+++ /dev/null
-/* Copyright 1988, Brown Computer Graphics Group. All Rights Reserved. */
-
-/* --------------------------------------------------------------------------
- * This file contains routines that operate on matrices and vectors, or
- * vectors and vectors.
- * -------------------------------------------------------------------------*/
-
-/* #include "sphigslocal.h" */
-
-/* -------------------------- Static Routines ---------------------------- */
-
-/* ------------------------- Internal Routines --------------------------- */
-
-/* -------------------------- Public Routines ---------------------------- */
-
-/*
- * Multiplies a vector by a matrix, setting the result vector.
- * It assumes all homogeneous coordinates are 1.
- * The two vectors involved may be the same.
- */
-
-#include "mat3.h"
-
-#ifndef TRUE
-# define TRUE 1
-#endif
-
-#ifndef FALSE
-# define FALSE 0
-#endif
-
-
-void
-MAT3mult_vec(double *result_vec, register double *vec, register double (*mat)[4])
-{
- MAT3vec tempvec;
- register double *temp = tempvec;
-
- temp[0] = vec[0] * mat[0][0] + vec[1] * mat[1][0] +
- vec[2] * mat[2][0] + mat[3][0];
- temp[1] = vec[0] * mat[0][1] + vec[1] * mat[1][1] +
- vec[2] * mat[2][1] + mat[3][1];
- temp[2] = vec[0] * mat[0][2] + vec[1] * mat[1][2] +
- vec[2] * mat[2][2] + mat[3][2];
-
- MAT3_COPY_VEC(result_vec, temp);
-}
-
-/*
- * Multiplies a vector of size 4 by a matrix, setting the result vector.
- * The fourth element of the vector is the homogeneous coordinate, which
- * may or may not be 1. If the "normalize" parameter is TRUE, then the
- * result vector will be normalized so that the homogeneous coordinate is 1.
- * The two vectors involved may be the same.
- * This returns zero if the vector was to be normalized, but couldn't be.
- */
-
-int
-MAT3mult_hvec(double *result_vec, register double *vec, register double (*mat)[4], int normalize)
-{
- MAT3hvec tempvec;
- double norm_fac;
- register double *temp = tempvec;
- register int ret = TRUE;
-
- temp[0] = vec[0] * mat[0][0] + vec[1] * mat[1][0] +
- vec[2] * mat[2][0] + vec[3] * mat[3][0];
- temp[1] = vec[0] * mat[0][1] + vec[1] * mat[1][1] +
- vec[2] * mat[2][1] + vec[3] * mat[3][1];
- temp[2] = vec[0] * mat[0][2] + vec[1] * mat[1][2] +
- vec[2] * mat[2][2] + vec[3] * mat[3][2];
- temp[3] = vec[0] * mat[0][3] + vec[1] * mat[1][3] +
- vec[2] * mat[2][3] + vec[3] * mat[3][3];
-
- /* Normalize if asked for, possible, and necessary */
- if (normalize) {
- if (MAT3_IS_ZERO(temp[3])) {
-#ifndef THINK_C
- fprintf (stderr,
- "Can't normalize vector: homogeneous coordinate is 0");
-#endif
- ret = FALSE;
- }
- else {
- norm_fac = 1.0 / temp[3];
- MAT3_SCALE_VEC(result_vec, temp, norm_fac);
- result_vec[3] = 1.0;
- }
- }
- else MAT3_COPY_HVEC(result_vec, temp);
-
- return(ret);
-}
-
-/*
- * Sets the first vector to be the cross-product of the last two vectors.
- */
-
-void
-MAT3cross_product(double *result_vec, register double *vec1, register double *vec2)
-{
- MAT3vec tempvec;
- register double *temp = tempvec;
-
- temp[0] = vec1[1] * vec2[2] - vec1[2] * vec2[1];
- temp[1] = vec1[2] * vec2[0] - vec1[0] * vec2[2];
- temp[2] = vec1[0] * vec2[1] - vec1[1] * vec2[0];
-
- MAT3_COPY_VEC(result_vec, temp);
-}
-
-/*
- * Finds a vector perpendicular to vec and stores it in result_vec.
- * Method: take any vector (we use <0,1,0>) and subtract the
- * portion of it pointing in the vec direction. This doesn't
- * work if vec IS <0,1,0> or is very near it. So if this is
- * the case, use <0,0,1> instead.
- * If "is_unit" is TRUE, the given vector is assumed to be unit length.
- */
-
-#define SELECT .7071 /* selection constant (roughly .5*sqrt(2) */
-
-void
-MAT3perp_vec(double *result_vec, double *vec, int is_unit)
-{
- MAT3vec norm;
- double dot;
-
- MAT3_SET_VEC(result_vec, 0.0, 1.0, 0.0);
-
- MAT3_COPY_VEC(norm, vec);
-
- if (! is_unit) MAT3_NORMALIZE_VEC(norm, dot);
-
- /* See if vector is too close to <0,1,0>. If so, use <0,0,1> */
- if ((dot = MAT3_DOT_PRODUCT(norm, result_vec)) > SELECT || dot < -SELECT) {
- result_vec[1] = 0.0;
- result_vec[2] = 1.0;
- dot = MAT3_DOT_PRODUCT(norm, result_vec);
- }
-
- /* Subtract off non-perpendicular part */
- result_vec[0] -= dot * norm[0];
- result_vec[1] -= dot * norm[1];
- result_vec[2] -= dot * norm[2];
-
- /* Make result unit length */
- MAT3_NORMALIZE_VEC(result_vec, dot);
-}
bin_PROGRAMS = fixobj
-fixobj_SOURCES = main.c mat3.h obj.c obj.h MAT3vec.c
+fixobj_SOURCES = main.c obj.c obj.h
-fixobj_LDADD =
+fixobj_LDADD = $(top_builddir)/Lib/Math/libMath.la
-INCLUDES += -I$(top_builddir)
+INCLUDES += -I$(top_builddir) -I$(top_builddir)/Lib
#---------------------------------------------------------------------------
# $Log$
+# Revision 1.3 1998/04/18 04:01:02 curt
+# Now use libMath rather than having local copies of math routines.
+#
# Revision 1.2 1998/04/14 02:26:05 curt
# Code reorganizations. Added a Lib/ directory for more general libraries.
#
bin_PROGRAMS = fixobj
-fixobj_SOURCES = main.c mat3.h obj.c obj.h MAT3vec.c
+fixobj_SOURCES = main.c obj.c obj.h
-fixobj_LDADD =
+fixobj_LDADD = $(top_builddir)/Lib/Math/libMath.la
mkinstalldirs = $(SHELL) $(top_srcdir)/mkinstalldirs
CONFIG_HEADER = ../../Include/config.h
CONFIG_CLEAN_FILES =
X_LIBS = @X_LIBS@
X_EXTRA_LIBS = @X_EXTRA_LIBS@
X_PRE_LIBS = @X_PRE_LIBS@
-fixobj_OBJECTS = main.o obj.o MAT3vec.o
-fixobj_DEPENDENCIES =
+fixobj_OBJECTS = main.o obj.o
+fixobj_DEPENDENCIES = $(top_builddir)/Lib/Math/libMath.la
fixobj_LDFLAGS =
CFLAGS = @CFLAGS@
COMPILE = $(CC) $(DEFS) $(INCLUDES) $(CPPFLAGS) $(CFLAGS)
TAR = tar
GZIP = --best
-DEP_FILES = .deps/MAT3vec.P .deps/main.P .deps/obj.P
+DEP_FILES = .deps/main.P .deps/obj.P
SOURCES = $(fixobj_SOURCES)
OBJECTS = $(fixobj_OBJECTS)
maintainer-clean
-INCLUDES += -I$(top_builddir)
+INCLUDES += -I$(top_builddir) -I$(top_builddir)/Lib
#---------------------------------------------------------------------------
# $Log$
+# Revision 1.3 1998/04/18 04:01:02 curt
+# Now use libMath rather than having local copies of math routines.
+#
# Revision 1.2 1998/04/14 02:26:05 curt
# Code reorganizations. Added a Lib/ directory for more general libraries.
#
+++ /dev/null
-/* Copyright 1988, Brown Computer Graphics Group. All Rights Reserved. */
-
-/* -------------------------------------------------------------------------
- Public MAT3 include file
- ------------------------------------------------------------------------- */
-
-#ifndef MAT3_HAS_BEEN_INCLUDED
-#define MAT3_HAS_BEEN_INCLUDED
-
-/* ----------------------------- Constants ------------------------------ */
-
-/*
- * Make sure the math library .h file is included, in case it wasn't.
- */
-
-#ifndef HUGE
-#include <math.h>
-#endif
-#include <stdio.h>
-
-
-#define MAT3_DET0 -1 /* Indicates singular mat */
-#define MAT3_EPSILON 1e-12 /* Close enough to zero */
-#define MAT3_PI 3.141592653589793 /* Pi */
-
-/* ------------------------------ Types --------------------------------- */
-
-typedef double MAT3mat[4][4]; /* 4x4 matrix */
-typedef double MAT3vec[3]; /* Vector */
-typedef double MAT3hvec[4]; /* Vector with homogeneous coord */
-
-/* ------------------------------ Macros -------------------------------- */
-
-/* Tests if a number is within EPSILON of zero */
-#define MAT3_IS_ZERO(N) ((N) < MAT3_EPSILON && (N) > -MAT3_EPSILON)
-
-/* Sets a vector to the three given values */
-#define MAT3_SET_VEC(V,X,Y,Z) ((V)[0]=(X), (V)[1]=(Y), (V)[2]=(Z))
-
-/* Tests a vector for all components close to zero */
-#define MAT3_IS_ZERO_VEC(V) (MAT3_IS_ZERO((V)[0]) && \
- MAT3_IS_ZERO((V)[1]) && \
- MAT3_IS_ZERO((V)[2]))
-
-/* Dot product of two vectors */
-#define MAT3_DOT_PRODUCT(V1,V2) \
- ((V1)[0]*(V2)[0] + (V1)[1]*(V2)[1] + (V1)[2]*(V2)[2])
-
-/* Copy one vector to other */
-#define MAT3_COPY_VEC(TO,FROM) ((TO)[0] = (FROM)[0], \
- (TO)[1] = (FROM)[1], \
- (TO)[2] = (FROM)[2])
-
-/* Normalize vector to unit length, using TEMP as temporary variable.
