749 lines
19 KiB
C++
749 lines
19 KiB
C++
// viewer.cxx -- class for managing a viewer in the flightgear world.
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//
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// Written by Curtis Olson, started August 1997.
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// overhaul started October 2000.
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// partially rewritten by Jim Wilson jim@kelcomaine.com using interface
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// by David Megginson March 2002
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//
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// Copyright (C) 1997 - 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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#include "fg_props.hxx"
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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 <simgear/debug/logstream.hxx>
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#include <simgear/constants.h>
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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/sg_geodesy.hxx>
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#include <Scenery/scenery.hxx>
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#include <simgear/math/vector.hxx>
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#include <Main/globals.hxx>
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#include <Model/acmodel.hxx>
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#include <Model/model.hxx>
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#include "viewer.hxx"
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//////////////////////////////////////////////////////////////////
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// Norman's Optimized matrix rotators! //
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//////////////////////////////////////////////////////////////////
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// Since these are pure rotation matrices we can save some bookwork
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// by considering them to be 3x3 until the very end -- NHV
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static void MakeVIEW_OFFSET( sgMat4 dst,
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const float angle1, const sgVec3 axis1,
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const float angle2, const sgVec3 axis2 )
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{
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// make rotmatrix1 from angle and axis
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float s = (float) sin ( angle1 ) ;
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float c = (float) cos ( angle1 ) ;
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float t = SG_ONE - c ;
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sgMat3 mat1;
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float tmp = t * axis1[0];
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mat1[0][0] = tmp * axis1[0] + c ;
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mat1[0][1] = tmp * axis1[1] + s * axis1[2] ;
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mat1[0][2] = tmp * axis1[2] - s * axis1[1] ;
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tmp = t * axis1[1];
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mat1[1][0] = tmp * axis1[0] - s * axis1[2] ;
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mat1[1][1] = tmp * axis1[1] + c ;
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mat1[1][2] = tmp * axis1[2] + s * axis1[0] ;
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tmp = t * axis1[2];
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mat1[2][0] = tmp * axis1[0] + s * axis1[1] ;
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mat1[2][1] = tmp * axis1[1] - s * axis1[0] ;
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mat1[2][2] = tmp * axis1[2] + c ;
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// make rotmatrix2 from angle and axis
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s = (float) sin ( angle2 ) ;
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c = (float) cos ( angle2 ) ;
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t = SG_ONE - c ;
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sgMat3 mat2;
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tmp = t * axis2[0];
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mat2[0][0] = tmp * axis2[0] + c ;
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mat2[0][1] = tmp * axis2[1] + s * axis2[2] ;
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mat2[0][2] = tmp * axis2[2] - s * axis2[1] ;
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tmp = t * axis2[1];
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mat2[1][0] = tmp * axis2[0] - s * axis2[2] ;
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mat2[1][1] = tmp * axis2[1] + c ;
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mat2[1][2] = tmp * axis2[2] + s * axis2[0] ;
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tmp = t * axis2[2];
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mat2[2][0] = tmp * axis2[0] + s * axis2[1] ;
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mat2[2][1] = tmp * axis2[1] - s * axis2[0] ;
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mat2[2][2] = tmp * axis2[2] + c ;
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// multiply matrices
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for ( int j = 0 ; j < 3 ; j++ ) {
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dst[0][j] = mat2[0][0] * mat1[0][j] +
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mat2[0][1] * mat1[1][j] +
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mat2[0][2] * mat1[2][j];
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dst[1][j] = mat2[1][0] * mat1[0][j] +
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mat2[1][1] * mat1[1][j] +
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mat2[1][2] * mat1[2][j];
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dst[2][j] = mat2[2][0] * mat1[0][j] +
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mat2[2][1] * mat1[1][j] +
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mat2[2][2] * mat1[2][j];
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}
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// fill in 4x4 matrix elements
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dst[0][3] = SG_ZERO;
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dst[1][3] = SG_ZERO;
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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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////////////////////////////////////////////////////////////////////////
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// Implementation of FGViewer.
