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polar3d.[ch] renamed to polar3d.[ch]xx, vector.[ch] renamed to vector.[ch]xx

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Updated fg_geodesy comments to reflect that routines expect and produce
  meters.
This commit is contained in:
curt 1998-07-08 14:40:07 +00:00
parent 4205c0a38d
commit dbcecbd3b8
7 changed files with 128 additions and 66 deletions
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4
Math/Makefile.am
View file

@ -10,7 +10,7 @@ libMath_la_SOURCES = \
fg_random.c fg_random.h \ fg_random.c fg_random.h \
interpolater.cxx interpolater.hxx \ interpolater.cxx interpolater.hxx \
mat3.h mat3defs.h mat3err.h \ mat3.h mat3defs.h mat3err.h \
polar3d.c polar3d.h \ polar3d.cxx polar3d.hxx \
vector.c vector.h vector.cxx vector.hxx
INCLUDES += -I$(top_builddir) -I$(top_builddir)/Lib -I$(top_builddir)/Simulator INCLUDES += -I$(top_builddir) -I$(top_builddir)/Lib -I$(top_builddir)/Simulator

38
Math/fg_geodesy.c
View file

@ -24,13 +24,13 @@
/* fgGeocToGeod(lat_geoc, radius, *lat_geod, *alt, *sea_level_r) /* fgGeocToGeod(lat_geoc, radius, *lat_geod, *alt, *sea_level_r)
* INPUTS: * INPUTS:
* lat_geoc Geocentric latitude, radians, + = North * lat_geoc Geocentric latitude, radians, + = North
* radius C.G. radius to earth center, ft * radius C.G. radius to earth center (meters)
* *
* OUTPUTS: * OUTPUTS:
* lat_geod Geodetic latitude, radians, + = North * lat_geod Geodetic latitude, radians, + = North
* alt C.G. altitude above mean sea level, ft * alt C.G. altitude above mean sea level (meters)
* sea_level_r radius from earth center to sea level at * sea_level_r radius from earth center to sea level at
* local vertical (surface normal) of C.G. * local vertical (surface normal) of C.G. (meters)
*/ */
void fgGeocToGeod( double lat_geoc, double radius, double void fgGeocToGeod( double lat_geoc, double radius, double
@ -43,12 +43,12 @@ void fgGeocToGeod( double lat_geoc, double radius, double
|| ( (FG_PI_2 + lat_geoc) < ONE_SECOND ) ) /* near South pole */ || ( (FG_PI_2 + lat_geoc) < ONE_SECOND ) ) /* near South pole */
{ {
*lat_geod = lat_geoc; *lat_geod = lat_geoc;
*sea_level_r = EQUATORIAL_RADIUS_KM*E; *sea_level_r = EQUATORIAL_RADIUS_M*E;
*alt = radius - *sea_level_r; *alt = radius - *sea_level_r;
} else { } else {
t_lat = tan(lat_geoc); t_lat = tan(lat_geoc);
x_alpha = E*EQUATORIAL_RADIUS_KM/sqrt(t_lat*t_lat + E*E); x_alpha = E*EQUATORIAL_RADIUS_M/sqrt(t_lat*t_lat + E*E);
mu_alpha = atan2(sqrt(RESQ_KM - x_alpha*x_alpha),E*x_alpha); mu_alpha = atan2(sqrt(RESQ_M - x_alpha*x_alpha),E*x_alpha);
if (lat_geoc < 0) mu_alpha = - mu_alpha; if (lat_geoc < 0) mu_alpha = - mu_alpha;
sin_mu_a = sin(mu_alpha); sin_mu_a = sin(mu_alpha);
delt_lambda = mu_alpha - lat_geoc; delt_lambda = mu_alpha - lat_geoc;
@ -56,14 +56,14 @@ void fgGeocToGeod( double lat_geoc, double radius, double
l_point = radius - r_alpha; l_point = radius - r_alpha;
*alt = l_point*cos(delt_lambda); *alt = l_point*cos(delt_lambda);
denom = sqrt(1-EPS*EPS*sin_mu_a*sin_mu_a); denom = sqrt(1-EPS*EPS*sin_mu_a*sin_mu_a);
rho_alpha = EQUATORIAL_RADIUS_KM*(1-EPS)/ rho_alpha = EQUATORIAL_RADIUS_M*(1-EPS)/
(denom*denom*denom); (denom*denom*denom);
