// Wx Radar background texture
//
// Written by Harald JOHNSEN, started May 2005.
+// With major amendments by Vivian MEAZZA May 2007
+// Ported to OSG by Tim Moore Jun 2007
+//
//
// Copyright (C) 2005 Harald JOHNSEN
//
# include "config.h"
#endif
-#include <plib/sg.h>
+#include <osg/Array>
+#include <osg/Geometry>
+#include <osg/Matrixf>
+#include <osg/PrimitiveSet>
+#include <osg/StateSet>
+#include <osgDB/WriteFile>
+
+#include <simgear/constants.h>
+#include <simgear/misc/sg_path.hxx>
+#include <simgear/environment/visual_enviro.hxx>
+#include <simgear/scene/model/model.hxx>
+#include <simgear/structure/exception.hxx>
+#include <simgear/misc/sg_path.hxx>
+#include <simgear/math/sg_geodesy.hxx>
+
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
#include <Cockpit/panel.hxx>
#include <Cockpit/hud.hxx>
+#include <AIModel/AIBase.hxx>
+#include <AIModel/AIManager.hxx>
+#include <AIModel/AIBallistic.hxx>
-#include <simgear/constants.h>
-#include <simgear/misc/sg_path.hxx>
-#include <simgear/environment/visual_enviro.hxx>
#include "instrument_mgr.hxx"
#include "od_gauge.hxx"
#include "wxradar.hxx"
+
// texture name to use in 2D and 3D instruments
static const char *odgauge_name = "Aircraft/Instruments/Textures/od_wxradar.rgb";
wxRadarBg::wxRadarBg ( SGPropertyNode *node) :
- _name(node->getStringValue("name", "wxRadar")),
+ _name(node->getStringValue("name", "radar")),
_num(node->getIntValue("number", 0)),
+ _last_switchKnob( "off" ),
+ _sim_init_done ( false ),
resultTexture( 0 ),
wxEcho( 0 ),
- last_switchKnob( "off" ),
- sim_init_done ( false ),
- odg( 0 )
+ _odg( 0 )
{
+ const char *tacan_source = node->getStringValue("tacan-source",
+ "/instrumentation/tacan");
+ _Tacan = fgGetNode(tacan_source, true);
}
wxRadarBg::~wxRadarBg ()
branch = "/instrumentation/" + _name;
_Instrument = fgGetNode(branch.c_str(), _num, true );
- _serviceable_node = _Instrument->getChild("serviceable", 0, true);
- resultTexture = FGTextureManager::createTexture( odgauge_name );
+ _serviceable_node = _Instrument->getNode("serviceable", true);
+
SGPath tpath(globals->get_fg_root());
tpath.append("Aircraft/Instruments/Textures/wxecho.rgb");
// no mipmap or else alpha will mix with pixels on the border of shapes, ruining the effect
-
- // OSGFIXME
-// wxEcho = new ssgTexture( tpath.c_str(), false, false, false);
- wxEcho = new osg::Texture2D;
+ wxEcho = SGLoadTexture2D(tpath.c_str(), false, false);
_Instrument->setFloatValue("trk", 0.0);
_Instrument->setFloatValue("tilt", 0.0);
// those properties are used by a radar instrument of a MFD
// input switch = OFF | TST | STBY | ON
// input mode = WX | WXA | MAP
- // ouput status = STBY | TEST | WX | WXA | MAP | blank
+ // output status = STBY | TEST | WX | WXA | MAP | blank
// input lightning = true | false
// input TRK = +/- n degrees
// input TILT = +/- n degree
// input display-mode = arc | rose | map | plan
FGInstrumentMgr *imgr = (FGInstrumentMgr *) globals->get_subsystem("instrumentation");
- odg = (FGODGauge *) imgr->get_subsystem("od_gauge");
+ _odg = (FGODGauge *) imgr->get_subsystem("od_gauge");
+ _odg->setSize(256);
+
+ _ai = (FGAIManager*)globals->get_subsystem("ai_model");
+
+ _user_lat_node = fgGetNode("/position/latitude-deg", true);
+ _user_lon_node = fgGetNode("/position/longitude-deg", true);
+ _user_alt_node = fgGetNode("/position/altitude-ft", true);
+
+ _user_speed_east_fps_node = fgGetNode("/velocities/speed-east-fps", true);
+ _user_speed_north_fps_node = fgGetNode("/velocities/speed-north-fps", true);
+
+ _tacan_serviceable_node = _Tacan->getNode("serviceable", true);
+ _tacan_distance_node = _Tacan->getNode("indicated-distance-nm", true);
+ _tacan_name_node = _Tacan->getNode("name", true);
+ _tacan_bearing_node = _Tacan->getNode("indicated-bearing-true-deg", true);
+ _tacan_in_range_node = _Tacan->getNode("in-range", true);
+
+ _radar_mode_control_node = _Instrument->getNode("mode-control", true);
+ _radar_coverage_node = _Instrument->getNode("limit-deg", true);
+ _radar_ref_rng_node = _Instrument->getNode("reference-range-nm", true);
+ _radar_coverage_node->setFloatValue(120);
+ _radar_ref_rng_node->setDoubleValue(35);
+
+ SGPropertyNode *n = _Instrument->getNode("display-controls", true);
+ _radar_weather_node = n->getNode("WX", true);
+ _radar_position_node = n->getNode("pos", true);
+ _radar_data_node = n->getNode("data", true);
+ _radar_centre_node = n->getNode("centre", true);
+
+ _radar_centre_node->setBoolValue(false);
+
+ _ai_enabled_node = fgGetNode("/sim/ai/enabled", true);
+
+ _x_displacement = 0;
+ _y_displacement = 0;
+ _x_sym_displacement = 0;
+ _y_sym_displacement = 0;
+
+ // OSG geometry setup. The polygons for the radar returns will be
+ // stored in a single Geometry. The geometry will have several
+ // primitive sets so we can have different kinds of polys and
+ // choose a different overall color for each set.
