static Matrix4T<T> rotation(float degrees, const Vector3T<T> &inaxis)
{
Matrix4T<T> m;
Vector3T<T> axis = inaxis;
axis.normalize();
float c = cos((float)degToRad(degrees));
float s = sin((float)degToRad(degrees));
m.x.x = (axis.x * axis.x) * (1.0f - c) + c;
m.y.x = (axis.y * axis.x) * (1.0f - c) + (axis.z * s);
m.z.x = (axis.z * axis.x) * (1.0f - c) - (axis.y * s);
m.x.y = (axis.x * axis.y) * (1.0f - c) - (axis.z * s);
m.y.y = (axis.y * axis.y) * (1.0f - c) + c;
m.z.y = (axis.z * axis.y) * (1.0f - c) + (axis.x * s);
m.x.z = (axis.x * axis.z) * (1.0f - c) + (axis.y * s);
m.y.z = (axis.y * axis.z) * (1.0f - c) - (axis.x * s);
m.z.z = (axis.z * axis.z) * (1.0f - c) + c;
return m;
}
static Matrix4T<T> buildViewMatrix(const Vector3T<T> &from, const Vector3T<T> &lookingAt, const Vector3T<T> &up /*= Vector3(1,0,0)*/)
{
Matrix4T<T> r;
r.SetPositionVector(Vector3T<T>(-from.x,-from.y,-from.z));
Matrix4T<T> m;
Vector3T<T> f = (lookingAt - from);
f.normalize();
Vector3T<T> s = Vector3T<T>::Cross(f,up);
Vector3T<T> u = Vector3T<T>::Cross(s,f);
m.x.x = s.x;
m.x.y = s.y;
m.x.z = s.z;
m.y.x = u.x;
m.y.y = u.y;
m.y.z = u.z;
m.z.x = -f.x;
m.z.x = -f.y;
m.z.z = -f.z;
return m * r;
}
/// sets row with vector components
void Row(unsigned int uiRow, const Vector3T<T>& vRow) throw()
{
ATLASSERT(uiRow < 4);
m_d[0][uiRow] = vRow.X();
m_d[1][uiRow] = vRow.Y();
m_d[2][uiRow] = vRow.Z();
}
/// sets column with vector components
void Column(unsigned int uiColumn, const Vector3T<T>& vColumn) throw()
{
ATLASSERT(uiColumn < 4);
m_d[uiColumn][0] = vColumn.X();
m_d[uiColumn][1] = vColumn.Y();
m_d[uiColumn][2] = vColumn.Z();
}
/// multiply operator
Vector3T<T> operator*(const Vector3T<T>& v) const throw()
{
return Vector3T<T>(
m_d[0][0] * v.X() + m_d[1][0] * v.Y() + m_d[2][0] * v.Z() + m_d[3][0],
m_d[0][1] * v.X() + m_d[1][1] * v.Y() + m_d[2][1] * v.Z() + m_d[3][1],
m_d[0][2] * v.X() + m_d[1][2] * v.Y() + m_d[2][2] * v.Z() + m_d[3][2]
);
}
Vector3T normalized() const
{
Vector3T v = *this;
v.normalize();
return v;
}
int MeshFreeSupport3DT::Intersect(const double* x0, const double* x1,
const double* x2, const double *vA, const double* vB) const
{
/* facet centroid */
Vector3T<double> xc;
xc.Average(x0, x1, x2);
/* "expand" facet to insure overlap */
// const double eps = 0.01;
const double eps = 0.02;
double eps1 = 1.0 + eps;
Vector3T<double> v0, v1, v2;
v0.Combine(eps1, x0, -eps, xc);
v1.Combine(eps1, x1, -eps, xc);
v2.Combine(eps1, x2, -eps, xc);
/* workspace vectors */
Vector3T<double> v01, v12, vAB, N;
/* edge vectors */
v01.Diff(v1, v0);
v12.Diff(v2, v1);
/* facet normal (direction) = v01 x v12 */
N.Cross(v01, v12);
/* connecting vector */
vAB.Diff(vB, vA);
/* intersection distance */
double den = Vector3T<double>::Dot(N, vAB);
if (fabs(den) < kSmall) return 0;
double s = (Vector3T<double>::Dot(N,v0) - Vector3T<double>::Dot(N,vA))/den;
/* AB doesn't cross facet plane */
if (s < 0.0 || s > 1.0)
return 0;
else
{
Vector3T<double> vP, Ni, viP;
