// 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 - curt@flightgear.org
//
// 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., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id$
#include <simgear/compiler.h>
#include "fg_props.hxx"
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <simgear/debug/logstream.hxx>
#include <simgear/constants.h>
#include <simgear/math/point3d.hxx>
#include <simgear/math/polar3d.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/scene/model/location.hxx>
#include <simgear/math/vector.hxx>
#include <Main/globals.hxx>
#include <Scenery/scenery.hxx>
#include <Model/acmodel.hxx>
#include <Model/placement.hxx>
#include "viewer.hxx"
//////////////////////////////////////////////////////////////////
// Norman's Optimized matrix rotators! //
//////////////////////////////////////////////////////////////////
// Since these are pure rotation matrices we can save some bookwork
// by considering them to be 3x3 until the very end -- NHV
static void MakeVIEW_OFFSET( sgMat4 dst,
const float angle1, const sgVec3 axis1,
const float angle2, const sgVec3 axis2 )
{
// make rotmatrix1 from angle and axis
float s = (float) sin ( angle1 ) ;
float c = (float) cos ( angle1 ) ;
float t = SG_ONE - c ;
sgMat3 mat1;
float tmp = t * axis1[0];
mat1[0][0] = tmp * axis1[0] + c ;
mat1[0][1] = tmp * axis1[1] + s * axis1[2] ;
mat1[0][2] = tmp * axis1[2] - s * axis1[1] ;
tmp = t * axis1[1];
mat1[1][0] = tmp * axis1[0] - s * axis1[2] ;
mat1[1][1] = tmp * axis1[1] + c ;
mat1[1][2] = tmp * axis1[2] + s * axis1[0] ;
tmp = t * axis1[2];
mat1[2][0] = tmp * axis1[0] + s * axis1[1] ;
mat1[2][1] = tmp * axis1[1] - s * axis1[0] ;
mat1[2][2] = tmp * axis1[2] + c ;
// make rotmatrix2 from angle and axis
s = (float) sin ( angle2 ) ;
c = (float) cos ( angle2 ) ;
t = SG_ONE - c ;
sgMat3 mat2;
tmp = t * axis2[0];
mat2[0][0] = tmp * axis2[0] + c ;
mat2[0][1] = tmp * axis2[1] + s * axis2[2] ;
mat2[0][2] = tmp * axis2[2] - s * axis2[1] ;
tmp = t * axis2[1];
mat2[1][0] = tmp * axis2[0] - s * axis2[2] ;
mat2[1][1] = tmp * axis2[1] + c ;
mat2[1][2] = tmp * axis2[2] + s * axis2[0] ;
tmp = t * axis2[2];
mat2[2][0] = tmp * axis2[0] + s * axis2[1] ;
mat2[2][1] = tmp * axis2[1] - s * axis2[0] ;
mat2[2][2] = tmp * axis2[2] + c ;
// multiply matrices
for ( int j = 0 ; j < 3 ; j++ ) {
dst[0][j] = mat2[0][0] * mat1[0][j] +
mat2[0][1] * mat1[1][j] +
mat2[0][2] * mat1[2][j];
dst[1][j] = mat2[1][0] * mat1[0][j] +
mat2[1][1] * mat1[1][j] +
mat2[1][2] * mat1[2][j];
dst[2][j] = mat2[2][0] * mat1[0][j] +
mat2[2][1] * mat1[1][j] +
mat2[2][2] * mat1[2][j];
}
// fill in 4x4 matrix elements
dst[0][3] = SG_ZERO;
dst[1][3] = SG_ZERO;
dst[2][3] = SG_ZERO;
dst[3][0] = SG_ZERO;
dst[3][1] = SG_ZERO;
dst[3][2] = SG_ZERO;
dst[3][3] = SG_ONE;
}
////////////////////////////////////////////////////////////////////////
// Implementation of FGViewer.
////////////////////////////////////////////////////////////////////////
// Constructor...
