1 // HUD_runway.cxx -- An instrument that renders a virtual runway on the HUD
3 // Written by Aaron Wilson & Phillip Merritt, Nov 2004.
5 // Copyright (C) 2004 Aaron Wilson, Aaron.I.Wilson@nasa.gov
6 // Copyright (C) 2004 Phillip Merritt, Phillip.M.Merritt@nasa.gov
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.
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.
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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
26 #include <simgear/compiler.h>
27 #include <simgear/math/sg_geodesy.hxx>
30 #include <Main/globals.hxx>
31 #include <Scenery/scenery.hxx>
32 #include <Aircraft/aircraft.hxx>
33 #include <Aircraft/controls.hxx>
34 #include <FDM/flight.hxx>
35 #include <Environment/environment.hxx>
36 #include <Environment/environment_mgr.hxx>
37 #include <Main/viewer.hxx>
38 #include <Main/viewmgr.hxx>
39 #include <ATCDCL/ATCutils.hxx>
44 HUD::Runway::Runway(HUD *hud, const SGPropertyNode *node, float x, float y) :
45 Item(hud, node, x, y),
46 _agl(fgGetNode("/position/altitude-agl-ft", true)),
47 _arrow_scale(node->getDoubleValue("arrow-scale", 1.0)),
48 _arrow_radius(node->getDoubleValue("arrow-radius")),
49 _line_scale(node->getDoubleValue("line-scale", 1.0)),
50 _scale_dist(node->getDoubleValue("scale-dist-nm")),
51 _default_pitch(fgGetDouble("/sim/view[0]/config/pitch-pitch-deg", 0.0)),
52 _default_heading(fgGetDouble("/sim/view[0]/config/pitch-heading-deg", 0.0)),
53 _cockpit_view(globals->get_viewmgr()->get_view(0)),
54 _stipple_out(node->getIntValue("outer_stipple", 0xFFFF)),
55 _stipple_center(node->getIntValue("center-stipple", 0xFFFF)),
56 _draw_arrow(_arrow_scale > 0 ? true : false),
57 _draw_arrow_always(_arrow_scale > 0 ? node->getBoolValue("arrow-always") : false)
64 _center_x = _view[2] / 2;
65 _center_y = _view[3] / 2;
67 _left = _center_x - (_w / 2) + _x;
68 _right = _center_x + (_w / 2) + _x;
69 _bottom = _center_y - (_h / 2) + _y;
70 _top = _center_y + (_h / 2) + _y;
74 void HUD::Runway::draw()
76 _runway = get_active_runway();
80 glPushAttrib(GL_LINE_STIPPLE | GL_LINE_STIPPLE_PATTERN | GL_LINE_WIDTH);
81 float modelView[4][4], projMat[4][4];
83 //Get the current view
84 FGViewer* curr_view = globals->get_viewmgr()->get_current_view();
85 int curr_view_id = globals->get_viewmgr()->get_current();
86 double gpo = curr_view->getGoalPitchOffset_deg();
87 double gho = curr_view->getGoalHeadingOffset_deg();
88 double po = curr_view->getPitchOffset_deg();
89 double ho = curr_view->getHeadingOffset_deg();
91 double yaw = -(_cockpit_view->getHeadingOffset_deg() - _default_heading) * SG_DEGREES_TO_RADIANS;
92 double pitch = (_cockpit_view->getPitchOffset_deg() - _default_pitch) * SG_DEGREES_TO_RADIANS;
93 //double roll = fgGetDouble("/sim/view[0]/config/roll-offset-deg",0.0) //TODO: adjust for default roll offset
94 double sPitch = sin(pitch), cPitch = cos(pitch),
95 sYaw = sin(yaw), cYaw = cos(yaw);
97 //Assuming that the "Cockpit View" is always at position zero!!!