vP.Combine(1.0, vA, s, vAB);
/* edge 1 */
viP.Diff(vP, v0);
Ni.Cross(v01, viP);
if (Vector3T<double>::Dot(N, Ni) < 0.0)
return 0;
else
{
/* edge 2 */
viP.Diff(vP, v1);
Ni.Cross(v12, viP);
if (Vector3T<double>::Dot(N, Ni) < 0.0)
return 0;
else
{
Vector3T<double> v20;
v20.Diff(v0, v2);
/* edge 3 */
viP.Diff(vP, v2);
Ni.Cross(v20, viP);
if (Vector3T<double>::Dot(N, Ni) < 0.0)
return 0;
else
return 1;
}
}
}
}
/// builds a rotation matrix from axis and angle
static Matrix4T<T> Rotate(Vector3T<T> vAxis, T dAngleRot)
{
vAxis.Normalize();
T cs = std::cos(-dAngleRot);
T sn = std::sin(-dAngleRot);
T t = T(1.0) - cs;
Matrix4T<T> matRotate;
matRotate.Row(0, Vector3T<T>(t * vAxis.X() * vAxis.X() + cs, t * vAxis.X() * vAxis.Y() - sn * vAxis.Z(), t * vAxis.X() * vAxis.Z() + sn * vAxis.Y()));
matRotate.Row(1, Vector3T<T>(t * vAxis.X() * vAxis.Y() + sn * vAxis.Z(), t * vAxis.Y() * vAxis.Y() + cs, t * vAxis.Y() * vAxis.Z() - sn * vAxis.X()));
matRotate.Row(2, Vector3T<T>(t * vAxis.X() * vAxis.Z() - sn * vAxis.Y(), t * vAxis.Y() * vAxis.Z() + sn * vAxis.X(), t * vAxis.Z() * vAxis.Z() + cs));
matRotate[3][3] = 1.0;
return matRotate;
}
int main()
{
std::ofstream fout;
fout.open("out.txt");
try
{
App app;
app.SetLoggingFile("error.log");
app.LoadKernel("data/meta.tm");
app.SetReferenceFrame(Frame::ECLIPJ2000); // Set reference frame to ECLIPJ200, default is J2000
app.SetDefaultUnits(App::UT_DEFAULT); // Same as UT_METRIC, except Length is measured in km. This is set by default
//app.SetDefaultUnits(App::UT_METRIC); // Default units are meters, meters per second and kilograms
//app.SetDefaultUnits(App::UT_IMPERIAL); // Default units are miles, miles per hour and pounds
//app.LoadSolarSystem(); // Loads Solar System. Optional parameter controls whether to load only planets and Sun or to load entire Solar System
//app.LoadAllAvailableObjects(); // Loads all objects which were introduced in loaded kernels
//app.LoadMoons(SpaceObject("Earth")); // Creates SpaceObjects instance and uses it to specify parent body
//app.LoadMoons("Jupiter"); // Loads moons of Jupiter, internally the same as LoadMoons(SpaceObject("Jupiter"))
//if(app.CheckObjectExists("Pluto"))
// app.LoadMoons(app.RetrieveObject("Pluto")); // Same as LoadMoons(SpaceObject("Pluto")), except this doesn't construct new SpaceObject instance, instead it uses reference to already loaded SpaceObject instance
app.AddObject(SpaceBody("europa"));
app.AddObject(SpaceBody("MOON"));
app.AddObject(SpaceBody("Io"));
std::vector<SpaceObject*> barycenters = app.GetLoadedBarycenters();
std::vector<SpaceObject*> planets = app.GetLoadedPlanets();
std::vector<SpaceObject*> moons = app.GetLoadedMoons();
std::vector<SpaceObject*> jupiterMoons = app.GetLoadedMoonsOf(SpaceObject("Jupiter"));
std::vector<SpaceObject*> marsMoons = app.GetLoadedMoonsOf(SpaceObject("mars"));
app.LoadSolarSystem(true);
std::vector<KernelData> kernels = CSpiceUtil::GetLoadedKernels();
fout << "Loaded kernels:" << std::endl;