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////////////////////////////////////////////////////////////////////////
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// Constructor
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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 near_m ):
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_dirty(true),
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_lon_deg(0),
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_lat_deg(0),
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_alt_ft(0),
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_target_lon_deg(0),
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_target_lat_deg(0),
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_target_alt_ft(0),
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_roll_deg(0),
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_pitch_deg(0),
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_heading_deg(0),
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_roll_offset_deg(0),
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_pitch_offset_deg(0),
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_heading_offset_deg(0),
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_goal_pitch_offset_deg(0.0),
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_goal_heading_offset_deg(0.0),
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_scaling_type(FG_SCALING_MAX),
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_fov_deg(55.0)
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{
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sgdZeroVec3(_absolute_view_pos);
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_type = Type;
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_from_model = from_model;
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_from_model_index = from_model_index;
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_at_model = at_model;
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_at_model_index = at_model_index;
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_x_offset_m = x_offset_m;
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_y_offset_m = y_offset_m;
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_z_offset_m = z_offset_m;
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_ground_level_nearplane_m = near_m;
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//a reasonable guess for init, so that the math doesn't blow up
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}
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// Destructor
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FGViewer::~FGViewer( void ) {
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}
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void
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FGViewer::init ()
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{
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if ( _from_model )
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_location = (FGLocation *) globals->get_aircraft_model()->get3DModel()->getFGLocation();
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else
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_location = (FGLocation *) new FGLocation;
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if ( _type == FG_LOOKAT ) {
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if ( _at_model )
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_target_location = (FGLocation *) globals->get_aircraft_model()->get3DModel()->getFGLocation();
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else
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_target_location = (FGLocation *) new FGLocation;
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}
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}
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void
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FGViewer::bind ()
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{
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}
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void
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FGViewer::unbind ()
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{
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}
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void
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FGViewer::setType ( int type )
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{
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if (type == 0)
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_type = FG_LOOKFROM;
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if (type == 1)
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_type = FG_LOOKAT;
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}
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void
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FGViewer::setLongitude_deg (double lon_deg)
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{
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_dirty = true;
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_lon_deg = lon_deg;
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}
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void
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FGViewer::setLatitude_deg (double lat_deg)
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{
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_dirty = true;
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_lat_deg = lat_deg;
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}
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void
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FGViewer::setAltitude_ft (double alt_ft)
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{
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_dirty = true;
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_alt_ft = alt_ft;
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}
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void
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FGViewer::setPosition (double lon_deg, double lat_deg, double alt_ft)
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{
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_dirty = true;
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_lon_deg = lon_deg;
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_lat_deg = lat_deg;
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_alt_ft = alt_ft;
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}
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void
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FGViewer::setTargetLongitude_deg (double lon_deg)
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{
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_dirty = true;
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_target_lon_deg = lon_deg;
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}
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void
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FGViewer::setTargetLatitude_deg (double lat_deg)
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{
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_dirty = true;
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_target_lat_deg = lat_deg;
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}
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void
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FGViewer::setTargetAltitude_ft (double alt_ft)
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{
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_dirty = true;
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_target_alt_ft = alt_ft;
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}
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void
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FGViewer::setTargetPosition (double lon_deg, double lat_deg, double alt_ft)
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{
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_dirty = true;
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_target_lon_deg = lon_deg;
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_target_lat_deg = lat_deg;
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_target_alt_ft = alt_ft;
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}
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void
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FGViewer::setRoll_deg (double roll_deg)
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{
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_dirty = true;
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_roll_deg = roll_deg;
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}
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void
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FGViewer::setPitch_deg (double pitch_deg)
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{
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_dirty = true;
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_pitch_deg = pitch_deg;
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}
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void
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FGViewer::setHeading_deg (double heading_deg)
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{
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_dirty = true;
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_heading_deg = heading_deg;
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}
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void
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FGViewer::setOrientation (double roll_deg, double pitch_deg, double heading_deg)
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{
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_dirty = true;
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_roll_deg = roll_deg;
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_pitch_deg = pitch_deg;
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_heading_deg = heading_deg;
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}