- * TEMP will be zero if vector has zero length */
-#define MAT3_NORMALIZE_VEC(V,TEMP) \
- if ((TEMP = sqrt(MAT3_DOT_PRODUCT(V,V))) > MAT3_EPSILON) { \
- TEMP = 1.0 / TEMP; \
- MAT3_SCALE_VEC(V,V,TEMP); \
- } else TEMP = 0.0
-
-/* Scale vector by given factor, storing result vector in RESULT_V */
-#define MAT3_SCALE_VEC(RESULT_V,V,SCALE) \
- MAT3_SET_VEC(RESULT_V, (V)[0]*(SCALE), (V)[1]*(SCALE), (V)[2]*(SCALE))
-
-/* Adds vectors V1 and V2, storing result in RESULT_V */
-#define MAT3_ADD_VEC(RESULT_V,V1,V2) \
- MAT3_SET_VEC(RESULT_V, (V1)[0]+(V2)[0], (V1)[1]+(V2)[1], \
- (V1)[2]+(V2)[2])
-
-/* Subtracts vector V2 from V1, storing result in RESULT_V */
-#define MAT3_SUB_VEC(RESULT_V,V1,V2) \
- MAT3_SET_VEC(RESULT_V, (V1)[0]-(V2)[0], (V1)[1]-(V2)[1], \
- (V1)[2]-(V2)[2])
-
-/* Multiplies vectors V1 and V2, storing result in RESULT_V */
-#define MAT3_MULT_VEC(RESULT_V,V1,V2) \
- MAT3_SET_VEC(RESULT_V, (V1)[0]*(V2)[0], (V1)[1]*(V2)[1], \
- (V1)[2]*(V2)[2])
-
-/* Sets RESULT_V to the linear combination of V1 and V2, scaled by
- * SCALE1 and SCALE2, respectively */
-#define MAT3_LINEAR_COMB(RESULT_V,SCALE1,V1,SCALE2,V2) \
- MAT3_SET_VEC(RESULT_V, (SCALE1)*(V1)[0] + (SCALE2)*(V2)[0], \
- (SCALE1)*(V1)[1] + (SCALE2)*(V2)[1], \
- (SCALE1)*(V1)[2] + (SCALE2)*(V2)[2])
-
-/* Several of the vector macros are useful for homogeneous-coord vectors */
-#define MAT3_SET_HVEC(V,X,Y,Z,W) ((V)[0]=(X), (V)[1]=(Y), \
- (V)[2]=(Z), (V)[3]=(W))
-
-#define MAT3_COPY_HVEC(TO,FROM) ((TO)[0] = (FROM)[0], \
- (TO)[1] = (FROM)[1], \
- (TO)[2] = (FROM)[2], \
- (TO)[3] = (FROM)[3])
-
-#define MAT3_SCALE_HVEC(RESULT_V,V,SCALE) \
- MAT3_SET_HVEC(RESULT_V, (V)[0]*(SCALE), (V)[1]*(SCALE), \
- (V)[2]*(SCALE), (V)[3]*(SCALE))
-
-#define MAT3_ADD_HVEC(RESULT_V,V1,V2) \
- MAT3_SET_HVEC(RESULT_V, (V1)[0]+(V2)[0], (V1)[1]+(V2)[1], \
- (V1)[2]+(V2)[2], (V1)[3]+(V2)[3])
-
-#define MAT3_SUB_HVEC(RESULT_V,V1,V2) \
- MAT3_SET_HVEC(RESULT_V, (V1)[0]-(V2)[0], (V1)[1]-(V2)[1], \
- (V1)[2]-(V2)[2], (V1)[3]-(V2)[3])
-
-#define MAT3_MULT_HVEC(RESULT_V,V1,V2) \
- MAT3_SET_HVEC(RESULT_V, (V1)[0]*(V2)[0], (V1)[1]*(V2)[1], \
- (V1)[2]*(V2)[2], (V1)[3]*(V2)[3])
-
-/* ------------------------------ Entries ------------------------------- */
-
-
-/* In MAT3geom.c */
-void MAT3direction_matrix (MAT3mat result_mat, MAT3mat mat);
-int MAT3normal_matrix (MAT3mat result_mat, MAT3mat mat);
-void MAT3rotate (MAT3mat result_mat, MAT3vec axis, double angle_in_radians);
-void MAT3translate (MAT3mat result_mat, MAT3vec trans);
-void MAT3scale (MAT3mat result_mat, MAT3vec scale);
-void MAT3shear(MAT3mat result_mat, double xshear, double yshear);
-
-/* In MAT3mat.c */
-void MAT3identity(MAT3mat);
-void MAT3zero(MAT3mat);
-void MAT3copy (MAT3mat to, MAT3mat from);
-void MAT3mult (MAT3mat result, MAT3mat, MAT3mat);
-void MAT3transpose (MAT3mat result, MAT3mat);
-int MAT3invert (MAT3mat result, MAT3mat);
-void MAT3print (MAT3mat, FILE *fp);
-void MAT3print_formatted (MAT3mat, FILE *fp,
- char *title, char *head, char *format, char *tail);
-extern int MAT3equal( void );
-extern double MAT3trace( void );
-extern int MAT3power( void );
-extern int MAT3column_reduce( void );
-extern int MAT3kernel_basis( void );
-
-/* In MAT3vec.c */
-void MAT3mult_vec(MAT3vec result_vec, MAT3vec vec, MAT3mat mat);
-int MAT3mult_hvec (MAT3hvec result_vec, MAT3hvec vec, MAT3mat mat, int normalize);
-void MAT3cross_product(MAT3vec result,MAT3vec,MAT3vec);
-void MAT3perp_vec(MAT3vec result_vec, MAT3vec vec, int is_unit);
-
-#endif /* MAT3_HAS_BEEN_INCLUDED */
-
#include "obj.h"
-#include "mat3.h"
+#include <Math/mat3.h>
/* what do ya' know, here's some global variables */
/* $Log$
-/* Revision 1.8 1998/04/08 23:19:37 curt
-/* Adopted Gnu automake/autoconf system.
+/* Revision 1.9 1998/04/18 04:01:03 curt
+/* Now use libMath rather than having local copies of math routines.
/*
+ * Revision 1.8 1998/04/08 23:19:37 curt
+ * Adopted Gnu automake/autoconf system.
+ *
* Revision 1.7 1998/03/19 02:51:41 curt
* Added special case handling to compensate for bugs in our beloved tri striper
*
+++ /dev/null
-/* Copyright 1988, Brown Computer Graphics Group. All Rights Reserved. */
-
-/* --------------------------------------------------------------------------
- * This file contains routines that operate on matrices and vectors, or
- * vectors and vectors.
- * -------------------------------------------------------------------------*/
-
-/* #include "sphigslocal.h" */
-
-/* -------------------------- Static Routines ---------------------------- */
-
-/* ------------------------- Internal Routines --------------------------- */
-
-/* -------------------------- Public Routines ---------------------------- */
-
-/*
- * Multiplies a vector by a matrix, setting the result vector.
- * It assumes all homogeneous coordinates are 1.
- * The two vectors involved may be the same.
- */
-
-#include "mat3.h"
-
-#ifndef TRUE
-# define TRUE 1
-#endif
-
-#ifndef FALSE
-# define FALSE 0
-#endif
-
-
-void
-MAT3mult_vec(double *result_vec, register double *vec, register double (*mat)[4])
-{
- MAT3vec tempvec;
- register double *temp = tempvec;
-
- temp[0] = vec[0] * mat[0][0] + vec[1] * mat[1][0] +
- vec[2] * mat[2][0] + mat[3][0];
- temp[1] = vec[0] * mat[0][1] + vec[1] * mat[1][1] +
- vec[2] * mat[2][1] + mat[3][1];
- temp[2] = vec[0] * mat[0][2] + vec[1] * mat[1][2] +
- vec[2] * mat[2][2] + mat[3][2];
-
- MAT3_COPY_VEC(result_vec, temp);
-}
-
-/*
- * Multiplies a vector of size 4 by a matrix, setting the result vector.
- * The fourth element of the vector is the homogeneous coordinate, which
- * may or may not be 1. If the "normalize" parameter is TRUE, then the
- * result vector will be normalized so that the homogeneous coordinate is 1.
- * The two vectors involved may be the same.
- * This returns zero if the vector was to be normalized, but couldn't be.
- */
-
-int
-MAT3mult_hvec(double *result_vec, register double *vec, register double (*mat)[4], int normalize)
-{
- MAT3hvec tempvec;
- double norm_fac;
- register double *temp = tempvec;
- register int ret = TRUE;
-
- temp[0] = vec[0] * mat[0][0] + vec[1] * mat[1][0] +
- vec[2] * mat[2][0] + vec[3] * mat[3][0];
- temp[1] = vec[0] * mat[0][1] + vec[1] * mat[1][1] +
- vec[2] * mat[2][1] + vec[3] * mat[3][1];
- temp[2] = vec[0] * mat[0][2] + vec[1] * mat[1][2] +
- vec[2] * mat[2][2] + vec[3] * mat[3][2];
- temp[3] = vec[0] * mat[0][3] + vec[1] * mat[1][3] +
- vec[2] * mat[2][3] + vec[3] * mat[3][3];
-
- /* Normalize if asked for, possible, and necessary */
- if (normalize) {
- if (MAT3_IS_ZERO(temp[3])) {
-#ifndef THINK_C
- fprintf (stderr,
- "Can't normalize vector: homogeneous coordinate is 0");
-#endif
- ret = FALSE;
- }
- else {
- norm_fac = 1.0 / temp[3];
- MAT3_SCALE_VEC(result_vec, temp, norm_fac);
- result_vec[3] = 1.0;
- }
- }
- else MAT3_COPY_HVEC(result_vec, temp);
-
- return(ret);
-}
-
-/*
- * Sets the first vector to be the cross-product of the last two vectors.
- */
-
-void
-MAT3cross_product(double *result_vec, register double *vec1, register double *vec2)
-{
- MAT3vec tempvec;
- register double *temp = tempvec;
-
- temp[0] = vec1[1] * vec2[2] - vec1[2] * vec2[1];
- temp[1] = vec1[2] * vec2[0] - vec1[0] * vec2[2];
- temp[2] = vec1[0] * vec2[1] - vec1[1] * vec2[0];
-
- MAT3_COPY_VEC(result_vec, temp);
-}
-
-/*
- * Finds a vector perpendicular to vec and stores it in result_vec.
- * Method: take any vector (we use <0,1,0>) and subtract the
- * portion of it pointing in the vec direction. This doesn't
- * work if vec IS <0,1,0> or is very near it. So if this is
- * the case, use <0,0,1> instead.
- * If "is_unit" is TRUE, the given vector is assumed to be unit length.
- */
-
-#define SELECT .7071 /* selection constant (roughly .5*sqrt(2) */
-
-void
-MAT3perp_vec(double *result_vec, double *vec, int is_unit)
-{
- MAT3vec norm;
- double dot;
-
- MAT3_SET_VEC(result_vec, 0.0, 1.0, 0.0);
-
- MAT3_COPY_VEC(norm, vec);
-
- if (! is_unit) MAT3_NORMALIZE_VEC(norm, dot);
-
- /* See if vector is too close to <0,1,0>. If so, use <0,0,1> */
- if ((dot = MAT3_DOT_PRODUCT(norm, result_vec)) > SELECT || dot < -SELECT) {
- result_vec[1] = 0.0;
- result_vec[2] = 1.0;
- dot = MAT3_DOT_PRODUCT(norm, result_vec);
- }
-
- /* Subtract off non-perpendicular part */
- result_vec[0] -= dot * norm[0];
- result_vec[1] -= dot * norm[1];
- result_vec[2] -= dot * norm[2];
-
- /* Make result unit length */
- MAT3_NORMALIZE_VEC(result_vec, dot);
-}
bin_PROGRAMS = splittris
-splittris_SOURCES = \
- MAT3vec.c \
- fg_geodesy.c fg_geodesy.h \
- mat3.h \
- polar.c polar.h \
- splittris.c splittris.h
+splittris_SOURCES = splittris.c splittris.h
splittris_LDADD = \
- $(top_builddir)/Lib/Bucket/libBucket.la
+ $(top_builddir)/Lib/Bucket/libBucket.la \
+ $(top_builddir)/Lib/Math/libMath.la
INCLUDES += -I$(top_builddir) -I$(top_builddir)/Lib
#---------------------------------------------------------------------------
# $Log$
+# Revision 1.3 1998/04/18 04:01:17 curt
+# Now use libMath rather than having local copies of math routines.
