src/Cockpit/hud_rwy.cxx

   1 // hud_rwy.cxx -- An instrument that renders a virtual runway on the HUD
   2 //
   3 // Written by Aaron Wilson & Phillip Merritt, Nov 2004.
   4 //
   5 // Copyright (C) 2004 Aaron Wilson, Aaron.I.Wilson@nasa.gov
   6 // Copyright (C) 2004 Phillip Merritt, Phillip.M.Merritt@nasa.gov
   7 //
   8 // This program is free software; you can redistribute it and/or
   9 // modify it under the terms of the GNU General Public License as
  10 // published by the Free Software Foundation; either version 2 of the
  11 // License, or (at your option) any later version.
  12 //
  13 // This program is distributed in the hope that it will be useful, but
  14 // WITHOUT ANY WARRANTY; without even the implied warranty of
  15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  16 // General Public License for more details.
  17 //
  18 // You should have received a copy of the GNU General Public License
  19 // along with this program; if not, write to the Free Software
  20 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  21 //
  22
  23 #include <simgear/compiler.h>
  24
  25 #include "hud.hxx"
  26
  27 #include <math.h>
  28 #include <Main/fg_props.hxx>
  29 #include <Main/globals.hxx>
  30 #include <Scenery/scenery.hxx>
  31 #include <Aircraft/aircraft.hxx>
  32 #include <Environment/environment.hxx>
  33 #include <Environment/environment_mgr.hxx>
  34 #include <simgear/math/sg_geodesy.hxx>
  35 #include <simgear/math/polar3d.hxx>
  36 #include SG_GLU_H
  37 #include <ATC/ATCutils.hxx>
  38
  39 runway_instr::runway_instr(int x,
  40                                                    int y,
  41                                                    int width,
  42                                                    int height,
  43                                                    float scale_data,
  44                                                    bool working):instr_item(x,y,width,height,NULL,scale_data,0,working)
  45 {
  46         runway = get_active_runway();
  47         get_rwy_points(points3d);
  48         stippleOut=0xFFFF;
  49         stippleCen=0xFFFF;
  50         arrowScale = 1.0;
  51         arrowRad = 0.0;
  52         view[0] = 0;
  53         view[1] = 0;
  54         view[2] = 640;
  55         view[3] = 480;
  56         center.x = view[2]>>1;
  57         center.y = view[3]>>1;
  58         location.left = center.x-(width>>1)+x;
  59         location.right = center.x+(width>>1)+x;
  60         location.bottom = center.y-(height>>1)+y;
  61         location.top = center.y+(height>>1)+y;
  62         cockpit_view = globals->get_viewmgr()->get_view(0);
  63         default_heading = fgGetDouble("/sim/view[0]/config/pitch-heading-deg",0.0);
  64         default_pitch = fgGetDouble("/sim/view[0]/config/pitch-pitch-deg",0.0);
  65 }
  66
  67 void runway_instr::draw() {
  68         if (!is_broken()) {
  69                 glPushAttrib(GL_LINE_STIPPLE | GL_LINE_STIPPLE_PATTERN | GL_LINE_WIDTH);
  70                 float modelView[4][4],projMat[4][4];
  71                 bool anyLines;
  72                 //Get the current view
  73                 FGViewer* curr_view = globals->get_viewmgr()->get_current_view();
  74                 int curr_view_id = globals->get_viewmgr()->get_current();
  75                 double gpo = curr_view->getGoalPitchOffset_deg();
  76                 double gho = curr_view->getGoalHeadingOffset_deg();
  77                 double po = curr_view->getPitchOffset_deg();
  78                 double ho = curr_view->getHeadingOffset_deg();
  79
  80                 double yaw = -(cockpit_view->getHeadingOffset_deg()-default_heading)*SG_DEGREES_TO_RADIANS;
  81                 double pitch = (cockpit_view->getPitchOffset_deg()-default_pitch)*SG_DEGREES_TO_RADIANS;
  82                 //double roll = fgGetDouble("/sim/view[0]/config/roll-offset-deg",0.0) //TODO: adjust for default roll offset
  83                 double sPitch = sin(pitch), cPitch = cos(pitch),
  84                            sYaw = sin(yaw), cYaw = cos(yaw);
  85
  86                 //Assuming that the "Cockpit View" is always at position zero!!!
