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.
This commit is contained in:
curt
parent
4205c0a38d
commit
dbcecbd3b8
7 changed files with 128 additions and 66 deletions
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@ -10,7 +10,7 @@ libMath_la_SOURCES = \
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fg_random.c fg_random.h \
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interpolater.cxx interpolater.hxx \
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mat3.h mat3defs.h mat3err.h \
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polar3d.c polar3d.h \
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vector.c vector.h
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polar3d.cxx polar3d.hxx \
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vector.cxx vector.hxx
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INCLUDES += -I$(top_builddir) -I$(top_builddir)/Lib -I$(top_builddir)/Simulator
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@ -24,13 +24,13 @@
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/* fgGeocToGeod(lat_geoc, radius, *lat_geod, *alt, *sea_level_r)
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* INPUTS:
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* lat_geoc Geocentric latitude, radians, + = North
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* radius C.G. radius to earth center, ft
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* radius C.G. radius to earth center (meters)
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*
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* OUTPUTS:
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* lat_geod Geodetic latitude, radians, + = North
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* alt C.G. altitude above mean sea level, ft
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* alt C.G. altitude above mean sea level (meters)
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* sea_level_r radius from earth center to sea level at
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* local vertical (surface normal) of C.G.
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* local vertical (surface normal) of C.G. (meters)
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*/
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void fgGeocToGeod( double lat_geoc, double radius, double
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@ -43,12 +43,12 @@ void fgGeocToGeod( double lat_geoc, double radius, double
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|| ( (FG_PI_2 + lat_geoc) < ONE_SECOND ) ) /* near South pole */
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{
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*lat_geod = lat_geoc;
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*sea_level_r = EQUATORIAL_RADIUS_KM*E;
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*sea_level_r = EQUATORIAL_RADIUS_M*E;
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*alt = radius - *sea_level_r;
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} else {
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t_lat = tan(lat_geoc);
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x_alpha = E*EQUATORIAL_RADIUS_KM/sqrt(t_lat*t_lat + E*E);
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mu_alpha = atan2(sqrt(RESQ_KM - x_alpha*x_alpha),E*x_alpha);
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x_alpha = E*EQUATORIAL_RADIUS_M/sqrt(t_lat*t_lat + E*E);
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mu_alpha = atan2(sqrt(RESQ_M - x_alpha*x_alpha),E*x_alpha);
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if (lat_geoc < 0) mu_alpha = - mu_alpha;
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sin_mu_a = sin(mu_alpha);
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delt_lambda = mu_alpha - lat_geoc;
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@ -56,14 +56,14 @@ void fgGeocToGeod( double lat_geoc, double radius, double
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l_point = radius - r_alpha;
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*alt = l_point*cos(delt_lambda);
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denom = sqrt(1-EPS*EPS*sin_mu_a*sin_mu_a);
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rho_alpha = EQUATORIAL_RADIUS_KM*(1-EPS)/
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rho_alpha = EQUATORIAL_RADIUS_M*(1-EPS)/
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(denom*denom*denom);
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delt_mu = atan2(l_point*sin(delt_lambda),rho_alpha + *alt);
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*lat_geod = mu_alpha - delt_mu;
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lambda_sl = atan( E*E * tan(*lat_geod) ); /* SL geoc. latitude */
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sin_lambda_sl = sin( lambda_sl );
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*sea_level_r =
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sqrt(RESQ_KM / (1 + ((1/(E*E))-1)*sin_lambda_sl*sin_lambda_sl));
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sqrt(RESQ_M / (1 + ((1/(E*E))-1)*sin_lambda_sl*sin_lambda_sl));
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}
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}
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@ -71,11 +71,11 @@ void fgGeocToGeod( double lat_geoc, double radius, double
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/* fgGeodToGeoc( lat_geod, alt, *sl_radius, *lat_geoc )
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* INPUTS:
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* lat_geod Geodetic latitude, radians, + = North
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* alt C.G. altitude above mean sea level, ft
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* alt C.G. altitude above mean sea level (meters)
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*
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* OUTPUTS:
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* sl_radius SEA LEVEL radius to earth center, ft (add Altitude to
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* get true distance from earth center.