delt_mu = atan2(l_point*sin(delt_lambda),rho_alpha + *alt); delt_mu = atan2(l_point*sin(delt_lambda),rho_alpha + *alt);
*lat_geod = mu_alpha - delt_mu; *lat_geod = mu_alpha - delt_mu;
lambda_sl = atan( E*E * tan(*lat_geod) ); /* SL geoc. latitude */ lambda_sl = atan( E*E * tan(*lat_geod) ); /* SL geoc. latitude */
sin_lambda_sl = sin( lambda_sl ); sin_lambda_sl = sin( lambda_sl );
*sea_level_r = *sea_level_r =
sqrt(RESQ_KM / (1 + ((1/(E*E))-1)*sin_lambda_sl*sin_lambda_sl)); sqrt(RESQ_M / (1 + ((1/(E*E))-1)*sin_lambda_sl*sin_lambda_sl));
} }
} }
@ -71,11 +71,11 @@ void fgGeocToGeod( double lat_geoc, double radius, double
/* fgGeodToGeoc( lat_geod, alt, *sl_radius, *lat_geoc ) /* fgGeodToGeoc( lat_geod, alt, *sl_radius, *lat_geoc )
* INPUTS: * INPUTS:
* lat_geod Geodetic latitude, radians, + = North * lat_geod Geodetic latitude, radians, + = North
* alt C.G. altitude above mean sea level, ft * alt C.G. altitude above mean sea level (meters)
* *
* OUTPUTS: * OUTPUTS:
* sl_radius SEA LEVEL radius to earth center, ft (add Altitude to * sl_radius SEA LEVEL radius to earth center (meters)
* get true distance from earth center. * (add Altitude to get true distance from earth center.
* lat_geoc Geocentric latitude, radians, + = North * lat_geoc Geocentric latitude, radians, + = North
* *
*/ */
@ -91,7 +91,7 @@ void fgGeodToGeoc( double lat_geod, double alt, double *sl_radius,
sin_mu = sin(lat_geod); /* Geodetic (map makers') latitude */ sin_mu = sin(lat_geod); /* Geodetic (map makers') latitude */
cos_mu = cos(lat_geod); cos_mu = cos(lat_geod);
*sl_radius = *sl_radius =
sqrt(RESQ_KM / (1 + ((1/(E*E))-1)*sin_lambda_sl*sin_lambda_sl)); sqrt(RESQ_M / (1 + ((1/(E*E))-1)*sin_lambda_sl*sin_lambda_sl));
py = *sl_radius*sin_lambda_sl + alt*sin_mu; py = *sl_radius*sin_lambda_sl + alt*sin_mu;
px = *sl_radius*cos_lambda_sl + alt*cos_mu; px = *sl_radius*cos_lambda_sl + alt*cos_mu;
*lat_geoc = atan2( py, px ); *lat_geoc = atan2( py, px );
@ -140,6 +140,11 @@ void fgGeodToGeoc( double lat_geod, double alt, double *sl_radius,
$Header$ $Header$
$Log$ $Log$
Revision 1.6 1998/07/08 14:40:07 curt
polar3d.[ch] renamed to polar3d.[ch]xx, vector.[ch] renamed to vector.[ch]xx
Updated fg_geodesy comments to reflect that routines expect and produce
meters.
Revision 1.5 1998/04/25 22:06:23 curt Revision 1.5 1998/04/25 22:06:23 curt
Edited cvs log messages in source files ... bad bad bad! Edited cvs log messages in source files ... bad bad bad!
@ -208,9 +213,14 @@ Initial Flight Gear revision.
/* $Log$ /* $Log$
/* Revision 1.5 1998/04/25 22:06:23 curt /* Revision 1.6 1998/07/08 14:40:07 curt
/* Edited cvs log messages in source files ... bad bad bad! /* polar3d.[ch] renamed to polar3d.[ch]xx, vector.[ch] renamed to vector.[ch]xx
/* Updated fg_geodesy comments to reflect that routines expect and produce
/* meters.
/* /*
* Revision 1.5 1998/04/25 22:06:23 curt
* Edited cvs log messages in source files ... bad bad bad!
*
* Revision 1.4 1998/01/27 00:47:59 curt * Revision 1.4 1998/01/27 00:47:59 curt
* Incorporated Paul Bleisch's <pbleisch@acm.org> new debug message * Incorporated Paul Bleisch's <pbleisch@acm.org> new debug message
* system and commandline/config file processing code. * system and commandline/config file processing code.