  87                 if (curr_view_id != 0) {
  88                         globals->get_viewmgr()->set_view(0);
  89                         globals->get_viewmgr()->copyToCurrent();
  90                 }
  91                 //Set the camera to the cockpit view to get the view of the runway from the cockpit
  92                 ssgSetCamera((sgVec4 *)cockpit_view->get_VIEW());
  93                 //Get the currently active runway and the 3d points
  94                 runway = get_active_runway();
  95                 get_rwy_points(points3d);
  96                 //Get the current project matrix
  97                 ssgGetProjectionMatrix(projMat);
  98 //              const sgVec4 *viewMat = globals->get_current_view()->get_VIEW();
  99                 //Get the current model view matrix (cockpit view)
 100                 ssgGetModelviewMatrix(modelView);
 101                 //Create a rotation matrix to correct for any offsets (other than default offsets) to the model view matrix
 102                 sgMat4 xy; //rotation about the Rxy, negate the sin's on Ry
 103                 xy[0][0]=cYaw;                  xy[1][0]=0.0f;          xy[2][0]=-sYaw;                 xy[3][0]=0.0f;
 104                 xy[0][1]=sPitch*-sYaw;  xy[1][1]=cPitch;        xy[2][1]=-sPitch*cYaw;  xy[3][1]=0.0f;
 105                 xy[0][2]=cPitch*sYaw;   xy[1][2]=sPitch;        xy[2][2]=cPitch*cYaw;   xy[3][2]=0.0f;
 106                 xy[0][3]=0.0f;                  xy[1][3]=0.0f;          xy[2][3]=0.0f;                  xy[3][3]=1.0f;
 107                 //Re-center the model view
 108                 sgPostMultMat4(modelView,xy);
 109                 //copy float matrices to double
 110                 for (int i=0; i<4; i++) {
 111                         for (int j=0; j<4; j++) {
 112                                 int idx = (i*4)+j;
 113                                 mm[idx] = (double)modelView[i][j];
 114                                 pm[idx] = (double)projMat[i][j];
 115                         }
 116                 }
 117                 //Calculate the 2D points via gluProject
 118                 int result = GL_TRUE;
 119                 for (int i=0; i<6; i++) {
 120                         result = gluProject(points3d[i][0],points3d[i][1],points3d[i][2],mm,pm,view,&points2d[i][0],&points2d[i][1],&points2d[i][2]);
 121                 }
 122                 //set the line width based on our distance from the runway
 123                 setLineWidth();
 124                 //Draw the runway lines on the HUD
 125                 glEnable(GL_LINE_STIPPLE);
 126                 glLineStipple(1,stippleOut);
 127                 anyLines =
 128                 drawLine(points3d[0],points3d[1],points2d[0],points2d[1]) | //draw top
 129                 drawLine(points3d[2],points3d[1],points2d[2],points2d[1]) | //draw right
 130                 drawLine(points3d[2],points3d[3],points2d[2],points2d[3]) | //draw bottom
 131                 drawLine(points3d[3],points3d[0],points2d[3],points2d[0]);  //draw left
 132                 glLineStipple(1,stippleCen);
 133                 anyLines |=     drawLine(points3d[5],points3d[4],points2d[5],points2d[4]); //draw center
 134                 //Check to see if arrow needs drawn
 135                 if ((!anyLines && drawIA) || drawIAAlways) {
 136                         drawArrow(); //draw indication arrow
 137                 }
 138                 //Restore the current view and any offsets
 139                 if (curr_view_id != 0) {
 140                         globals->get_viewmgr()->set_view(curr_view_id);
 141                         globals->get_viewmgr()->copyToCurrent();
 142                         curr_view->setHeadingOffset_deg(ho);
 143                         curr_view->setPitchOffset_deg(po);
 144                         curr_view->setGoalHeadingOffset_deg(gho);
 145                         curr_view->setGoalPitchOffset_deg(gpo);
 146                 }
 147                 //Set the camera back to the current view
 148                 ssgSetCamera((sgVec4 *)curr_view);
 149                 glPopAttrib();
 150         }//if not broken
 151 }
 152
