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>
28 #include <simgear/math/polar3d.hxx>
31 #include <Main/globals.hxx>
32 #include <Scenery/scenery.hxx>
33 #include <Aircraft/aircraft.hxx>
34 #include <Aircraft/controls.hxx>
35 #include <FDM/flight.hxx>
36 #include <Environment/environment.hxx>
37 #include <Environment/environment_mgr.hxx>
38 #include <Main/viewer.hxx>
39 #include <Main/viewmgr.hxx>
40 #include <ATCDCL/ATCutils.hxx>
45 HUD::Runway::Runway(HUD *hud, const SGPropertyNode *node, float x, float y) :
46 Item(hud, node, x, y),
47 _agl(fgGetNode("/position/altitude-agl-ft", true)),
48 _arrow_scale(node->getDoubleValue("arrow-scale", 1.0)),
49 _arrow_radius(node->getDoubleValue("arrow-radius")),
50 _line_scale(node->getDoubleValue("line-scale", 1.0)),
51 _scale_dist(node->getDoubleValue("scale-dist-nm")),
52 _default_pitch(fgGetDouble("/sim/view[0]/config/pitch-pitch-deg", 0.0)),
53 _default_heading(fgGetDouble("/sim/view[0]/config/pitch-heading-deg", 0.0)),
54 _cockpit_view(globals->get_viewmgr()->get_view(0)),
55 _stipple_out(node->getIntValue("outer_stipple", 0xFFFF)),
56 _stipple_center(node->getIntValue("center-stipple", 0xFFFF)),
57 _draw_arrow(_arrow_scale > 0 ? true : false),
58 _draw_arrow_always(_arrow_scale > 0 ? node->getBoolValue("arrow-always") : false)
65 _center_x = _view[2] / 2;
66 _center_y = _view[3] / 2;
68 _left = _center_x - (_w / 2) + _x;
69 _right = _center_x + (_w / 2) + _x;
70 _bottom = _center_y - (_h / 2) + _y;
71 _top = _center_y + (_h / 2) + _y;
75 void HUD::Runway::draw()
77 _runway = get_active_runway();
81 glPushAttrib(GL_LINE_STIPPLE | GL_LINE_STIPPLE_PATTERN | GL_LINE_WIDTH);
82 float modelView[4][4], projMat[4][4];
84 //Get the current view
85 FGViewer* curr_view = globals->get_viewmgr()->get_current_view();
86 int curr_view_id = globals->get_viewmgr()->get_current();
87 double gpo = curr_view->getGoalPitchOffset_deg();
88 double gho = curr_view->getGoalHeadingOffset_deg();
89 double po = curr_view->getPitchOffset_deg();
90 double ho = curr_view->getHeadingOffset_deg();
92 double yaw = -(_cockpit_view->getHeadingOffset_deg() - _default_heading) * SG_DEGREES_TO_RADIANS;
93 double pitch = (_cockpit_view->getPitchOffset_deg() - _default_pitch) * SG_DEGREES_TO_RADIANS;
94 //double roll = fgGetDouble("/sim/view[0]/config/roll-offset-deg",0.0) //TODO: adjust for default roll offset
95 double sPitch = sin(pitch), cPitch = cos(pitch),
96 sYaw = sin(yaw), cYaw = cos(yaw);
98 //Assuming that the "Cockpit View" is always at position zero!!!
