// 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 #include "fg_props.hxx" #ifdef HAVE_CONFIG_H # include #endif #include #include #include #include #include #include #include
#include #include #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), _lon_deg(0), _lat_deg(0), _alt_ft(0), _target_lon_deg(0), _target_lat_deg(0), _target_alt_ft(0), _roll_deg(0), _pitch_deg(0), _heading_deg(0), _damp_sync(0), _damp_roll(0), _damp_pitch(0), _damp_heading(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; if (damp_roll > 0.0) _damp_roll = 1.0 / pow(10.0, fabs(damp_roll)); if (damp_pitch > 0.0) _damp_pitch = 1.0 / pow(10.0, fabs(damp_pitch)); if (damp_heading > 0.0) _damp_heading = 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::setLongitude_deg (double lon_deg) { _dirty = true; _lon_deg = lon_deg; } void FGViewer::setLatitude_deg (double lat_deg) { _dirty = true; _lat_deg = lat_deg; } void FGViewer::setAltitude_ft (double alt_ft) { _dirty = true; _alt_ft = alt_ft; } void FGViewer::setPosition (double lon_deg, double lat_deg, double alt_ft) { _dirty = true; _lon_deg = lon_deg; _lat_deg = lat_deg; _alt_ft = alt_ft; } void FGViewer::setTargetLongitude_deg (double lon_deg) { _dirty = true; _target_lon_deg = lon_deg; } void FGViewer::setTargetLatitude_deg (double lat_deg) { _dirty = true; _target_lat_deg = lat_deg; } void FGViewer::setTargetAltitude_ft (double alt_ft) { _dirty = true; _target_alt_ft = alt_ft; } void FGViewer::setTargetPosition (double lon_deg, double lat_deg, double alt_ft) { _dirty = true; _target_lon_deg = lon_deg; _target_lat_deg = lat_deg; _target_alt_ft = 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; _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; _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 ... double lat, lon, alt, head, pitch, roll; if ( _from_model ) { SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel(); lat = placement->getLatitudeDeg(); lon = placement->getLongitudeDeg(); alt = placement->getElevationFt(); head = placement->getHeadingDeg(); pitch = placement->getPitchDeg(); roll = placement->getRollDeg(); } else { lat = _lat_deg; lon = _lon_deg; alt = _alt_ft; head = _heading_deg; pitch = _pitch_deg; roll = _roll_deg; } if ( !_from_model ) { // update from our own data... dampEyeData(roll, pitch, head); } // The geodetic position of our base view position SGGeod geodPos = SGGeod::fromDegFt(lon, lat, alt); // The rotation rotating from the earth centerd frame to // the horizontal local OpenGL frame SGQuatd hlOr = SGQuatd::viewHL(geodPos); // the rotation from the horizontal local frame to the basic view orientation SGQuatd hlToBody = SGQuatd::fromYawPitchRollDeg(head, pitch, roll); hlToBody = SGQuatd::simToView(hlToBody); // The cartesian position of the basic view coordinate SGVec3d position = SGVec3d::fromGeod(geodPos); // the rotation offset, don't know why heading is negative here ... SGQuatd viewOffsetOr = SGQuatd::simToView( 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; _absolute_view_pos = position + ec2body.backTransform(_offset_m); mViewOrientation = ec2body*viewOffsetOr; } void FGViewer::recalcLookAt () { // The geodetic position of our target to look at SGGeod geodTargetPos; SGQuatd geodTargetOr; if ( _at_model ) { SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel(); double lat = placement->getLatitudeDeg(); double lon = placement->getLongitudeDeg(); double alt = placement->getElevationFt(); geodTargetPos = SGGeod::fromDegFt(lon, lat, alt); double head = placement->getHeadingDeg(); double pitch = placement->getPitchDeg(); double roll = placement->getRollDeg(); geodTargetOr = SGQuatd::fromYawPitchRollDeg(head, pitch, roll); } else { dampEyeData(_target_roll_deg, _target_pitch_deg, _target_heading_deg); // if not model then calculate our own target position... geodTargetPos = SGGeod::fromDegFt(_target_lon_deg, _target_lat_deg, _target_alt_ft); geodTargetOr = SGQuatd::fromYawPitchRollDeg(_target_heading_deg, _target_pitch_deg, _target_roll_deg); } SGQuatd geodTargetHlOr = SGQuatd::fromLonLat(geodTargetPos); SGGeod geodEyePos; SGQuatd geodEyeOr; if ( _from_model ) { SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel(); double lat = placement->getLatitudeDeg(); double lon = placement->getLongitudeDeg(); double alt = placement->getElevationFt(); geodEyePos = SGGeod::fromDegFt(lon, lat, alt); double head = placement->getHeadingDeg(); double pitch = placement->getPitchDeg(); double roll = placement->getRollDeg(); geodEyeOr = SGQuatd::fromYawPitchRollDeg(head, pitch, roll); } else { dampEyeData(_roll_deg, _pitch_deg, _heading_deg); // update from our own data, just the rotation here... geodEyePos = SGGeod::fromDegFt(_lon_deg, _lat_deg, _alt_ft); geodEyeOr = SGQuatd::fromYawPitchRollDeg(_heading_deg, _pitch_deg, _roll_deg); } SGQuatd geodEyeHlOr = SGQuatd::fromLonLat(geodEyePos); // the rotation offset, don't know why heading is negative here ... SGQuatd eyeOffsetOr = 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(geodEyePos); eyeCart += (ec2eye*eyeOffsetOr).backTransform(eyeOff); SGVec3d atCart = SGVec3d::fromGeod(geodTargetPos); // 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 0-th unit vector // rotate up to 2-th unit vector mViewOrientation = SGQuatd::fromRotateTo(-dir, 2, up, 1); } void FGViewer::dampEyeData(double &roll_deg, double &pitch_deg, double &heading_deg) { const double interval = 0.01; static FGViewer *last_view = 0; if (last_view != this) { _damp_sync = 0.0; _damped_roll_deg = roll_deg; _damped_pitch_deg = pitch_deg; _damped_heading_deg = heading_deg; last_view = this; return; } if (_damp_sync < interval) { if (_damp_roll > 0.0) roll_deg = _damped_roll_deg; if (_damp_pitch > 0.0) pitch_deg = _damped_pitch_deg; if (_damp_heading > 0.0) heading_deg = _damped_heading_deg; return; } while (_damp_sync >= interval) { _damp_sync -= interval; double d; if (_damp_roll > 0.0) { d = _damped_roll_deg - roll_deg; if (d >= 180.0) _damped_roll_deg -= 360.0; else if (d < -180.0) _damped_roll_deg += 360.0; roll_deg = _damped_roll_deg = roll_deg * _damp_roll + _damped_roll_deg * (1 - _damp_roll); } if (_damp_pitch > 0.0) { d = _damped_pitch_deg - pitch_deg; if (d >= 180.0) _damped_pitch_deg -= 360.0; else if (d < -180.0) _damped_pitch_deg += 360.0; pitch_deg = _damped_pitch_deg = pitch_deg * _damp_pitch + _damped_pitch_deg * (1 - _damp_pitch); } if (_damp_heading > 0.0) { d = _damped_heading_deg - heading_deg; if (d >= 180.0) _damped_heading_deg -= 360.0; else if (d < -180.0) _damped_heading_deg += 360.0; heading_deg = _damped_heading_deg = heading_deg * _damp_heading + _damped_heading_deg * (1 - _damp_heading); } } } double FGViewer::get_h_fov() { switch (_scaling_type) { case FG_SCALING_WIDTH: // h_fov == fov return _fov_deg; case FG_SCALING_MAX: if (_aspect_ratio < 1.0) { // h_fov == fov return _fov_deg; } else { // v_fov == fov return atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) / (_aspect_ratio*_aspect_ratio_multiplier)) * SG_RADIANS_TO_DEGREES * 2; } default: assert(false); } return 0.0; } double FGViewer::get_v_fov() { switch (_scaling_type) { case FG_SCALING_WIDTH: // h_fov == fov return atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) * (_aspect_ratio*_aspect_ratio_multiplier)) * SG_RADIANS_TO_DEGREES * 2; case FG_SCALING_MAX: if (_aspect_ratio < 1.0) { // h_fov == fov return atan(tan(_fov_deg/2 * SG_DEGREES_TO_RADIANS) * (_aspect_ratio*_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) { _damp_sync += 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(); _cameraGroup->update(_absolute_view_pos.osg(), mViewOrientation.osg()); _cameraGroup->setCameraParameters(get_v_fov(), get_aspect_ratio()); }