+#
# Revision 1.2 1998/04/14 02:26:06 curt
# Code reorganizations. Added a Lib/ directory for more general libraries.
#
bin_PROGRAMS = splittris
-splittris_SOURCES = \
- MAT3vec.c \
- fg_geodesy.c fg_geodesy.h \
- mat3.h \
- polar.c polar.h \
- splittris.c splittris.h
+splittris_SOURCES = splittris.c splittris.h
splittris_LDADD = \
- $(top_builddir)/Lib/Bucket/libBucket.la
+ $(top_builddir)/Lib/Bucket/libBucket.la \
+ $(top_builddir)/Lib/Math/libMath.la
mkinstalldirs = $(SHELL) $(top_srcdir)/mkinstalldirs
CONFIG_HEADER = ../../Include/config.h
CONFIG_CLEAN_FILES =
X_LIBS = @X_LIBS@
X_EXTRA_LIBS = @X_EXTRA_LIBS@
X_PRE_LIBS = @X_PRE_LIBS@
-splittris_OBJECTS = MAT3vec.o fg_geodesy.o polar.o splittris.o
-splittris_DEPENDENCIES = $(top_builddir)/Lib/Bucket/libBucket.la
+splittris_OBJECTS = splittris.o
+splittris_DEPENDENCIES = $(top_builddir)/Lib/Bucket/libBucket.la \
+$(top_builddir)/Lib/Math/libMath.la
splittris_LDFLAGS =
CFLAGS = @CFLAGS@
COMPILE = $(CC) $(DEFS) $(INCLUDES) $(CPPFLAGS) $(CFLAGS)
TAR = tar
GZIP = --best
-DEP_FILES = .deps/MAT3vec.P .deps/fg_geodesy.P .deps/polar.P \
-.deps/splittris.P
+DEP_FILES = .deps/splittris.P
SOURCES = $(splittris_SOURCES)
OBJECTS = $(splittris_OBJECTS)
#---------------------------------------------------------------------------
# $Log$
-# Revision 1.2 1998/04/14 02:26:07 curt
+# Revision 1.3 1998/04/18 04:01:17 curt
+# Now use libMath rather than having local copies of math routines.
+#
+# Revision 1.2 1998/04/14 02:26:06 curt
# Code reorganizations. Added a Lib/ directory for more general libraries.
#
# Revision 1.1 1998/04/08 23:21:10 curt
+++ /dev/null
-/**************************************************************************
- * fg_geodesy.c -- routines to convert between geodetic and geocentric
- * coordinate systems.
- *
- * Copied and adapted directly from LaRCsim/ls_geodesy.c
- *
- * See below for the complete original LaRCsim comments.
- *
- * $Id$
- * (Log is kept at end of this file)
- **************************************************************************/
-
-
-#include <math.h>
-
-#include <Include/fg_constants.h>
-
-#include "fg_geodesy.h"
-
-
-/* ONE_SECOND is pi/180/60/60, or about 100 feet at earths' equator */
-#define ONE_SECOND 4.848136811E-6
-
-
-/* fgGeocToGeod(lat_geoc, radius, *lat_geod, *alt, *sea_level_r)
- * INPUTS:
- * lat_geoc Geocentric latitude, radians, + = North
- * radius C.G. radius to earth center, ft
- *
- * OUTPUTS:
- * lat_geod Geodetic latitude, radians, + = North
- * alt C.G. altitude above mean sea level, ft
- * sea_level_r radius from earth center to sea level at
- * local vertical (surface normal) of C.G.
- */
-
-void fgGeocToGeod( double lat_geoc, double radius, double
- *lat_geod, double *alt, double *sea_level_r )
-{
- double t_lat, x_alpha, mu_alpha, delt_mu, r_alpha, l_point, rho_alpha;
- double sin_mu_a, denom,delt_lambda, lambda_sl, sin_lambda_sl;
-
- if( ( (FG_PI_2 - lat_geoc) < ONE_SECOND ) /* near North pole */
- || ( (FG_PI_2 + lat_geoc) < ONE_SECOND ) ) /* near South pole */
- {
- *lat_geod = lat_geoc;
- *sea_level_r = EQUATORIAL_RADIUS_KM*E;
- *alt = radius - *sea_level_r;
- } else {
- t_lat = tan(lat_geoc);
- x_alpha = E*EQUATORIAL_RADIUS_KM/sqrt(t_lat*t_lat + E*E);
- mu_alpha = atan2(sqrt(RESQ_KM - x_alpha*x_alpha),E*x_alpha);
- if (lat_geoc < 0) mu_alpha = - mu_alpha;
- sin_mu_a = sin(mu_alpha);
- delt_lambda = mu_alpha - lat_geoc;
- r_alpha = x_alpha/cos(lat_geoc);
- l_point = radius - r_alpha;
- *alt = l_point*cos(delt_lambda);
- denom = sqrt(1-EPS*EPS*sin_mu_a*sin_mu_a);
- rho_alpha = EQUATORIAL_RADIUS_KM*(1-EPS)/
- (denom*denom*denom);
- delt_mu = atan2(l_point*sin(delt_lambda),rho_alpha + *alt);
- *lat_geod = mu_alpha - delt_mu;
- lambda_sl = atan( E*E * tan(*lat_geod) ); /* SL geoc. latitude */
- sin_lambda_sl = sin( lambda_sl );
- *sea_level_r =
- sqrt(RESQ_KM / (1 + ((1/(E*E))-1)*sin_lambda_sl*sin_lambda_sl));
- }
-}
-
-
-/* fgGeodToGeoc( lat_geod, alt, *sl_radius, *lat_geoc )
- * INPUTS:
- * lat_geod Geodetic latitude, radians, + = North
- * alt C.G. altitude above mean sea level, ft
- *
- * OUTPUTS:
- * sl_radius SEA LEVEL radius to earth center, ft (add Altitude to
- * get true distance from earth center.
- * lat_geoc Geocentric latitude, radians, + = North
- *
- */
-
-void fgGeodToGeoc( double lat_geod, double alt, double *sl_radius,
- double *lat_geoc )
-{
- double lambda_sl, sin_lambda_sl, cos_lambda_sl, sin_mu, cos_mu, px, py;
-
- lambda_sl = atan( E*E * tan(lat_geod) ); /* sea level geocentric latitude */
- sin_lambda_sl = sin( lambda_sl );
- cos_lambda_sl = cos( lambda_sl );
- sin_mu = sin(lat_geod); /* Geodetic (map makers') latitude */
- cos_mu = cos(lat_geod);
- *sl_radius =
- sqrt(RESQ_KM / (1 + ((1/(E*E))-1)*sin_lambda_sl*sin_lambda_sl));
- py = *sl_radius*sin_lambda_sl + alt*sin_mu;
- px = *sl_radius*cos_lambda_sl + alt*cos_mu;
- *lat_geoc = atan2( py, px );
-}
-
-
-/***************************************************************************
-
- TITLE: ls_geodesy
-
-----------------------------------------------------------------------------
-
- FUNCTION: Converts geocentric coordinates to geodetic positions
-
-----------------------------------------------------------------------------
-
- MODULE STATUS: developmental
-
-----------------------------------------------------------------------------
-
- GENEALOGY: Written as part of LaRCSim project by E. B. Jackson
-
-----------------------------------------------------------------------------
-
- DESIGNED BY: E. B. Jackson
-
- CODED BY: E. B. Jackson
-
- MAINTAINED BY: E. B. Jackson
-
-----------------------------------------------------------------------------
-
- MODIFICATION HISTORY:
-
- DATE PURPOSE BY
-
- 930208 Modified to avoid singularity near polar region. EBJ
- 930602 Moved backwards calcs here from ls_step. EBJ
- 931214 Changed erroneous Latitude and Altitude variables to
- *lat_geod and *alt in routine ls_geoc_to_geod. EBJ
- 940111 Changed header files from old ls_eom.h style to ls_types,
- and ls_constants. Also replaced old DATA type with new
- SCALAR type. EBJ
-
- CURRENT RCS HEADER:
-
-$Header$
-$Log$
-Revision 1.1 1998/04/08 23:21:11 curt
-Adopted Gnu automake/autoconf system.
-
-Revision 1.4 1998/01/27 00:47:59 curt
-Incorporated Paul Bleisch's <bleisch@chromatic.com> new debug message
-system and commandline/config file processing code.
-
-Revision 1.3 1998/01/19 19:27:12 curt
-Merged in make system changes from Bob Kuehne <rpk@sgi.com>
-This should simplify things tremendously.
-
-Revision 1.2 1997/12/15 23:54:54 curt
-Add xgl wrappers for debugging.
-Generate terrain normals on the fly.
-
-Revision 1.1 1997/07/31 23:13:14 curt
-Initial revision.
-
-Revision 1.1 1997/05/29 00:09:56 curt
-Initial Flight Gear revision.
-
- * Revision 1.5 1994/01/11 18:47:05 bjax
- * Changed include files to use types and constants, not ls_eom.h
- * Also changed DATA type to SCALAR type.
- *
- * Revision 1.4 1993/12/14 21:06:47 bjax
- * Removed global variable references Altitude and Latitude. EBJ
- *
- * Revision 1.3 1993/06/02 15:03:40 bjax
- * Made new subroutine for calculating geodetic to geocentric; changed name
- * of forward conversion routine from ls_geodesy to ls_geoc_to_geod.
- *
-
-----------------------------------------------------------------------------
-
- REFERENCES:
-
- [ 1] Stevens, Brian L.; and Lewis, Frank L.: "Aircraft
- Control and Simulation", Wiley and Sons, 1992.
- ISBN 0-471-61397-5
-
-
-----------------------------------------------------------------------------
-
- CALLED BY: ls_aux
-
-----------------------------------------------------------------------------
-
- CALLS TO:
-
-----------------------------------------------------------------------------
-
- INPUTS:
- lat_geoc Geocentric latitude, radians, + = North
- radius C.G. radius to earth center, ft
-
-----------------------------------------------------------------------------
-
- OUTPUTS:
- lat_geod Geodetic latitude, radians, + = North
- alt C.G. altitude above mean sea level, ft
- sea_level_r radius from earth center to sea level at
- local vertical (surface normal) of C.G.
-
---------------------------------------------------------------------------*/
-
-
-/* $Log$
-/* Revision 1.1 1998/04/08 23:21:11 curt
-/* Adopted Gnu automake/autoconf system.
-/*
- * Revision 1.4 1998/01/27 00:47:59 curt
- * Incorporated Paul Bleisch's <bleisch@chromatic.com> new debug message
- * system and commandline/config file processing code.
- *
- * Revision 1.3 1998/01/19 19:27:12 curt
- * Merged in make system changes from Bob Kuehne <rpk@sgi.com>
- * This should simplify things tremendously.
- *
- * Revision 1.2 1997/12/15 23:54:54 curt
- * Add xgl wrappers for debugging.
- * Generate terrain normals on the fly.
- *
- * Revision 1.1 1997/07/31 23:13:14 curt
- * Initial revision.
- *
- */
+++ /dev/null
-/**************************************************************************
- * fg_geodesy.h -- routines to convert between geodetic and geocentric
- * coordinate systems.
- *
- * Copied and adapted directly from LaRCsim/ls_geodesy.c
- *
- * See below for the complete original LaRCsim comments.
- *
- * $Id$
- * (Log is kept at end of this file)
- **************************************************************************/
-
-
-#ifndef _FG_GEODESY_H
-#define _FG_GEODESY_H
-
-
-/* fgGeocToGeod(lat_geoc, radius, *lat_geod, *alt, *sea_level_r)
- * INPUTS:
- * lat_geoc Geocentric latitude, radians, + = North
- * radius C.G. radius to earth center, ft
- *
- * OUTPUTS:
- * lat_geod Geodetic latitude, radians, + = North
- * alt C.G. altitude above mean sea level, ft
- * sea_level_r radius from earth center to sea level at
- * local vertical (surface normal) of C.G.
