More efficient rotation matrix calc from Norm Vine.

[flightgear.git] / src / ATC / ATCutils.cxx

diff --git a/src/ATC/ATCutils.cxx b/src/ATC/ATCutils.cxx
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..09ac9ecff68a57dfe6f77734a8c04ca0836d5b51 100644 (file)
--- a/src/ATC/ATCutils.cxx
+++ b/src/ATC/ATCutils.cxx
@@ -0,0 +1,64 @@
+// Utility functions for the ATC / AI system
+
+#include <math.h>
+#include <simgear/math/point3d.hxx>
+#include <simgear/constants.h>
+#include <plib/sg.h>
+
+// Given two positions, get the HORIZONTAL separation (in meters)
+double dclGetHorizontalSeparation(Point3D pos1, Point3D pos2) {
+    double x;  //East-West separation
+    double y;  //North-South separation
+    double z;  //Horizontal separation - z = sqrt(x^2 + y^2)
+
+    double lat1 = pos1.lat() * SG_DEGREES_TO_RADIANS;
+    double lon1 = pos1.lon() * SG_DEGREES_TO_RADIANS;
+    double lat2 = pos2.lat() * SG_DEGREES_TO_RADIANS;
+    double lon2 = pos2.lon() * SG_DEGREES_TO_RADIANS;
+
+    y = sin(fabs(lat1 - lat2)) * SG_EQUATORIAL_RADIUS_M;
+    x = sin(fabs(lon1 - lon2)) * SG_EQUATORIAL_RADIUS_M * (cos((lat1 + lat2) / 2.0));
+    z = sqrt(x*x + y*y);
+
+    return(z);
+}
+
+// Given a position (lat/lon/elev), heading, vertical angle, and distance, calculate the new position.
+// Assumes that the ground is not hit!!!  Expects heading and angle in degrees, distance in meters.
+Point3D dclUpdatePosition(Point3D pos, double heading, double angle, double distance) {
+    double lat = pos.lat() * SG_DEGREES_TO_RADIANS;
+    double lon = pos.lon() * SG_DEGREES_TO_RADIANS;
+    double elev = pos.elev();
+
+    double horiz_dist = distance * cos(angle);
+    double vert_dist = distance * sin(angle);
+
+    double north_dist = horiz_dist * cos(heading);
+    double east_dist = horiz_dist * sin(heading);
+
+    lat += asin(north_dist / SG_EQUATORIAL_RADIUS_M);
+    lon += asin(east_dist / SG_EQUATORIAL_RADIUS_M) * (1.0 / cos(lat));  // I suppose really we should use the average of the original and new lat but we'll assume that this will be good enough.
+    elev += vert_dist;
+
+    return(Point3D(lon*SG_RADIANS_TO_DEGREES, lat*SG_RADIANS_TO_DEGREES, elev));
+}
+    
+
+#if 0
+/* Determine location in runway coordinates */
+
+       Radius_to_rwy = Sea_level_radius + Runway_altitude;
+       cos_rwy_hdg = cos(Runway_heading*DEG_TO_RAD);
+       sin_rwy_hdg = sin(Runway_heading*DEG_TO_RAD);
+       
+       D_cg_north_of_rwy = Radius_to_rwy*(Latitude - Runway_latitude);
+       D_cg_east_of_rwy = Radius_to_rwy*cos(Runway_latitude)
+               *(Longitude - Runway_longitude);
+       D_cg_above_rwy  = Radius_to_vehicle - Radius_to_rwy;
+       
+       X_cg_rwy = D_cg_north_of_rwy*cos_rwy_hdg 
+         + D_cg_east_of_rwy*sin_rwy_hdg;
+       Y_cg_rwy =-D_cg_north_of_rwy*sin_rwy_hdg 
+         + D_cg_east_of_rwy*cos_rwy_hdg;
+       H_cg_rwy = D_cg_above_rwy;    
+#endif