28
Math/fg_geodesy.h
View file

@ -23,13 +23,13 @@ extern "C" {
/* fgGeocToGeod(lat_geoc, radius, *lat_geod, *alt, *sea_level_r) /* fgGeocToGeod(lat_geoc, radius, *lat_geod, *alt, *sea_level_r)
* INPUTS: * INPUTS:
* lat_geoc Geocentric latitude, radians, + = North * lat_geoc Geocentric latitude, radians, + = North
* radius C.G. radius to earth center, ft * radius C.G. radius to earth center (meters)
* *
* OUTPUTS: * OUTPUTS:
* lat_geod Geodetic latitude, radians, + = North * lat_geod Geodetic latitude, radians, + = North
* alt C.G. altitude above mean sea level, ft * alt C.G. altitude above mean sea level (meters)
* sea_level_r radius from earth center to sea level at * sea_level_r radius from earth center to sea level at
* local vertical (surface normal) of C.G. * local vertical (surface normal) of C.G. (meters)
*/ */
void fgGeocToGeod( double lat_geoc, double radius, double void fgGeocToGeod( double lat_geoc, double radius, double
@ -38,17 +38,17 @@ void fgGeocToGeod( double lat_geoc, double radius, double
/* fgGeodToGeoc( lat_geod, alt, *sl_radius, *lat_geoc ) /* fgGeodToGeoc( lat_geod, alt, *sl_radius, *lat_geoc )
* INPUTS: * INPUTS:
* lat_geod Geodetic latitude, radians, + = North * lat_geod Geodetic latitude, radians, + = North
* alt C.G. altitude above mean sea level, ft * alt C.G. altitude above mean sea level (meters)
* *
* OUTPUTS: * OUTPUTS:
* sl_radius SEA LEVEL radius to earth center, ft (add Altitude to * sl_radius SEA LEVEL radius to earth center (meters)
* get true distance from earth center. * (add Altitude to get true distance from earth center.
* lat_geoc Geocentric latitude, radians, + = North * lat_geoc Geocentric latitude, radians, + = North
* *
*/ */
void fgGeodToGeoc( double lat_geod, double alt, double *sl_radius, void fgGeodToGeoc( double lat_geod, double alt, double *sl_radius,
double *lat_geoc ); double *lat_geoc );
@ -94,6 +94,11 @@ void fgGeodToGeoc( double lat_geod, double alt, double *sl_radius,
$Header$ $Header$
$Log$ $Log$
Revision 1.4 1998/07/08 14:40:08 curt
polar3d.[ch] renamed to polar3d.[ch]xx, vector.[ch] renamed to vector.[ch]xx
Updated fg_geodesy comments to reflect that routines expect and produce
meters.
Revision 1.3 1998/04/21 17:03:48 curt Revision 1.3 1998/04/21 17:03:48 curt
Prepairing for C++ integration. Prepairing for C++ integration.
@ -160,9 +165,14 @@ Initial Flight Gear revision.
/* $Log$ /* $Log$
/* Revision 1.3 1998/04/21 17:03:48 curt /* Revision 1.4 1998/07/08 14:40:08 curt
/* Prepairing for C++ integration. /* polar3d.[ch] renamed to polar3d.[ch]xx, vector.[ch] renamed to vector.[ch]xx
/* Updated fg_geodesy comments to reflect that routines expect and produce
/* meters.
/* /*
* Revision 1.3 1998/04/21 17:03:48 curt
* Prepairing for C++ integration.
*
* Revision 1.2 1998/01/22 02:59:38 curt * Revision 1.2 1998/01/22 02:59:38 curt
* Changed #ifdef FILE_H to #ifdef _FILE_H * Changed #ifdef FILE_H to #ifdef _FILE_H
* *