 153 FGRunway runway_instr::get_active_runway() {
 154   FGEnvironment stationweather =
 155       ((FGEnvironmentMgr *)globals->get_subsystem("environment"))->getEnvironment();
 156   double hdg = stationweather.get_wind_from_heading_deg();
 157   FGRunway runway;
 158   globals->get_runways()->search( fgGetString("/sim/presets/airport-id"), int(hdg), &runway);
 159   return runway;
 160 }
 161
 162 void runway_instr::get_rwy_points(sgdVec3 *points3d) {
 163         static Point3D center = globals->get_scenery()->get_center();
 164
 165         //Get the current tile center
 166         Point3D currentCenter = globals->get_scenery()->get_center();
 167         Point3D tileCenter = currentCenter;
 168         if (center != currentCenter) //if changing tiles
 169                 tileCenter = center; //use last center
 170         double alt = current_aircraft.fdm_state->get_Runway_altitude()*SG_FEET_TO_METER;
 171         double length = (runway.length/2.0)*SG_FEET_TO_METER;
 172         double width = (runway.width/2.0)*SG_FEET_TO_METER;
 173         double frontLat,frontLon,backLat,backLon,az,tempLat,tempLon;
 174
 175         geo_direct_wgs_84(alt,runway.lat,runway.lon,runway.heading,length,&backLat,&backLon,&az);
 176         sgGeodToCart(backLat*SG_DEGREES_TO_RADIANS,backLon*SG_DEGREES_TO_RADIANS,alt,points3d[4]);
 177
 178         geo_direct_wgs_84(alt,runway.lat,runway.lon,runway.heading+180,length,&frontLat,&frontLon,&az);
 179         sgGeodToCart(frontLat*SG_DEGREES_TO_RADIANS,frontLon*SG_DEGREES_TO_RADIANS,alt,points3d[5]);
 180
 181         geo_direct_wgs_84(alt,backLat,backLon,runway.heading+90,width,&tempLat,&tempLon,&az);
 182         sgGeodToCart(tempLat*SG_DEGREES_TO_RADIANS,tempLon*SG_DEGREES_TO_RADIANS,alt,points3d[0]);
 183
 184         geo_direct_wgs_84(alt,backLat,backLon,runway.heading-90,width,&tempLat,&tempLon,&az);
 185         sgGeodToCart(tempLat*SG_DEGREES_TO_RADIANS,tempLon*SG_DEGREES_TO_RADIANS,alt,points3d[1]);
 186
 187         geo_direct_wgs_84(alt,frontLat,frontLon,runway.heading-90,width,&tempLat,&tempLon,&az);
 188         sgGeodToCart(tempLat*SG_DEGREES_TO_RADIANS,tempLon*SG_DEGREES_TO_RADIANS,alt,points3d[2]);
 189
 190         geo_direct_wgs_84(alt,frontLat,frontLon,runway.heading+90,width,&tempLat,&tempLon,&az);
 191         sgGeodToCart(tempLat*SG_DEGREES_TO_RADIANS,tempLon*SG_DEGREES_TO_RADIANS,alt,points3d[3]);
 192
 193         for(int i = 0; i < 6; i++)
 194         {
 195                 points3d[i][0] -= tileCenter.x();
 196                 points3d[i][1] -= tileCenter.y();
 197                 points3d[i][2] -= tileCenter.z();
 198         }
 199         center = currentCenter;
 200 }
 201
 202 bool runway_instr::drawLine(sgdVec3 a1, sgdVec3 a2, sgdVec3 point1, sgdVec3 point2) {
 203         sgdVec3 p1, p2;
 204         sgdCopyVec3(p1, point1);
 205         sgdCopyVec3(p2, point2);
 206         bool p1Inside = (p1[0]>=location.left && p1[0]<=location.right && p1[1]>=location.bottom && p1[1]<=location.top);
 207         bool p1Insight = (p1[2] >= 0.0 && p1[2] < 1.0);
 208         bool p1Valid = p1Insight && p1Inside;
 209         bool p2Inside = (p2[0]>=location.left && p2[0]<=location.right && p2[1]>=location.bottom && p2[1]<=location.top);
 210         bool p2Insight = (p2[2] >= 0.0 && p2[2] < 1.0);
 211         bool p2Valid = p2Insight && p2Inside;
 212
 213         if (p1Valid && p2Valid) { //Both project points are valid, draw the line
 214                 glBegin(GL_LINES);
 215                 glVertex2d(p1[0],p1[1]);
 216                 glVertex2d(p2[0],p2[1]);
 217                 glEnd();
 218         }
 219         else if (p1Valid) { //p1 is valid and p2 is not, calculate a new valid point
 220                 sgdVec3 vec = {a2[0]-a1[0], a2[1]-a1[1], a2[2]-a1[2]};
 221                 //create the unit vector
 222                 sgdScaleVec3(vec,1.0/sgdLengthVec3(vec));
 223                 sgdVec3 newPt;
 224                 sgdCopyVec3(newPt,a1);
 225                 sgdAddVec3(newPt,vec);
 226                 if (gluProject(newPt[0],newPt[1],newPt[2],mm,pm,view,&p2[0],&p2[1],&p2[2]) && (p2[2]>0&&p2[2]<1.0) ) {
 227                         boundPoint(p1,p2);