+ radarGeode = new osg::Geode;
+ osg::StateSet* stateSet = radarGeode->getOrCreateStateSet();
+ stateSet->setTextureAttributeAndModes(0, wxEcho.get());
+ osg::Geometry* geom = new osg::Geometry;
+ geom->setUseDisplayList(false);
+ // Initially allocate space for 128 quads
+ osg::Vec2Array* vertices = new osg::Vec2Array;
+ vertices->setDataVariance(osg::Object::DYNAMIC);
+ vertices->reserve(128 * 4);
+ geom->setVertexArray(vertices);
+ osg::Vec2Array* texCoords = new osg::Vec2Array;
+ texCoords->setDataVariance(osg::Object::DYNAMIC);
+ texCoords->reserve(128 * 4);
+ geom->setTexCoordArray(0, texCoords);
+ osg::Vec3Array* colors = new osg::Vec3Array;
+ colors->push_back(osg::Vec3(1.0f, 1.0f, 1.0f)); // color of echos
+ colors->push_back(osg::Vec3(1.0f, 0.0f, 0.0f)); // arc mask
+ colors->push_back(osg::Vec3(0.0f, 0.0f, 0.0f)); // rest of mask
+ geom->setColorBinding(osg::Geometry::BIND_PER_PRIMITIVE_SET);
+ geom->setColorArray(colors);
+ osg::PrimitiveSet* pset = new osg::DrawArrays(osg::PrimitiveSet::QUADS);
+ pset->setDataVariance(osg::Object::DYNAMIC);
+ geom->addPrimitiveSet(pset);
+ pset = new osg::DrawArrays(osg::PrimitiveSet::QUADS);
+ pset->setDataVariance(osg::Object::DYNAMIC);
+ geom->addPrimitiveSet(pset);
+ pset = new osg::DrawArrays(osg::PrimitiveSet::TRIANGLES);
+ pset->setDataVariance(osg::Object::DYNAMIC);
+ geom->addPrimitiveSet(pset);
+ geom->setInitialBound(osg::BoundingBox(osg::Vec3f(-256.0f, -256.0f, 0.0f),
+ osg::Vec3f(256.0f, 256.0f, 0.0f)));
+ radarGeode->addDrawable(geom);
+ _odg->allocRT();
+ // Texture in the 2D panel system
+ FGTextureManager::addTexture(odgauge_name, _odg->getTexture());
+
+ osg::Camera* camera = _odg->getCamera();
+ camera->addChild(radarGeode.get());
+}
+
+// Local coordinates for each echo
+const osg::Vec3f echoCoords[4] = {
+ osg::Vec3f(-.7f, -.7f, 0.0f), osg::Vec3f(.7f, -.7f, 0.0f),
+ osg::Vec3f(.7f, .7f, 0.0f), osg::Vec3f(-.7f, .7f, 0.0f)
+};
+
+const float symbolSize = 1.0f / 8.0f;
+const osg::Vec2f echoTexCoords[4] = {
+ osg::Vec2f(0.0f, 0.0f), osg::Vec2f(symbolSize, 0.0f),
+ osg::Vec2f(symbolSize, symbolSize), osg::Vec2f(0.0f, symbolSize)
+};
+
+// helper
+static void
+addQuad(osg::Vec2Array* vertices, osg::Vec2Array* texCoords,
+ const osg::Matrixf& transform, const osg::Vec2f& texBase)
+{
+ for (int i = 0; i < 4; i++) {
+ const osg::Vec3f coords = transform.preMult(echoCoords[i]);
+ texCoords->push_back(texBase + echoTexCoords[i]);
+ vertices->push_back(osg::Vec2f(coords.x(), coords.y()));
+ }
+}
+
+// Rotate by a heading value
+static inline
+osg::Matrixf wxRotate(float angle)
+{
+ return osg::Matrixf::rotate(angle, 0.0f, 0.0f, -1.0f);
}
void
wxRadarBg::update (double delta_time_sec)
{
- //OSGFIXME
-#if 0
- if ( ! sim_init_done ) {
+ if ( ! _sim_init_done ) {
if ( ! fgGetBool("sim/sceneryloaded", false) )
return;
- sim_init_done = true;
+
+ _sim_init_done = true;
}