21
Math/polar3d.c → Math/polar3d.cxx
View file

@ -1,5 +1,5 @@
/************************************************************************** /**************************************************************************
* polar.c -- routines to deal with polar math and transformations * polar.cxx -- routines to deal with polar math and transformations
* *
* Written by Curtis Olson, started June 1997. * Written by Curtis Olson, started June 1997.
* *
@ -29,14 +29,14 @@
#include <Include/fg_constants.h> #include <Include/fg_constants.h>
#include "polar3d.h" #include "polar3d.hxx"
/* Convert a polar coordinate to a cartesian coordinate. Lon and Lat /* Convert a polar coordinate to a cartesian coordinate. Lon and Lat
* must be specified in radians. The FG convention is for distances * must be specified in radians. The FG convention is for distances
* to be specified in meters */ * to be specified in meters */
fgCartesianPoint3d fgPolarToCart3d(fgPolarPoint3d p) { fgPoint3d fgPolarToCart3d(fgPoint3d p) {
fgCartesianPoint3d pnew; fgPoint3d pnew;
pnew.x = cos(p.lon) * cos(p.lat) * p.radius; pnew.x = cos(p.lon) * cos(p.lat) * p.radius;
pnew.y = sin(p.lon) * cos(p.lat) * p.radius; pnew.y = sin(p.lon) * cos(p.lat) * p.radius;
@ -48,8 +48,8 @@ fgCartesianPoint3d fgPolarToCart3d(fgPolarPoint3d p) {
/* Convert a cartesian coordinate to polar coordinates (lon/lat /* Convert a cartesian coordinate to polar coordinates (lon/lat
* specified in radians. Distances are specified in meters. */ * specified in radians. Distances are specified in meters. */
fgPolarPoint3d fgCartToPolar3d(fgCartesianPoint3d cp) { fgPoint3d fgCartToPolar3d(fgPoint3d cp) {
fgPolarPoint3d pp; fgPoint3d pp;
pp.lon = atan2( cp.y, cp.x ); pp.lon = atan2( cp.y, cp.x );
pp.lat = FG_PI_2 - atan2( sqrt(cp.x*cp.x + cp.y*cp.y), cp.z ); pp.lat = FG_PI_2 - atan2( sqrt(cp.x*cp.x + cp.y*cp.y), cp.z );
@ -62,9 +62,14 @@ fgPolarPoint3d fgCartToPolar3d(fgCartesianPoint3d cp) {
/* $Log$ /* $Log$
/* Revision 1.2 1998/05/03 00:45:49 curt /* Revision 1.1 1998/07/08 14:40:08 curt
/* Commented out a debugging printf. /* polar3d.[ch] renamed to polar3d.[ch]xx, vector.[ch] renamed to vector.[ch]xx
/* Updated fg_geodesy comments to reflect that routines expect and produce
/* meters.
/* /*
* Revision 1.2 1998/05/03 00:45:49 curt
* Commented out a debugging printf.
*
* Revision 1.1 1998/05/02 01:50:11 curt * Revision 1.1 1998/05/02 01:50:11 curt
* polar.[ch] renamed to polar3d.[ch] * polar.[ch] renamed to polar3d.[ch]
* *

30
Math/polar3d.h → Math/polar3d.hxx
View file

@ -1,5 +1,5 @@
/************************************************************************** /**************************************************************************
* polar.h -- routines to deal with polar math and transformations * polar.hxx -- routines to deal with polar math and transformations
* *
* Written by Curtis Olson, started June 1997. * Written by Curtis Olson, started June 1997.
* *
@ -24,12 +24,12 @@
**************************************************************************/ **************************************************************************/
#ifndef _POLAR_H #ifndef _POLAR_HXX
#define _POLAR_H #define _POLAR_HXX
#ifdef __cplusplus #ifndef __cplusplus
extern "C" { # error This library requires C++
#endif #endif
@ -39,26 +39,26 @@ extern "C" {
/* Convert a polar coordinate to a cartesian coordinate. Lon and Lat /* Convert a polar coordinate to a cartesian coordinate. Lon and Lat
* must be specified in radians. The FG convention is for distances * must be specified in radians. The FG convention is for distances
* to be specified in meters */ * to be specified in meters */
fgCartesianPoint3d fgPolarToCart3d(fgPolarPoint3d p); fgPoint3d fgPolarToCart3d(fgPoint3d p);
/* Convert a cartesian coordinate to polar coordinates (lon/lat /* Convert a cartesian coordinate to polar coordinates (lon/lat
* specified in radians. Distances are specified in meters. */ * specified in radians. Distances are specified in meters. */
fgPolarPoint3d fgCartToPolar3d(fgCartesianPoint3d cp); fgPoint3d fgCartToPolar3d(fgPoint3d cp);
#ifdef __cplusplus #endif /* _POLAR_HXX */
}
#endif
#endif /* _POLAR_H */
/* $Log$ /* $Log$
/* Revision 1.1 1998/05/02 01:50:11 curt /* Revision 1.1 1998/07/08 14:40:09 curt
/* polar.[ch] renamed to polar3d.[ch] /* polar3d.[ch] renamed to polar3d.[ch]xx, vector.[ch] renamed to vector.[ch]xx
/* Updated fg_geodesy comments to reflect that routines expect and produce
/* meters.
/* /*
* Revision 1.1 1998/05/02 01:50:11 curt
* polar.[ch] renamed to polar3d.[ch]
*
* Revision 1.9 1998/04/25 22:06:23 curt * Revision 1.9 1998/04/25 22:06:23 curt
* Edited cvs log messages in source files ... bad bad bad! * Edited cvs log messages in source files ... bad bad bad!
* *