99 if (curr_view_id != 0) {
100 globals->get_viewmgr()->set_view(0);
101 globals->get_viewmgr()->copyToCurrent();
103 //Set the camera to the cockpit view to get the view of the runway from the cockpit
105 // ssgSetCamera((sgVec4 *)_cockpit_view->get_VIEW());
106 get_rwy_points(_points3d);
107 //Get the current project matrix
109 // ssgGetProjectionMatrix(projMat);
110 // const sgVec4 *viewMat = globals->get_current_view()->get_VIEW();
111 //Get the current model view matrix (cockpit view)
113 // ssgGetModelviewMatrix(modelView);
114 //Create a rotation matrix to correct for any offsets (other than default offsets) to the model view matrix
115 sgMat4 xy; //rotation about the Rxy, negate the sin's on Ry
116 xy[0][0] = cYaw, xy[1][0] = 0.0f, xy[2][0] = -sYaw, xy[3][0] = 0.0f;
117 xy[0][1] = sPitch*-sYaw, xy[1][1] = cPitch, xy[2][1] = -sPitch*cYaw, xy[3][1] = 0.0f;
118 xy[0][2] = cPitch*sYaw, xy[1][2] = sPitch, xy[2][2] = cPitch*cYaw, xy[3][2] = 0.0f;
119 xy[0][3] = 0.0f, xy[1][3] = 0.0f, xy[2][3] = 0.0f, xy[3][3] = 1.0f;
120 //Re-center the model view
121 sgPostMultMat4(modelView,xy);
122 //copy float matrices to double
123 for (int i = 0; i < 4; i++) {
124 for (int j = 0; j < 4; j++) {
125 int idx = (i * 4) + j;
126 _mm[idx] = (double)modelView[i][j];
127 _pm[idx] = (double)projMat[i][j];
131 //Calculate the 2D points via gluProject
132 int result = GL_TRUE;
133 for (int i = 0; i < 6; i++) {
134 result = gluProject(_points3d[i][0], _points3d[i][1], _points3d[i][2], _mm,
135 _pm, _view, &_points2d[i][0], &_points2d[i][1], &_points2d[i][2]);
137 //set the line width based on our distance from the runway
139 //Draw the runway lines on the HUD
140 glEnable(GL_LINE_STIPPLE);
141 glLineStipple(1, _stipple_out);
143 drawLine(_points3d[0], _points3d[1], _points2d[0], _points2d[1]) | //draw top
144 drawLine(_points3d[2], _points3d[1], _points2d[2], _points2d[1]) | //draw right
145 drawLine(_points3d[2], _points3d[3], _points2d[2], _points2d[3]) | //draw bottom
146 drawLine(_points3d[3], _points3d[0], _points2d[3], _points2d[0]); //draw left
148 glLineStipple(1, _stipple_center);
149 anyLines |= drawLine(_points3d[5], _points3d[4], _points2d[5], _points2d[4]); //draw center
151 //Check to see if arrow needs drawn
152 if ((!anyLines && _draw_arrow) || _draw_arrow_always) {
153 drawArrow(); //draw indication arrow
156 //Restore the current view and any offsets
157 if (curr_view_id != 0) {
158 globals->get_viewmgr()->set_view(curr_view_id);
159 globals->get_viewmgr()->copyToCurrent();
160 curr_view->setHeadingOffset_deg(ho);
161 curr_view->setPitchOffset_deg(po);
162 curr_view->setGoalHeadingOffset_deg(gho);
163 curr_view->setGoalPitchOffset_deg(gpo);
165 //Set the camera back to the current view
167 // ssgSetCamera((sgVec4 *)curr_view);
172 FGRunway* HUD::Runway::get_active_runway()
174 const FGAirport* apt = fgFindAirportID(fgGetString("/sim/presets/airport-id"));
175 if (!apt) return NULL;
177 return apt->getActiveRunwayForUsage();
