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// viewer_rph.cxx -- class for managing a Roll/Pitch/Heading viewer in
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// the flightgear world.
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// Written by Curtis Olson, started August 1997.
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// overhaul started October 2000.
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// Copyright (C) 1997 - 2000 Curtis L. Olson - curt@flightgear.org
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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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// 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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// 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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// $Id: viewer_rph.cxx,v 1.15 2002/01/19 22:38:24 david Exp $
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#include <simgear/compiler.h>
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#include <plib/ssg.h> // plib include
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#include <simgear/constants.h>
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#include <simgear/debug/logstream.hxx>
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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 <simgear/math/vector.hxx>
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#include <Scenery/scenery.hxx>
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#include "globals.hxx"
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#include "viewer_rph.hxx"
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FGViewerRPH::FGViewerRPH( void )
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set_reverse_view_offset(false);
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#ifndef USE_FAST_VIEWROT
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// This never changes -- NHV
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LARC_TO_SSG[0][0] = 0.0;
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LARC_TO_SSG[0][1] = 1.0;
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LARC_TO_SSG[0][2] = -0.0;
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LARC_TO_SSG[0][3] = 0.0;
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LARC_TO_SSG[1][0] = 0.0;
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LARC_TO_SSG[1][1] = 0.0;
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LARC_TO_SSG[1][2] = 1.0;
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LARC_TO_SSG[1][3] = 0.0;
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LARC_TO_SSG[2][0] = 1.0;
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LARC_TO_SSG[2][1] = -0.0;
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LARC_TO_SSG[2][2] = 0.0;
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LARC_TO_SSG[2][3] = 0.0;
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LARC_TO_SSG[3][0] = 0.0;
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LARC_TO_SSG[3][1] = 0.0;
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LARC_TO_SSG[3][2] = 0.0;
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LARC_TO_SSG[3][3] = 1.0;
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#endif // USE_FAST_VIEWROT
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#define USE_FAST_VIEWROT
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#ifdef USE_FAST_VIEWROT
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// VIEW_ROT = LARC_TO_SSG * ( VIEWo * VIEW_OFFSET )
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// This takes advantage of the fact that VIEWo and VIEW_OFFSET
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// only have entries in the upper 3x3 block
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// and that LARC_TO_SSG is just a shift of rows NHV
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inline static void fgMakeViewRot( sgMat4 dst, const sgMat4 m1, const sgMat4 m2 )
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for ( int j = 0 ; j < 3 ; j++ ) {
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dst[2][j] = m2[0][0] * m1[0][j] +
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dst[0][j] = m2[1][0] * m1[0][j] +
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dst[1][j] = m2[2][0] * m1[0][j] +
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#define USE_FAST_LOCAL
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#ifdef USE_FAST_LOCAL
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inline static void fgMakeLOCAL( sgMat4 dst, const double Theta,
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const double Phi, const double Psi)
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SGfloat cosTheta = (SGfloat) cos(Theta);
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SGfloat sinTheta = (SGfloat) sin(Theta);
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SGfloat cosPhi = (SGfloat) cos(Phi);
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SGfloat sinPhi = (SGfloat) sin(Phi);
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SGfloat sinPsi = (SGfloat) sin(Psi) ;
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SGfloat cosPsi = (SGfloat) cos(Psi) ;
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dst[0][0] = cosPhi * cosTheta;
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dst[0][1] = sinPhi * cosPsi + cosPhi * -sinTheta * -sinPsi;
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dst[0][2] = sinPhi * sinPsi + cosPhi * -sinTheta * cosPsi;
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dst[1][0] = -sinPhi * cosTheta;
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dst[1][1] = cosPhi * cosPsi + -sinPhi * -sinTheta * -sinPsi;
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dst[1][2] = cosPhi * sinPsi + -sinPhi * -sinTheta * cosPsi;
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dst[1][3] = SG_ZERO ;
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dst[2][0] = sinTheta;
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dst[2][1] = cosTheta * -sinPsi;
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dst[2][2] = cosTheta * cosPsi;
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// convert sgMat4 to MAT3 and print
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static void print_sgMat4( sgMat4 &in) {
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for ( i = 0; i < 4; i++ ) {
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for ( j = 0; j < 4; j++ ) {
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printf("%10.4f ", in[i][j]);
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// Update the view parameters
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void FGViewerRPH::update() {
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sgVec3 minus_z, right, forward, tilt;
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// convert to geocentric coordinates
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sgGeodToGeoc( geod_view_pos[1], geod_view_pos[2],
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&sea_level_radius, &geoc_lat );
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// calculate the cartesion coords of the current lat/lon/0 elev
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Point3D p = Point3D( geod_view_pos[0], geoc_lat, sea_level_radius );
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tmp = sgPolarToCart3d(p) - scenery.get_center();
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sgSetVec3( zero_elev, tmp[0], tmp[1], tmp[2] );
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// calculate view position in current FG view coordinate system
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// p.lon & p.lat are already defined earlier, p.radius was set to
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// the sea level radius, so now we add in our altitude.