- */
-
-void fgGeocToGeod( double lat_geoc, double radius, double
- *lat_geod, double *alt, double *sea_level_r );
-
-/* fgGeodToGeoc( lat_geod, alt, *sl_radius, *lat_geoc )
- * INPUTS:
- * lat_geod Geodetic latitude, radians, + = North
- * alt C.G. altitude above mean sea level, ft
- *
- * OUTPUTS:
- * sl_radius SEA LEVEL radius to earth center, ft (add Altitude to
- * get true distance from earth center.
- * lat_geoc Geocentric latitude, radians, + = North
- *
- */
-
-void fgGeodToGeoc( double lat_geod, double alt, double *sl_radius,
- double *lat_geoc );
-
-
-
-/***************************************************************************
-
- TITLE: ls_geodesy
-
-----------------------------------------------------------------------------
-
- FUNCTION: Converts geocentric coordinates to geodetic positions
-
-----------------------------------------------------------------------------
-
- MODULE STATUS: developmental
-
-----------------------------------------------------------------------------
-
- GENEALOGY: Written as part of LaRCSim project by E. B. Jackson
-
-----------------------------------------------------------------------------
-
- DESIGNED BY: E. B. Jackson
-
- CODED BY: E. B. Jackson
-
- MAINTAINED BY: E. B. Jackson
-
-----------------------------------------------------------------------------
-
- MODIFICATION HISTORY:
-
- DATE PURPOSE BY
-
- 930208 Modified to avoid singularity near polar region. EBJ
- 930602 Moved backwards calcs here from ls_step. EBJ
- 931214 Changed erroneous Latitude and Altitude variables to
- *lat_geod and *alt in routine ls_geoc_to_geod. EBJ
- 940111 Changed header files from old ls_eom.h style to ls_types,
- and ls_constants. Also replaced old DATA type with new
- SCALAR type. EBJ
-
- CURRENT RCS HEADER:
-
-$Header$
-$Log$
-Revision 1.1 1998/04/08 23:21:12 curt
-Adopted Gnu automake/autoconf system.
-
-Revision 1.2 1998/01/22 02:59:38 curt
-Changed #ifdef FILE_H to #ifdef _FILE_H
-
-Revision 1.1 1997/07/31 23:13:14 curt
-Initial revision.
-
-Revision 1.1 1997/05/29 00:09:56 curt
-Initial Flight Gear revision.
-
- * Revision 1.5 1994/01/11 18:47:05 bjax
- * Changed include files to use types and constants, not ls_eom.h
- * Also changed DATA type to SCALAR type.
- *
- * Revision 1.4 1993/12/14 21:06:47 bjax
- * Removed global variable references Altitude and Latitude. EBJ
- *
- * Revision 1.3 1993/06/02 15:03:40 bjax
- * Made new subroutine for calculating geodetic to geocentric; changed name
- * of forward conversion routine from ls_geodesy to ls_geoc_to_geod.
- *
-
-----------------------------------------------------------------------------
-
- REFERENCES:
-
- [ 1] Stevens, Brian L.; and Lewis, Frank L.: "Aircraft
- Control and Simulation", Wiley and Sons, 1992.
- ISBN 0-471-61397-5
-
-
-----------------------------------------------------------------------------
-
- CALLED BY: ls_aux
-
-----------------------------------------------------------------------------
-
- CALLS TO:
-
-----------------------------------------------------------------------------
-
- INPUTS:
- lat_geoc Geocentric latitude, radians, + = North
- radius C.G. radius to earth center, ft
-
-----------------------------------------------------------------------------
-
- OUTPUTS:
- lat_geod Geodetic latitude, radians, + = North
- alt C.G. altitude above mean sea level, ft
- sea_level_r radius from earth center to sea level at
- local vertical (surface normal) of C.G.
-
---------------------------------------------------------------------------*/
-
-
-#endif /* _FG_GEODESY_H */
-
-
-/* $Log$
-/* Revision 1.1 1998/04/08 23:21:12 curt
-/* Adopted Gnu automake/autoconf system.
-/*
- * Revision 1.2 1998/01/22 02:59:38 curt
- * Changed #ifdef FILE_H to #ifdef _FILE_H
- *
- * Revision 1.1 1997/07/31 23:13:14 curt
- * Initial revision.
- *
- */
+++ /dev/null
-/* Copyright 1988, Brown Computer Graphics Group. All Rights Reserved. */
-
-/* -------------------------------------------------------------------------
- Public MAT3 include file
- ------------------------------------------------------------------------- */
-
-#ifndef MAT3_HAS_BEEN_INCLUDED
-#define MAT3_HAS_BEEN_INCLUDED
-
-/* ----------------------------- Constants ------------------------------ */
-
-/*
- * Make sure the math library .h file is included, in case it wasn't.
- */
-
-#ifndef HUGE
-#include <math.h>
-#endif
-#include <stdio.h>
-
-
-#define MAT3_DET0 -1 /* Indicates singular mat */
-#define MAT3_EPSILON 1e-12 /* Close enough to zero */
-#define MAT3_PI 3.141592653589793 /* Pi */
-
-/* ------------------------------ Types --------------------------------- */
-
-typedef double MAT3mat[4][4]; /* 4x4 matrix */
-typedef double MAT3vec[3]; /* Vector */
-typedef double MAT3hvec[4]; /* Vector with homogeneous coord */
-
-/* ------------------------------ Macros -------------------------------- */
-
-/* Tests if a number is within EPSILON of zero */
-#define MAT3_IS_ZERO(N) ((N) < MAT3_EPSILON && (N) > -MAT3_EPSILON)
-
-/* Sets a vector to the three given values */
-#define MAT3_SET_VEC(V,X,Y,Z) ((V)[0]=(X), (V)[1]=(Y), (V)[2]=(Z))
-
-/* Tests a vector for all components close to zero */
-#define MAT3_IS_ZERO_VEC(V) (MAT3_IS_ZERO((V)[0]) && \
- MAT3_IS_ZERO((V)[1]) && \
- MAT3_IS_ZERO((V)[2]))
-
-/* Dot product of two vectors */
-#define MAT3_DOT_PRODUCT(V1,V2) \
- ((V1)[0]*(V2)[0] + (V1)[1]*(V2)[1] + (V1)[2]*(V2)[2])
-
-/* Copy one vector to other */
-#define MAT3_COPY_VEC(TO,FROM) ((TO)[0] = (FROM)[0], \
- (TO)[1] = (FROM)[1], \
- (TO)[2] = (FROM)[2])
-
-/* Normalize vector to unit length, using TEMP as temporary variable.
- * TEMP will be zero if vector has zero length */
-#define MAT3_NORMALIZE_VEC(V,TEMP) \
- if ((TEMP = sqrt(MAT3_DOT_PRODUCT(V,V))) > MAT3_EPSILON) { \
- TEMP = 1.0 / TEMP; \
- MAT3_SCALE_VEC(V,V,TEMP); \
- } else TEMP = 0.0
-
-/* Scale vector by given factor, storing result vector in RESULT_V */
-#define MAT3_SCALE_VEC(RESULT_V,V,SCALE) \
- MAT3_SET_VEC(RESULT_V, (V)[0]*(SCALE), (V)[1]*(SCALE), (V)[2]*(SCALE))
-
-/* Adds vectors V1 and V2, storing result in RESULT_V */
-#define MAT3_ADD_VEC(RESULT_V,V1,V2) \
- MAT3_SET_VEC(RESULT_V, (V1)[0]+(V2)[0], (V1)[1]+(V2)[1], \
- (V1)[2]+(V2)[2])
-
-/* Subtracts vector V2 from V1, storing result in RESULT_V */
-#define MAT3_SUB_VEC(RESULT_V,V1,V2) \
- MAT3_SET_VEC(RESULT_V, (V1)[0]-(V2)[0], (V1)[1]-(V2)[1], \
- (V1)[2]-(V2)[2])
-
-/* Multiplies vectors V1 and V2, storing result in RESULT_V */
-#define MAT3_MULT_VEC(RESULT_V,V1,V2) \
- MAT3_SET_VEC(RESULT_V, (V1)[0]*(V2)[0], (V1)[1]*(V2)[1], \
- (V1)[2]*(V2)[2])
-
-/* Sets RESULT_V to the linear combination of V1 and V2, scaled by
- * SCALE1 and SCALE2, respectively */
-#define MAT3_LINEAR_COMB(RESULT_V,SCALE1,V1,SCALE2,V2) \
- MAT3_SET_VEC(RESULT_V, (SCALE1)*(V1)[0] + (SCALE2)*(V2)[0], \
- (SCALE1)*(V1)[1] + (SCALE2)*(V2)[1], \
- (SCALE1)*(V1)[2] + (SCALE2)*(V2)[2])
-
-/* Several of the vector macros are useful for homogeneous-coord vectors */
-#define MAT3_SET_HVEC(V,X,Y,Z,W) ((V)[0]=(X), (V)[1]=(Y), \
- (V)[2]=(Z), (V)[3]=(W))
-
-#define MAT3_COPY_HVEC(TO,FROM) ((TO)[0] = (FROM)[0], \
- (TO)[1] = (FROM)[1], \
- (TO)[2] = (FROM)[2], \
- (TO)[3] = (FROM)[3])
-
-#define MAT3_SCALE_HVEC(RESULT_V,V,SCALE) \
- MAT3_SET_HVEC(RESULT_V, (V)[0]*(SCALE), (V)[1]*(SCALE), \
- (V)[2]*(SCALE), (V)[3]*(SCALE))
-
-#define MAT3_ADD_HVEC(RESULT_V,V1,V2) \
- MAT3_SET_HVEC(RESULT_V, (V1)[0]+(V2)[0], (V1)[1]+(V2)[1], \
- (V1)[2]+(V2)[2], (V1)[3]+(V2)[3])
-
-#define MAT3_SUB_HVEC(RESULT_V,V1,V2) \
- MAT3_SET_HVEC(RESULT_V, (V1)[0]-(V2)[0], (V1)[1]-(V2)[1], \
- (V1)[2]-(V2)[2], (V1)[3]-(V2)[3])
-
-#define MAT3_MULT_HVEC(RESULT_V,V1,V2) \
- MAT3_SET_HVEC(RESULT_V, (V1)[0]*(V2)[0], (V1)[1]*(V2)[1], \
- (V1)[2]*(V2)[2], (V1)[3]*(V2)[3])
-
-/* ------------------------------ Entries ------------------------------- */
-
-
-/* In MAT3geom.c */
-void MAT3direction_matrix (MAT3mat result_mat, MAT3mat mat);
-int MAT3normal_matrix (MAT3mat result_mat, MAT3mat mat);
-void MAT3rotate (MAT3mat result_mat, MAT3vec axis, double angle_in_radians);
-void MAT3translate (MAT3mat result_mat, MAT3vec trans);
-void MAT3scale (MAT3mat result_mat, MAT3vec scale);
-void MAT3shear(MAT3mat result_mat, double xshear, double yshear);
-
-/* In MAT3mat.c */
-void MAT3identity(MAT3mat);
-void MAT3zero(MAT3mat);
-void MAT3copy (MAT3mat to, MAT3mat from);
-void MAT3mult (MAT3mat result, MAT3mat, MAT3mat);
-void MAT3transpose (MAT3mat result, MAT3mat);
-int MAT3invert (MAT3mat result, MAT3mat);
-void MAT3print (MAT3mat, FILE *fp);
-void MAT3print_formatted (MAT3mat, FILE *fp,
- char *title, char *head, char *format, char *tail);
-extern int MAT3equal( void );
-extern double MAT3trace( void );
-extern int MAT3power( void );
-extern int MAT3column_reduce( void );
-extern int MAT3kernel_basis( void );
-
-/* In MAT3vec.c */
-void MAT3mult_vec(MAT3vec result_vec, MAT3vec vec, MAT3mat mat);
-int MAT3mult_hvec (MAT3hvec result_vec, MAT3hvec vec, MAT3mat mat, int normalize);
-void MAT3cross_product(MAT3vec result,MAT3vec,MAT3vec);
-void MAT3perp_vec(MAT3vec result_vec, MAT3vec vec, int is_unit);
-
-#endif /* MAT3_HAS_BEEN_INCLUDED */
-
+++ /dev/null
-/**************************************************************************
- * polar.c -- routines to deal with polar math and transformations
- *
- * Written by Curtis Olson, started June 1997.
