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flightgear/src/Instrumentation/HUD/HUD_runway.cxx

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// HUD_runway.cxx -- An instrument that renders a virtual runway on the HUD
//
// Written by Aaron Wilson & Phillip Merritt, Nov 2004.
//
// Copyright (C) 2004 Aaron Wilson, Aaron.I.Wilson@nasa.gov
// Copyright (C) 2004 Phillip Merritt, Phillip.M.Merritt@nasa.gov
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <simgear/compiler.h>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/math/polar3d.hxx>
#include SG_GLU_H
#include <Main/globals.hxx>
#include <Scenery/scenery.hxx>
#include <Aircraft/aircraft.hxx>
#include <Environment/environment.hxx>
#include <Environment/environment_mgr.hxx>
#include <Main/viewer.hxx>
#include <Main/viewmgr.hxx>
#include <ATC/ATCutils.hxx>
#include "HUD.hxx"
HUD::Runway::Runway(HUD *hud, const SGPropertyNode *node, float x, float y) :
Item(hud, node, x, y),
_agl(fgGetNode("/position/altitude-agl-ft", true)),
_arrow_scale(node->getDoubleValue("arrow-scale", 1.0)),
_arrow_radius(node->getDoubleValue("arrow-radius")),
_line_scale(node->getDoubleValue("line-scale", 1.0)),
_scale_dist(node->getDoubleValue("scale-dist-nm")),
_default_pitch(fgGetDouble("/sim/view[0]/config/pitch-pitch-deg", 0.0)),
_default_heading(fgGetDouble("/sim/view[0]/config/pitch-heading-deg", 0.0)),
_cockpit_view(globals->get_viewmgr()->get_view(0)),
_stipple_out(node->getIntValue("outer_stipple", 0xFFFF)),
_stipple_center(node->getIntValue("center-stipple", 0xFFFF)),
_draw_arrow(_arrow_scale > 0 ? true : false),
_draw_arrow_always(_arrow_scale > 0 ? node->getBoolValue("arrow-always") : false)
{
_view[0] = 0;
_view[1] = 0;
_view[2] = 640;
_view[3] = 480;
_center_x = _view[2] / 2;
_center_y = _view[3] / 2;
_left = _center_x - (_w / 2) + _x;
_right = _center_x + (_w / 2) + _x;
_bottom = _center_y - (_h / 2) + _y;
_top = _center_y + (_h / 2) + _y;
}
void HUD::Runway::draw()
{
if (!get_active_runway(_runway))
return;
glPushAttrib(GL_LINE_STIPPLE | GL_LINE_STIPPLE_PATTERN | GL_LINE_WIDTH);
float modelView[4][4], projMat[4][4];
bool anyLines;
//Get the current view
FGViewer* curr_view = globals->get_viewmgr()->get_current_view();
int curr_view_id = globals->get_viewmgr()->get_current();
double gpo = curr_view->getGoalPitchOffset_deg();
double gho = curr_view->getGoalHeadingOffset_deg();
double po = curr_view->getPitchOffset_deg();
double ho = curr_view->getHeadingOffset_deg();
double yaw = -(_cockpit_view->getHeadingOffset_deg() - _default_heading) * SG_DEGREES_TO_RADIANS;
double pitch = (_cockpit_view->getPitchOffset_deg() - _default_pitch) * SG_DEGREES_TO_RADIANS;
//double roll = fgGetDouble("/sim/view[0]/config/roll-offset-deg",0.0) //TODO: adjust for default roll offset
double sPitch = sin(pitch), cPitch = cos(pitch),
sYaw = sin(yaw), cYaw = cos(yaw);
//Assuming that the "Cockpit View" is always at position zero!!!