98 if (curr_view_id != 0) {
99 globals->get_viewmgr()->set_view(0);
100 globals->get_viewmgr()->copyToCurrent();
102 //Set the camera to the cockpit view to get the view of the runway from the cockpit
104 // ssgSetCamera((sgVec4 *)_cockpit_view->get_VIEW());
105 get_rwy_points(_points3d);
106 //Get the current project matrix
108 // ssgGetProjectionMatrix(projMat);
109 // const sgVec4 *viewMat = globals->get_current_view()->get_VIEW();
110 //Get the current model view matrix (cockpit view)
112 // ssgGetModelviewMatrix(modelView);
113 //Create a rotation matrix to correct for any offsets (other than default offsets) to the model view matrix
114 sgMat4 xy; //rotation about the Rxy, negate the sin's on Ry
115 xy[0][0] = cYaw, xy[1][0] = 0.0f, xy[2][0] = -sYaw, xy[3][0] = 0.0f;
116 xy[0][1] = sPitch*-sYaw, xy[1][1] = cPitch, xy[2][1] = -sPitch*cYaw, xy[3][1] = 0.0f;
117 xy[0][2] = cPitch*sYaw, xy[1][2] = sPitch, xy[2][2] = cPitch*cYaw, xy[3][2] = 0.0f;
118 xy[0][3] = 0.0f, xy[1][3] = 0.0f, xy[2][3] = 0.0f, xy[3][3] = 1.0f;
119 //Re-center the model view
120 sgPostMultMat4(modelView,xy);
121 //copy float matrices to double
122 for (int i = 0; i < 4; i++) {
123 for (int j = 0; j < 4; j++) {
124 int idx = (i * 4) + j;
125 _mm[idx] = (double)modelView[i][j];
126 _pm[idx] = (double)projMat[i][j];
130 //Calculate the 2D points via gluProject
131 int result = GL_TRUE;
132 for (int i = 0; i < 6; i++) {
133 result = gluProject(_points3d[i][0], _points3d[i][1], _points3d[i][2], _mm,
134 _pm, _view, &_points2d[i][0], &_points2d[i][1], &_points2d[i][2]);
136 //set the line width based on our distance from the runway
138 //Draw the runway lines on the HUD
139 glEnable(GL_LINE_STIPPLE);
140 glLineStipple(1, _stipple_out);
142 drawLine(_points3d[0], _points3d[1], _points2d[0], _points2d[1]) | //draw top
143 drawLine(_points3d[2], _points3d[1], _points2d[2], _points2d[1]) | //draw right
144 drawLine(_points3d[2], _points3d[3], _points2d[2], _points2d[3]) | //draw bottom
145 drawLine(_points3d[3], _points3d[0], _points2d[3], _points2d[0]); //draw left
147 glLineStipple(1, _stipple_center);
148 anyLines |= drawLine(_points3d[5], _points3d[4], _points2d[5], _points2d[4]); //draw center
150 //Check to see if arrow needs drawn
151 if ((!anyLines && _draw_arrow) || _draw_arrow_always) {
152 drawArrow(); //draw indication arrow
155 //Restore the current view and any offsets
156 if (curr_view_id != 0) {
157 globals->get_viewmgr()->set_view(curr_view_id);
158 globals->get_viewmgr()->copyToCurrent();
159 curr_view->setHeadingOffset_deg(ho);
160 curr_view->setPitchOffset_deg(po);
161 curr_view->setGoalHeadingOffset_deg(gho);
162 curr_view->setGoalPitchOffset_deg(gpo);
164 //Set the camera back to the current view
166 // ssgSetCamera((sgVec4 *)curr_view);
171 FGRunway* HUD::Runway::get_active_runway()
173 const FGAirport* apt = fgFindAirportID(fgGetString("/sim/presets/airport-id"));
174 if (!apt) return NULL;
176 return apt->getActiveRunwayForUsage();
181 void HUD::Runway::get_rwy_points(sgdVec3 *_points3d)