- *
- * Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License as
- * published by the Free Software Foundation; either version 2 of the
- * License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
- *
- * $Id$
- * (Log is kept at end of this file)
- **************************************************************************/
-
-
-#include <math.h>
-#include <stdio.h>
-
-#include <Include/fg_constants.h>
-
-#include "polar.h"
-
-
-/* we can save these values between calls for efficiency */
-static double st, ct, sp, cp;
-
-
-/* Convert a polar coordinate to a cartesian coordinate. Lon and Lat
- * must be specified in radians. The FG convention is for distances
- * to be specified in meters */
-struct fgCartesianPoint fgPolarToCart(double lon, double lat, double radius) {
- struct fgCartesianPoint pnew;
-
- pnew.x = cos(lon) * cos(lat) * radius;
- pnew.y = sin(lon) * cos(lat) * radius;
- pnew.z = sin(lat) * radius;
-
- return(pnew);
-}
-
-
-/* Precalculate as much as possible so we can do a batch of transforms
- * through the same angles, will rotates a cartesian point about the
- * center of the earth by Theta (longitude axis) and Phi (latitude
- * axis) */
-
-/* Here are the unoptimized transformation equations
-
- x' = cos(Phi) * cos(Theta) * x + cos(Phi) * sin(Theta) * y +
- sin(Phi) * z
- y' = -sin(Theta) * x + cos(Theta) * y
- z' = -sin(Phi) * sin(Theta) * y - sin(Phi) * cos(Theta) * x +
- cos(Phi) * z;
-
- */
-void fgRotateBatchInit(double Theta, double Phi) {
- printf("Theta = %.3f, Phi = %.3f\n", Theta, Phi);
-
- st = sin(Theta);
- ct = cos(Theta);
- sp = sin(-Phi);
- cp = cos(-Phi);
-}
-
-/* Rotates a cartesian point about the center of the earth by Theta
- * (longitude axis) and Phi (latitude axis) */
-struct fgCartesianPoint fgRotateCartesianPoint(struct fgCartesianPoint p) {
- struct fgCartesianPoint p1, p2;
-
- /* printf("start = %.3f %.3f %.3f\n", p.x, p.y, p.z); */
-
- /* rotate about the z axis */
- p1.x = ct * p.x - st * p.y;
- p1.y = st * p.x + ct * p.y;
- p1.z = p.z;
-
- /* printf("step 1 = %.3f %.3f %.3f\n", p1.x, p1.y, p1.z); */
-
- /* rotate new point about y axis */
- p2.x = cp * p1.x + sp * p1.z;
- p2.y = p1.y;
- p2.z = cp * p1.z - sp * p1.x;
-
- /* printf("cp = %.5f, sp = %.5f\n", cp, sp); */
- /* printf("(1) = %.5f, (2) = %.5f\n", cp * p1.z, sp * p1.x); */
-
- /* printf("step 2 = %.3f %.3f %.3f\n", p2.x, p2.y, p2.z); */
-
- return(p2);
-}
-
-
-/* $Log$
-/* Revision 1.2 1998/04/14 02:26:07 curt
-/* Code reorganizations. Added a Lib/ directory for more general libraries.
-/*
- * Revision 1.1 1998/04/08 23:21:12 curt
- * Adopted Gnu automake/autoconf system.
- *
- * Revision 1.5 1998/01/27 00:48:00 curt
- * Incorporated Paul Bleisch's <bleisch@chromatic.com> new debug message
- * system and commandline/config file processing code.
- *
- * Revision 1.4 1998/01/19 19:27:12 curt
- * Merged in make system changes from Bob Kuehne <rpk@sgi.com>
- * This should simplify things tremendously.
- *
- * Revision 1.3 1997/12/15 23:54:54 curt
- * Add xgl wrappers for debugging.
- * Generate terrain normals on the fly.
- *
- * Revision 1.2 1997/07/31 22:52:27 curt
- * Working on redoing internal coordinate systems & scenery transformations.
- *
- * Revision 1.1 1997/07/07 21:02:36 curt
- * Initial revision.
- * */
+++ /dev/null
-/**************************************************************************
- * polar.h -- routines to deal with polar math and transformations
- *
- * Written by Curtis Olson, started June 1997.
- *
- * Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License as
- * published by the Free Software Foundation; either version 2 of the
- * License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
- *
- * $Id$
- * (Log is kept at end of this file)
- **************************************************************************/
-
-
-#ifndef _POLAR_H
-#define _POLAR_H
-
-
-#include <Include/fg_types.h>
-
-
-/* Convert a polar coordinate to a cartesian coordinate. Lon and Lat
- * must be specified in radians. The FG convention is for distances
- * to be specified in meters */
-struct fgCartesianPoint fgPolarToCart(double lon, double lat, double radius);
-
-
-/* Precalculate as much as possible so we can do a batch of transforms
- * through the same angles, will rotates a cartesian point about the
- * center of the earth by Theta (longitude axis) and Phi (latitude
- * axis) */
-
-/* Here are the unoptimized transformation equations
-
- x' = cos(Phi) * cos(Theta) * x + cos(Phi) * sin(Theta) * y +
- sin(Phi) * z
- y' = -sin(Theta) * x + cos(Theta) * y
- z' = -sin(Phi) * sin(Theta) * y - sin(Phi) * cos(Theta) * x +
- cos(Phi) * z;
-
- */
-void fgRotateBatchInit(double Theta, double Phi);
-
-
-/* Rotates a cartesian point about the center of the earth by Theta
- * (longitude axis) and Phi (latitude axis) */
-struct fgCartesianPoint fgRotateCartesianPoint(struct fgCartesianPoint p);
-
-
-#endif /* _POLAR_H */
-
-
-/* $Log$
-/* Revision 1.1 1998/04/08 23:21:13 curt
-/* Adopted Gnu automake/autoconf system.
-/*
- * Revision 1.7 1998/01/27 00:48:00 curt
- * Incorporated Paul Bleisch's <bleisch@chromatic.com> new debug message
- * system and commandline/config file processing code.
- *
- * Revision 1.6 1998/01/22 02:59:39 curt
- * Changed #ifdef FILE_H to #ifdef _FILE_H
- *
- * Revision 1.5 1998/01/19 19:27:13 curt
- * Merged in make system changes from Bob Kuehne <rpk@sgi.com>
- * This should simplify things tremendously.
- *
- * Revision 1.4 1997/12/15 23:54:55 curt
- * Add xgl wrappers for debugging.
- * Generate terrain normals on the fly.
- *
- * Revision 1.3 1997/07/31 22:52:28 curt
- * Working on redoing internal coordinate systems & scenery transformations.
- *
- * Revision 1.2 1997/07/23 21:52:21 curt
- * Put comments around the text after an #endif for increased portability.
- *
- * Revision 1.1 1997/07/07 21:02:37 curt
- * Initial revision.
- *
- */
#include <Include/fg_types.h>
#include <Bucket/bucketutils.h>
-#include "fg_geodesy.h"
-#include "mat3.h"
-#include "polar.h"
+#include <Math/fg_geodesy.h>
+#include <Math/mat3.h>
+#include <Math/polar.h>
int nodecount, tricount;
double xmin, xmax, ymin, ymax;
/* $Log$
-/* Revision 1.8 1998/04/14 02:26:08 curt
-/* Code reorganizations. Added a Lib/ directory for more general libraries.
+/* Revision 1.9 1998/04/18 04:01:20 curt
+/* Now use libMath rather than having local copies of math routines.
/*
+ * Revision 1.8 1998/04/14 02:26:08 curt
+ * Code reorganizations. Added a Lib/ directory for more general libraries.
+ *
* Revision 1.7 1998/04/08 23:21:13 curt
* Adopted Gnu automake/autoconf system.
*
+++ /dev/null
-/* Copyright 1988, Brown Computer Graphics Group. All Rights Reserved. */
-
-/* --------------------------------------------------------------------------
- * This file contains routines that operate on matrices and vectors, or
- * vectors and vectors.
- * -------------------------------------------------------------------------*/
-
-/* #include "sphigslocal.h" */
-
-/* -------------------------- Static Routines ---------------------------- */
-
-/* ------------------------- Internal Routines --------------------------- */
-
-/* -------------------------- Public Routines ---------------------------- */
-
-/*
- * Multiplies a vector by a matrix, setting the result vector.
- * It assumes all homogeneous coordinates are 1.
- * The two vectors involved may be the same.
- */
-
-#include "mat3.h"
-
-#ifndef TRUE
-# define TRUE 1
-#endif
-
-#ifndef FALSE
-# define FALSE 0
-#endif
-
-
-void
-MAT3mult_vec(double *result_vec, register double *vec, register double (*mat)[4])
-{
- MAT3vec tempvec;
- register double *temp = tempvec;
-
- temp[0] = vec[0] * mat[0][0] + vec[1] * mat[1][0] +
- vec[2] * mat[2][0] + mat[3][0];
- temp[1] = vec[0] * mat[0][1] + vec[1] * mat[1][1] +
- vec[2] * mat[2][1] + mat[3][1];
- temp[2] = vec[0] * mat[0][2] + vec[1] * mat[1][2] +
- vec[2] * mat[2][2] + mat[3][2];
-
- MAT3_COPY_VEC(result_vec, temp);
-}
-
-/*
- * Multiplies a vector of size 4 by a matrix, setting the result vector.
- * The fourth element of the vector is the homogeneous coordinate, which
- * may or may not be 1. If the "normalize" parameter is TRUE, then the
- * result vector will be normalized so that the homogeneous coordinate is 1.
- * The two vectors involved may be the same.
- * This returns zero if the vector was to be normalized, but couldn't be.
- */
-
-int
-MAT3mult_hvec(double *result_vec, register double *vec, register double (*mat)[4], int normalize)
-{
- MAT3hvec tempvec;
- double norm_fac;
- register double *temp = tempvec;
- register int ret = TRUE;
-
- temp[0] = vec[0] * mat[0][0] + vec[1] * mat[1][0] +
- vec[2] * mat[2][0] + vec[3] * mat[3][0];
- temp[1] = vec[0] * mat[0][1] + vec[1] * mat[1][1] +
- vec[2] * mat[2][1] + vec[3] * mat[3][1];
- temp[2] = vec[0] * mat[0][2] + vec[1] * mat[1][2] +
- vec[2] * mat[2][2] + vec[3] * mat[3][2];
- temp[3] = vec[0] * mat[0][3] + vec[1] * mat[1][3] +
- vec[2] * mat[2][3] + vec[3] * mat[3][3];
-
- /* Normalize if asked for, possible, and necessary */
- if (normalize) {
- if (MAT3_IS_ZERO(temp[3])) {
-#ifndef THINK_C
- fprintf (stderr,
- "Can't normalize vector: homogeneous coordinate is 0");
-#endif
- ret = FALSE;
- }
- else {
- norm_fac = 1.0 / temp[3];
- MAT3_SCALE_VEC(result_vec, temp, norm_fac);
- result_vec[3] = 1.0;
- }
- }
- else MAT3_COPY_HVEC(result_vec, temp);
-
- return(ret);
-}
-
-/*
- * Sets the first vector to be the cross-product of the last two vectors.