if (curr_view_id != 0) {
globals->get_viewmgr()->set_view(0);
globals->get_viewmgr()->copyToCurrent();
}
//Set the camera to the cockpit view to get the view of the runway from the cockpit
ssgSetCamera((sgVec4 *)_cockpit_view->get_VIEW());
get_rwy_points(_points3d);
//Get the current project matrix
ssgGetProjectionMatrix(projMat);
// const sgVec4 *viewMat = globals->get_current_view()->get_VIEW();
//Get the current model view matrix (cockpit view)
ssgGetModelviewMatrix(modelView);
//Create a rotation matrix to correct for any offsets (other than default offsets) to the model view matrix
sgMat4 xy; //rotation about the Rxy, negate the sin's on Ry
xy[0][0] = cYaw, xy[1][0] = 0.0f, xy[2][0] = -sYaw, xy[3][0] = 0.0f;
xy[0][1] = sPitch*-sYaw, xy[1][1] = cPitch, xy[2][1] = -sPitch*cYaw, xy[3][1] = 0.0f;
xy[0][2] = cPitch*sYaw, xy[1][2] = sPitch, xy[2][2] = cPitch*cYaw, xy[3][2] = 0.0f;
xy[0][3] = 0.0f, xy[1][3] = 0.0f, xy[2][3] = 0.0f, xy[3][3] = 1.0f;
//Re-center the model view
sgPostMultMat4(modelView,xy);
//copy float matrices to double
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
int idx = (i * 4) + j;
_mm[idx] = (double)modelView[i][j];
_pm[idx] = (double)projMat[i][j];
}
}
//Calculate the 2D points via gluProject
int result = GL_TRUE;
for (int i = 0; i < 6; i++) {
result = gluProject(_points3d[i][0], _points3d[i][1], _points3d[i][2], _mm,
_pm, _view, &_points2d[i][0], &_points2d[i][1], &_points2d[i][2]);
}
//set the line width based on our distance from the runway
setLineWidth();
//Draw the runway lines on the HUD
glEnable(GL_LINE_STIPPLE);
glLineStipple(1, _stipple_out);
anyLines =
drawLine(_points3d[0], _points3d[1], _points2d[0], _points2d[1]) | //draw top
drawLine(_points3d[2], _points3d[1], _points2d[2], _points2d[1]) | //draw right
drawLine(_points3d[2], _points3d[3], _points2d[2], _points2d[3]) | //draw bottom
drawLine(_points3d[3], _points3d[0], _points2d[3], _points2d[0]); //draw left
glLineStipple(1, _stipple_center);
anyLines |= drawLine(_points3d[5], _points3d[4], _points2d[5], _points2d[4]); //draw center
//Check to see if arrow needs drawn
if ((!anyLines && _draw_arrow) || _draw_arrow_always) {
drawArrow(); //draw indication arrow
}
//Restore the current view and any offsets
if (curr_view_id != 0) {
globals->get_viewmgr()->set_view(curr_view_id);
globals->get_viewmgr()->copyToCurrent();
curr_view->setHeadingOffset_deg(ho);
curr_view->setPitchOffset_deg(po);
curr_view->setGoalHeadingOffset_deg(gho);
curr_view->setGoalPitchOffset_deg(gpo);
}
//Set the camera back to the current view
ssgSetCamera((sgVec4 *)curr_view);
glPopAttrib();
}
bool HUD::Runway::get_active_runway(FGRunway& runway)
{
FGEnvironment stationweather =
((FGEnvironmentMgr *)globals->get_subsystem("environment"))->getEnvironment();
double hdg = stationweather.get_wind_from_heading_deg();
return globals->get_runways()->search(fgGetString("/sim/presets/airport-id"), int(hdg), &runway);
}
void HUD::Runway::get_rwy_points(sgdVec3 *_points3d)
{
double alt = current_aircraft.fdm_state->get_Runway_altitude() * SG_FEET_TO_METER;
double length = (_runway._length / 2.0) * SG_FEET_TO_METER;
double width = (_runway._width / 2.0) * SG_FEET_TO_METER;
double frontLat, frontLon, backLat, backLon,az, tempLat, tempLon;
geo_direct_wgs_84(alt, _runway._lat, _runway._lon, _runway._heading, length, &backLat, &backLon, &az);