- if ( !odg || ! _serviceable_node->getBoolValue() ) {
+
+ if ( !_odg || ! _serviceable_node->getBoolValue() ) {
_Instrument->setStringValue("status","");
return;
}
+
string switchKnob = _Instrument->getStringValue("switch", "on");
string modeButton = _Instrument->getStringValue("mode", "wx");
bool drawLightning = _Instrument->getBoolValue("lightning", true);
float range_nm = _Instrument->getFloatValue("range", 40.0);
float range_m = range_nm * SG_NM_TO_METER;
- if ( last_switchKnob != switchKnob ) {
+ _user_speed_east_fps = _user_speed_east_fps_node->getDoubleValue();
+ _user_speed_north_fps = _user_speed_north_fps_node->getDoubleValue();
+
+ if ( _last_switchKnob != switchKnob ) {
// since 3D models don't share textures with the rest of the world
// we must locate them and replace their handle by hand
// only do that when the instrument is turned on
- if ( last_switchKnob == "off" )
- odg->set_texture( odgauge_name, resultTexture.get());
- last_switchKnob = switchKnob;
- }
- FGViewer *current__view = globals->get_current_view();
- if ( current__view->getInternal() &&
- (current__view->getHeadingOffset_deg() <= 15.0 || current__view->getHeadingOffset_deg() >= 345.0) &&
- (current__view->getPitchOffset_deg() <= 15.0 || current__view->getPitchOffset_deg() >= 350.0) ) {
-
- // we don't update the radar echo if the pilot looks around
- // this is a copy
- radarEchoBuffer = *sgEnviro.get_radar_echo();
+ //if (last_switchKnob == "off")
+ //_odg->set_texture(odgauge_name, resultTexture.get());
+ _last_switchKnob = switchKnob;
}
- odg->beginCapture(256);
- odg->Clear();
- glMatrixMode(GL_MODELVIEW);
- glLoadIdentity();
- glPushMatrix();
- glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
- glBindTexture(GL_TEXTURE_2D, 0);
+ _radarEchoBuffer = *sgEnviro.get_radar_echo();
+ updateRadar();
+ //FGViewer *current__view = globals->get_current_view();
if ( switchKnob == "off" ) {
_Instrument->setStringValue("status","");
+ return;
} else if ( switchKnob == "stby" ) {
_Instrument->setStringValue("status","STBY");
+ return;
} else if ( switchKnob == "tst" ) {
_Instrument->setStringValue("status","TST");
- // find something interesting to do...
- } else {
- string display_mode = _Instrument->getStringValue("display-mode", "arc");
-
- // pretend we have a scan angle bigger then the FOV
- // TODO:check real fov, enlarge if < nn, and do clipping if > mm
- const float fovFactor = 1.45f;
- float view_heading = get_heading() * SG_DEGREES_TO_RADIANS;
- float range = 200.0f / range_nm;
- _Instrument->setStringValue("status", modeButton.c_str());
- if ( display_mode == "arc" ) {
- glTranslatef(0.0f, -180.0f, 0.0f);
- range = 2*180.0f / range_nm;
- } else if ( display_mode == "map" ) {
-// float view_heading = get_track() * SG_DEGREES_TO_RADIANS;
- } else if ( display_mode == "plan" ) {
- // no sense I presume
- view_heading = 0;
+ return;
+ }
+
+ // find something interesting to do...