182 void HUD::Runway::get_rwy_points(sgdVec3 *_points3d)
184 double alt = current_aircraft.fdm_state->get_Runway_altitude() * SG_FEET_TO_METER;
185 double length = _runway->lengthM() * 0.5;
186 double width = _runway->widthM() * 0.5;
187 double frontLat, frontLon, backLat, backLon,az, tempLat, tempLon;
189 geo_direct_wgs_84(alt, _runway->latitude(), _runway->longitude(), _runway->headingDeg(), length, &backLat, &backLon, &az);
190 sgGeodToCart(backLat * SG_DEGREES_TO_RADIANS, backLon * SG_DEGREES_TO_RADIANS, alt, _points3d[4]);
192 geo_direct_wgs_84(alt, _runway->latitude(), _runway->longitude(), _runway->headingDeg() + 180, length, &frontLat, &frontLon, &az);
193 sgGeodToCart(frontLat * SG_DEGREES_TO_RADIANS, frontLon * SG_DEGREES_TO_RADIANS, alt, _points3d[5]);
195 geo_direct_wgs_84(alt, backLat, backLon, _runway->headingDeg() + 90, width, &tempLat, &tempLon, &az);
196 sgGeodToCart(tempLat * SG_DEGREES_TO_RADIANS, tempLon * SG_DEGREES_TO_RADIANS, alt, _points3d[0]);
198 geo_direct_wgs_84(alt, backLat, backLon, _runway->headingDeg() - 90, width, &tempLat, &tempLon, &az);
199 sgGeodToCart(tempLat * SG_DEGREES_TO_RADIANS, tempLon * SG_DEGREES_TO_RADIANS, alt, _points3d[1]);
201 geo_direct_wgs_84(alt, frontLat, frontLon, _runway->headingDeg() - 90, width, &tempLat, &tempLon, &az);
202 sgGeodToCart(tempLat * SG_DEGREES_TO_RADIANS, tempLon * SG_DEGREES_TO_RADIANS, alt, _points3d[2]);
204 geo_direct_wgs_84(alt, frontLat, frontLon, _runway->headingDeg() + 90, width, &tempLat, &tempLon, &az);
205 sgGeodToCart(tempLat * SG_DEGREES_TO_RADIANS, tempLon * SG_DEGREES_TO_RADIANS, alt, _points3d[3]);
209 bool HUD::Runway::drawLine(const sgdVec3& a1, const sgdVec3& a2, const sgdVec3& point1, const sgdVec3& point2)
212 sgdCopyVec3(p1, point1);
213 sgdCopyVec3(p2, point2);
214 bool p1Inside = (p1[0] >= _left && p1[0] <= _right && p1[1] >= _bottom && p1[1] <= _top);
215 bool p1Insight = (p1[2] >= 0.0 && p1[2] < 1.0);
216 bool p1Valid = p1Insight && p1Inside;
217 bool p2Inside = (p2[0] >= _left && p2[0] <= _right && p2[1] >= _bottom && p2[1] <= _top);
218 bool p2Insight = (p2[2] >= 0.0 && p2[2] < 1.0);
219 bool p2Valid = p2Insight && p2Inside;
221 if (p1Valid && p2Valid) { //Both project points are valid, draw the line
223 glVertex2d(p1[0],p1[1]);
224 glVertex2d(p2[0],p2[1]);
227 } else if (p1Valid) { //p1 is valid and p2 is not, calculate a new valid point
228 sgdVec3 vec = {a2[0] - a1[0], a2[1] - a1[1], a2[2] - a1[2]};
229 //create the unit vector
230 sgdScaleVec3(vec, 1.0 / sgdLengthVec3(vec));
232 sgdCopyVec3(newPt, a1);
233 sgdAddVec3(newPt, vec);
234 if (gluProject(newPt[0], newPt[1], newPt[2], _mm, _pm, _view, &p2[0], &p2[1], &p2[2])
235 && (p2[2] > 0 && p2[2] < 1.0)) {
238 glVertex2d(p1[0], p1[1]);
239 glVertex2d(p2[0], p2[1]);
243 } else if (p2Valid) { //p2 is valid and p1 is not, calculate a new valid point
244 sgdVec3 vec = {a1[0] - a2[0], a1[1] - a2[1], a1[2] - a2[2]};
245 //create the unit vector
246 sgdScaleVec3(vec, 1.0 / sgdLengthVec3(vec));
248 sgdCopyVec3(newPt, a2);
