657 lines
17 KiB
C++
657 lines
17 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 - http://www.flightgear.org/~curt
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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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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//
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// $Id$
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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/compiler.h>
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#include "fg_props.hxx"
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#include <simgear/debug/logstream.hxx>
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#include <simgear/constants.h>
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#include <simgear/scene/model/placement.hxx>
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#include <simgear/math/vector.hxx>
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#include <Main/globals.hxx>
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#include <Scenery/scenery.hxx>
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#include <Model/acmodel.hxx>
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#include "viewer.hxx"
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#include "CameraGroup.hxx"
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using namespace flightgear;
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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,
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bool at_model, int at_model_index,
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double damp_roll, double damp_pitch, double damp_heading,
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double x_offset_m, double y_offset_m, double z_offset_m,
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double heading_offset_deg, double pitch_offset_deg,
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double roll_offset_deg,
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double fov_deg, double aspect_ratio_multiplier,
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double target_x_offset_m, double target_y_offset_m,
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double target_z_offset_m, double near_m, bool internal ):
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_dirty(true),
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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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_damp_sync(0),
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_damp_roll(0),
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_damp_pitch(0),
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_damp_heading(0),
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_scaling_type(FG_SCALING_MAX),
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_aspect_ratio(0),
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_cameraGroup(CameraGroup::getDefault())
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{
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_absolute_view_pos = SGVec3d(0, 0, 0);
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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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_internal = internal;
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if (damp_roll > 0.0)
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_damp_roll = 1.0 / pow(10.0, fabs(damp_roll));
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if (damp_pitch > 0.0)
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_damp_pitch = 1.0 / pow(10.0, fabs(damp_pitch));
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if (damp_heading > 0.0)
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_damp_heading = 1.0 / pow(10.0, fabs(damp_heading));
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_offset_m.x() = x_offset_m;
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_offset_m.y() = y_offset_m;
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_offset_m.z() = z_offset_m;
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_heading_offset_deg = heading_offset_deg;
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_pitch_offset_deg = pitch_offset_deg;
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_roll_offset_deg = roll_offset_deg;
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_goal_heading_offset_deg = heading_offset_deg;
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_goal_pitch_offset_deg = pitch_offset_deg;
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_goal_roll_offset_deg = roll_offset_deg;
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if (fov_deg > 0) {
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_fov_deg = fov_deg;
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} else {
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_fov_deg = 55;
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}
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_aspect_ratio = 1;
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_aspect_ratio_multiplier = aspect_ratio_multiplier;
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_target_offset_m.x() = target_x_offset_m;
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_target_offset_m.y() = target_y_offset_m;
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_target_offset_m.z() = target_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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}
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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::setInternal ( bool internal )
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{
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_internal = internal;
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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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_position = SGGeod::fromDegFt(lon_deg, lat_deg, 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 = SGGeod::fromDegFt(lon_deg, lat_deg, 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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_offset_m.x() = 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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_offset_m.y() = 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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_offset_m.z() = z_offset_m;
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}
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void
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FGViewer::setTargetXOffset_m (double target_x_offset_m)
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{
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_dirty = true;
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_target_offset_m.x() = target_x_offset_m;
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}
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void
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FGViewer::setTargetYOffset_m (double target_y_offset_m)
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{
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_dirty = true;
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_target_offset_m.y() = target_y_offset_m;
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}
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void
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FGViewer::setTargetZOffset_m (double target_z_offset_m)
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{
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_dirty = true;
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_target_offset_m.z() = target_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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_offset_m.x() = x_offset_m;
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_offset_m.y() = y_offset_m;
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_offset_m.z() = 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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// 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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// Update location data ...
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if ( _from_model ) {
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SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
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_position = placement->getPosition();
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_heading_deg = placement->getHeadingDeg();
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_pitch_deg = placement->getPitchDeg();
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_roll_deg = placement->getRollDeg();
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}
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double head = _heading_deg;
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double pitch = _pitch_deg;
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double roll = _roll_deg;
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if ( !_from_model ) {
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// update from our own data...
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dampEyeData(roll, pitch, head);
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}
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// The rotation rotating from the earth centerd frame to
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// the horizontal local OpenGL frame
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SGQuatd hlOr = SGQuatd::viewHL(_position);
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// the rotation from the horizontal local frame to the basic view orientation
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SGQuatd hlToBody = SGQuatd::fromYawPitchRollDeg(head, pitch, roll);
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hlToBody = SGQuatd::simToView(hlToBody);
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// The cartesian position of the basic view coordinate
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SGVec3d position = SGVec3d::fromGeod(_position);
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// the rotation offset, don't know why heading is negative here ...