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* sl_radius SEA LEVEL radius to earth center (meters)
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* (add Altitude to get true distance from earth center.
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* lat_geoc Geocentric latitude, radians, + = North
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*
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*/
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@ -91,7 +91,7 @@ void fgGeodToGeoc( double lat_geod, double alt, double *sl_radius,
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sin_mu = sin(lat_geod); /* Geodetic (map makers') latitude */
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cos_mu = cos(lat_geod);
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*sl_radius =
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sqrt(RESQ_KM / (1 + ((1/(E*E))-1)*sin_lambda_sl*sin_lambda_sl));
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sqrt(RESQ_M / (1 + ((1/(E*E))-1)*sin_lambda_sl*sin_lambda_sl));
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py = *sl_radius*sin_lambda_sl + alt*sin_mu;
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px = *sl_radius*cos_lambda_sl + alt*cos_mu;
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*lat_geoc = atan2( py, px );
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@ -140,6 +140,11 @@ void fgGeodToGeoc( double lat_geod, double alt, double *sl_radius,
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$Header$
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$Log$
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Revision 1.6 1998/07/08 14:40:07 curt
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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
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meters.
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Revision 1.5 1998/04/25 22:06:23 curt
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Edited cvs log messages in source files ... bad bad bad!
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@ -208,9 +213,14 @@ Initial Flight Gear revision.
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/* $Log$
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/* Revision 1.5 1998/04/25 22:06:23 curt
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/* Edited cvs log messages in source files ... bad bad bad!
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/* Revision 1.6 1998/07/08 14:40:07 curt
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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
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/* meters.
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/*
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* Revision 1.5 1998/04/25 22:06:23 curt
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* Edited cvs log messages in source files ... bad bad bad!
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*
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* Revision 1.4 1998/01/27 00:47:59 curt
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* Incorporated Paul Bleisch's <pbleisch@acm.org> new debug message
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* system and commandline/config file processing code.
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@ -23,13 +23,13 @@ extern "C" {
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/* fgGeocToGeod(lat_geoc, radius, *lat_geod, *alt, *sea_level_r)
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* INPUTS:
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* lat_geoc Geocentric latitude, radians, + = North
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* radius C.G. radius to earth center, ft
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* radius C.G. radius to earth center (meters)
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*
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* OUTPUTS:
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* lat_geod Geodetic latitude, radians, + = North
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* alt C.G. altitude above mean sea level, ft
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* alt C.G. altitude above mean sea level (meters)
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* sea_level_r radius from earth center to sea level at
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* local vertical (surface normal) of C.G.
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* local vertical (surface normal) of C.G. (meters)
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*/
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void fgGeocToGeod( double lat_geoc, double radius, double
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@ -38,11 +38,11 @@ void fgGeocToGeod( double lat_geoc, double radius, double
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/* fgGeodToGeoc( lat_geod, alt, *sl_radius, *lat_geoc )
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* INPUTS:
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* lat_geod Geodetic latitude, radians, + = North
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* alt C.G. altitude above mean sea level, ft
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* alt C.G. altitude above mean sea level (meters)
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*
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* OUTPUTS:
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* sl_radius SEA LEVEL radius to earth center, ft (add Altitude to
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* get true distance from earth center.
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* sl_radius SEA LEVEL radius to earth center (meters)
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* (add Altitude to get true distance from earth center.
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* lat_geoc Geocentric latitude, radians, + = North
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*
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*/
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@ -94,6 +94,11 @@ void fgGeodToGeoc( double lat_geod, double alt, double *sl_radius,
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$Header$
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$Log$
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Revision 1.4 1998/07/08 14:40:08 curt
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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
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meters.
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Revision 1.3 1998/04/21 17:03:48 curt
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Prepairing for C++ integration.
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@ -160,9 +165,14 @@ Initial Flight Gear revision.
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/* $Log$
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/* Revision 1.3 1998/04/21 17:03:48 curt
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/* Prepairing for C++ integration.