+ string display_mode = _Instrument->getStringValue("display-mode", "arc");
+ // pretend we have a scan angle bigger then the FOV
+ // TODO:check real fov, enlarge if < nn, and do clipping if > mm
+ const float fovFactor = 1.45f;
+ float view_heading = get_heading() * SG_DEGREES_TO_RADIANS;
+ float range = 200.0f / range_nm;
+ _Instrument->setStringValue("status", modeButton.c_str());
+ osg::Matrixf centerTrans;
+
+ if ( display_mode == "arc" ) {
+ centerTrans.makeTranslate(0.0f, -180.0f, 0.0f);
+ range = 2*180.0f / range_nm;
+
+ } else if ( display_mode == "map" ) {
+ view_heading = 0;
+
+ if (_radar_centre_node->getBoolValue()) {
+ _x_displacement =_y_displacement = 0;
} else {
- // rose
+ _x_displacement += range * _user_speed_east_fps * SG_FPS_TO_KT
+ * delta_time_sec / (60*60);
+ _y_displacement += range * _user_speed_north_fps * SG_FPS_TO_KT
+ * delta_time_sec / (60*60);
}
- range /= SG_NM_TO_METER;
- // we will rotate the echo quads, this gives a better rendering
- const float rot_x = cos ( view_heading );
- const float rot_y = sin ( view_heading );
-
- list_of_SGWxRadarEcho *radarEcho = &radarEchoBuffer;
- list_of_SGWxRadarEcho::iterator iradarEcho;
- const float LWClevel[] = { 0.1f, 0.5f, 2.1f };
- const float symbolSize = 1.0f / 8.0f ;
- // draw the radar echo, we do that in 3 passes, one for each color level
- // this is to 'merge' same colors together
- // OSGFIXME
-// glBindTexture(GL_TEXTURE_2D, wxEcho->getHandle() );
- glColor3f(1.0f, 1.0f, 1.0f);
- glBegin( GL_QUADS );
- for (int level = 0; level <= 2 ; level++ ) {
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Radar: displacement "
+ << _x_displacement << ", "<<_y_displacement
+ << " _user_speed_east_fps * SG_FPS_TO_KT "
+ << _user_speed_east_fps * SG_FPS_TO_KT
+ << " _user_speed_north_fps * SG_FPS_TO_KT "
+ << _user_speed_north_fps * SG_FPS_TO_KT
+ << " dt " << delta_time_sec
+ << " centre " << _radar_centre_node->getBoolValue());
+
+ centerTrans.makeTranslate(_x_displacement, _y_displacement, 0.0f);
+
+ } else if ( display_mode == "plan" ) {
+ // no sense I presume
+ view_heading = 0;
+ } else {
+ // rose
+ view_heading = 0;
+ }
+
+ range /= SG_NM_TO_METER;
+
+ list_of_SGWxRadarEcho *radarEcho = &_radarEchoBuffer;
+ list_of_SGWxRadarEcho::iterator iradarEcho;
+ const float LWClevel[] = { 0.1f, 0.5f, 2.1f };
+ float dist = 0;
+ float size = 0;
+
+ osg::Geometry* geom
+ = static_cast<osg::Geometry*>(radarGeode->getDrawable(0));
+ osg::Vec2Array* vertices
+ = static_cast<osg::Vec2Array*>(geom->getVertexArray());
+ osg::Vec2Array* texCoords
+ = static_cast<osg::Vec2Array*>(geom->getTexCoordArray(0));
+ vertices->clear();
+ texCoords->clear();
+
+ // draw the cloud radar echo
+ bool drawClouds = _radar_weather_node->getBoolValue();
+
+ if (drawClouds) {
+ //we do that in 3 passes, one for each color level
+ // this is to 'merge' same colors together
+ for (int level = 0; level <= 2; level++) {
float col = level * symbolSize;
- for (iradarEcho = radarEcho->begin() ; iradarEcho != radarEcho->end() ; iradarEcho++ ) {
- int cloudId = (iradarEcho->cloudId) ;
+
+ for (iradarEcho = radarEcho->begin(); iradarEcho != radarEcho->end();
+ ++iradarEcho) {
+ int cloudId = (iradarEcho->cloudId);
bool upgrade = ((cloudId >> 5) & 1);
float lwc = iradarEcho->LWC + (upgrade ? 1.0f : 0.0f);
+
// skip ns
- if ( iradarEcho->LWC >= 0.5 && iradarEcho->LWC <= 0.6)
+ if (iradarEcho->LWC >= 0.5 && iradarEcho->LWC <= 0.6)
continue;
- if ( (! iradarEcho->lightning) && ( lwc >= LWClevel[level]) ) {
- float dist = sgSqrt( iradarEcho->dist );
- float size = iradarEcho->radius * 2.0;
+
+ if (iradarEcho->lightning || lwc < LWClevel[level]
+ || iradarEcho->aircraft)
+ continue;
+
+ dist = sgSqrt(iradarEcho->dist);
+ size = iradarEcho->radius * 2.0;
+
if ( dist - size > range_m )
continue;
- dist = dist * range;
- size = size * range;
+
+ dist *= range;
+ size *= range;
+ // Translate echo to proper distance on screen
+ osg::Matrixf distTrans
+ = osg::Matrixf::translate(0.0f, dist * range, 0.0f);
+ // Scale echo
+ osg::Matrixf scaleEcho = osg::Matrixf::scale(size, size, 1.0f);
// compute the relative angle from the view direction
- float angle = ( view_heading + iradarEcho->heading );
- if ( angle > SG_PI )
- angle -= 2.0*SG_PI;
- if ( angle < - SG_PI )
- angle += 2.0*SG_PI;
- // and apply a fov factor to simulate a greater scan angle
- angle = angle * fovFactor + SG_PI / 2.0;
- float x = cos( angle ) * dist;
- float y = sin( angle ) * dist;
+ float angle = calcRelBearing(iradarEcho->bearing, view_heading);
+
+ // we will rotate the echo quads, this gives a better rendering
+ //const float rot_x = cos (view_heading);
+ //const float rot_y = sin (view_heading);
+
+ // and apply a fov factor to simulate a greater scan
+ // angle
+ angle *= fovFactor;
+ // Rotate echo into position, and rotate echo to have
+ // a constant orientation towards the
+ // airplane. Compass headings increase in clockwise
+ // direction, while graphics rotations follow
+ // right-hand (counter-clockwise) rule.
