wxThread::ExitCode HaloRenderingThread::Entry()
{
wxCommandEvent evt(wxEVT_HALO_RENDERING_THREAD_NOTIFY, wxID_ANY);
setupStruct.resultValid = false;
setupStruct.imageBuffer = 0;
setupStruct.rayPaths = new map<RayPathId, RayPathDescriptor>;
if (setupStruct.crystals.size() == 0)
{
evt.SetString(wxT("No crystal population set up."));
evt.SetInt(1);
setupStruct.notifee->AddPendingEvent(evt);
return 0;
}
// Cast rays on crystals and refracted rays will form a pixel.
int crystalTypeIndex = 0;
CrystalDescriptor *currentDescriptor = &setupStruct.crystals[0];
const int N_CRYSTAL_TYPES = setupStruct.crystals.size();
int crystalsRemaining = currentDescriptor->populationWeight;
Mesh currentMesh;
size_t percentStep = setupStruct.crystalCount / 100;
if (percentStep < 1) percentStep = 1;
Vector3 sunPos(0, 0, -100000);
rotate2d(sunPos.y, sunPos.z, setupStruct.solarAltitude * 3.14159265636 / 180.0);
// Two prependicular vector
Vector3 prepX = sunPos % Vector3(0, 1, 0); // FIXME: Sun on the zenith
Vector3 prepY = sunPos % prepX;
prepX /= ~prepX;
prepY /= ~prepY;
setupStruct.deleteBuffer = freeBuffer;
setupStruct.deleteMap = freeMap;
size_t size = setupStruct.imageSize;
setupStruct.imageBuffer = new uint32_t[size * size * 6];
memset(setupStruct.imageBuffer, 0, size * size * 6 * sizeof(uint32_t));
uint32_t *leftPlane = setupStruct.imageBuffer; // 0th plane
uint32_t *rightPlane = setupStruct.imageBuffer + size * size; // 1st plane
uint32_t *topPlane = setupStruct.imageBuffer + 2 * size * size; // 2nd plane
uint32_t *bottomPlane = setupStruct.imageBuffer + 3 * size * size; // 3rd plane
uint32_t *backPlane = setupStruct.imageBuffer + 4 * size * size; // 4th plane
uint32_t *frontPlane = setupStruct.imageBuffer + 5 * size * size; // 5th plane
double halfImageSize = size * 0.5;
int maxRays = (setupStruct.maxRayCastInfoSize * 1000000) / (sizeof(RayPathDescriptor) + sizeof(RayPathId));
if (maxRays == 0) maxRays = 1;
int recordRayModulus = setupStruct.crystalCount / maxRays;
if (!recordRayModulus) recordRayModulus = 1;
struct RefractionColor
{
int rgb;
double refractionIndex;
};
RefractionColor colors[] =
{
{ 0x0000FF, 1.3072 },
{ 0x0080FF, 1.3094 },
{ 0x00FFFF, 1.31 },
{ 0x00FF80, 1.3107 },
{ 0x00FF00, 1.3114 },
{ 0x80FF00, 1.3125 },
{ 0xFFFF00, 1.3136 },
{ 0xFF8000, 1.3147 },
{ 0xFF0000, 1.3158 },
{ 0xFF0040, 1.3172 },
{ 0xFF0080, 1.32 },
};
const int N_COLORS = sizeof(colors) / sizeof(colors[0]);
// Cast many rays.
for (size_t i = 0; i < setupStruct.crystalCount; i++)
{
if (setupStruct.cancelled)
{
// If the user shut the rendering down...
delete[] setupStruct.imageBuffer;
setupStruct.imageBuffer = 0;
return 0;
}
if (!crystalsRemaining)
{
// We iterate through the crystals based on their population weights.
crystalTypeIndex++;
if (crystalTypeIndex >= N_CRYSTAL_TYPES) crystalTypeIndex = 0;
currentDescriptor = &setupStruct.crystals[crystalTypeIndex];
crystalsRemaining = currentDescriptor->populationWeight;
}
// Get the raw mesh
currentMesh = currentDescriptor->mesh;
// Rotate it according to the orientation.