183 double alt = current_aircraft.fdm_state->get_Runway_altitude() * SG_FEET_TO_METER;
184 double length = _runway->lengthM() * 0.5;
185 double width = _runway->widthM() * 0.5;
186 double frontLat = 0.0, frontLon = 0.0, backLat = 0.0, backLon = 0.0, az = 0.0, tempLat = 0.0, tempLon = 0.0;
188 geo_direct_wgs_84(alt, _runway->latitude(), _runway->longitude(), _runway->headingDeg(), length, &backLat, &backLon, &az);
189 sgGeodToCart(backLat * SG_DEGREES_TO_RADIANS, backLon * SG_DEGREES_TO_RADIANS, alt, _points3d[4]);
191 geo_direct_wgs_84(alt, _runway->latitude(), _runway->longitude(), _runway->headingDeg() + 180, length, &frontLat, &frontLon, &az);
192 sgGeodToCart(frontLat * SG_DEGREES_TO_RADIANS, frontLon * SG_DEGREES_TO_RADIANS, alt, _points3d[5]);
194 geo_direct_wgs_84(alt, backLat, backLon, _runway->headingDeg() + 90, width, &tempLat, &tempLon, &az);
195 sgGeodToCart(tempLat * SG_DEGREES_TO_RADIANS, tempLon * SG_DEGREES_TO_RADIANS, alt, _points3d[0]);
197 geo_direct_wgs_84(alt, backLat, backLon, _runway->headingDeg() - 90, width, &tempLat, &tempLon, &az);
198 sgGeodToCart(tempLat * SG_DEGREES_TO_RADIANS, tempLon * SG_DEGREES_TO_RADIANS, alt, _points3d[1]);
200 geo_direct_wgs_84(alt, frontLat, frontLon, _runway->headingDeg() - 90, width, &tempLat, &tempLon, &az);
201 sgGeodToCart(tempLat * SG_DEGREES_TO_RADIANS, tempLon * SG_DEGREES_TO_RADIANS, alt, _points3d[2]);
203 geo_direct_wgs_84(alt, frontLat, frontLon, _runway->headingDeg() + 90, width, &tempLat, &tempLon, &az);
204 sgGeodToCart(tempLat * SG_DEGREES_TO_RADIANS, tempLon * SG_DEGREES_TO_RADIANS, alt, _points3d[3]);
208 bool HUD::Runway::drawLine(const sgdVec3& a1, const sgdVec3& a2, const sgdVec3& point1, const sgdVec3& point2)
211 sgdCopyVec3(p1, point1);
212 sgdCopyVec3(p2, point2);
213 bool p1Inside = (p1[0] >= _left && p1[0] <= _right && p1[1] >= _bottom && p1[1] <= _top);
214 bool p1Insight = (p1[2] >= 0.0 && p1[2] < 1.0);
215 bool p1Valid = p1Insight && p1Inside;
216 bool p2Inside = (p2[0] >= _left && p2[0] <= _right && p2[1] >= _bottom && p2[1] <= _top);
217 bool p2Insight = (p2[2] >= 0.0 && p2[2] < 1.0);
218 bool p2Valid = p2Insight && p2Inside;
220 if (p1Valid && p2Valid) { //Both project points are valid, draw the line
222 glVertex2d(p1[0],p1[1]);
223 glVertex2d(p2[0],p2[1]);
226 } else if (p1Valid) { //p1 is valid and p2 is not, calculate a new valid point
227 sgdVec3 vec = {a2[0] - a1[0], a2[1] - a1[1], a2[2] - a1[2]};
228 //create the unit vector
229 sgdScaleVec3(vec, 1.0 / sgdLengthVec3(vec));
231 sgdCopyVec3(newPt, a1);
232 sgdAddVec3(newPt, vec);
233 if (gluProject(newPt[0], newPt[1], newPt[2], _mm, _pm, _view, &p2[0], &p2[1], &p2[2])
234 && (p2[2] > 0 && p2[2] < 1.0)) {
237 glVertex2d(p1[0], p1[1]);
238 glVertex2d(p2[0], p2[1]);
242 } else if (p2Valid) { //p2 is valid and p1 is not, calculate a new valid point
243 sgdVec3 vec = {a1[0] - a2[0], a1[1] - a2[1], a1[2] - a2[2]};
244 //create the unit vector
245 sgdScaleVec3(vec, 1.0 / sgdLengthVec3(vec));