+ osg::Matrixf rotEcho = wxRotate(angle);
// use different shapes so the display is less boring
- float row = symbolSize * (float) (4 + (cloudId & 3) );
- float size_x = rot_x * size;
- float size_y = rot_y * size;
- glTexCoord2f( col, row);
- glVertex2f( x - size_x, y - size_y);
- glTexCoord2f( col+symbolSize, row);
- glVertex2f( x + size_y, y - size_x);
- glTexCoord2f( col+symbolSize, row+symbolSize);
- glVertex2f( x + size_x, y + size_y);
- glTexCoord2f( col, row+symbolSize);
- glVertex2f( x - size_y, y + size_x);
+ //float row = symbolSize * (float) (4 + (cloudId & 3) );
+ const osg::Vec2f texBase(col, (symbolSize
+ * (float) (4 + (cloudId & 3))));
+ osg::Matrixf m(scaleEcho * distTrans * rotEcho * centerTrans);
+ addQuad(vertices, texCoords, m, texBase);
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Radar: drawing clouds"
+ << " ID " << iradarEcho->cloudId
+ << " dist" << dist
+ << " view_heading" << view_heading / SG_DEGREES_TO_RADIANS
+ << " heading " << iradarEcho->heading / SG_DEGREES_TO_RADIANS
+ << " angle " << angle / SG_DEGREES_TO_RADIANS);
}
}
}
- glEnd(); // GL_QUADS
// draw lightning echos
if ( drawLightning ) {
- float col = 3 * symbolSize;
- float row = 4 * symbolSize;
- for (iradarEcho = radarEcho->begin() ; iradarEcho != radarEcho->end() ; iradarEcho++ ) {
- if ( iradarEcho->lightning ) {
- float dist = iradarEcho->dist;
- dist = dist * range;
- float angle = (view_heading - iradarEcho->heading);
- if ( angle > SG_PI )
- angle -= 2.0*SG_PI;
- if ( angle < - SG_PI )
- angle += 2.0*SG_PI;
- angle = angle * fovFactor - SG_PI / 2.0;
- float x = cos( angle ) * dist;
- float y = sin( angle ) * dist;
- glColor3f(1.0f, 1.0f, 1.0f);
- float size = symbolSize * 0.5f;
- glBegin( GL_QUADS );
- glTexCoord2f( col, row);
- glVertex2f( x - size, y - size);
- glTexCoord2f( col+symbolSize, row);
- glVertex2f( x + size, y - size);
- glTexCoord2f( col+symbolSize, row+symbolSize);
- glVertex2f( x + size, y + size);
- glTexCoord2f( col, row+symbolSize);
- glVertex2f( x - size, y + size);
- glEnd();
- }
+ const osg::Vec2f texBase(3 * symbolSize, 4 * symbolSize);
+ for (iradarEcho = radarEcho->begin();
+ iradarEcho != radarEcho->end();
+ ++iradarEcho) {
+
+ if (!iradarEcho->lightning)
+ continue;
+
+ float dist = iradarEcho->dist * range;
+ float angle = calcRelBearing(iradarEcho->bearing, view_heading);
+
+ if ( angle > SG_PI )
+ angle -= 2.0*SG_PI;
+ if ( angle < - SG_PI )
+ angle += 2.0*SG_PI;
+
+ angle *= fovFactor;
+ // Rotate the symbol into position without rotating the
+ // symbol itself
+ osg::Vec3f trans(0.0f, dist, 0.0f);
+ trans = wxRotate(angle).preMult(trans);
+ osg::Matrixf m(osg::Matrixf::scale(symbolSize, symbolSize, 1.0)
+ * osg::Matrixf::translate(trans) * centerTrans);
+ addQuad(vertices, texCoords, m, texBase);
}
}
+
+ //draw aircraft echoes
+ if (_radar_position_node->getBoolValue()) {
+ const osg::Vec2f texBase(3 * symbolSize, 3 * symbolSize);
+ for (iradarEcho = radarEcho->begin();
+ iradarEcho != radarEcho->end();
+ ++iradarEcho) {
+
+ if (!iradarEcho->aircraft)
+ continue;
+
+ dist = iradarEcho->dist * range;
+
+ // calculate relative bearing
+ float angle = calcRelBearing(iradarEcho->bearing, view_heading);
+ float limit = _radar_coverage_node->getFloatValue();
+
+ if (limit > 180)
+ limit = 180;
+ else if (limit < 0)
+ limit = 0;
+
+ // if it's in coverage, draw it
+ if (angle >= limit * SG_DEGREES_TO_RADIANS
+ || angle < -limit * SG_DEGREES_TO_RADIANS)
+ continue;
+
+ size = symbolSize * iradarEcho->radius;
+ osg::Matrixf m(osg::Matrixf::scale(size, size, 1.0f)
+ * osg::Matrixf::translate(0.0f, dist, 0.0f)
+ * wxRotate(angle) * centerTrans);
+ addQuad(vertices, texCoords, m, texBase);