Matrix orientationMatrix = getOrientationMatrix(currentDescriptor->orientation);
// Apply wobbliness
Vector3 wobbleRotationAxis(1, 0, 0);
rotate2d(wobbleRotationAxis.x, wobbleRotationAxis.z, randFloat(0, 3.1415));
double wobblinessLimit = currentDescriptor->wobbliness * 3.1415 / 180.0;
Matrix wobbleMatrix = createRotationMatrix(
wobbleRotationAxis,
randFloatNormal(
0,
wobblinessLimit
)
);
Matrix transformation = orientationMatrix % wobbleMatrix;
transformMesh(currentMesh, transformation);
// Crystal created, now cast a ray on it.
Vector3 offset = prepX * randFloat(-1, 1) + prepY * randFloat(-1, 1);
vector<RayPath> rayPaths;
// Compute color here
double colorCode = randFloat(0, N_COLORS - 1);
RefractionColor prev = colors[(int)(floor(colorCode))];
RefractionColor next = colors[(int)(ceil(colorCode))];
double kColor = colorCode - floor(colorCode);
RefractionColor currentColor;
currentColor.rgb = prev.rgb;
currentColor.refractionIndex = (1 - kColor) * prev.refractionIndex + kColor * next.refractionIndex;
// Compute real poisition of the ray (Sun is a disk)
Vector3 realSunPos = sunPos;
Vector3 rayRotVector;
double rayRotVectorLength;
do
{
rayRotVector = realSunPos % getRandomVector();
rayRotVectorLength = ~rayRotVector;
}
while (rayRotVectorLength == 0);
rayRotVector /= rayRotVectorLength;
realSunPos = transformVector(
createRotationMatrix(
rayRotVector,
randFloat(
0,
setupStruct.solarDiskRadius * 3.1415926536 / 180.0
)
),
realSunPos
);
computeRayPathInGlassMesh(currentMesh, currentColor.refractionIndex, realSunPos + offset, -realSunPos, 0.01, rayPaths);
/* Project rays on the six planes. */
for (size_t j = 0; j < rayPaths.size(); j++)
{
RayPath ¤t = rayPaths[j];
size_t pathLength = current.size();
Vector3 exitDir = current[pathLength - 1].first - current[pathLength - 2].first;
Vector3 projectionDir = -exitDir;
double xPos, yPos;
// select the plane to project on.
uint32_t *plane;
double xm = 1, ym = 1;
int planeId;
if ((fabs(projectionDir.x) > fabs(projectionDir.y)) && (fabs(projectionDir.x) > fabs(projectionDir.z)))
{
if (projectionDir.x < 0)
{
plane = leftPlane;
planeId = 0;
xm = -1;
}
else
{
plane = rightPlane;
planeId = 1;
}
xPos = xm * projectionDir.z / fabs(projectionDir.x) * halfImageSize + halfImageSize;
yPos = -ym * projectionDir.y / fabs(projectionDir.x) * halfImageSize + halfImageSize;
}
if ((fabs(projectionDir.y) > fabs(projectionDir.x)) && (fabs(projectionDir.y) > fabs(projectionDir.z)))
{
if (projectionDir.y < 0)
{
plane = bottomPlane;
planeId = 3;
ym = -1;
}
else
{
plane = topPlane;
planeId = 2;
}
xPos = xm * projectionDir.x / fabs(projectionDir.y) * halfImageSize + halfImageSize;
yPos = -ym * projectionDir.z / fabs(projectionDir.y) * halfImageSize + halfImageSize;
}
if ((fabs(projectionDir.z) > fabs(projectionDir.x)) && (fabs(projectionDir.z) > fabs(projectionDir.y)))
{
if (projectionDir.z < 0)
{
plane = frontPlane;
planeId = 5;
}
else
{
plane = backPlane;
planeId = 4;
xm = -1;
}
xPos = xm * projectionDir.x / fabs(projectionDir.z) * halfImageSize + halfImageSize;
yPos = -ym * projectionDir.y / fabs(projectionDir.z) * halfImageSize + halfImageSize;
}
// Calculate the new intensity of the pixel.