for(size_t i = 0; i < kernels.size(); i++)
{
KernelData kData = kernels[i];
fout << "\t" << kData.filename << " (" << kData.type << ")" << std::endl;
}
fout << std::endl;
size_t objectsCount = app.GetObjectsLength();
for(size_t i = 0; i < objectsCount; i++)
{
const SpaceObject& obj = app.GetObjectByIndex(i);
fout << obj.GetName() << " summary:" << std::endl;
try
{
const SpaceBody& body = dynamic_cast<const SpaceBody&>(obj);
fout << "Bulk parameters:" << std::endl;
if(body.HasParameter(SpaceBody::BP_MASS))
fout << "\tMass: " << body.GetMass().ValueIn(app.MassUnit()) << " " << app.MassUnit().str() << std::endl;
if(body.HasParameter(SpaceBody::BP_GM))
fout << "\tGM: " << body.GetGM().ValueIn(app.GMUnit()) << " " << app.GMUnit().str() << std::endl;
if(body.HasParameter(SpaceBody::BP_ACC))
fout << "\tg: " << body.GetSurfaceAcceleration().ValueIn(app.AccelerationUnit()) << " " << app.AccelerationUnit().str() << std::endl;
if(body.HasParameter(SpaceBody::BP_RADIUS))
{
Length radius = body.GetRadius();
std::array<Length, 3> radii = body.GetRadii();
fout << "\tRadius: " << radius.ValueIn(app.LengthUnit()) << " (" << radii[0].ValueIn(app.LengthUnit()) << ", " << radii[1].ValueIn(app.LengthUnit()) << ", " << radii[2].ValueIn(app.LengthUnit()) << ") " << app.LengthUnit().str() << std::endl;
}
fout << std::endl;
}
catch(const std::bad_cast&)
{
}
Date t("Aug 17 2000 15:51:01 UTC-5");
t += Time(1.0, Units::Common::days);
Window spkCoverage = obj.GetCoverage();
std::vector<Interval> spkIntervals = spkCoverage.GetIntervals();
fout << "SPK state:" << std::endl;
fout << "\tCoverage:" << std::endl;
if(spkIntervals.size() == 0)
{
fout << "\t\tObject does not contain any state data" << std::endl;
}
for(size_t i = 0; i < spkIntervals.size(); i++)
{
Interval interval = spkIntervals[i];
Date begin(interval.GetLeft());
Date end(interval.GetRight());
fout << "\t\t" << begin.AsString() << " - " << end.AsString() << std::endl;
}
fout << std::endl;
fout << "\t" << t.AsString() << " relative to " << app.GetReferenceFrame().GetName() << ":" << std::endl;
if(spkCoverage.IsIncluded(t.AsDouble()))
{
Vector3T<Length> pos = obj.GetPosition(t, app.GetReferenceFrame());
Vector3T<Velocity> vel = obj.GetVelocity(t, app.GetReferenceFrame());
fout << "\t\tPos: " << pos.Length().ValueIn(app.LengthUnit()) << " (" << pos.x.ValueIn(app.LengthUnit()) << ", " << pos.y.ValueIn(app.LengthUnit()) << ", " << pos.z.ValueIn(app.LengthUnit()) << ") " << app.LengthUnit().str() << std::endl;
fout << "\t\tVel: " << vel.Length().ValueIn(app.VelocityUnit()) << " (" << vel.x.ValueIn(app.VelocityUnit()) << ", " << vel.y.ValueIn(app.VelocityUnit()) << ", " << vel.z.ValueIn(app.VelocityUnit()) << ") " << app.VelocityUnit().str() << std::endl;
}
else
{
fout << "\t\tNo state data on this epoch" << std::endl;
}
fout << std::endl;
try
{
const SpaceBody& body = dynamic_cast<const SpaceBody&>(obj);
fout << "PCK orientation:" << std::endl;
if(body.HasDefaultFrame())
{
Frame bodyFrame = body.GetDefaultFrame();