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if ( geod_view_pos[2] > (scenery.get_cur_elev() + 0.5 * SG_METER_TO_FEET) ) {
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p.setz( p.radius() + geod_view_pos[2] );
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p.setz( p.radius() + scenery.get_cur_elev() + 0.5 * SG_METER_TO_FEET );
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tmp = sgPolarToCart3d(p);
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sgdSetVec3( abs_view_pos, tmp[0], tmp[1], tmp[2] );
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// view_pos = abs_view_pos - scenery.center;
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scenery.get_center().x(),
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scenery.get_center().y(),
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scenery.get_center().z() );
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sgdSubVec3( vp, abs_view_pos, sc );
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sgSetVec3( view_pos, vp );
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SG_LOG( SG_VIEW, SG_DEBUG, "sea level radius = " << sea_level_radius );
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SG_LOG( SG_VIEW, SG_DEBUG, "Polar view pos = " << p );
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SG_LOG( SG_VIEW, SG_DEBUG, "Absolute view pos = "
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<< abs_view_pos[0] << ","
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<< abs_view_pos[1] << ","
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<< abs_view_pos[2] );
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SG_LOG( SG_VIEW, SG_DEBUG, "(RPH) Relative view pos = "
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<< view_pos[0] << "," << view_pos[1] << "," << view_pos[2] );
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// code to calculate LOCAL matrix calculated from Phi, Theta, and
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// Psi (roll, pitch, yaw) in case we aren't running LaRCsim as our
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#ifdef USE_FAST_LOCAL
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fgMakeLOCAL( LOCAL, rph[1], rph[0], -rph[2] );
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#else // USE_TEXT_BOOK_METHOD
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sgSetVec3( rollvec, 0.0, 0.0, 1.0 );
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sgMakeRotMat4( PHI, rph[0] * SGD_RADIANS_TO_DEGREES, rollvec );
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sgSetVec3( pitchvec, 0.0, 1.0, 0.0 );
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sgMat4 THETA; // pitch
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sgMakeRotMat4( THETA, rph[1] * SGD_RADIANS_TO_DEGREES, pitchvec );
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// sgMultMat4( ROT, PHI, THETA );
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sgCopyMat4( ROT, PHI );
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sgPostMultMat4( ROT, THETA );
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sgSetVec3( yawvec, 1.0, 0.0, 0.0 );
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sgMat4 PSI; // heading
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sgMakeRotMat4( PSI, -rph[2] * SGD_RADIANS_TO_DEGREES, yawvec );
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// sgMultMat4( LOCAL, ROT, PSI );
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sgCopyMat4( LOCAL, ROT );
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sgPostMultMat4( LOCAL, PSI );
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#endif // USE_FAST_LOCAL
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// cout << "LOCAL matrix" << endl;
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// print_sgMat4( LOCAL );
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geod_view_pos[0] * SGD_RADIANS_TO_DEGREES,
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-geod_view_pos[1] * SGD_RADIANS_TO_DEGREES );
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sgSetVec3( world_up, UP[0][0], UP[0][1], UP[0][2] );
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// sgXformVec3( world_up, UP );
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// cout << "World Up = " << world_up[0] << "," << world_up[1] << ","
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// << world_up[2] << endl;
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// Alternative method to Derive world up vector based on
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// *geodetic* coordinates
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// alt_up = sgPolarToCart(FG_Longitude, FG_Latitude, 1.0);
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// printf( " Alt Up = (%.4f, %.4f, %.4f)\n",
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// alt_up.x, alt_up.y, alt_up.z);
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// VIEWo = LOCAL * UP
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// sgMultMat4( VIEWo, LOCAL, UP );
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sgCopyMat4( VIEWo, LOCAL );
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sgPostMultMat4( VIEWo, UP );
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// cout << "VIEWo matrix" << endl;
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// print_sgMat4( VIEWo );
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// generate the sg view up and forward vectors
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sgSetVec3( view_up, VIEWo[0][0], VIEWo[0][1], VIEWo[0][2] );
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// cout << "view = " << view[0] << ","
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// << view[1] << "," << view[2] << endl;
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sgSetVec3( right, VIEWo[1][0], VIEWo[1][1], VIEWo[1][2] );
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sgSetVec3( forward, VIEWo[2][0], VIEWo[2][1], VIEWo[2][2] );
