_offset_deg) < 1 ) {
setHeadingOffset_deg( _goal_heading_offset_deg );
break;
} else {
// move current_view.headingoffset towards
// current_view.goal_view_offset
if ( _goal_heading_offset_deg > _heading_offset_deg )
{
if ( _goal_heading_offset_deg - _heading_offset_deg < 180 ){
incHeadingOffset_deg( 0.5 );
} else {
incHeadingOffset_deg( -0.5 );
}
} else {
if ( _heading_offset_deg - _goal_heading_offset_deg < 180 ){
incHeadingOffset_deg( -0.5 );
} else {
incHeadingOffset_deg( 0.5 );
}
}
if ( _heading_offset_deg > 360 ) {
incHeadingOffset_deg( -360 );
} else if ( _heading_offset_deg < 0 ) {
incHeadingOffset_deg( 360 );
}
}
}
for ( i = 0; i < dt_ms; i++ ) {
if ( fabs( _goal_pitch_offset_deg - _pitch_offset_deg ) < 1 ) {
setPitchOffset_deg( _goal_pitch_offset_deg );
break;
} else {
// move current_view.pitch_offset_deg towards
// current_view.goal_pitch_offset
if ( _goal_pitch_offset_deg > _pitch_offset_deg )
{
incPitchOffset_deg( 1.0 );
} else {
incPitchOffset_deg( -1.0 );
}
if ( _pitch_offset_deg > 90 ) {
setPitchOffset_deg(90);
} else if ( _pitch_offset_deg < -90 ) {
setPitchOffset_deg( -90 );
}
}
}
for ( i = 0; i < dt_ms; i++ ) {
if ( fabs( _goal_roll_offset_deg - _roll_offset_deg ) < 1 ) {
setRollOffset_deg( _goal_roll_offset_deg );
break;
} else {
// move current_view.roll_offset_deg towards
// current_view.goal_roll_offset
if ( _goal_roll_offset_deg > _roll_offset_deg )
{
incRollOffset_deg( 1.0 );
} else {
incRollOffset_deg( -1.0 );
}
if ( _roll_offset_deg > 90 ) {
setRollOffset_deg(90);
} else if ( _roll_offset_deg < -90 ) {
setRollOffset_deg( -90 );
}
}
}
recalc();
if( fgGetBool( "/sim/rendering/draw-otw", true ) ) {
_cameraGroup->update(toOsg(_absolute_view_pos), toOsg(mViewOrientation));
_cameraGroup->setCameraParameters(get_v_fov(), get_aspect_ratio());
}
}
double FGViewer::get_aspect_ratio() const
{
return _cameraGroup->getMasterAspectRatio();
}