fout << "(using frame " << bodyFrame.GetName() << ")" << std::endl;
if(bodyFrame.HasAvailableData())
{
bool dataAvailableAtT = true;
fout << "\tCoverage:" << std::endl;
if(bodyFrame.HasLimitedCoverage())
{
Window pckCoverage = bodyFrame.GetCoverage();
std::vector<Interval> pckIntervals = pckCoverage.GetIntervals();
dataAvailableAtT = pckCoverage.IsIncluded(t.AsDouble());
if(pckIntervals.size() == 0)
{
fout << "\t\tObject does not contain any orientation data" << std::endl;
}
for(size_t i = 0; i < pckIntervals.size(); i++)
{
Interval interval = pckIntervals[i];
Date begin(interval.GetLeft());
Date end(interval.GetRight());
fout << "\t\t" << begin.AsString() << " - " << end.AsString() << std::endl;
}
fout << std::endl;
}
else
{
fout << "\t\tUnlimited" << std::endl;
}
fout << "\t" << t.AsString() << app.GetReferenceFrame().GetName() << ":" << std::endl;
if(dataAvailableAtT)
{
Vector3 axisX = bodyFrame.AxisX(t, app.GetReferenceFrame());
Vector3 axisY = bodyFrame.AxisY(t, app.GetReferenceFrame());
Vector3 axisZ = bodyFrame.AxisZ(t, app.GetReferenceFrame());
fout << "\t\tX axis: (" << axisX.x << ", " << axisX.y << ", " << axisX.z << ")" << std::endl;
fout << "\t\tY axis: (" << axisY.x << ", " << axisY.y << ", " << axisY.z << ")" << std::endl;
fout << "\t\tZ axis: (" << axisZ.x << ", " << axisZ.y << ", " << axisZ.z << ")" << std::endl;
const Matrix4x4& matrix = bodyFrame.GetTransformationMatrix(t, app.GetReferenceFrame());
fout << "\t\tTransformation matrix:" << std::endl;
for(int row = 0; row < 4; row++)
{
fout << "\t\t\t";
for(int col = 0; col < 4; col++)
{
fout << std::fixed << std::setw(11) << matrix.Get(row, col) << std::defaultfloat << " ";
}
fout << std::endl;
}
}
else
{
fout << "\t\tNo orientation data available on this epoch" << std::endl;
}
}
else
{
fout << "\tFrame does not contain any orientation data" << std::endl;
}
}
else
{
fout << "\tObject does not contain any orientation data" << std::endl;
}
}
catch(const std::bad_cast&)
{
}
fout << "===============================================================================" << std::endl;
fout << std::endl;
}
std::cout << "All is fine. See out.txt for results" << std::endl;
}
catch(const std::exception& ex)
{
std::cout << std::endl;
std::cout << "Error encountered:" << std::endl;
std::cout << ex.what() << std::endl;
std::cout << "See details in the error log file" << std::endl;
}
std::getchar();
return 0;
}
inline Vector3T<T> operator/(const Vector3T<T>& vec, const T d)
{
return Vector3T<T>(vec.X()/d, vec.Y()/d, vec.Z()/d);
}
inline Vector3T<T> operator-(const Vector3T<T>& v1, const Vector3T<T>& v2) throw()
{
return Vector3T<T>(v1.X() - v2.X(), v1.Y() - v2.Y(), v1.Z() - v2.Z());
}
inline Vector3T<T> operator-(const Vector3T<T>& vec) throw()
{
return Vector3T<T>(-vec.X(), -vec.Y(), -vec.Z());
};
/// calculates outer (cross) product
Vector3T Cross(const Vector3T& rhs) const throw()
{
Vector3T vResult;
vResult.Cross(*this, rhs);
return vResult;
}