sgGeodToCart(backLat * SG_DEGREES_TO_RADIANS, backLon * SG_DEGREES_TO_RADIANS, alt, _points3d[4]);
geo_direct_wgs_84(alt, _runway._lat, _runway._lon, _runway._heading + 180, length, &frontLat, &frontLon, &az);
sgGeodToCart(frontLat * SG_DEGREES_TO_RADIANS, frontLon * SG_DEGREES_TO_RADIANS, alt, _points3d[5]);
geo_direct_wgs_84(alt, backLat, backLon, _runway._heading + 90, width, &tempLat, &tempLon, &az);
sgGeodToCart(tempLat * SG_DEGREES_TO_RADIANS, tempLon * SG_DEGREES_TO_RADIANS, alt, _points3d[0]);
geo_direct_wgs_84(alt, backLat, backLon, _runway._heading - 90, width, &tempLat, &tempLon, &az);
sgGeodToCart(tempLat * SG_DEGREES_TO_RADIANS, tempLon * SG_DEGREES_TO_RADIANS, alt, _points3d[1]);
geo_direct_wgs_84(alt, frontLat, frontLon, _runway._heading - 90, width, &tempLat, &tempLon, &az);
sgGeodToCart(tempLat * SG_DEGREES_TO_RADIANS, tempLon * SG_DEGREES_TO_RADIANS, alt, _points3d[2]);
geo_direct_wgs_84(alt, frontLat, frontLon, _runway._heading + 90, width, &tempLat, &tempLon, &az);
sgGeodToCart(tempLat * SG_DEGREES_TO_RADIANS, tempLon * SG_DEGREES_TO_RADIANS, alt, _points3d[3]);
//Get the current tile center
SGVec3d tileCenter = globals->get_scenery()->get_center();
for (int i = 0; i < 6; i++) {
_points3d[i][0] -= tileCenter.x();
_points3d[i][1] -= tileCenter.y();
_points3d[i][2] -= tileCenter.z();
}
}
bool HUD::Runway::drawLine(const sgdVec3& a1, const sgdVec3& a2, const sgdVec3& point1, const sgdVec3& point2)
{
sgdVec3 p1, p2;
sgdCopyVec3(p1, point1);
sgdCopyVec3(p2, point2);
bool p1Inside = (p1[0] >= _left && p1[0] <= _right && p1[1] >= _bottom && p1[1] <= _top);
bool p1Insight = (p1[2] >= 0.0 && p1[2] < 1.0);
bool p1Valid = p1Insight && p1Inside;
bool p2Inside = (p2[0] >= _left && p2[0] <= _right && p2[1] >= _bottom && p2[1] <= _top);
bool p2Insight = (p2[2] >= 0.0 && p2[2] < 1.0);
bool p2Valid = p2Insight && p2Inside;
if (p1Valid && p2Valid) { //Both project points are valid, draw the line
glBegin(GL_LINES);
glVertex2d(p1[0],p1[1]);
glVertex2d(p2[0],p2[1]);
glEnd();
} else if (p1Valid) { //p1 is valid and p2 is not, calculate a new valid point
sgdVec3 vec = {a2[0] - a1[0], a2[1] - a1[1], a2[2] - a1[2]};
//create the unit vector
sgdScaleVec3(vec, 1.0 / sgdLengthVec3(vec));
sgdVec3 newPt;
sgdCopyVec3(newPt, a1);
sgdAddVec3(newPt, vec);
if (gluProject(newPt[0], newPt[1], newPt[2], _mm, _pm, _view, &p2[0], &p2[1], &p2[2])
&& (p2[2] > 0 && p2[2] < 1.0)) {
boundPoint(p1, p2);
glBegin(GL_LINES);
glVertex2d(p1[0], p1[1]);
glVertex2d(p2[0], p2[1]);
glEnd();
}
} else if (p2Valid) { //p2 is valid and p1 is not, calculate a new valid point
sgdVec3 vec = {a1[0] - a2[0], a1[1] - a2[1], a1[2] - a2[2]};
//create the unit vector
sgdScaleVec3(vec, 1.0 / sgdLengthVec3(vec));
sgdVec3 newPt;
sgdCopyVec3(newPt, a2);
sgdAddVec3(newPt, vec);
if (gluProject(newPt[0], newPt[1], newPt[2], _mm, _pm, _view, &p1[0], &p1[1], &p1[2])
&& (p1[2] > 0 && p1[2] < 1.0)) {
boundPoint(p2, p1);
glBegin(GL_LINES);
glVertex2d(p2[0], p2[1]);
glVertex2d(p1[0], p1[1]);
glEnd();
}
} else if (p1Insight && p2Insight) { //both points are insight, but not inside
bool v = boundOutsidePoints(p1, p2);
if (v) {
glBegin(GL_LINES);
glVertex2d(p1[0], p1[1]);
glVertex2d(p2[0], p2[1]);
glEnd();
}
return v;
}
//else both points are not insight, don't draw anything
return (p1Valid && p2Valid);