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Radar: drawing AI"
+ << " ID " << iradarEcho->cloudId
+ << " dist" << dist
+ << " view_heading" << view_heading / SG_DEGREES_TO_RADIANS
+ << " heading " << iradarEcho->heading / SG_DEGREES_TO_RADIANS
+ << " angle " << angle / SG_DEGREES_TO_RADIANS);
+ }
+ }
+
+ // Draw aircraft data
+ if (_radar_data_node->getBoolValue()) {
+ const osg::Vec2f texBase(0, 3 * symbolSize);
+
+ for (iradarEcho = radarEcho->begin();
+ iradarEcho != radarEcho->end();
+ ++iradarEcho) {
+
+ if (!iradarEcho->aircraft)
+ continue;
+
+ dist = iradarEcho->dist;
+ dist *= range;
+ // calculate relative bearing
+ float angle = calcRelBearing(iradarEcho->bearing, view_heading);
+ float limit = _radar_coverage_node->getFloatValue();
+
+ if (limit > 180)
+ limit = 180;
+ else if (limit < 0)
+ limit = 0;
+
+ // if it's in coverage, draw it
+ if (angle >= limit * SG_DEGREES_TO_RADIANS
+ || angle < -limit * SG_DEGREES_TO_RADIANS)
+ continue;
+
+ size = symbolSize * 750;
+ // Rotate symbol to indicate relative heading iradarEcho->bearing
+ // - view_heading - angle
+ //cout << "heading " << iradarEcho->heading << endl;
+
+ osg::Matrixf m(osg::Matrixf::scale(size, size, 1.0f)
+ * wxRotate(iradarEcho->heading - view_heading - angle)
+ * osg::Matrixf::translate(0.0f, dist, 0.0f)
+ * wxRotate(angle) * centerTrans);
+ addQuad(vertices, texCoords, m, texBase);
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Radar: drawing data"
+ << " ID " << iradarEcho->cloudId
+ << " view_heading " << view_heading / SG_DEGREES_TO_RADIANS
+ << " bearing " << angle / SG_DEGREES_TO_RADIANS
+ << " dist" << dist
+ << " heading " << iradarEcho->heading / SG_DEGREES_TO_RADIANS
+ << " rotation " << (iradarEcho->heading - view_heading - angle)
+ / SG_DEGREES_TO_RADIANS);
+ }
+ }
+
+ //draw TACAN symbol
+ int mode = _radar_mode_control_node->getIntValue();
+ bool inRange = _tacan_in_range_node->getBoolValue();
+
+ if (mode == 1 && inRange) {
+ const osg::Vec2f texBase(1 * symbolSize, 3 * symbolSize);
+ dist = _tacan_distance_node->getFloatValue() * SG_NM_TO_METER;
+ dist *= range;
+ // calculate relative bearing
+ float angle = calcRelBearing(_tacan_bearing_node->getFloatValue()
+ * SG_DEGREES_TO_RADIANS, view_heading);
+
+ // it's always in coverage, so draw it
+ osg::Vec3f trans(osg::Vec3f(0.0f, dist, 0.0f) * wxRotate(angle));
+ size = symbolSize * 750;
+ osg::Matrixf m(osg::Matrixf::scale(size, size, 1.0f)
+ * osg::Matrixf::translate(trans) * centerTrans);
+ addQuad(vertices, texCoords, m, texBase);
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Radar: drawing TACAN"
+ << " dist" << dist
+ << " view_heading " << view_heading / SG_DEGREES_TO_RADIANS
+ << " heading " << _tacan_bearing_node->getDoubleValue()
+ << " angle " << angle / SG_DEGREES_TO_RADIANS
+ << " size " << size);
+ }
+
+ //draw aircraft symbol
+ const osg::Vec2f texBase(2 * symbolSize, 3 * symbolSize);
+ size = symbolSize * 750;
+ view_heading = get_heading() * SG_DEGREES_TO_RADIANS;
+ osg::Matrixf m(osg::Matrixf::scale(size, size, 1.0f)
+ * wxRotate(view_heading));
+
+ if (display_mode == "map") {
+ //cout << "Map Mode " << range << endl;
+ m *= osg::Matrixf::translate(range, range, 0.0f);
+ }
+
+ m *= centerTrans;
+
+ addQuad(vertices, texCoords, m, texBase);
+ osg::DrawArrays* quadPSet
+ = static_cast<osg::DrawArrays*>(geom->getPrimitiveSet(0));
+ quadPSet->set(osg::PrimitiveSet::QUADS, 0, vertices->size());
+ quadPSet->dirty();
// erase what is out of sight of antenna
/*
|\ /|
| |
---------
*/
- float yOffset = 180.0f, xOffset = 256.0f;
+ osg::DrawArrays* maskPSet
+ = static_cast<osg::DrawArrays*>(geom->getPrimitiveSet(1));
+ osg::DrawArrays* trimaskPSet
+ = static_cast<osg::DrawArrays*>(geom->getPrimitiveSet(2));
+