247 sgdCopyVec3(newPt, a2);
248 sgdAddVec3(newPt, vec);
249 if (gluProject(newPt[0], newPt[1], newPt[2], _mm, _pm, _view, &p1[0], &p1[1], &p1[2])
250 && (p1[2] > 0 && p1[2] < 1.0)) {
253 glVertex2d(p2[0], p2[1]);
254 glVertex2d(p1[0], p1[1]);
258 } else if (p1Insight && p2Insight) { //both points are insight, but not inside
259 bool v = boundOutsidePoints(p1, p2);
262 glVertex2d(p1[0], p1[1]);
263 glVertex2d(p2[0], p2[1]);
268 //else both points are not insight, don't draw anything
269 return (p1Valid && p2Valid);
273 void HUD::Runway::boundPoint(const sgdVec3& v, sgdVec3& m)
278 else if (m[1] > v[1])
283 return; //prevent divide by zero
286 double slope = (m[1] - v[1]) / (m[0] - v[0]);
287 m[0] = (y - v[1]) / slope + v[0];
292 m[1] = slope * (_left - v[0]) + v[1];
294 } else if (m[0] > _right) {
296 m[1] = slope * (_right - v[0]) + v[1];
301 bool HUD::Runway::boundOutsidePoints(sgdVec3& v, sgdVec3& m)
303 bool pointsInvalid = (v[1] > _top && m[1] > _top) ||
304 (v[1] < _bottom && m[1] < _bottom) ||
305 (v[0] > _right && m[0] > _right) ||
306 (v[0] < _left && m[0] < _left);
310 if (m[0] == v[0]) {//x's are equal, vertical line
321 if (m[1] == v[1]) { //y's are equal, horizontal line
332 double slope = (m[1] - v[1]) / (m[0] - v[0]);
333 double b = v[1] - (slope * v[0]);
334 double y1 = slope * _left + b;
335 double y2 = slope * _right + b;
336 double x1 = (_bottom - b) / slope;
337 double x2 = (_top - b) / slope;
340 if (y1 >= _bottom && y1 <= _top) {
346 if (y2 >= _bottom && y2 <= _top) {
357 if (x1 >= _left && x1 <= _right) {
368 if (x2 >= _left && x2 <= _right) {
373 return (counter == 2);
377 void HUD::Runway::drawArrow()
379 SGGeod acPos(SGGeod::fromDeg(
380 fgGetDouble("/position/longitude-deg"),
381 fgGetDouble("/position/latitude-deg")));
382 float theta = SGGeodesy::courseDeg(acPos, _runway->geod());
383 theta -= fgGetDouble("/orientation/heading-deg");
385 glMatrixMode(GL_MODELVIEW);
387 glTranslated((_right + _left) / 2.0, (_top + _bottom) / 2.0, 0.0);
388 glRotated(theta, 0.0, 0.0, 1.0);
389 glTranslated(0.0, _arrow_radius, 0.0);
390 glScaled(_arrow_scale, _arrow_scale, 0.0);
392 glBegin(GL_TRIANGLES);
393 glVertex2d(-5.0, 12.5);
394 glVertex2d(0.0, 25.0);
395 glVertex2d(5.0, 12.5);
399 glVertex2d(-2.5, 0.0);
400 glVertex2d(-2.5, 12.5);
401 glVertex2d(2.5, 12.5);
402 glVertex2d(2.5, 0.0);
408 void HUD::Runway::setLineWidth()
410 //Calculate the distance from the runway, A
411 SGGeod acPos(SGGeod::fromDeg(
412 fgGetDouble("/position/longitude-deg"),
413 fgGetDouble("/position/latitude-deg")));
414 double distance = SGGeodesy::distanceNm(acPos, _runway->geod());
415 //Get altitude above runway, B
416 double alt_nm = _agl->getDoubleValue();
418 if (_hud->getUnits() == FEET)
419 alt_nm *= SG_FEET_TO_METER;
421 alt_nm *= SG_METER_TO_NM;
423 //Calculate distance away from runway, C = v(A≤+B≤)
424 distance = sqrt(alt_nm * alt_nm + distance*distance);
425 if (distance < _scale_dist)
426 glLineWidth(1.0 + ((_line_scale - 1) * ((_scale_dist - distance) / _scale_dist)));