FGViewer::FGViewer( fgViewType Type, bool from_model, int from_model_index,
bool at_model, int at_model_index,
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 target_x_offset_m, double target_y_offset_m,
double target_z_offset_m, double near_m ):
_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),
_scaling_type(FG_SCALING_MAX)
{
sgdZeroVec3(_absolute_view_pos);
_type = Type;
_from_model = from_model;
_from_model_index = from_model_index;
_at_model = at_model;
_at_model_index = at_model_index;
_x_offset_m = x_offset_m;
_y_offset_m = y_offset_m;
_z_offset_m = 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;
}
_target_x_offset_m = target_x_offset_m;
_target_y_offset_m = target_y_offset_m;
_target_z_offset_m = 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 ()
{
if ( _from_model )
_location = (FGLocation *) globals->get_aircraft_model()->get3DModel()->getFGLocation();
else
_location = (FGLocation *) new FGLocation;
if ( _type == FG_LOOKAT ) {
if ( _at_model )
_target_location = (FGLocation *) globals->get_aircraft_model()->get3DModel()->getFGLocation();
else
_target_location = (FGLocation *) new FGLocation;
}
}
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::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;
_x_offset_m = x_offset_m;
}
void
FGViewer::setYOffset_m (double y_offset_m)
{
_dirty = true;
_y_offset_m = y_offset_m;
}
void
FGViewer::setZOffset_m (double z_offset_m)
{
_dirty = true;
_z_offset_m = z_offset_m;
}
void
FGViewer::setTargetXOffset_m (double target_x_offset_m)
{
_dirty = true;
_target_x_offset_m = target_x_offset_m;
}
void
FGViewer::setTargetYOffset_m (double target_y_offset_m)
{
_dirty = true;
_target_y_offset_m = target_y_offset_m;
}
void
FGViewer::setTargetZOffset_m (double target_z_offset_m)
{
_dirty = true;
_target_z_offset_m = target_z_offset_m;
}
void
FGViewer::setPositionOffsets (double x_offset_m, double y_offset_m, double z_offset_m)
{
_dirty = true;
_x_offset_m = x_offset_m;
_y_offset_m = y_offset_m;
_z_offset_m = 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;
}
double *
FGViewer::get_absolute_view_pos ()
{
if (_dirty)
recalc();
return _absolute_view_pos;
}
float *
FGViewer::getRelativeViewPos ()
{
if (_dirty)
recalc();
return _relative_view_pos;
}
float *
FGViewer::getZeroElevViewPos ()
{
if (_dirty)
recalc();
return _zero_elev_view_pos;
}
void
FGViewer::updateFromModelLocation (FGLocation * location)
{
sgCopyMat4(LOCAL, location->getCachedTransformMatrix());
}
void
FGViewer::updateAtModelLocation (FGLocation * location)
{
sgCopyMat4(ATLOCAL,
location->getCachedTransformMatrix());
}
void
FGViewer::recalcOurOwnLocation (FGLocation * location, double lon_deg, double lat_deg, double alt_ft,
double roll_deg, double pitch_deg, double heading_deg)
{
// update from our own data...
location->setPosition( lon_deg, lat_deg, alt_ft );
location->setOrientation( roll_deg, pitch_deg, heading_deg );
sgCopyMat4(LOCAL,
location->getTransformMatrix(globals->get_scenery()->get_center()));
}
// 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 ()
{
sgVec3 right, forward;
// sgVec3 eye_pos;
sgVec3 position_offset; // eye position offsets (xyz)
// LOOKFROM mode...