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/* Revision 1.4 1998/07/08 14:40:08 curt
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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
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/* meters.
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/*
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* Revision 1.3 1998/04/21 17:03:48 curt
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* Prepairing for C++ integration.
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*
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* Revision 1.2 1998/01/22 02:59:38 curt
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* Changed #ifdef FILE_H to #ifdef _FILE_H
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*
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@ -1,5 +1,5 @@
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/**************************************************************************
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* polar.c -- routines to deal with polar math and transformations
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* polar.cxx -- routines to deal with polar math and transformations
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*
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* Written by Curtis Olson, started June 1997.
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*
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@ -29,14 +29,14 @@
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#include <Include/fg_constants.h>
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#include "polar3d.h"
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#include "polar3d.hxx"
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/* Convert a polar coordinate to a cartesian coordinate. Lon and Lat
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* must be specified in radians. The FG convention is for distances
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* to be specified in meters */
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fgCartesianPoint3d fgPolarToCart3d(fgPolarPoint3d p) {
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fgCartesianPoint3d pnew;
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fgPoint3d fgPolarToCart3d(fgPoint3d p) {
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fgPoint3d pnew;
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pnew.x = cos(p.lon) * cos(p.lat) * p.radius;
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pnew.y = sin(p.lon) * cos(p.lat) * p.radius;
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@ -48,8 +48,8 @@ fgCartesianPoint3d fgPolarToCart3d(fgPolarPoint3d p) {
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/* Convert a cartesian coordinate to polar coordinates (lon/lat
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* specified in radians. Distances are specified in meters. */
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fgPolarPoint3d fgCartToPolar3d(fgCartesianPoint3d cp) {
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fgPolarPoint3d pp;
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fgPoint3d fgCartToPolar3d(fgPoint3d cp) {
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fgPoint3d pp;
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pp.lon = atan2( cp.y, cp.x );
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pp.lat = FG_PI_2 - atan2( sqrt(cp.x*cp.x + cp.y*cp.y), cp.z );
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@ -62,9 +62,14 @@ fgPolarPoint3d fgCartToPolar3d(fgCartesianPoint3d cp) {
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/* $Log$
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/* Revision 1.2 1998/05/03 00:45:49 curt
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/* Commented out a debugging printf.
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/* Revision 1.1 1998/07/08 14:40:08 curt
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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
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/* meters.
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/*
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* Revision 1.2 1998/05/03 00:45:49 curt
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* Commented out a debugging printf.
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*
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* Revision 1.1 1998/05/02 01:50:11 curt
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* polar.[ch] renamed to polar3d.[ch]
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*
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@ -1,5 +1,5 @@
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/**************************************************************************
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* polar.h -- routines to deal with polar math and transformations
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* polar.hxx -- routines to deal with polar math and transformations
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*
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* Written by Curtis Olson, started June 1997.
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*
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@ -24,12 +24,12 @@
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**************************************************************************/
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#ifndef _POLAR_H
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#define _POLAR_H
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#ifndef _POLAR_HXX
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#define _POLAR_HXX
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#ifdef __cplusplus
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extern "C" {
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#ifndef __cplusplus
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# error This library requires C++
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#endif
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@ -39,26 +39,26 @@ extern "C" {
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/* Convert a polar coordinate to a cartesian coordinate. Lon and Lat
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* must be specified in radians. The FG convention is for distances
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* to be specified in meters */
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fgCartesianPoint3d fgPolarToCart3d(fgPolarPoint3d p);
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fgPoint3d fgPolarToCart3d(fgPoint3d p);
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/* Convert a cartesian coordinate to polar coordinates (lon/lat
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* specified in radians. Distances are specified in meters. */
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fgPolarPoint3d fgCartToPolar3d(fgCartesianPoint3d cp);
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fgPoint3d fgCartToPolar3d(fgPoint3d cp);
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#ifdef __cplusplus
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}
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#endif
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#endif /* _POLAR_H */
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#endif /* _POLAR_HXX */
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/* $Log$
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/* Revision 1.1 1998/05/02 01:50:11 curt
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/* polar.[ch] renamed to polar3d.[ch]
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/* Revision 1.1 1998/07/08 14:40:09 curt
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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
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/* meters.