- */
-
-void
-MAT3cross_product(double *result_vec, register double *vec1, register double *vec2)
-{
- MAT3vec tempvec;
- register double *temp = tempvec;
-
- temp[0] = vec1[1] * vec2[2] - vec1[2] * vec2[1];
- temp[1] = vec1[2] * vec2[0] - vec1[0] * vec2[2];
- temp[2] = vec1[0] * vec2[1] - vec1[1] * vec2[0];
-
- MAT3_COPY_VEC(result_vec, temp);
-}
-
-/*
- * Finds a vector perpendicular to vec and stores it in result_vec.
- * Method: take any vector (we use <0,1,0>) and subtract the
- * portion of it pointing in the vec direction. This doesn't
- * work if vec IS <0,1,0> or is very near it. So if this is
- * the case, use <0,0,1> instead.
- * If "is_unit" is TRUE, the given vector is assumed to be unit length.
- */
-
-#define SELECT .7071 /* selection constant (roughly .5*sqrt(2) */
-
-void
-MAT3perp_vec(double *result_vec, double *vec, int is_unit)
-{
- MAT3vec norm;
- double dot;
-
- MAT3_SET_VEC(result_vec, 0.0, 1.0, 0.0);
-
- MAT3_COPY_VEC(norm, vec);
-
- if (! is_unit) MAT3_NORMALIZE_VEC(norm, dot);
-
- /* See if vector is too close to <0,1,0>. If so, use <0,0,1> */
- if ((dot = MAT3_DOT_PRODUCT(norm, result_vec)) > SELECT || dot < -SELECT) {
- result_vec[1] = 0.0;
- result_vec[2] = 1.0;
- dot = MAT3_DOT_PRODUCT(norm, result_vec);
- }
-
- /* Subtract off non-perpendicular part */
- result_vec[0] -= dot * norm[0];
- result_vec[1] -= dot * norm[1];
- result_vec[2] -= dot * norm[2];
-
- /* Make result unit length */
- MAT3_NORMALIZE_VEC(result_vec, dot);
-}
bin_PROGRAMS = tri2obj
-tri2obj_SOURCES = \
- tri2obj.c tri2obj.h \
- MAT3vec.c \
- fg_geodesy.c fg_geodesy.h \
- mat3.h \
- polar.c polar.h
+tri2obj_SOURCES = tri2obj.c tri2obj.h
tri2obj_LDADD = \
- $(top_builddir)/Lib/Bucket/libBucket.la
+ $(top_builddir)/Lib/Bucket/libBucket.la \
+ $(top_builddir)/Lib/Math/libMath.la
INCLUDES += -I$(top_builddir) -I$(top_builddir)/Lib
#---------------------------------------------------------------------------
# $Log$
+# Revision 1.3 1998/04/18 04:01:29 curt
+# Now use libMath rather than having local copies of math routines.
+#
# Revision 1.2 1998/04/14 02:26:09 curt
# Code reorganizations. Added a Lib/ directory for more general libraries.
#
bin_PROGRAMS = tri2obj
-tri2obj_SOURCES = \
- tri2obj.c tri2obj.h \
- MAT3vec.c \
- fg_geodesy.c fg_geodesy.h \
- mat3.h \
- polar.c polar.h
+tri2obj_SOURCES = tri2obj.c tri2obj.h
tri2obj_LDADD = \
- $(top_builddir)/Lib/Bucket/libBucket.la
+ $(top_builddir)/Lib/Bucket/libBucket.la \
+ $(top_builddir)/Lib/Math/libMath.la
mkinstalldirs = $(SHELL) $(top_srcdir)/mkinstalldirs
CONFIG_HEADER = ../../Include/config.h
CONFIG_CLEAN_FILES =
X_LIBS = @X_LIBS@
X_EXTRA_LIBS = @X_EXTRA_LIBS@
X_PRE_LIBS = @X_PRE_LIBS@
-tri2obj_OBJECTS = tri2obj.o MAT3vec.o fg_geodesy.o polar.o
-tri2obj_DEPENDENCIES = $(top_builddir)/Lib/Bucket/libBucket.la
+tri2obj_OBJECTS = tri2obj.o
+tri2obj_DEPENDENCIES = $(top_builddir)/Lib/Bucket/libBucket.la \
+$(top_builddir)/Lib/Math/libMath.la
tri2obj_LDFLAGS =
CFLAGS = @CFLAGS@
COMPILE = $(CC) $(DEFS) $(INCLUDES) $(CPPFLAGS) $(CFLAGS)
TAR = tar
GZIP = --best
-DEP_FILES = .deps/MAT3vec.P .deps/fg_geodesy.P .deps/polar.P \
-.deps/tri2obj.P
+DEP_FILES = .deps/tri2obj.P
SOURCES = $(tri2obj_SOURCES)
OBJECTS = $(tri2obj_OBJECTS)
#---------------------------------------------------------------------------
# $Log$
-# Revision 1.2 1998/04/14 02:26:10 curt
+# Revision 1.3 1998/04/18 04:01:29 curt
+# Now use libMath rather than having local copies of math routines.
+#
+# Revision 1.2 1998/04/14 02:26:09 curt
# Code reorganizations. Added a Lib/ directory for more general libraries.
#
# Revision 1.1 1998/04/08 23:22:13 curt
+++ /dev/null
-/**************************************************************************
- * fg_geodesy.c -- routines to convert between geodetic and geocentric
- * coordinate systems.
- *
- * Copied and adapted directly from LaRCsim/ls_geodesy.c
- *
- * See below for the complete original LaRCsim comments.
- *
- * $Id$
- * (Log is kept at end of this file)
- **************************************************************************/
-
-
-#include <math.h>
-
-#include <Include/fg_constants.h>
-
-#include "fg_geodesy.h"
-
-
-/* ONE_SECOND is pi/180/60/60, or about 100 feet at earths' equator */
-#define ONE_SECOND 4.848136811E-6
-
-
-/* fgGeocToGeod(lat_geoc, radius, *lat_geod, *alt, *sea_level_r)
- * INPUTS:
- * lat_geoc Geocentric latitude, radians, + = North
- * radius C.G. radius to earth center, ft
- *
- * OUTPUTS:
- * lat_geod Geodetic latitude, radians, + = North
- * alt C.G. altitude above mean sea level, ft
- * sea_level_r radius from earth center to sea level at
- * local vertical (surface normal) of C.G.
- */
-
-void fgGeocToGeod( double lat_geoc, double radius, double
- *lat_geod, double *alt, double *sea_level_r )
-{
- double t_lat, x_alpha, mu_alpha, delt_mu, r_alpha, l_point, rho_alpha;
- double sin_mu_a, denom,delt_lambda, lambda_sl, sin_lambda_sl;
-
- if( ( (FG_PI_2 - lat_geoc) < ONE_SECOND ) /* near North pole */
- || ( (FG_PI_2 + lat_geoc) < ONE_SECOND ) ) /* near South pole */
- {
- *lat_geod = lat_geoc;
- *sea_level_r = EQUATORIAL_RADIUS_KM*E;
- *alt = radius - *sea_level_r;
- } else {
- t_lat = tan(lat_geoc);
- x_alpha = E*EQUATORIAL_RADIUS_KM/sqrt(t_lat*t_lat + E*E);
- mu_alpha = atan2(sqrt(RESQ_KM - x_alpha*x_alpha),E*x_alpha);
- if (lat_geoc < 0) mu_alpha = - mu_alpha;
- sin_mu_a = sin(mu_alpha);
- delt_lambda = mu_alpha - lat_geoc;
- r_alpha = x_alpha/cos(lat_geoc);
- l_point = radius - r_alpha;
- *alt = l_point*cos(delt_lambda);
- denom = sqrt(1-EPS*EPS*sin_mu_a*sin_mu_a);
- rho_alpha = EQUATORIAL_RADIUS_KM*(1-EPS)/
- (denom*denom*denom);
- delt_mu = atan2(l_point*sin(delt_lambda),rho_alpha + *alt);
- *lat_geod = mu_alpha - delt_mu;
- lambda_sl = atan( E*E * tan(*lat_geod) ); /* SL geoc. latitude */
- sin_lambda_sl = sin( lambda_sl );
- *sea_level_r =
- sqrt(RESQ_KM / (1 + ((1/(E*E))-1)*sin_lambda_sl*sin_lambda_sl));
- }
-}
-
-
-/* fgGeodToGeoc( lat_geod, alt, *sl_radius, *lat_geoc )
- * INPUTS:
- * lat_geod Geodetic latitude, radians, + = North
- * alt C.G. altitude above mean sea level, ft
- *
- * OUTPUTS:
- * sl_radius SEA LEVEL radius to earth center, ft (add Altitude to
- * get true distance from earth center.
- * lat_geoc Geocentric latitude, radians, + = North
- *
- */
-
-void fgGeodToGeoc( double lat_geod, double alt, double *sl_radius,
- double *lat_geoc )
-{
- double lambda_sl, sin_lambda_sl, cos_lambda_sl, sin_mu, cos_mu, px, py;
-
- lambda_sl = atan( E*E * tan(lat_geod) ); /* sea level geocentric latitude */
- sin_lambda_sl = sin( lambda_sl );
- cos_lambda_sl = cos( lambda_sl );
- sin_mu = sin(lat_geod); /* Geodetic (map makers') latitude */
- cos_mu = cos(lat_geod);
- *sl_radius =
- sqrt(RESQ_KM / (1 + ((1/(E*E))-1)*sin_lambda_sl*sin_lambda_sl));
- py = *sl_radius*sin_lambda_sl + alt*sin_mu;
- px = *sl_radius*cos_lambda_sl + alt*cos_mu;
- *lat_geoc = atan2( py, px );
-}
-
-
-/***************************************************************************
-
- TITLE: ls_geodesy
-
-----------------------------------------------------------------------------
-
- FUNCTION: Converts geocentric coordinates to geodetic positions
-
-----------------------------------------------------------------------------
-
- MODULE STATUS: developmental
-
-----------------------------------------------------------------------------
-
- GENEALOGY: Written as part of LaRCSim project by E. B. Jackson
-
-----------------------------------------------------------------------------
-
- DESIGNED BY: E. B. Jackson
-
- CODED BY: E. B. Jackson
-
- MAINTAINED BY: E. B. Jackson
-
-----------------------------------------------------------------------------
-
- MODIFICATION HISTORY:
-
- DATE PURPOSE BY
-
- 930208 Modified to avoid singularity near polar region. EBJ
- 930602 Moved backwards calcs here from ls_step. EBJ
- 931214 Changed erroneous Latitude and Altitude variables to
- *lat_geod and *alt in routine ls_geoc_to_geod. EBJ
- 940111 Changed header files from old ls_eom.h style to ls_types,
- and ls_constants. Also replaced old DATA type with new
- SCALAR type. EBJ
-
- CURRENT RCS HEADER:
-
-$Header$
-$Log$
-Revision 1.1 1998/04/08 23:22:14 curt
-Adopted Gnu automake/autoconf system.
-
-Revision 1.4 1998/01/27 00:47:59 curt
-Incorporated Paul Bleisch's <bleisch@chromatic.com> new debug message
-system and commandline/config file processing code.
-
-Revision 1.3 1998/01/19 19:27:12 curt
-Merged in make system changes from Bob Kuehne <rpk@sgi.com>
-This should simplify things tremendously.
-
-Revision 1.2 1997/12/15 23:54:54 curt
-Add xgl wrappers for debugging.
-Generate terrain normals on the fly.
-
-Revision 1.1 1997/07/31 23:13:14 curt
-Initial revision.