+ float xOffset = 256.0f, yOffset = 180.0f;
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Radar: display mode " << display_mode);
+#if 0
if ( display_mode != "arc" ) {
- yOffset = 40.0f;
xOffset = 240.0f;
- }
+ yOffset = 40.0f;
+ }
+#endif
- if ( display_mode != "plan" ) {
- glDisable(GL_BLEND);
- glColor4f(1.0f, 0.0f, 0.0f, 0.01f);
- glBegin( GL_QUADS );
- glTexCoord2f( 0.5f, 0.25f);
- glVertex2f(-xOffset, 0.0 + yOffset);
- glTexCoord2f( 1.0f, 0.25f);
- glVertex2f(xOffset, 0.0 + yOffset);
- glTexCoord2f( 1.0f, 0.5f);
- glVertex2f(xOffset, 256.0 + yOffset);
- glTexCoord2f( 0.5f, 0.5f);
- glVertex2f(-xOffset, 256.0 + yOffset);
- glEnd();
-
- glColor4f(0.0f, 0.0f, 0.0f, 0.0f);
-// glColor4f(0.0f, 1.0f, 0.0f, 1.0f);
- glDisable(GL_ALPHA_TEST);
- glBindTexture(GL_TEXTURE_2D, 0);
-
- glBegin( GL_TRIANGLES );
- glVertex2f(0.0, 0.0);
- glVertex2f(-256.0, 0.0);
- glVertex2f(-256.0, 256.0 * tan(30*SG_DEGREES_TO_RADIANS));
-
- glVertex2f(0.0, 0.0);
- glVertex2f(256.0, 0.0);
- glVertex2f(256.0, 256.0 * tan(30*SG_DEGREES_TO_RADIANS));
-
- glVertex2f(-256, 0.0);
- glVertex2f(256.0, 0.0);
- glVertex2f(-256.0, -256.0);
-
- glVertex2f(256, 0.0);
- glVertex2f(256.0, -256.0);
- glVertex2f(-256.0, -256.0);
- glEnd();
- }
+ if (display_mode == "arc" ) {
+ int firstQuadVert = vertices->size();
+ texCoords->push_back(osg::Vec2f(0.5f, 0.25f));
+ vertices->push_back(osg::Vec2f(-xOffset, 0.0 + yOffset));
+ texCoords->push_back(osg::Vec2f(1.0f, 0.25f));
+ vertices->push_back(osg::Vec2f(xOffset, 0.0 + yOffset));
+ texCoords->push_back(osg::Vec2f(1.0f, 0.5f));
+ vertices->push_back(osg::Vec2f(xOffset, 256.0 + yOffset));
+ texCoords->push_back(osg::Vec2f(0.5f, 0.5f));
+ vertices->push_back(osg::Vec2f(-xOffset, 256.0 + yOffset));
+ maskPSet->set(osg::PrimitiveSet::QUADS, firstQuadVert, 4);
+ // The triangles aren't supposed to be textured, but there's
+ // no need to set up a different Geometry, switch modes,
+ // etc. I happen to know that there's a white pixel in the
+ // texture at 1.0, 0.0 :)
+ float centerY = tan(30 * SG_DEGREES_TO_RADIANS);
+ const osg::Vec2f whiteSpot(1.0f, 0.0f);
+ vertices->push_back(osg::Vec2f(0.0, 0.0));
+ vertices->push_back(osg::Vec2f(-256.0, 0.0));
+ vertices->push_back(osg::Vec2f(-256.0, 256.0 * centerY));
+
+ vertices->push_back(osg::Vec2f(0.0, 0.0));
+ vertices->push_back(osg::Vec2f(256.0, 0.0));
+ vertices->push_back(osg::Vec2f(256.0, 256.0 * centerY));
- // DEBUG only
-/* glColor4f(1.0f, 0.0f, 0.0f, 1.0f);
- glBegin( GL_LINES );
- glVertex2f(0.0, 0.0);
- glVertex2f(-256.0, 256.0);
- glVertex2f(0.0, 0.0);
- glVertex2f(256.0, 256.0);
- glEnd();*/
-
- glEnable(GL_BLEND);
- glEnable(GL_ALPHA_TEST);
+ vertices->push_back(osg::Vec2f(-256, 0.0));
+ vertices->push_back(osg::Vec2f(256.0, 0.0));
+ vertices->push_back(osg::Vec2f(-256.0, -256.0));
+
+ vertices->push_back(osg::Vec2f(256, 0.0));
+ vertices->push_back(osg::Vec2f(256.0, -256.0));
+ vertices->push_back(osg::Vec2f(-256.0, -256.0));
+
+ for (int i = 0; i < 3 * 4; i++)
+ texCoords->push_back(whiteSpot);
+
+ trimaskPSet->set(osg::PrimitiveSet::TRIANGLES, firstQuadVert + 4,
+ 3 * 4);
+
+ } else {
+ maskPSet->set(osg::PrimitiveSet::QUADS, 0, 0);
+ trimaskPSet->set(osg::PrimitiveSet::TRIANGLES, 0, 0);
}
- glPopMatrix();
- odg->endCapture( resultTexture.get() );
-#endif
+ maskPSet->dirty();
+ trimaskPSet->dirty();
+}
+
+void
+wxRadarBg::updateRadar()
+{
+ bool ai_enabled = _ai_enabled_node->getBoolValue();
+
+ if (!ai_enabled)
+ return;
+
+ double radius[] = {0, 1, 1.5, 1.5, 0.001, 0.1, 1.5, 2, 1.5, 1.5};
+ bool isDetected = false;
+
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Radar: Loading AI submodels ");
+ _radar_list = _ai->get_ai_list();
+
+ if (_radar_list.empty()) {