xPos = clampInInt(xPos, 0, size - 1);
yPos = clampInInt(yPos, 0, size - 1);
int prevPixel = plane[(int)(yPos) * size + (int)(xPos)];
int nextPixel = 0;
double intensity = current[pathLength - 2].second * 20;
for (int j = 0; j < 3; j++)
{
int currentSaturation = (prevPixel >> (8 * j)) & 0xFF;
int toAdd = (int)(((currentColor.rgb >> (8 * j)) & 0xFF) * intensity) >> 8;
int nextSaturation;
if (currentSaturation + toAdd > 255) nextSaturation = 255;
else nextSaturation = currentSaturation + toAdd;
nextPixel += (1 << (8 * j)) * nextSaturation * setupStruct.pixelIntensity;
}
plane[(int)(yPos) * size + (int)(xPos)] = nextPixel;
// Record the ray if needed
if (!(i % recordRayModulus))
{
RayPathId pixelId(planeId, (int)xPos, (int)yPos);
RayPathDescriptor theDescriptor(
¤tDescriptor->mesh,
transformation,
realSunPos + offset,
-realSunPos,
intensity
);
map<RayPathId, RayPathDescriptor>::iterator it = setupStruct.rayPaths->find(pixelId);
if (it == setupStruct.rayPaths->end())
{
// If not found, insert it as new
setupStruct.rayPaths->insert(
make_pair(
pixelId,
theDescriptor
)
);
}
else if (it->second.intensity < intensity)
{
// If found, update it if the current ray is more intense
it->second = theDescriptor;
}
}
}
if (i % percentStep == 0)
{
sendNotifyString(wxString::Format(wxT("Casting rays: %d%%"), i / percentStep));
}
crystalsRemaining--;
}
evt.SetString(wxT("Completed."));
evt.SetInt(1); //< 1 means the operation is finished.
setupStruct.resultValid = true;
setupStruct.notifee->AddPendingEvent(evt);
return 0;
}
/* Returns the effect of solid Earth tides (meters) at the given
* position and epoch, in the Up-East-Down (UEN) reference frame.
*
* @param[in] t Epoch to look up
* @param[in] p Position of interest
*
* @return a Triple with the solid tidal effect, in meters and in
* the UED reference frame.
*
* @throw InvalidRequest If the request can not be completed for any
* reason, this is thrown. The text may have additional information
* as to why the request failed.
*/
Triple SolidTides::getSolidTide(const CommonTime& t,
const Position& p) const
throw(InvalidRequest)
{
// We will store here the results
Triple res;
// Objects to compute Sun and Moon positions
SunPosition sunPosition;
MoonPosition moonPosition;
try
{
// Variables to hold Sun and Moon positions
Triple sunPos(sunPosition.getPosition(t));
Triple moonPos(moonPosition.getPosition(t));
// Compute the factors for the Sun
double rpRs( p.X()*sunPos.theArray[0] +
p.Y()*sunPos.theArray[1] +
p.Z()*sunPos.theArray[2]);
double Rs2(sunPos.theArray[0]*sunPos.theArray[0] +
sunPos.theArray[1]*sunPos.theArray[1] +
sunPos.theArray[2]*sunPos.theArray[2]);
double rp2( p.X()*p.X() + p.Y()*p.Y() + p.Z()*p.Z() );
double xy2p( p.X()*p.X() + p.Y()*p.Y() );
double sqxy2p( std::sqrt(xy2p) );
double sqRs2(std::sqrt(Rs2));
double fac_s( 3.0*MU_SUN*rp2/(sqRs2*sqRs2*sqRs2*sqRs2*sqRs2) );