-
-Revision 1.1 1997/05/29 00:09:56 curt
-Initial Flight Gear revision.
-
- * Revision 1.5 1994/01/11 18:47:05 bjax
- * Changed include files to use types and constants, not ls_eom.h
- * Also changed DATA type to SCALAR type.
- *
- * Revision 1.4 1993/12/14 21:06:47 bjax
- * Removed global variable references Altitude and Latitude. EBJ
- *
- * Revision 1.3 1993/06/02 15:03:40 bjax
- * Made new subroutine for calculating geodetic to geocentric; changed name
- * of forward conversion routine from ls_geodesy to ls_geoc_to_geod.
- *
-
-----------------------------------------------------------------------------
-
- REFERENCES:
-
- [ 1] Stevens, Brian L.; and Lewis, Frank L.: "Aircraft
- Control and Simulation", Wiley and Sons, 1992.
- ISBN 0-471-61397-5
-
-
-----------------------------------------------------------------------------
-
- CALLED BY: ls_aux
-
-----------------------------------------------------------------------------
-
- CALLS TO:
-
-----------------------------------------------------------------------------
-
- INPUTS:
- lat_geoc Geocentric latitude, radians, + = North
- radius C.G. radius to earth center, ft
-
-----------------------------------------------------------------------------
-
- OUTPUTS:
- lat_geod Geodetic latitude, radians, + = North
- alt C.G. altitude above mean sea level, ft
- sea_level_r radius from earth center to sea level at
- local vertical (surface normal) of C.G.
-
---------------------------------------------------------------------------*/
-
-
-/* $Log$
-/* Revision 1.1 1998/04/08 23:22:14 curt
-/* Adopted Gnu automake/autoconf system.
-/*
- * Revision 1.4 1998/01/27 00:47:59 curt
- * Incorporated Paul Bleisch's <bleisch@chromatic.com> new debug message
- * system and commandline/config file processing code.
- *
- * Revision 1.3 1998/01/19 19:27:12 curt
- * Merged in make system changes from Bob Kuehne <rpk@sgi.com>
- * This should simplify things tremendously.
- *
- * Revision 1.2 1997/12/15 23:54:54 curt
- * Add xgl wrappers for debugging.
- * Generate terrain normals on the fly.
- *
- * Revision 1.1 1997/07/31 23:13:14 curt
- * Initial revision.
- *
- */
+++ /dev/null
-/**************************************************************************
- * fg_geodesy.h -- routines to convert between geodetic and geocentric
- * coordinate systems.
- *
- * Copied and adapted directly from LaRCsim/ls_geodesy.c
- *
- * See below for the complete original LaRCsim comments.
- *
- * $Id$
- * (Log is kept at end of this file)
- **************************************************************************/
-
-
-#ifndef _FG_GEODESY_H
-#define _FG_GEODESY_H
-
-
-/* fgGeocToGeod(lat_geoc, radius, *lat_geod, *alt, *sea_level_r)
- * INPUTS:
- * lat_geoc Geocentric latitude, radians, + = North
- * radius C.G. radius to earth center, ft
- *
- * OUTPUTS:
- * lat_geod Geodetic latitude, radians, + = North
- * alt C.G. altitude above mean sea level, ft
- * sea_level_r radius from earth center to sea level at
- * local vertical (surface normal) of C.G.
- */
-
-void fgGeocToGeod( double lat_geoc, double radius, double
- *lat_geod, double *alt, double *sea_level_r );
-
-/* fgGeodToGeoc( lat_geod, alt, *sl_radius, *lat_geoc )
- * INPUTS:
- * lat_geod Geodetic latitude, radians, + = North
- * alt C.G. altitude above mean sea level, ft
- *
- * OUTPUTS:
- * sl_radius SEA LEVEL radius to earth center, ft (add Altitude to
- * get true distance from earth center.
- * lat_geoc Geocentric latitude, radians, + = North
- *
- */
-
-void fgGeodToGeoc( double lat_geod, double alt, double *sl_radius,
- double *lat_geoc );
-
-
-
-/***************************************************************************
-
- TITLE: ls_geodesy
-
-----------------------------------------------------------------------------
-
- FUNCTION: Converts geocentric coordinates to geodetic positions
-
-----------------------------------------------------------------------------
-
- MODULE STATUS: developmental
-
-----------------------------------------------------------------------------
-
- GENEALOGY: Written as part of LaRCSim project by E. B. Jackson
-
-----------------------------------------------------------------------------
-
- DESIGNED BY: E. B. Jackson
-
- CODED BY: E. B. Jackson
-
- MAINTAINED BY: E. B. Jackson
-
-----------------------------------------------------------------------------
-
- MODIFICATION HISTORY:
-
- DATE PURPOSE BY
-
- 930208 Modified to avoid singularity near polar region. EBJ
- 930602 Moved backwards calcs here from ls_step. EBJ
- 931214 Changed erroneous Latitude and Altitude variables to
- *lat_geod and *alt in routine ls_geoc_to_geod. EBJ
- 940111 Changed header files from old ls_eom.h style to ls_types,
- and ls_constants. Also replaced old DATA type with new
- SCALAR type. EBJ
-
- CURRENT RCS HEADER:
-
-$Header$
-$Log$
-Revision 1.1 1998/04/08 23:22:15 curt
-Adopted Gnu automake/autoconf system.
-
-Revision 1.2 1998/01/22 02:59:38 curt
-Changed #ifdef FILE_H to #ifdef _FILE_H
-
-Revision 1.1 1997/07/31 23:13:14 curt
-Initial revision.
-
-Revision 1.1 1997/05/29 00:09:56 curt
-Initial Flight Gear revision.
-
- * Revision 1.5 1994/01/11 18:47:05 bjax
- * Changed include files to use types and constants, not ls_eom.h
- * Also changed DATA type to SCALAR type.
- *
- * Revision 1.4 1993/12/14 21:06:47 bjax
- * Removed global variable references Altitude and Latitude. EBJ
- *
- * Revision 1.3 1993/06/02 15:03:40 bjax
- * Made new subroutine for calculating geodetic to geocentric; changed name
- * of forward conversion routine from ls_geodesy to ls_geoc_to_geod.
- *
-
-----------------------------------------------------------------------------
-
- REFERENCES:
-
- [ 1] Stevens, Brian L.; and Lewis, Frank L.: "Aircraft
- Control and Simulation", Wiley and Sons, 1992.
- ISBN 0-471-61397-5
-
-
-----------------------------------------------------------------------------
-
- CALLED BY: ls_aux
-
-----------------------------------------------------------------------------
-
- CALLS TO:
-
-----------------------------------------------------------------------------
-
- INPUTS:
- lat_geoc Geocentric latitude, radians, + = North
- radius C.G. radius to earth center, ft
-
-----------------------------------------------------------------------------
-
- OUTPUTS:
- lat_geod Geodetic latitude, radians, + = North
- alt C.G. altitude above mean sea level, ft
- sea_level_r radius from earth center to sea level at
- local vertical (surface normal) of C.G.
-
---------------------------------------------------------------------------*/
-
-
-#endif /* _FG_GEODESY_H */
-
-
-/* $Log$
-/* Revision 1.1 1998/04/08 23:22:15 curt
-/* Adopted Gnu automake/autoconf system.
-/*
- * Revision 1.2 1998/01/22 02:59:38 curt
- * Changed #ifdef FILE_H to #ifdef _FILE_H
- *
- * Revision 1.1 1997/07/31 23:13:14 curt
- * Initial revision.
- *
- */
+++ /dev/null
-/* Copyright 1988, Brown Computer Graphics Group. All Rights Reserved. */
-
-/* -------------------------------------------------------------------------
- Public MAT3 include file
- ------------------------------------------------------------------------- */
-
-#ifndef MAT3_HAS_BEEN_INCLUDED
-#define MAT3_HAS_BEEN_INCLUDED
-
-/* ----------------------------- Constants ------------------------------ */
-
-/*
- * Make sure the math library .h file is included, in case it wasn't.
- */
-
-#ifndef HUGE
-#include <math.h>
-#endif
-#include <stdio.h>
-
-
-#define MAT3_DET0 -1 /* Indicates singular mat */
-#define MAT3_EPSILON 1e-12 /* Close enough to zero */
-#define MAT3_PI 3.141592653589793 /* Pi */
-
-/* ------------------------------ Types --------------------------------- */
-
-typedef double MAT3mat[4][4]; /* 4x4 matrix */
-typedef double MAT3vec[3]; /* Vector */
-typedef double MAT3hvec[4]; /* Vector with homogeneous coord */
-
-/* ------------------------------ Macros -------------------------------- */
-
-/* Tests if a number is within EPSILON of zero */
-#define MAT3_IS_ZERO(N) ((N) < MAT3_EPSILON && (N) > -MAT3_EPSILON)
-
-/* Sets a vector to the three given values */
-#define MAT3_SET_VEC(V,X,Y,Z) ((V)[0]=(X), (V)[1]=(Y), (V)[2]=(Z))
-
-/* Tests a vector for all components close to zero */
-#define MAT3_IS_ZERO_VEC(V) (MAT3_IS_ZERO((V)[0]) && \
- MAT3_IS_ZERO((V)[1]) && \
- MAT3_IS_ZERO((V)[2]))
-
-/* Dot product of two vectors */
-#define MAT3_DOT_PRODUCT(V1,V2) \
- ((V1)[0]*(V2)[0] + (V1)[1]*(V2)[1] + (V1)[2]*(V2)[2])
-
-/* Copy one vector to other */
-#define MAT3_COPY_VEC(TO,FROM) ((TO)[0] = (FROM)[0], \
- (TO)[1] = (FROM)[1], \
- (TO)[2] = (FROM)[2])
-
-/* Normalize vector to unit length, using TEMP as temporary variable.