45
Math/vector.c → Math/vector.cxx
View file

@ -27,9 +27,11 @@
#include <math.h> #include <math.h>
#include <stdio.h> #include <stdio.h>
#include <Math/vector.h> #include <Include/fg_types.h>
#include <Math/mat3.h> #include "vector.hxx"
#include "mat3.h"
/* Map a vector onto the plane specified by normal */ /* Map a vector onto the plane specified by normal */
@ -78,18 +80,49 @@ void map_vec_onto_cur_surface_plane(MAT3vec normal, MAT3vec v0, MAT3vec vec,
} }
// Given a point p, and a line through p0 with direction vector d,
// find the shortest distance from the point to the line
double fgPointLine(MAT3vec p, MAT3vec p0, MAT3vec d) {
MAT3vec u, u1, v;
double ud, dd, tmp, dist;
// u = p - p0
MAT3_SUB_VEC(u, p, p0);
// calculate the projection, u1, of u along d.
// u1 = ( dot_prod(u, d) / dot_prod(d, d) ) * d;
ud = MAT3_DOT_PRODUCT(u, d);
dd = MAT3_DOT_PRODUCT(d, d);
tmp = ud / dd;
MAT3_SCALE_VEC(u1, d, tmp);;
// v = u - u1 = vector from closest point on line, p1, to the
// original point, p.
MAT3_SUB_VEC(v, u, u1);
dist = sqrt(MAT3_DOT_PRODUCT(v, v));
return( dist );
}
/* $Log$ /* $Log$
/* Revision 1.3 1998/05/07 23:04:28 curt /* Revision 1.1 1998/07/08 14:40:10 curt
/* Added a blank formating line! /* polar3d.[ch] renamed to polar3d.[ch]xx, vector.[ch] renamed to vector.[ch]xx
/* Updated fg_geodesy comments to reflect that routines expect and produce
/* meters.
/* /*
* Revision 1.3 1998/05/07 23:04:28 curt
* Added a blank formating line!
*
* Revision 1.2 1998/01/19 19:27:13 curt * Revision 1.2 1998/01/19 19:27:13 curt
* Merged in make system changes from Bob Kuehne <rpk@sgi.com> * Merged in make system changes from Bob Kuehne <rpk@sgi.com>
* This should simplify things tremendously. * This should simplify things tremendously.
* *
* Revision 1.1 1997/12/22 04:13:17 curt * Revision 1.1 1997/12/22 04:13:17 curt
* Initial revision. * Initial revision.
* * */
*/

28
Math/vector.h → Math/vector.hxx
View file

@ -1,5 +1,5 @@
/************************************************************************** /**************************************************************************
* vector.h -- additional vector routines * vector.hxx -- additional vector routines
* *
* Written by Curtis Olson, started December 1997. * Written by Curtis Olson, started December 1997.
* *
@ -24,12 +24,12 @@
**************************************************************************/ **************************************************************************/
#ifndef _VECTOR_H #ifndef _VECTOR_HXX
#define _VECTOR_H #define _VECTOR_HXX
#ifdef __cplusplus #ifndef __cplusplus
extern "C" { # error This library requires C++
#endif #endif
@ -40,19 +40,23 @@ extern "C" {
void map_vec_onto_cur_surface_plane(MAT3vec normal, MAT3vec v0, MAT3vec vec, void map_vec_onto_cur_surface_plane(MAT3vec normal, MAT3vec v0, MAT3vec vec,
MAT3vec result); MAT3vec result);
// Given a point p, and a line through p0 with direction vector d,
#ifdef __cplusplus // find the shortest distance from the point to the line
} double fgPointLine(MAT3vec p, MAT3vec p0, MAT3vec d);
#endif
#endif /* _VECTOR_H */ #endif /* _VECTOR_HXX */
/* $Log$ /* $Log$
/* Revision 1.4 1998/04/21 17:03:51 curt /* Revision 1.1 1998/07/08 14:40:10 curt
/* Prepairing for C++ integration. /* polar3d.[ch] renamed to polar3d.[ch]xx, vector.[ch] renamed to vector.[ch]xx
/* Updated fg_geodesy comments to reflect that routines expect and produce
/* meters.
/* /*
* Revision 1.4 1998/04/21 17:03:51 curt
* Prepairing for C++ integration.
*
* Revision 1.3 1998/01/22 02:59:39 curt * Revision 1.3 1998/01/22 02:59:39 curt
* Changed #ifdef FILE_H to #ifdef _FILE_H * Changed #ifdef FILE_H to #ifdef _FILE_H
* *