// Update location data...
if ( _from_model ) {
// update or data from model location
updateFromModelLocation(_location);
} else {
// update from our own data...
recalcOurOwnLocation( _location, _lon_deg, _lat_deg, _alt_ft,
_roll_deg, _pitch_deg, _heading_deg );
}
// copy data from location class to local items...
copyLocationData();
// make sg vectors view up, right and forward vectors from LOCAL
sgSetVec3( _view_up, LOCAL[2][0], LOCAL[2][1], LOCAL[2][2] );
sgSetVec3( right, LOCAL[1][0], LOCAL[1][1], LOCAL[1][2] );
sgSetVec3( forward, -LOCAL[0][0], -LOCAL[0][1], -LOCAL[0][2] );
// Note that when in "lookfrom" view the "view up" vector is always applied
// to the viewer. View up is based on verticle of the aircraft itself. (see
// "LOCAL" matrix above)
// Orientation Offsets matrix
MakeVIEW_OFFSET( VIEW_OFFSET,
_heading_offset_deg * SG_DEGREES_TO_RADIANS, _view_up,
_pitch_offset_deg * SG_DEGREES_TO_RADIANS, right );
// Make the VIEW matrix.
sgSetVec4(VIEW[0], right[0], right[1], right[2],SG_ZERO);
sgSetVec4(VIEW[1], forward[0], forward[1], forward[2],SG_ZERO);
sgSetVec4(VIEW[2], _view_up[0], _view_up[1], _view_up[2],SG_ZERO);
sgSetVec4(VIEW[3], SG_ZERO, SG_ZERO, SG_ZERO,SG_ONE);
// rotate model or local matrix to get a matrix to apply Eye Position Offsets
sgMat4 VIEW_UP; // L0 forward L1 right L2 up
sgCopyVec4(VIEW_UP[0], LOCAL[1]);
sgCopyVec4(VIEW_UP[1], LOCAL[2]);
sgCopyVec4(VIEW_UP[2], LOCAL[0]);
sgZeroVec4(VIEW_UP[3]);
// Eye Position Offsets to vector
sgSetVec3( position_offset, _x_offset_m, _y_offset_m, _z_offset_m );
sgXformVec3( position_offset, position_offset, VIEW_UP);
// add the offsets including rotations to the translation vector
sgAddVec3( _view_pos, position_offset );
// multiply the OFFSETS (for heading and pitch) into the VIEW
sgPostMultMat4(VIEW, VIEW_OFFSET);
// add the position data to the matrix
sgSetVec4(VIEW[3], _view_pos[0], _view_pos[1], _view_pos[2],SG_ONE);
}
void
FGViewer::recalcLookAt ()
{
sgVec3 right;
sgVec3 eye_pos, at_pos;
sgVec3 position_offset; // eye position offsets (xyz)
sgVec3 target_position_offset; // target position offsets (xyz)
// The position vectors originate from the view point or target location
// depending on the type of view.
// LOOKAT mode...
// Update location data for target...
if ( _at_model ) {
// update or data from model location
updateAtModelLocation(_target_location);
} else {
// if not model then calculate our own target position...
recalcOurOwnLocation( _target_location, _target_lon_deg, _target_lat_deg, _target_alt_ft,
_target_roll_deg, _target_pitch_deg, _target_heading_deg );
}
// calculate the "at" target object positon relative to eye or view's tile center...
sgdVec3 dVec3;
sgdSetVec3(dVec3, _location->get_tile_center()[0], _location->get_tile_center()[1], _location->get_tile_center()[2]);
sgdSubVec3(dVec3,
_target_location->get_absolute_view_pos(globals->get_scenery()->get_center()),
dVec3 );
sgSetVec3(at_pos, dVec3[0], dVec3[1], dVec3[2]);
// Update location data for eye...
if ( _from_model ) {
// update or data from model location
updateFromModelLocation(_location);
} else {
// update from our own data, just the rotation here...
recalcOurOwnLocation( _location, _lon_deg, _lat_deg, _alt_ft,
_roll_deg, _pitch_deg, _heading_deg );
}
// save the eye positon...
sgCopyVec3(eye_pos, _location->get_view_pos());
// copy data from location class to local items...