}
void HUD::Runway::boundPoint(const sgdVec3& v, sgdVec3& m)
{
double y = v[1];
if (m[1] < v[1])
y = _bottom;
else if (m[1] > v[1])
y = _top;
if (m[0] == v[0]) {
m[1] = y;
return; //prevent divide by zero
}
double slope = (m[1] - v[1]) / (m[0] - v[0]);
m[0] = (y - v[1]) / slope + v[0];
m[1] = y;
if (m[0] < _left) {
m[0] = _left;
m[1] = slope * (_left - v[0]) + v[1];
} else if (m[0] > _right) {
m[0] = _right;
m[1] = slope * (_right - v[0]) + v[1];
}
}
bool HUD::Runway::boundOutsidePoints(sgdVec3& v, sgdVec3& m)
{
bool pointsInvalid = (v[1] > _top && m[1] > _top) ||
(v[1] < _bottom && m[1] < _bottom) ||
(v[0] > _right && m[0] > _right) ||
(v[0] < _left && m[0] < _left);
if (pointsInvalid)
return false;
if (m[0] == v[0]) {//x's are equal, vertical line
if (m[1] > v[1]) {
m[1] = _top;
v[1] = _bottom;
} else {
v[1] = _top;
m[1] = _bottom;
}
return true;
}
if (m[1] == v[1]) { //y's are equal, horizontal line
if (m[0] > v[0]) {
m[0] = _right;
v[0] = _left;
} else {
v[0] = _right;
m[0] = _left;
}
return true;
}
double slope = (m[1] - v[1]) / (m[0] - v[0]);
double b = v[1] - (slope * v[0]);
double y1 = slope * _left + b;
double y2 = slope * _right + b;
double x1 = (_bottom - b) / slope;
double x2 = (_top - b) / slope;
int counter = 0;
if (y1 >= _bottom && y1 <= _top) {
v[0] = _left;
v[1] = y1;
counter++;
}
if (y2 >= _bottom && y2 <= _top) {
if (counter > 0) {
m[0] = _right;
m[1] = y2;
} else {
v[0] = _right;
v[1] = y2;
}
counter++;
}
if (x1 >= _left && x1 <= _right) {
if (counter > 0) {
m[0] = x1;
m[1] = _bottom;
} else {
v[0] = x1;
v[1] = _bottom;
}
counter++;
}
if (x2 >= _left && x2 <= _right) {
m[0] = x1;
m[1] = _bottom;
counter++;
}
return (counter == 2);
}
void HUD::Runway::drawArrow()
{
Point3D ac(0.0), rwy(0.0);
ac.setlat(current_aircraft.fdm_state->get_Latitude_deg());
ac.setlon(current_aircraft.fdm_state->get_Longitude_deg());
rwy.setlat(_runway._lat);
rwy.setlon(_runway._lon);
float theta = GetHeadingFromTo(ac, rwy);
theta -= fgGetDouble("/orientation/heading-deg");
theta = -theta;
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glTranslated((_right + _left) / 2.0, (_top + _bottom) / 2.0, 0.0);
glRotated(theta, 0.0, 0.0, 1.0);
glTranslated(0.0, _arrow_radius, 0.0);
glScaled(_arrow_scale, _arrow_scale, 0.0);
glBegin(GL_TRIANGLES);
glVertex2d(-5.0, 12.5);
glVertex2d(0.0, 25.0);
glVertex2d(5.0, 12.5);
glEnd();
glBegin(GL_QUADS);
glVertex2d(-2.5, 0.0);
glVertex2d(-2.5, 12.5);
glVertex2d(2.5, 12.5);
glVertex2d(2.5, 0.0);
glEnd();
glPopMatrix();
}
void HUD::Runway::setLineWidth()
{
//Calculate the distance from the runway, A
double course, distance;
calc_gc_course_dist(Point3D(_runway._lon * SGD_DEGREES_TO_RADIANS,
_runway._lat * SGD_DEGREES_TO_RADIANS, 0.0),
Point3D(current_aircraft.fdm_state->get_Longitude(),
current_aircraft.fdm_state->get_Latitude(), 0.0 ),
&course, &distance);
distance *= SG_METER_TO_NM;
//Get altitude above runway, B
double alt_nm = _agl->getDoubleValue();
if (_hud->getUnits() == FEET)
alt_nm *= SG_FEET_TO_METER;
alt_nm *= SG_METER_TO_NM;
//Calculate distance away from runway, C = v(A<>+B<>)
distance = sqrt(alt_nm * alt_nm + distance*distance);
if (distance < _scale_dist)
glLineWidth(1.0 + ((_line_scale - 1) * ((_scale_dist - distance) / _scale_dist)));
else
glLineWidth(1.0);
}
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