 228                         glBegin(GL_LINES);
 229                         glVertex2d(p1[0],p1[1]);
 230                         glVertex2d(p2[0],p2[1]);
 231                         glEnd();
 232                 }
 233         }
 234         else if (p2Valid) { //p2 is valid and p1 is not, calculate a new valid point
 235                 sgdVec3 vec = {a1[0]-a2[0], a1[1]-a2[1], a1[2]-a2[2]};
 236                 //create the unit vector
 237                 sgdScaleVec3(vec,1.0/sgdLengthVec3(vec));
 238                 sgdVec3 newPt;
 239                 sgdCopyVec3(newPt,a2);
 240                 sgdAddVec3(newPt,vec);
 241                 if (gluProject(newPt[0],newPt[1],newPt[2],mm,pm,view,&p1[0],&p1[1],&p1[2]) && (p1[2]>0&&p1[2]<1.0)) {
 242                         boundPoint(p2,p1);
 243                         glBegin(GL_LINES);
 244                         glVertex2d(p2[0],p2[1]);
 245                         glVertex2d(p1[0],p1[1]);
 246                         glEnd();
 247                 }
 248         }
 249         else if (p1Insight && p2Insight) { //both points are insight, but not inside
 250                 bool v = boundOutsidePoints(p1,p2);
 251                 if (v) {
 252                         glBegin(GL_LINES);
 253                                 glVertex2d(p1[0],p1[1]);
 254                                 glVertex2d(p2[0],p2[1]);
 255                         glEnd();
 256                 }
 257                 return v;
 258         }
 259         //else both points are not insight, don't draw anything
 260     return (p1Valid && p2Valid);
 261 }
 262
 263 void runway_instr::boundPoint(sgdVec3 v, sgdVec3 m) {
 264         double y = v[1];
 265         if(m[1] < v[1]) {
 266                 y = location.bottom;
 267         }
 268         else if(m[1] > v[1]) {
 269                 y = location.top;
 270         }
 271         if (m[0] == v[0]) {
 272                 m[1]=y;
 273                 return;  //prevent divide by zero
 274         }
 275         double slope = (m[1]-v[1])/(m[0]-v[0]);
 276         m[0] = (y-v[1])/slope + v[0];
 277         m[1] = y;
 278         if (m[0] < location.left) {
 279                 m[0] = location.left;
 280                 m[1] = slope * (location.left-v[0])+v[1];
 281         }
 282         else if (m[0] > location.right) {
 283                 m[0] = location.right;
 284                 m[1] = slope * (location.right-v[0])+v[1];
 285         }
 286 }
 287
 288 bool runway_instr::boundOutsidePoints(sgdVec3 v, sgdVec3 m) {
 289         bool pointsInvalid = (v[1]>location.top && m[1]>location.top) ||
 290                                (v[1]<location.bottom && m[1]<location.bottom) ||
 291                                            (v[0]>location.right && m[0]>location.right) ||
 292                                            (v[0]<location.left && m[0]<location.left);
 293         if (pointsInvalid)
 294                 return false;
 295         if (m[0] == v[0]) {//x's are equal, vertical line
 296                 if (m[1]>v[1]) {
 297                         m[1]=location.top;
 298                         v[1]=location.bottom;
 299                 }
 300                 else {
 301                         v[1]=location.top;
 302                         m[1]=location.bottom;
 303                 }
 304                 return true;
 305         }
 306         if (m[1] == v[1]) { //y's are equal, horizontal line
 307                 if (m[0] > v[0]) {
 308                         m[0] = location.right;
 309                         v[0] = location.left;
 310                 }
 311                 else {
 312                         v[0] = location.right;
 313                         m[0] = location.left;
 314                 }
 315                 return true;
 316         }
 317         double slope = (m[1]-v[1])/(m[0]-v[0]);
 318         double b = v[1]-(slope*v[0]);
 319         double y1 = slope * location.left + b;
 320         double y2 = slope * location.right + b;
 321         double x1 = (location.bottom - b) / slope;
 322         double x2 = (location.top - b) / slope;
 323         int counter = 0;
 324         if  (y1 >= location.bottom && y1 <= location.top) {