double g1sun( fac_s*(rpRs*rpRs/2.0 - rp2*Rs2/6.0) );
double g2sun( fac_s * rpRs * (sunPos.theArray[1]*p.X() -
sunPos.theArray[0]*p.Y()) * std::sqrt(rp2)/sqxy2p );
double g3sun( fac_s * rpRs * ( sqxy2p* sunPos.theArray[2] -
p.Z()/sqxy2p * (p.X()*sunPos.theArray[0] +
p.Y()*sunPos.theArray[1]) ) );
// Compute the factors for the Moon
double rpRm( p.X()*moonPos.theArray[0] +
p.Y()*moonPos.theArray[1] +
p.Z()*moonPos.theArray[2]);
double Rm2(moonPos.theArray[0]*moonPos.theArray[0] +
moonPos.theArray[1]*moonPos.theArray[1] +
moonPos.theArray[2]*moonPos.theArray[2]);
double sqRm2(std::sqrt(Rm2));
double fac_m( 3.0*MU_MOON*rp2/(sqRm2*sqRm2*sqRm2*sqRm2*sqRm2) );
double g1moon( fac_m*(rpRm*rpRm/2.0 - rp2*Rm2/6.0) );
double g2moon( fac_m * rpRm * (moonPos.theArray[1]*p.X() -
moonPos.theArray[0]*p.Y()) * std::sqrt(rp2)/sqxy2p );
double g3moon( fac_m * rpRm * ( sqxy2p* moonPos.theArray[2] -
p.Z()/sqxy2p * (p.X()*moonPos.theArray[0] +
p.Y()*moonPos.theArray[1]) ) );
// Effects due to the Sun
double delta_sun1(H_LOVE*g1sun);
double delta_sun2(L_LOVE*g2sun);
double delta_sun3(L_LOVE*g3sun);
// Effects due to the Moon
double delta_moon1(H_LOVE*g1moon);
double delta_moon2(L_LOVE*g2moon);
double delta_moon3(L_LOVE*g3moon);
// Combined effect
res.theArray[0] = delta_sun1 + delta_moon1;
res.theArray[1] = delta_sun2 + delta_moon2;
res.theArray[2] = delta_sun3 + delta_moon3;
} // End of try block
catch(InvalidRequest& ir)
{
GPSTK_RETHROW(ir);
}
return res;
} // End SolidTides::getSolidTide
/* Returns a satTypeValueMap object, adding the new data generated when
* calling this object.
*
* @param time Epoch corresponding to the data.
* @param gData Data object holding the data.
*/
satTypeValueMap& ComputeSatPCenter::Process(const DayTime& time,
satTypeValueMap& gData)
throw(ProcessingException)
{
try
{
// Compute Sun position at this epoch
SunPosition sunPosition;
Triple sunPos(sunPosition.getPosition(time));
// Define a Triple that will hold satellite position, in ECEF
Triple svPos(0.0, 0.0, 0.0);
SatIDSet satRejectedSet;
// Loop through all the satellites
satTypeValueMap::iterator it;
for (it = gData.begin(); it != gData.end(); ++it)
{
// Use ephemeris if satellite position is not already computed
if( ( (*it).second.find(TypeID::satX) == (*it).second.end() ) ||
( (*it).second.find(TypeID::satY) == (*it).second.end() ) ||
( (*it).second.find(TypeID::satZ) == (*it).second.end() ) )
{
if(pEphemeris==NULL)
{
// If ephemeris is missing, then remove all satellites
satRejectedSet.insert( (*it).first );
continue;
}
else
{
// Try to get satellite position
// if it is not already computed
try
{
// For our purposes, position at receive time
// is fine enough
Xvt svPosVel(pEphemeris->getXvt( (*it).first, time ));
// If everything is OK, then continue processing.
svPos[0] = svPosVel.x.theArray[0];
svPos[1] = svPosVel.x.theArray[1];
svPos[2] = svPosVel.x.theArray[2];
}
catch(...)