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/*
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* Revision 1.1 1998/05/02 01:50:11 curt
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* polar.[ch] renamed to polar3d.[ch]
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*
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* Revision 1.9 1998/04/25 22:06:23 curt
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* Edited cvs log messages in source files ... bad bad bad!
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*
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@ -27,9 +27,11 @@
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#include <math.h>
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#include <stdio.h>
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#include <Math/vector.h>
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#include <Include/fg_types.h>
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#include <Math/mat3.h>
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#include "vector.hxx"
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#include "mat3.h"
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/* Map a vector onto the plane specified by normal */
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@ -78,18 +80,49 @@ void map_vec_onto_cur_surface_plane(MAT3vec normal, MAT3vec v0, MAT3vec vec,
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}
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// Given a point p, and a line through p0 with direction vector d,
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// find the shortest distance from the point to the line
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double fgPointLine(MAT3vec p, MAT3vec p0, MAT3vec d) {
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MAT3vec u, u1, v;
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double ud, dd, tmp, dist;
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// u = p - p0
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MAT3_SUB_VEC(u, p, p0);
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// calculate the projection, u1, of u along d.
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// u1 = ( dot_prod(u, d) / dot_prod(d, d) ) * d;
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ud = MAT3_DOT_PRODUCT(u, d);
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dd = MAT3_DOT_PRODUCT(d, d);
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tmp = ud / dd;
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MAT3_SCALE_VEC(u1, d, tmp);;
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// v = u - u1 = vector from closest point on line, p1, to the
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// original point, p.
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MAT3_SUB_VEC(v, u, u1);
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dist = sqrt(MAT3_DOT_PRODUCT(v, v));
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return( dist );
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}
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/* $Log$
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/* Revision 1.3 1998/05/07 23:04:28 curt
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/* Added a blank formating line!
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/* Revision 1.1 1998/07/08 14:40:10 curt
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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
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/* meters.
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/*
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* Revision 1.3 1998/05/07 23:04:28 curt
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* Added a blank formating line!
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*
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* Revision 1.2 1998/01/19 19:27:13 curt
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* Merged in make system changes from Bob Kuehne <rpk@sgi.com>
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* This should simplify things tremendously.
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*
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* Revision 1.1 1997/12/22 04:13:17 curt
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* Initial revision.
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*
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*/
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* */
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@ -1,5 +1,5 @@
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/**************************************************************************
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* vector.h -- additional vector routines
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* vector.hxx -- additional vector routines
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*
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* Written by Curtis Olson, started December 1997.
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*
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@ -24,12 +24,12 @@
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**************************************************************************/
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#ifndef _VECTOR_H
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#define _VECTOR_H
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#ifndef _VECTOR_HXX
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#define _VECTOR_HXX
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#ifdef __cplusplus
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extern "C" {
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#ifndef __cplusplus
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# error This library requires C++
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#endif
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@ -40,19 +40,23 @@ extern "C" {
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void map_vec_onto_cur_surface_plane(MAT3vec normal, MAT3vec v0, MAT3vec vec,
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MAT3vec result);
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#ifdef __cplusplus
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}
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#endif
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// Given a point p, and a line through p0 with direction vector d,
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// find the shortest distance from the point to the line
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double fgPointLine(MAT3vec p, MAT3vec p0, MAT3vec d);
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#endif /* _VECTOR_H */
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#endif /* _VECTOR_HXX */
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/* $Log$
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/* Revision 1.4 1998/04/21 17:03:51 curt
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/* Prepairing for C++ integration.
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/* Revision 1.1 1998/07/08 14:40:10 curt
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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
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/* meters.
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/*
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* Revision 1.4 1998/04/21 17:03:51 curt
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* Prepairing for C++ integration.
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*
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* Revision 1.3 1998/01/22 02:59:39 curt
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* Changed #ifdef FILE_H to #ifdef _FILE_H
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*
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