 325                 v[0] = location.left;
 326                 v[1] = y1;
 327                 counter++;
 328         }
 329         if (y2 >= location.bottom && y2 <= location.top) {
 330                 if (counter > 0) {
 331                         m[0] = location.right;
 332                         m[1] = y2;
 333                 }
 334                 else {
 335                         v[0] = location.right;
 336                         v[1] = y2;
 337                 }
 338                 counter++;
 339         }
 340         if (x1 >= location.left && x1 <= location.right) {
 341                 if (counter > 0) {
 342                         m[0] = x1;
 343                         m[1] = location.bottom;
 344                 }
 345                 else {
 346                         v[0] = x1;
 347                         v[1] = location.bottom;
 348                 }
 349                 counter++;
 350         }
 351         if (x2 >= location.left && x2 <= location.right) {
 352                 m[0] = x1;
 353                 m[1] = location.bottom;
 354                 counter++;
 355         }
 356         return (counter == 2);
 357 }
 358
 359 void runway_instr::drawArrow() {
 360         Point3D ac,rwy;
 361         ac.setlat(current_aircraft.fdm_state->get_Latitude_deg());
 362         ac.setlon(current_aircraft.fdm_state->get_Longitude_deg());
 363         rwy.setlat(runway.lat);
 364         rwy.setlon(runway.lon);
 365         float theta = GetHeadingFromTo(ac,rwy);
 366         theta -= fgGetDouble("/orientation/heading-deg");
 367         theta = -theta;
 368         glMatrixMode(GL_MODELVIEW);
 369         glPushMatrix();
 370         glTranslated((location.right+location.left)/2.0,(location.top+location.bottom)/2.0,0.0);
 371         glRotated(theta,0.0,0.0,1.0);
 372         glTranslated(0.0,arrowRad,0.0);
 373         glScaled(arrowScale,arrowScale,0.0);
 374         glBegin(GL_TRIANGLES);
 375                 glVertex2d(-5.0,12.5);
 376                 glVertex2d(0.0,25.0);
 377                 glVertex2d(5.0,12.5);
 378         glEnd();
 379         glBegin(GL_QUADS);
 380                 glVertex2d(-2.5,0.0);
 381                 glVertex2d(-2.5,12.5);
 382                 glVertex2d(2.5,12.5);
 383                 glVertex2d(2.5,0.0);
 384         glEnd();
 385         glPopMatrix();
 386 }
 387
 388 void runway_instr::setLineWidth() {
 389         //Calculate the distance from the runway, A
 390         double course, distance;
 391         calc_gc_course_dist(Point3D(runway.lon*SGD_DEGREES_TO_RADIANS, runway.lat*SGD_DEGREES_TO_RADIANS, 0.0),
 392                 Point3D(current_aircraft.fdm_state->get_Longitude(),current_aircraft.fdm_state->get_Latitude(), 0.0 ),
 393                 &course, &distance);
 394         distance *= SG_METER_TO_NM;
 395         //Get altitude above runway, B
 396         double alt_nm = get_agl();
 397         static const SGPropertyNode *startup_units_node
 398     = fgGetNode("/sim/startup/units");
 399         if (!strcmp(startup_units_node->getStringValue(), "feet"))
 400                 alt_nm *= SG_FEET_TO_METER*SG_METER_TO_NM;
 401         else
 402                 alt_nm *= SG_METER_TO_NM;
 403         //Calculate distance away from runway, C = v(A²+B²)
 404         distance = sqrt(alt_nm*alt_nm + distance*distance);
 405         if (distance < scaleDist)
 406                 glLineWidth( 1.0+( (lnScale-1)*( (scaleDist-distance)/scaleDist)));
 407         else
 408                 glLineWidth( 1.0 );
 409
 410 }
 411
 412 void runway_instr::setArrowRotationRadius(double radius) { arrowRad = radius; }
 413 void runway_instr::setArrowScale(double scale) { arrowScale = scale; }
 414 void runway_instr::setDrawArrow(bool draw) {drawIA = draw;}
 415 void runway_instr::setDrawArrowAlways(bool draw) {drawIAAlways = draw;}
 416 void runway_instr::setLineScale(double scale) {lnScale = scale;}
 417 void runway_instr::setScaleDist(double dist_m) {scaleDist = dist_m;}
 418 void runway_instr::setStippleOutline(unsigned short stipple) {stippleOut = stipple;}
 419 void runway_instr::setStippleCenterline(unsigned short stipple){stippleCen = stipple;}
 420