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// cout << "forward = " << forward[0] << ","
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// << forward[1] << "," << forward[2] << endl;
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// generate the pilot offset vector in world coordinates
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sgVec3 pilot_offset_world;
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sgSetVec3( pilot_offset_world,
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pilot_offset[2], pilot_offset[1], -pilot_offset[0] );
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sgXformVec3( pilot_offset_world, pilot_offset_world, VIEWo );
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// generate the view offset matrix
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sgMakeRotMat4( VIEW_OFFSET, view_offset * SGD_RADIANS_TO_DEGREES, view_up );
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sgMakeRotMat4( VIEW_TILT, view_tilt * SGD_RADIANS_TO_DEGREES, right );
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sgPreMultMat4(VIEW_OFFSET, VIEW_TILT);
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// cout << "VIEW_OFFSET matrix" << endl;
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// print_sgMat4( VIEW_OFFSET );
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sgXformVec3( view_forward, forward, VIEW_OFFSET );
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SG_LOG( SG_VIEW, SG_DEBUG, "(RPH) view forward = "
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<< view_forward[0] << "," << view_forward[1] << ","
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<< view_forward[2] );
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// VIEW_ROT = LARC_TO_SSG * ( VIEWo * VIEW_OFFSET )
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#ifdef USE_FAST_VIEWROT
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fgMakeViewRot( VIEW_ROT, VIEW_OFFSET, VIEWo );
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// sgMultMat4( VIEW_ROT, VIEW_OFFSET, VIEWo );
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// sgPreMultMat4( VIEW_ROT, LARC_TO_SSG );
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sgCopyMat4( VIEW_ROT, VIEWo );
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sgPostMultMat4( VIEW_ROT, VIEW_OFFSET );
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sgPreMultMat4( VIEW_ROT, LARC_TO_SSG );
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// cout << "VIEW_ROT matrix" << endl;
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// print_sgMat4( VIEW_ROT );
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sgAddVec3( trans_vec, view_pos, pilot_offset_world );
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// VIEW = VIEW_ROT * TRANS
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sgCopyMat4( VIEW, VIEW_ROT );
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sgPostMultMat4ByTransMat4( VIEW, trans_vec );
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//!!!!!!!!!!!!!!!!!!!
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// THIS IS THE EXPERIMENTAL VIEWING ANGLE SHIFTER
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// THE MAJORITY OF THE WORK IS DONE IN GUI.CXX
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// this in gui.cxx for now just testing
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extern float GuiQuat_mat[4][4];
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sgPreMultMat4( VIEW, GuiQuat_mat);
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// !!!!!!!!!! testing
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// Given a vector pointing straight down (-Z), map into onto the
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// local plane representing "horizontal". This should give us the
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// local direction for moving "south".
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sgSetVec3( minus_z, 0.0, 0.0, -1.0 );
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sgmap_vec_onto_cur_surface_plane(world_up, view_pos, minus_z,
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sgNormalizeVec3(surface_south);
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// cout << "Surface direction directly south " << surface_south[0] << ","
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// << surface_south[1] << "," << surface_south[2] << endl;
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// now calculate the surface east vector
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#define USE_FAST_SURFACE_EAST
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#ifdef USE_FAST_SURFACE_EAST
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sgNegateVec3(world_down, world_up);
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sgVectorProductVec3(surface_east, surface_south, world_down);
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sgMakeRotMat4( TMP, SGD_PI_2 * SGD_RADIANS_TO_DEGREES, world_up );
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// cout << "sgMat4 TMP" << endl;
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// print_sgMat4( TMP );
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sgXformVec3(surface_east, surface_south, TMP);
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#endif // USE_FAST_SURFACE_EAST
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// cout << "Surface direction directly east " << surface_east[0] << ","
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// << surface_east[1] << "," << surface_east[2] << endl;
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// cout << "Should be close to zero = "
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// << sgScalarProductVec3(surface_south, surface_east) << endl;
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FGViewerRPH::~FGViewerRPH( void ) {
added
removed
src/Main/viewer_rph.cxx