copyLocationData();
// make sg vectors view up, right and forward vectors from LOCAL
sgSetVec3( _view_up, LOCAL[2][0], LOCAL[2][1], LOCAL[2][2] );
sgSetVec3( right, LOCAL[1][0], LOCAL[1][1], LOCAL[1][2] );
// rotate model or local matrix to get a matrix to apply Eye Position Offsets
sgMat4 VIEW_UP; // L0 forward L1 right L2 up
sgCopyVec4(VIEW_UP[0], LOCAL[1]);
sgCopyVec4(VIEW_UP[1], LOCAL[2]);
sgCopyVec4(VIEW_UP[2], LOCAL[0]);
sgZeroVec4(VIEW_UP[3]);
// get Orientation Offsets matrix
MakeVIEW_OFFSET( VIEW_OFFSET,
(_heading_offset_deg - 180) * SG_DEGREES_TO_RADIANS, _view_up,
_pitch_offset_deg * SG_DEGREES_TO_RADIANS, right );
// add in the position offsets
sgSetVec3( position_offset, _y_offset_m, _x_offset_m, _z_offset_m );
sgXformVec3( position_offset, position_offset, VIEW_UP);
// apply the Orientation offsets
sgXformVec3( position_offset, position_offset, VIEW_OFFSET );
// add the Position offsets from object to the eye position
sgAddVec3( eye_pos, eye_pos, position_offset );
// add target offsets to at_position...
sgSetVec3(target_position_offset, _target_z_offset_m, _target_x_offset_m,
_target_y_offset_m );
sgXformVec3(target_position_offset, target_position_offset, ATLOCAL);
sgAddVec3( at_pos, at_pos, target_position_offset);
sgAddVec3( eye_pos, eye_pos, target_position_offset);
// Make the VIEW matrix for a "LOOKAT".
sgMakeLookAtMat4( VIEW, eye_pos, at_pos, _view_up );
}
// copy results from location class to viewer...
// FIXME: some of these should be changed to reference directly to FGLocation...
void
FGViewer::copyLocationData()
{
// Get our friendly vectors from the eye location...
sgCopyVec3(_zero_elev_view_pos, _location->get_zero_elev());
sgCopyVec3(_relative_view_pos, _location->get_view_pos());
sgdCopyVec3(_absolute_view_pos,
_location->get_absolute_view_pos(globals->get_scenery()->get_center()));
sgCopyMat4(UP, _location->getCachedUpMatrix());
sgCopyVec3(_world_up, _location->get_world_up());
// these are the vectors that the sun and moon code like to get...
sgCopyVec3(_surface_east, _location->get_surface_east());
sgCopyVec3(_surface_south, _location->get_surface_south());
// Update viewer's postion data for the eye location...
_lon_deg = _location->getLongitude_deg();
_lat_deg = _location->getLatitude_deg();
_alt_ft = _location->getAltitudeASL_ft();
_roll_deg = _location->getRoll_deg();
_pitch_deg = _location->getPitch_deg();
_heading_deg = _location->getHeading_deg();
// Update viewer's postion data for the target (at object) location
if (_type == FG_LOOKAT) {
_target_lon_deg = _target_location->getLongitude_deg();
_target_lat_deg = _target_location->getLatitude_deg();
_target_alt_ft = _target_location->getAltitudeASL_ft();
_target_roll_deg = _target_location->getRoll_deg();
_target_pitch_deg = _target_location->getPitch_deg();
_target_heading_deg = _target_location->getHeading_deg();
}
// copy coordinates to outputs for viewer...
sgCopyVec3(_zero_elev, _zero_elev_view_pos);
sgCopyVec3(_view_pos, _relative_view_pos);
}
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) *
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) *
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) *
SG_RADIANS_TO_DEGREES * 2;
} else {
// v_fov == fov
return _fov_deg;
}
default:
assert(false);
}
return 0.0;
}
void
FGViewer::update (double 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 );
}
}
}
}