249 sgdAddVec3(newPt, vec);
250 if (gluProject(newPt[0], newPt[1], newPt[2], _mm, _pm, _view, &p1[0], &p1[1], &p1[2])
251 && (p1[2] > 0 && p1[2] < 1.0)) {
254 glVertex2d(p2[0], p2[1]);
255 glVertex2d(p1[0], p1[1]);
259 } else if (p1Insight && p2Insight) { //both points are insight, but not inside
260 bool v = boundOutsidePoints(p1, p2);
263 glVertex2d(p1[0], p1[1]);
264 glVertex2d(p2[0], p2[1]);
269 //else both points are not insight, don't draw anything
270 return (p1Valid && p2Valid);
274 void HUD::Runway::boundPoint(const sgdVec3& v, sgdVec3& m)
279 else if (m[1] > v[1])
284 return; //prevent divide by zero
287 double slope = (m[1] - v[1]) / (m[0] - v[0]);
288 m[0] = (y - v[1]) / slope + v[0];
293 m[1] = slope * (_left - v[0]) + v[1];
295 } else if (m[0] > _right) {
297 m[1] = slope * (_right - v[0]) + v[1];
302 bool HUD::Runway::boundOutsidePoints(sgdVec3& v, sgdVec3& m)
304 bool pointsInvalid = (v[1] > _top && m[1] > _top) ||
305 (v[1] < _bottom && m[1] < _bottom) ||
306 (v[0] > _right && m[0] > _right) ||
307 (v[0] < _left && m[0] < _left);
311 if (m[0] == v[0]) {//x's are equal, vertical line
322 if (m[1] == v[1]) { //y's are equal, horizontal line
333 double slope = (m[1] - v[1]) / (m[0] - v[0]);
334 double b = v[1] - (slope * v[0]);
335 double y1 = slope * _left + b;
336 double y2 = slope * _right + b;
337 double x1 = (_bottom - b) / slope;
338 double x2 = (_top - b) / slope;
341 if (y1 >= _bottom && y1 <= _top) {
347 if (y2 >= _bottom && y2 <= _top) {
358 if (x1 >= _left && x1 <= _right) {
369 if (x2 >= _left && x2 <= _right) {
374 return (counter == 2);
378 void HUD::Runway::drawArrow()
380 SGGeod acPos(SGGeod::fromDeg(
381 fgGetDouble("/position/longitude-deg"),
382 fgGetDouble("/position/latitude-deg")));
383 float theta = SGGeodesy::courseDeg(acPos, _runway->geod());
384 theta -= fgGetDouble("/orientation/heading-deg");
386 glMatrixMode(GL_MODELVIEW);
388 glTranslated((_right + _left) / 2.0, (_top + _bottom) / 2.0, 0.0);
389 glRotated(theta, 0.0, 0.0, 1.0);
390 glTranslated(0.0, _arrow_radius, 0.0);
391 glScaled(_arrow_scale, _arrow_scale, 0.0);
393 glBegin(GL_TRIANGLES);
394 glVertex2d(-5.0, 12.5);
395 glVertex2d(0.0, 25.0);
396 glVertex2d(5.0, 12.5);
400 glVertex2d(-2.5, 0.0);
401 glVertex2d(-2.5, 12.5);
402 glVertex2d(2.5, 12.5);
403 glVertex2d(2.5, 0.0);
409 void HUD::Runway::setLineWidth()
411 //Calculate the distance from the runway, A
412 SGGeod acPos(SGGeod::fromDeg(
413 fgGetDouble("/position/longitude-deg"),
414 fgGetDouble("/position/latitude-deg")));
415 double distance = SGGeodesy::distanceNm(acPos, _runway->geod());
416 //Get altitude above runway, B
417 double alt_nm = _agl->getDoubleValue();
419 if (_hud->getUnits() == FEET)
420 alt_nm *= SG_FEET_TO_METER;
422 alt_nm *= SG_METER_TO_NM;
424 //Calculate distance away from runway, C = v(A≤+B≤)
425 distance = sqrt(alt_nm * alt_nm + distance*distance);
426 if (distance < _scale_dist)
427 glLineWidth(1.0 + ((_line_scale - 1) * ((_scale_dist - distance) / _scale_dist)));