cc26bb7fe7
old routines from SRGP. Steve's plib/sg.h does a nice job of completely replacing this (and since plib is already around) and is a nice clean design so it just makes sense.
96 lines
2.8 KiB
C++
96 lines
2.8 KiB
C++
// This should be ported to plib/sg before you try to compile it. If
|
|
// you do the port please send it to me. :-)
|
|
|
|
#include <Math/mat3.h>
|
|
#include <Include/fg_constants.h>
|
|
|
|
main() {
|
|
MAT3mat R_Phi, R_Theta, R_Psi, R_Lat, R_Lon, T_view;
|
|
MAT3mat TMP, AIRCRAFT, WORLD, EYE_TO_WORLD, WORLD_TO_EYE;
|
|
MAT3hvec vec, eye, vec1;
|
|
|
|
double FG_Phi = 0.00;
|
|
double FG_Theta = 0.00;
|
|
double FG_Psi = 0.00;
|
|
// double FG_Latitude = 33.3528917 * DEG_TO_RAD;
|
|
double FG_Latitude = 0.0;
|
|
// double FG_Longitude = -110.6642444 * DEG_TO_RAD;
|
|
double FG_Longitude = 90.0 * DEG_TO_RAD;
|
|
// double view_pos[] = {2936.3222, 1736.9243, 3689.5359, 1.0};
|
|
double view_pos[] = {0.0, 0.0, 0.0, 1.0};
|
|
|
|
// Roll Matrix
|
|
MAT3_SET_HVEC(vec, 0.0, 0.0, -1.0, 1.0);
|
|
MAT3rotate(R_Phi, vec, FG_Phi);
|
|
printf("Roll matrix (Phi)\n");
|
|
MAT3print(R_Phi, stdout);
|
|
|
|
// Pitch Matrix
|
|
MAT3_SET_HVEC(vec, 1.0, 0.0, 0.0, 1.0);
|
|
MAT3rotate(R_Theta, vec, FG_Theta);
|
|
printf("\nPitch matrix (Theta)\n");
|
|
MAT3print(R_Theta, stdout);
|
|
|
|
// Yaw Matrix
|
|
MAT3_SET_HVEC(vec, 0.0, -1.0, 0.0, 1.0);
|
|
MAT3rotate(R_Psi, vec, FG_PI + FG_Psi);
|
|
printf("\nYaw matrix (Psi)\n");
|
|
MAT3print(R_Psi, stdout);
|
|
|
|
// Latitude
|
|
MAT3_SET_HVEC(vec, 1.0, 0.0, 0.0, 1.0);
|
|
// R_Lat = rotate about X axis
|
|
MAT3rotate(R_Lat, vec, FG_Latitude);
|
|
printf("\nLatitude matrix\n");
|
|
MAT3print(R_Lat, stdout);
|
|
|
|
// Longitude
|
|
MAT3_SET_HVEC(vec, 0.0, 0.0, 1.0, 1.0);
|
|
// R_Lon = rotate about Z axis
|
|
MAT3rotate(R_Lon, vec, FG_Longitude - FG_PI_2 );
|
|
printf("\nLongitude matrix\n");
|
|
MAT3print(R_Lon, stdout);
|
|
|
|
// View position in scenery centered coordinates
|
|
MAT3translate(T_view, view_pos);
|
|
printf("\nTranslation matrix\n");
|
|
MAT3print(T_view, stdout);
|
|
|
|
// aircraft roll/pitch/yaw
|
|
MAT3mult(TMP, R_Phi, R_Theta);
|
|
MAT3mult(AIRCRAFT, TMP, R_Psi);
|
|
printf("\naircraft roll pitch yaw\n");
|
|
MAT3print(AIRCRAFT, stdout);
|
|
|
|
// lon/lat
|
|
MAT3mult(WORLD, R_Lat, R_Lon);
|
|
printf("\nworld\n");
|
|
MAT3print(WORLD, stdout);
|
|
|
|
MAT3mult(EYE_TO_WORLD, AIRCRAFT, WORLD);
|
|
MAT3mult(EYE_TO_WORLD, EYE_TO_WORLD, T_view);
|
|
printf("\nEye to world\n");
|
|
MAT3print(EYE_TO_WORLD, stdout);
|
|
|
|
MAT3invert(WORLD_TO_EYE, EYE_TO_WORLD);
|
|
printf("\nWorld to eye\n");
|
|
MAT3print(WORLD_TO_EYE, stdout);
|
|
|
|
MAT3_SET_HVEC(eye, 0.0, 0.0, 0.0, 1.0);
|
|
MAT3mult_vec(vec, eye, EYE_TO_WORLD);
|
|
printf("\neye -> world = %.2f %.2f %.2f\n", vec[0], vec[1], vec[2]);
|
|
|
|
MAT3_SET_HVEC(vec1, 0.0, 6378138.12, 0.0, 1.0);
|
|
MAT3mult_vec(vec, vec1, EYE_TO_WORLD);
|
|
printf( "\n+y (eye) -> +y (world) = %.2f %.2f %.2f\n",
|
|
vec[0], vec[1], vec[2]);
|
|
|
|
MAT3mult_vec(vec1, vec, WORLD_TO_EYE);
|
|
printf( "\n+y (world) -> +y (eye) = %.2f %.2f %.2f\n",
|
|
vec1[0], vec1[1], vec1[2]);
|
|
}
|
|
|
|
|
|
|
|
|
|
|