const MATRIX3 &AttitudeReference::GetFrameRotMatrix () const
{
// Returns rotation matrix for rotation from reference frame to global frame
if (!valid_axes) {
VECTOR3 axis1, axis2, axis3;
switch (mode) {
case 0: // inertial (ecliptic)
axis3 = _V(1,0,0);
axis2 = _V(0,1,0);
break;
case 1: { // inertial (equator)
MATRIX3 R;
oapiGetPlanetObliquityMatrix (v->GetGravityRef(), &R);
//axis3 = _V(R.m13, R.m23, R.m33);
axis3 = _V(R.m11, R.m21, R.m31);
axis2 = _V(R.m12, R.m22, R.m32);
} break;
case 2: { // orbital velocity / orbital momentum vector
OBJHANDLE hRef = v->GetGravityRef();
v->GetRelativeVel (hRef, axis3);
axis3 = unit (axis3);
VECTOR3 vv, vm;
v->GetRelativePos (hRef, vv); // local vertical
vm = crossp (axis3,vv); // direction of orbital momentum
axis2 = unit (crossp (vm,axis3));
} break;
case 3: { // local horizon / local north (surface)
OBJHANDLE hRef = v->GetSurfaceRef();
v->GetRelativePos (hRef, axis2);
axis2 = unit (axis2);
MATRIX3 prot;
oapiGetRotationMatrix (hRef, &prot);
VECTOR3 paxis = {prot.m12, prot.m22, prot.m32}; // planet rotation axis in global frame
VECTOR3 yaxis = unit (crossp (paxis,axis2)); // direction of yaw=+90 pole in global frame
axis3 = crossp (axis2,yaxis);
} break;
case 4: { // synced to NAV source (type-specific)
NAVDATA ndata;
NAVHANDLE hNav = v->GetNavSource (navid);
axis3 = _V(0,0,1);
axis2 = _V(0,1,0);
if (hNav) {
oapiGetNavData (hNav, &ndata);
switch (ndata.type) {
case TRANSMITTER_IDS: {
VECTOR3 pos, dir, rot;
MATRIX3 R;
VESSEL *vtgt = oapiGetVesselInterface (ndata.ids.hVessel);
vtgt->GetRotationMatrix (R);
vtgt->GetDockParams (ndata.ids.hDock, pos, dir, rot);
axis3 = -mul(R,dir);
axis2 = mul(R,rot);
} break;
case TRANSMITTER_VTOL:
case TRANSMITTER_VOR: {
OBJHANDLE hRef = v->GetSurfaceRef();
VECTOR3 spos, npos;
v->GetRelativePos (hRef, axis2);
v->GetGlobalPos (spos);
axis2 = unit (axis2);
oapiGetNavPos (hNav, &npos);
npos -= spos;
axis3 = unit(crossp(crossp(axis2,npos),axis2));
} break;
}
}
} break;
}
axis1 = crossp(axis2,axis3);
R = _M(axis1.x, axis2.x, axis3.x, axis1.y, axis2.y, axis3.y, axis1.z, axis2.z, axis3.z);
valid_axes = true;
valid_euler = false;
}
return R;
}
