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This commit is contained in:
Martin Mueller
2008-02-22 21:33:28 +00:00
parent 930a4965f9
commit 2982206107
1 changed files with 15 additions and 8 deletions
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sw/airborne/point.c
+15 -8
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@@ -316,20 +316,27 @@ void vPoint(float fPlaneEast, float fPlaneNorth, float fPlaneAltitude,
*/
/* fPan = 0 -> camera looks along the wing
-90 -> camera looks in flight direction
90 -> camera looks backwards
90 -> camera looks in flight direction
-90 -> camera looks backwards
*/
*fPan = -(float)(atan2(svObjectPositionForPlane2.fy, svObjectPositionForPlane2.fz));
/* fixed to the plane*/
*fPan = (float)(atan2(svObjectPositionForPlane2.fx, fabs(svObjectPositionForPlane2.fy)));
/* fTilt = 0 -> camera looks down
90 -> camera looks into right hemisphere
-90 -> camera looks into left hemispere
actually the camera always looks more or less downwards, but never upwards
*/
*fTilt = (float)(atan2( svObjectPositionForPlane2.fx,
sqrt( svObjectPositionForPlane2.fy * svObjectPositionForPlane2.fy
+ svObjectPositionForPlane2.fz * svObjectPositionForPlane2.fz )
*fTilt = (float)(atan2( sqrt( svObjectPositionForPlane2.fx * svObjectPositionForPlane2.fx
+ svObjectPositionForPlane2.fy * svObjectPositionForPlane2.fy ),
-svObjectPositionForPlane2.fz
));
if (svObjectPositionForPlane2.fy < 0)
{
*fPan = -*fPan;
*fTilt = -*fTilt;
}
#else
#ifdef POINT_CAM_PITCH_ROLL
@@ -356,7 +363,7 @@ void vPoint(float fPlaneEast, float fPlaneNorth, float fPlaneAltitude,
*
*/
*fTilt = (float)(atan2( svObjectPositionForPlane2.fx, svObjectPositionForPlane2.fz));
*fTilt = (float)(atan2( svObjectPositionForPlane2.fx, -svObjectPositionForPlane2.fz));
*fPan = (float)(atan2(-svObjectPositionForPlane2.fy,
sqrt( svObjectPositionForPlane2.fx * svObjectPositionForPlane2.fx