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SGQuatd viewOffsetOr = SGQuatd::simToView(
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SGQuatd::fromYawPitchRollDeg(-_heading_offset_deg, _pitch_offset_deg,
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_roll_offset_deg));
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// Compute the eyepoints orientation and position
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// wrt the earth centered frame - that is global coorinates
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SGQuatd ec2body = hlOr*hlToBody;
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_absolute_view_pos = position + ec2body.backTransform(_offset_m);
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mViewOrientation = ec2body*viewOffsetOr;
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}
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void
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FGViewer::recalcLookAt ()
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{
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// The geodetic position of our target to look at
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if ( _at_model ) {
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SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
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_target = placement->getPosition();
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_target_heading_deg = placement->getHeadingDeg();
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_target_pitch_deg = placement->getPitchDeg();
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_target_roll_deg = placement->getRollDeg();
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} else {
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// if not model then calculate our own target position...
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dampEyeData(_target_roll_deg, _target_pitch_deg, _target_heading_deg);
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}
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SGQuatd geodTargetOr = SGQuatd::fromYawPitchRollDeg(_target_heading_deg,
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_target_pitch_deg,
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_target_roll_deg);
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SGQuatd geodTargetHlOr = SGQuatd::fromLonLat(_target);
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if ( _from_model ) {
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SGModelPlacement* placement = globals->get_aircraft_model()->get3DModel();
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_position = placement->getPosition();
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_heading_deg = placement->getHeadingDeg();
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_pitch_deg = placement->getPitchDeg();
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_roll_deg = placement->getRollDeg();
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} else {
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// update from our own data, just the rotation here...
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dampEyeData(_roll_deg, _pitch_deg, _heading_deg);
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}
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SGQuatd geodEyeOr = SGQuatd::fromYawPitchRollDeg(_heading_deg,
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_pitch_deg,
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_roll_deg);
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SGQuatd geodEyeHlOr = SGQuatd::fromLonLat(_position);
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// the rotation offset, don't know why heading is negative here ...
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SGQuatd eyeOffsetOr =
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SGQuatd::fromYawPitchRollDeg(-_heading_offset_deg + 180, _pitch_offset_deg,
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_roll_offset_deg);
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// Offsets to the eye position
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SGVec3d eyeOff(-_offset_m.z(), _offset_m.x(), -_offset_m.y());
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SGQuatd ec2eye = geodEyeHlOr*geodEyeOr;
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SGVec3d eyeCart = SGVec3d::fromGeod(_position);
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eyeCart += (ec2eye*eyeOffsetOr).backTransform(eyeOff);
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SGVec3d atCart = SGVec3d::fromGeod(_target);
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// add target offsets to at_position...
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SGVec3d target_pos_off(-_target_offset_m.z(), _target_offset_m.x(),
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-_target_offset_m.y());
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target_pos_off = (geodTargetHlOr*geodTargetOr).backTransform(target_pos_off);
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atCart += target_pos_off;
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eyeCart += target_pos_off;
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// Compute the eyepoints orientation and position
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// wrt the earth centered frame - that is global coorinates
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_absolute_view_pos = eyeCart;
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// the view direction
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SGVec3d dir = normalize(atCart - eyeCart);
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// the up directon
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SGVec3d up = ec2eye.backTransform(SGVec3d(0, 0, -1));
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// rotate dir to the 0-th unit vector
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// rotate up to 2-th unit vector
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mViewOrientation = SGQuatd::fromRotateTo(-dir, 2, up, 1);
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}
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void
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FGViewer::dampEyeData(double &roll_deg, double &pitch_deg, double &heading_deg)
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{
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const double interval = 0.01;
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static FGViewer *last_view = 0;
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if (last_view != this) {
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_damp_sync = 0.0;
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_damped_roll_deg = roll_deg;
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_damped_pitch_deg = pitch_deg;
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_damped_heading_deg = heading_deg;
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last_view = this;
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return;
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}
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if (_damp_sync < interval) {
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if (_damp_roll > 0.0)
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roll_deg = _damped_roll_deg;
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if (_damp_pitch > 0.0)
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pitch_deg = _damped_pitch_deg;
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if (_damp_heading > 0.0)
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heading_deg = _damped_heading_deg;
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return;
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}
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while (_damp_sync >= interval) {
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_damp_sync -= interval;
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double d;
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if (_damp_roll > 0.0) {
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d = _damped_roll_deg - roll_deg;
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if (d >= 180.0)
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_damped_roll_deg -= 360.0;
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else if (d < -180.0)
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_damped_roll_deg += 360.0;
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roll_deg = _damped_roll_deg = roll_deg * _damp_roll + _damped_roll_deg * (1 - _damp_roll);
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}
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if (_damp_pitch > 0.0) {
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d = _damped_pitch_deg - pitch_deg;
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if (d >= 180.0)
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_damped_pitch_deg -= 360.0;
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else if (d < -180.0)
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_damped_pitch_deg += 360.0;
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pitch_deg = _damped_pitch_deg = pitch_deg * _damp_pitch + _damped_pitch_deg * (1 - _damp_pitch);
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}
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if (_damp_heading > 0.0) {
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d = _damped_heading_deg - heading_deg;
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if (d >= 180.0)
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_damped_heading_deg -= 360.0;
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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());
|
||
}
|