{
// If satellite is missing, then schedule it
// for removal
satRejectedSet.insert( (*it).first );
continue;
}
}
}
else
{
// Get satellite position out of GDS
svPos[0] = (*it).second[TypeID::satX];
svPos[1] = (*it).second[TypeID::satY];
svPos[2] = (*it).second[TypeID::satZ];
} // End of 'if( ( (*it).second.find(TypeID::satX) == ...'
// Let's get the satellite antenna phase correction value in
// meters, and insert it in the GNSS data structure.
(*it).second[TypeID::satPCenter] =
getSatPCenter((*it).first, time, svPos, sunPos);
} // End of 'for (it = gData.begin(); it != gData.end(); ++it)'
// Remove satellites with missing data
gData.removeSatID(satRejectedSet);
return gData;
}
catch(Exception& u)
{
// Throw an exception if something unexpected happens
ProcessingException e( getClassName() + ":"
+ StringUtils::asString( getIndex() ) + ":"
+ u.what() );
GPSTK_THROW(e);
}
} // End of method 'ComputeSatPCenter::Process()'
/* Returns a satTypeValueMap object, adding the new data generated
* when calling this object.
*
* @param epoch Time of observations.
* @param gData Data object holding the data.
*/
satTypeValueMap& EclipsedSatFilter::Process( const CommonTime& epoch,
satTypeValueMap& gData )
throw(ProcessingException)
{
try
{
SatIDSet satRejectedSet;
// Set the threshold to declare that satellites are in eclipse
// threshold = cos(180 - coneAngle/2)
double threshold( std::cos(PI - coneAngle/2.0*DEG_TO_RAD) );
// Compute Sun position at this epoch, and store it in a Triple
SunPosition sunPosition;
Triple sunPos(sunPosition.getPosition(epoch));
// Define a Triple that will hold satellite position, in ECEF
Triple svPos(0.0, 0.0, 0.0);
// Loop through all the satellites
satTypeValueMap::iterator it;
for (it = gData.begin(); it != gData.end(); ++it)
{
// Check if satellite position is not already computed
if( ( (*it).second.find(TypeID::satX) == (*it).second.end() ) ||
( (*it).second.find(TypeID::satY) == (*it).second.end() ) ||
( (*it).second.find(TypeID::satZ) == (*it).second.end() ) )
{
// If satellite position is missing, then schedule this
// satellite for removal
satRejectedSet.insert( (*it).first );
continue;
}
else
{
// Get satellite position out of GDS
svPos[0] = (*it).second[TypeID::satX];
svPos[1] = (*it).second[TypeID::satY];
svPos[2] = (*it).second[TypeID::satZ];
}
// Unitary vector from Earth mass center to satellite
Triple rk( svPos.unitVector() );
// Unitary vector from Earth mass center to Sun
Triple ri( sunPos.unitVector() );
// Get dot product between unitary vectors = cosine(angle)
double cosAngle(ri.dot(rk));
// Check if satellite is within shadow
if(cosAngle <= threshold)
{
// If satellite is eclipsed, then schedule it for removal
satRejectedSet.insert( (*it).first );
// Keep track of last known epoch the satellite was in eclipse
shadowEpoch[(*it).first] = epoch;
continue;
}
else
{
// Maybe the satellite is out fo shadow, but it was recently
// in eclipse. Check also that.
if( shadowEpoch.find( (*it).first ) != shadowEpoch.end() )
{
// If satellite was recently in eclipse, check if elapsed
// time is less or equal than postShadowPeriod
if( std::abs( ( epoch - shadowEpoch[(*it).first] ) ) <=
postShadowPeriod )
{
// Satellite left shadow, but too recently. Delete it
satRejectedSet.insert( (*it).first );
}
else
{
// If satellite left shadow a long time ago, set it free
shadowEpoch.erase( (*it).first );
}
}
}
}
// Remove satellites with missing data
gData.removeSatID(satRejectedSet);
return gData;
}
catch(Exception& u)
{
// Throw an exception if something unexpected happens
ProcessingException e( getClassName() + ":"
+ u.what() );
GPSTK_THROW(e);
}
} // End of 'EclipsedSatFilter::Process()'