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void
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FGViewer::setTargetRoll_deg (double target_roll_deg)
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{
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_dirty = true;
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_target_roll_deg = target_roll_deg;
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}
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void
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FGViewer::setTargetPitch_deg (double target_pitch_deg)
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{
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_dirty = true;
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_target_pitch_deg = target_pitch_deg;
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}
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void
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FGViewer::setTargetHeading_deg (double target_heading_deg)
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{
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_dirty = true;
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_target_heading_deg = target_heading_deg;
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}
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void
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FGViewer::setTargetOrientation (double target_roll_deg, double target_pitch_deg, double target_heading_deg)
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{
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_dirty = true;
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_target_roll_deg = target_roll_deg;
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_target_pitch_deg = target_pitch_deg;
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_target_heading_deg = target_heading_deg;
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}
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void
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FGViewer::setXOffset_m (double x_offset_m)
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{
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_dirty = true;
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_x_offset_m = x_offset_m;
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}
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void
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FGViewer::setYOffset_m (double y_offset_m)
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{
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_dirty = true;
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_y_offset_m = y_offset_m;
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}
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void
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FGViewer::setZOffset_m (double z_offset_m)
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{
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_dirty = true;
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_z_offset_m = z_offset_m;
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}
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void
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FGViewer::setPositionOffsets (double x_offset_m, double y_offset_m, double z_offset_m)
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{
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_dirty = true;
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_x_offset_m = x_offset_m;
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_y_offset_m = y_offset_m;
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_z_offset_m = z_offset_m;
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}
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void
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FGViewer::setRollOffset_deg (double roll_offset_deg)
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{
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_dirty = true;
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_roll_offset_deg = roll_offset_deg;
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}
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void
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FGViewer::setPitchOffset_deg (double pitch_offset_deg)
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{
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_dirty = true;
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_pitch_offset_deg = pitch_offset_deg;
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}
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void
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FGViewer::setHeadingOffset_deg (double heading_offset_deg)
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{
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_dirty = true;
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_heading_offset_deg = heading_offset_deg;
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}
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void
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FGViewer::setGoalRollOffset_deg (double goal_roll_offset_deg)
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{
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_dirty = true;
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_goal_roll_offset_deg = goal_roll_offset_deg;
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}
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void
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FGViewer::setGoalPitchOffset_deg (double goal_pitch_offset_deg)
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{
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_dirty = true;
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_goal_pitch_offset_deg = goal_pitch_offset_deg;
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if ( _goal_pitch_offset_deg < -90 ) {
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_goal_pitch_offset_deg = -90.0;
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}
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if ( _goal_pitch_offset_deg > 90.0 ) {
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_goal_pitch_offset_deg = 90.0;
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}
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}
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void
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FGViewer::setGoalHeadingOffset_deg (double goal_heading_offset_deg)
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{
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_dirty = true;
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_goal_heading_offset_deg = goal_heading_offset_deg;
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while ( _goal_heading_offset_deg < 0.0 ) {
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_goal_heading_offset_deg += 360;
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}
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while ( _goal_heading_offset_deg > 360 ) {
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_goal_heading_offset_deg -= 360;
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}
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}
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void
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FGViewer::setOrientationOffsets (double roll_offset_deg, double pitch_offset_deg, double heading_offset_deg)
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{
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_dirty = true;
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_roll_offset_deg = roll_offset_deg;
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_pitch_offset_deg = pitch_offset_deg;
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_heading_offset_deg = heading_offset_deg;
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}
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double *
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FGViewer::get_absolute_view_pos ()
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{
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if (_dirty)
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recalc();
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return _absolute_view_pos;
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}
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float *
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FGViewer::getRelativeViewPos ()
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{
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if (_dirty)
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recalc();
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return _relative_view_pos;
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}
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float *
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FGViewer::getZeroElevViewPos ()
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{
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if (_dirty)
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recalc();
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return _zero_elev_view_pos;
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}
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void
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FGViewer::updateFromModelLocation (FGLocation * location)
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{
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sgCopyMat4(LOCAL, location->getCachedTransformMatrix());
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}
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void
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FGViewer::recalcOurOwnLocation (FGLocation * location, double lon_deg, double lat_deg, double alt_ft,
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double roll_deg, double pitch_deg, double heading_deg)
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{
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// update from our own data...