- * TEMP will be zero if vector has zero length */
-#define MAT3_NORMALIZE_VEC(V,TEMP) \
- if ((TEMP = sqrt(MAT3_DOT_PRODUCT(V,V))) > MAT3_EPSILON) { \
- TEMP = 1.0 / TEMP; \
- MAT3_SCALE_VEC(V,V,TEMP); \
- } else TEMP = 0.0
-
-/* Scale vector by given factor, storing result vector in RESULT_V */
-#define MAT3_SCALE_VEC(RESULT_V,V,SCALE) \
- MAT3_SET_VEC(RESULT_V, (V)[0]*(SCALE), (V)[1]*(SCALE), (V)[2]*(SCALE))
-
-/* Adds vectors V1 and V2, storing result in RESULT_V */
-#define MAT3_ADD_VEC(RESULT_V,V1,V2) \
- MAT3_SET_VEC(RESULT_V, (V1)[0]+(V2)[0], (V1)[1]+(V2)[1], \
- (V1)[2]+(V2)[2])
-
-/* Subtracts vector V2 from V1, storing result in RESULT_V */
-#define MAT3_SUB_VEC(RESULT_V,V1,V2) \
- MAT3_SET_VEC(RESULT_V, (V1)[0]-(V2)[0], (V1)[1]-(V2)[1], \
- (V1)[2]-(V2)[2])
-
-/* Multiplies vectors V1 and V2, storing result in RESULT_V */
-#define MAT3_MULT_VEC(RESULT_V,V1,V2) \
- MAT3_SET_VEC(RESULT_V, (V1)[0]*(V2)[0], (V1)[1]*(V2)[1], \
- (V1)[2]*(V2)[2])
-
-/* Sets RESULT_V to the linear combination of V1 and V2, scaled by
- * SCALE1 and SCALE2, respectively */
-#define MAT3_LINEAR_COMB(RESULT_V,SCALE1,V1,SCALE2,V2) \
- MAT3_SET_VEC(RESULT_V, (SCALE1)*(V1)[0] + (SCALE2)*(V2)[0], \
- (SCALE1)*(V1)[1] + (SCALE2)*(V2)[1], \
- (SCALE1)*(V1)[2] + (SCALE2)*(V2)[2])
-
-/* Several of the vector macros are useful for homogeneous-coord vectors */
-#define MAT3_SET_HVEC(V,X,Y,Z,W) ((V)[0]=(X), (V)[1]=(Y), \
- (V)[2]=(Z), (V)[3]=(W))
-
-#define MAT3_COPY_HVEC(TO,FROM) ((TO)[0] = (FROM)[0], \
- (TO)[1] = (FROM)[1], \
- (TO)[2] = (FROM)[2], \
- (TO)[3] = (FROM)[3])
-
-#define MAT3_SCALE_HVEC(RESULT_V,V,SCALE) \
- MAT3_SET_HVEC(RESULT_V, (V)[0]*(SCALE), (V)[1]*(SCALE), \
- (V)[2]*(SCALE), (V)[3]*(SCALE))
-
-#define MAT3_ADD_HVEC(RESULT_V,V1,V2) \
- MAT3_SET_HVEC(RESULT_V, (V1)[0]+(V2)[0], (V1)[1]+(V2)[1], \
- (V1)[2]+(V2)[2], (V1)[3]+(V2)[3])
-
-#define MAT3_SUB_HVEC(RESULT_V,V1,V2) \
- MAT3_SET_HVEC(RESULT_V, (V1)[0]-(V2)[0], (V1)[1]-(V2)[1], \
- (V1)[2]-(V2)[2], (V1)[3]-(V2)[3])
-
-#define MAT3_MULT_HVEC(RESULT_V,V1,V2) \
- MAT3_SET_HVEC(RESULT_V, (V1)[0]*(V2)[0], (V1)[1]*(V2)[1], \
- (V1)[2]*(V2)[2], (V1)[3]*(V2)[3])
-
-/* ------------------------------ Entries ------------------------------- */
-
-
-/* In MAT3geom.c */
-void MAT3direction_matrix (MAT3mat result_mat, MAT3mat mat);
-int MAT3normal_matrix (MAT3mat result_mat, MAT3mat mat);
-void MAT3rotate (MAT3mat result_mat, MAT3vec axis, double angle_in_radians);
-void MAT3translate (MAT3mat result_mat, MAT3vec trans);
-void MAT3scale (MAT3mat result_mat, MAT3vec scale);
-void MAT3shear(MAT3mat result_mat, double xshear, double yshear);
-
-/* In MAT3mat.c */
-void MAT3identity(MAT3mat);
-void MAT3zero(MAT3mat);
-void MAT3copy (MAT3mat to, MAT3mat from);
-void MAT3mult (MAT3mat result, MAT3mat, MAT3mat);
-void MAT3transpose (MAT3mat result, MAT3mat);
-int MAT3invert (MAT3mat result, MAT3mat);
-void MAT3print (MAT3mat, FILE *fp);
-void MAT3print_formatted (MAT3mat, FILE *fp,
- char *title, char *head, char *format, char *tail);
-extern int MAT3equal( void );
-extern double MAT3trace( void );
-extern int MAT3power( void );
-extern int MAT3column_reduce( void );
-extern int MAT3kernel_basis( void );
-
-/* In MAT3vec.c */
-void MAT3mult_vec(MAT3vec result_vec, MAT3vec vec, MAT3mat mat);
-int MAT3mult_hvec (MAT3hvec result_vec, MAT3hvec vec, MAT3mat mat, int normalize);
-void MAT3cross_product(MAT3vec result,MAT3vec,MAT3vec);
-void MAT3perp_vec(MAT3vec result_vec, MAT3vec vec, int is_unit);
-
-#endif /* MAT3_HAS_BEEN_INCLUDED */
-
+++ /dev/null
-/**************************************************************************
- * polar.c -- routines to deal with polar math and transformations
- *
- * Written by Curtis Olson, started June 1997.
- *
- * Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License as
- * published by the Free Software Foundation; either version 2 of the
- * License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
- *
- * $Id$
- * (Log is kept at end of this file)
- **************************************************************************/
-
-
-#include <math.h>
-#include <stdio.h>
-
-#include <Include/fg_constants.h>
-
-#include "polar.h"
-
-
-/* we can save these values between calls for efficiency */
-static double st, ct, sp, cp;
-
-
-/* Convert a polar coordinate to a cartesian coordinate. Lon and Lat
- * must be specified in radians. The FG convention is for distances
- * to be specified in meters */
-struct fgCartesianPoint fgPolarToCart(double lon, double lat, double radius) {
- struct fgCartesianPoint pnew;
-
- pnew.x = cos(lon) * cos(lat) * radius;
- pnew.y = sin(lon) * cos(lat) * radius;
- pnew.z = sin(lat) * radius;
-
- return(pnew);
-}
-
-
-/* Precalculate as much as possible so we can do a batch of transforms
- * through the same angles, will rotates a cartesian point about the
- * center of the earth by Theta (longitude axis) and Phi (latitude
- * axis) */
-
-/* Here are the unoptimized transformation equations
-
- x' = cos(Phi) * cos(Theta) * x + cos(Phi) * sin(Theta) * y +
- sin(Phi) * z
- y' = -sin(Theta) * x + cos(Theta) * y
- z' = -sin(Phi) * sin(Theta) * y - sin(Phi) * cos(Theta) * x +
- cos(Phi) * z;
-
- */
-void fgRotateBatchInit(double Theta, double Phi) {
- printf("Theta = %.3f, Phi = %.3f\n", Theta, Phi);
-
- st = sin(Theta);
- ct = cos(Theta);
- sp = sin(-Phi);
- cp = cos(-Phi);
-}
-
-/* Rotates a cartesian point about the center of the earth by Theta
- * (longitude axis) and Phi (latitude axis) */
-struct fgCartesianPoint fgRotateCartesianPoint(struct fgCartesianPoint p) {
- struct fgCartesianPoint p1, p2;
-
- /* printf("start = %.3f %.3f %.3f\n", p.x, p.y, p.z); */
-
- /* rotate about the z axis */
- p1.x = ct * p.x - st * p.y;
- p1.y = st * p.x + ct * p.y;
- p1.z = p.z;
-
- /* printf("step 1 = %.3f %.3f %.3f\n", p1.x, p1.y, p1.z); */
-
- /* rotate new point about y axis */
- p2.x = cp * p1.x + sp * p1.z;
- p2.y = p1.y;
- p2.z = cp * p1.z - sp * p1.x;
-
- /* printf("cp = %.5f, sp = %.5f\n", cp, sp); */
- /* printf("(1) = %.5f, (2) = %.5f\n", cp * p1.z, sp * p1.x); */
-
- /* printf("step 2 = %.3f %.3f %.3f\n", p2.x, p2.y, p2.z); */
-
- return(p2);
-}
-
-
-/* $Log$
-/* Revision 1.2 1998/04/14 02:26:10 curt
-/* Code reorganizations. Added a Lib/ directory for more general libraries.
-/*
- * Revision 1.1 1998/04/08 23:22:16 curt
- * Adopted Gnu automake/autoconf system.
- *
- * Revision 1.5 1998/01/27 00:48:00 curt
- * Incorporated Paul Bleisch's <bleisch@chromatic.com> new debug message
- * system and commandline/config file processing code.
- *
- * Revision 1.4 1998/01/19 19:27:12 curt
- * Merged in make system changes from Bob Kuehne <rpk@sgi.com>
- * This should simplify things tremendously.
- *
- * Revision 1.3 1997/12/15 23:54:54 curt
- * Add xgl wrappers for debugging.
- * Generate terrain normals on the fly.
- *
- * Revision 1.2 1997/07/31 22:52:27 curt
- * Working on redoing internal coordinate systems & scenery transformations.
- *
- * Revision 1.1 1997/07/07 21:02:36 curt
- * Initial revision.
- * */
+++ /dev/null
-/**************************************************************************
- * polar.h -- routines to deal with polar math and transformations
- *
- * Written by Curtis Olson, started June 1997.
- *
- * Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License as
- * published by the Free Software Foundation; either version 2 of the
- * License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
- *
- * $Id$
- * (Log is kept at end of this file)
- **************************************************************************/
-
-
-#ifndef _POLAR_H
-#define _POLAR_H
-
-
-#include <Include/fg_types.h>
-
-
-/* Convert a polar coordinate to a cartesian coordinate. Lon and Lat
- * must be specified in radians. The FG convention is for distances
- * to be specified in meters */
-struct fgCartesianPoint fgPolarToCart(double lon, double lat, double radius);
-
-
-/* Precalculate as much as possible so we can do a batch of transforms
- * through the same angles, will rotates a cartesian point about the
- * center of the earth by Theta (longitude axis) and Phi (latitude
- * axis) */
-
-/* Here are the unoptimized transformation equations
-
- x' = cos(Phi) * cos(Theta) * x + cos(Phi) * sin(Theta) * y +
- sin(Phi) * z
- y' = -sin(Theta) * x + cos(Theta) * y
- z' = -sin(Phi) * sin(Theta) * y - sin(Phi) * cos(Theta) * x +
- cos(Phi) * z;
-
- */
-void fgRotateBatchInit(double Theta, double Phi);
-
-
-/* Rotates a cartesian point about the center of the earth by Theta
- * (longitude axis) and Phi (latitude axis) */
-struct fgCartesianPoint fgRotateCartesianPoint(struct fgCartesianPoint p);
-
-
-#endif /* _POLAR_H */
-
-
-/* $Log$
-/* Revision 1.1 1998/04/08 23:22:17 curt
-/* Adopted Gnu automake/autoconf system.
-/*
- * Revision 1.7 1998/01/27 00:48:00 curt
- * Incorporated Paul Bleisch's <bleisch@chromatic.com> new debug message
- * system and commandline/config file processing code.
- *
- * Revision 1.6 1998/01/22 02:59:39 curt
- * Changed #ifdef FILE_H to #ifdef _FILE_H
- *
- * Revision 1.5 1998/01/19 19:27:13 curt
- * Merged in make system changes from Bob Kuehne <rpk@sgi.com>
- * This should simplify things tremendously.
- *
- * Revision 1.4 1997/12/15 23:54:55 curt
- * Add xgl wrappers for debugging.
- * Generate terrain normals on the fly.
- *
- * Revision 1.3 1997/07/31 22:52:28 curt
- * Working on redoing internal coordinate systems & scenery transformations.
- *
- * Revision 1.2 1997/07/23 21:52:21 curt
- * Put comments around the text after an #endif for increased portability.
- *
- * Revision 1.1 1997/07/07 21:02:37 curt
- * Initial revision.
- *
- */
#include <Include/fg_types.h>
#include <Bucket/bucketutils.h>
-#include "fg_geodesy.h"
-#include "mat3.h"
-#include "polar.h"
+#include <Math/fg_geodesy.h>
+#include <Math/mat3.h>
+#include <Math/polar.h>
int nodecount, tricount;
/* $Log$
-/* Revision 1.13 1998/04/14 02:26:11 curt
-/* Code reorganizations. Added a Lib/ directory for more general libraries.
+/* Revision 1.14 1998/04/18 04:01:32 curt
+/* Now use libMath rather than having local copies of math routines.
/*
+ * Revision 1.13 1998/04/14 02:26:11 curt
+ * Code reorganizations. Added a Lib/ directory for more general libraries.
+ *
* Revision 1.12 1998/04/08 23:22:18 curt
* Adopted Gnu automake/autoconf system.
*
projects / flightgear.git / commitdiff