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Radar: Unable to read AI submodel list");
+ return;
+ }
+
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Radar: AI submodel list size" << _radar_list.size());
+
+ double user_alt = _user_alt_node->getDoubleValue();
+ double user_lat = _user_lat_node->getDoubleValue();
+ double user_lon = _user_lon_node->getDoubleValue();
+
+ radar_list_iterator radar_list_itr = _radar_list.begin();
+ radar_list_iterator end = _radar_list.end();
+
+ while (radar_list_itr != end) {
+ double range = (*radar_list_itr)->_getRange();
+ double bearing = (*radar_list_itr)->_getBearing();
+ double lat = (*radar_list_itr)->_getLatitude();
+ double lon = (*radar_list_itr)->_getLongitude();
+ double alt = (*radar_list_itr)->_getAltitude();
+ double heading = (*radar_list_itr)->_getHeading();
+ int id = (*radar_list_itr)->getID();
+ int type = (*radar_list_itr)->getType();
+
+ calcRngBrg(user_lat, user_lon, lat, lon, range, bearing);
+
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Radar: AI list size" << _radar_list.size()
+ << " type " << type
+ << " ID " << id
+ << " radar range " << range
+ << " bearing " << bearing
+ << " alt " << alt);
+
+ bool isVisible = calcRadarHorizon(user_alt, alt, range);
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Radar: visible " << isVisible);
+
+ if (isVisible)
+ isDetected = calcMaxRange(type, range);
+
+ //(float _heading, float _alt, float _radius, float _dist, double _LWC, bool _lightning,
+ // int _cloudId, bool _aircraft)
+ if (isDetected)
+ _radarEchoBuffer.push_back(SGWxRadarEcho (
+ bearing * SG_DEGREES_TO_RADIANS,
+ alt,
+ radius[type] * 120,
+ range * SG_NM_TO_METER,
+ heading * SG_DEGREES_TO_RADIANS,
+ 1,
+ false,
+ id,
+ true));
+
+ ++radar_list_itr;
+ }
+}
+
+bool
+wxRadarBg::calcRadarHorizon(double user_alt, double alt, double range)
+{
+ // Radar Horizon = 1.23(ht^1/2 + hr^1/2),
+
+ //don't allow negative altitudes (an approximation - yes altitudes can be negative)
+
+ if (user_alt < 0)
+ user_alt = 0;
+
+ if (alt < 0)
+ alt = 0;
+
+ double radarhorizon = 1.23 * (sqrt(alt) + sqrt(user_alt));
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Radar: horizon " << radarhorizon);
+
+ return radarhorizon >= range;
}
+
+bool
+wxRadarBg::calcMaxRange(int type, double range)
+{
+ //The Radar Equation:
+ //
+ // MaxRange^4 = (TxPower * AntGain^2 * lambda^2 * sigma)/((constant) * MDS)
+ //
+ // Where (constant) = (4*pi)3 and MDS is the Minimum Detectable Signal power.
+ //
+ // For a given radar we can assume that the only variable is sigma,
+ // the target radar cross section.
+ //
+ // Here, we will use a normalised rcs (sigma) for a standard target and assume that this
+ // will provide a maximum range of 35nm;
+ //
+ // The reference range is adjustable at runtime
+
+ double sigma[] = {0, 1, 100, 100, 0.001, 0.1, 100, 100, 1, 1};
+ double constant = _radar_ref_rng_node->getDoubleValue();
+
+ if (constant <= 0)
+ constant = 35;
+
+ double maxrange = constant * pow(sigma[type], 0.25);
+
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Radar: max range " << maxrange);
+
+ return maxrange >= range;
+}
+
+void
+wxRadarBg::calcRngBrg(double lat, double lon, double lat2, double lon2, double &range,
+ double &bearing ) const
+{
+ double az2, distance;
+
+ // calculate the bearing and range of the second pos from the first
+ geo_inverse_wgs_84(lat, lon, lat2, lon2, &bearing, &az2, &distance);
+
+ range = distance *= SG_METER_TO_NM;
+}
+
+float
+wxRadarBg::calcRelBearing(float bearing, float heading)
+{
+ float angle = bearing - heading;
+
+ if (angle > SG_PI)
+ angle -= 2.0*SG_PI;
+
+ if (angle < -SG_PI)
+ angle += 2.0*SG_PI;
+
+ return angle;
+}
+
projects / flightgear.git / blobdiff