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location->setPosition( lon_deg, lat_deg, alt_ft );
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location->setOrientation( roll_deg, pitch_deg, heading_deg );
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sgCopyMat4(LOCAL, location->getTransformMatrix());
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}
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// recalc() is done every time one of the setters is called (making the
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// cached data "dirty") on the next "get". It calculates all the outputs
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// for viewer.
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void
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FGViewer::recalc ()
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{
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if (_type == FG_LOOKFROM) {
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recalcLookFrom();
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} else {
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recalcLookAt();
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}
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set_clean();
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}
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// recalculate for LookFrom view type...
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void
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FGViewer::recalcLookFrom ()
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{
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sgVec3 right, forward;
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sgVec3 eye_pos;
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sgVec3 position_offset; // eye position offsets (xyz)
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// LOOKFROM mode...
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// Update location data...
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if ( _from_model ) {
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// update or data from model location
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updateFromModelLocation(_location);
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} else {
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// update from our own data...
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recalcOurOwnLocation( _location, _lon_deg, _lat_deg, _alt_ft,
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_roll_deg, _pitch_deg, _heading_deg );
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}
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// copy data from location class to local items...
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copyLocationData();
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// make sg vectors view up, right and forward vectors from LOCAL
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sgSetVec3( _view_up, LOCAL[2][0], LOCAL[2][1], LOCAL[2][2] );
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sgSetVec3( right, LOCAL[1][0], LOCAL[1][1], LOCAL[1][2] );
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sgSetVec3( forward, -LOCAL[0][0], -LOCAL[0][1], -LOCAL[0][2] );
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|
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// Note that when in "lookfrom" view the "view up" vector is always applied
|
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// to the viewer. View up is based on verticle of the aircraft itself. (see
|
||
// "LOCAL" matrix above)
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||
|
||
// Orientation Offsets matrix
|
||
MakeVIEW_OFFSET( VIEW_OFFSET,
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_heading_offset_deg * SG_DEGREES_TO_RADIANS, _view_up,
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_pitch_offset_deg * SG_DEGREES_TO_RADIANS, right );
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// Make the VIEW matrix.
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||
sgSetVec4(VIEW[0], right[0], right[1], right[2],SG_ZERO);
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sgSetVec4(VIEW[1], forward[0], forward[1], forward[2],SG_ZERO);
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||
sgSetVec4(VIEW[2], _view_up[0], _view_up[1], _view_up[2],SG_ZERO);
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sgSetVec4(VIEW[3], SG_ZERO, SG_ZERO, SG_ZERO,SG_ONE);
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||
|
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// rotate 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]);
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||
sgCopyVec4(VIEW_UP[2], LOCAL[0]);
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sgZeroVec4(VIEW_UP[3]);
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||
|
||
// 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)
|
||
|
||
// 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
|
||
updateFromModelLocation(_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(), 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] );
|
||
|
||
// Note that when in "lookat" view the "world up" vector is always applied
|
||
// to the viewer. World up is based on verticle at a given lon/lat (see
|
||
// matrix "UP" above).
|
||
|
||
// Orientation Offsets matrix
|
||
MakeVIEW_OFFSET( VIEW_OFFSET,
|
||
(_heading_offset_deg -_heading_deg) * SG_DEGREES_TO_RADIANS, _world_up,
|
||
_pitch_offset_deg * SG_DEGREES_TO_RADIANS, right );
|
||
|
||
// add in the Orientation Offsets here
|
||
sgSetVec3( position_offset, _x_offset_m, _y_offset_m, _z_offset_m );
|
||
sgXformVec3( position_offset, position_offset, UP);
|
||
|
||
sgXformVec3( position_offset, position_offset, VIEW_OFFSET );
|
||
|
||
// add the Position offsets from object to the eye position
|
||
sgAddVec3( eye_pos, eye_pos, 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());
|
||
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 );
|
||
}
|
||
}
|
||
}
|
||
}
|