IntersectingAirspaceVisitorAdapter(const GeoPoint &_loc,
const GeoPoint &_end,
const TaskProjection &_projection,
AirspaceIntersectionVisitor &_visitor)
:start(_loc), end(_end), projection(&_projection),
ray(projection->ProjectInteger(start), projection->ProjectInteger(end)),
visitor(&_visitor) {}
Airspace::Airspace(const GeoPoint &loc, const TaskProjection &task_projection,
const fixed range)
:FlatBoundingBox(task_projection.ProjectInteger(loc),
task_projection.ProjectRangeInteger(loc, range)),
airspace(nullptr)
{
}
void
AATPoint::set_target(const fixed range, const fixed radial,
const TaskProjection &proj)
{
fixed oldrange = fixed_zero;
fixed oldradial = fixed_zero;
get_target_range_radial(oldrange, oldradial);
const FlatPoint fprev = proj.fproject(get_previous()->get_location_remaining());
const FlatPoint floc = proj.fproject(get_location());
const FlatLine flb (fprev,floc);
const FlatLine fradius (floc,proj.fproject(get_location_min()));
const fixed bearing = fixed_minus_one * flb.angle().value_degrees();
const fixed radius = fradius.d();
fixed swapquadrants = fixed_zero;
if (positive(range) != positive(oldrange))
swapquadrants = fixed(180);
const FlatPoint ftarget1 (fabs(range) * radius *
cos((bearing + radial + swapquadrants)
/ fixed(360) * fixed_two_pi),
fabs(range) * radius *
sin( fixed_minus_one * (bearing + radial + swapquadrants)
/ fixed(360) * fixed_two_pi));
const FlatPoint ftarget2 = floc + ftarget1;
const GeoPoint targetG = proj.funproject(ftarget2);
set_target(targetG, true);
}
void
AATPoint::SetTarget(const fixed range, const fixed radial,
const TaskProjection &proj)
{
fixed oldrange = fixed_zero;
fixed oldradial = fixed_zero;
GetTargetRangeRadial(oldrange, oldradial);
const FlatPoint fprev =
proj.ProjectFloat(GetPrevious()->GetLocationRemaining());
const FlatPoint floc = proj.ProjectFloat(GetLocation());
const FlatLine flb (fprev,floc);
const FlatLine fradius (floc,proj.ProjectFloat(GetLocationMin()));
const fixed bearing = fixed_minus_one * flb.angle().Degrees();
const fixed radius = fradius.d();
fixed swapquadrants = fixed_zero;
if (positive(range) != positive(oldrange))
swapquadrants = fixed(180);
const FlatPoint ftarget1 (fabs(range) * radius *
cos((bearing + radial + swapquadrants)
/ fixed(360) * fixed_two_pi),
fabs(range) * radius *
sin( fixed_minus_one * (bearing + radial + swapquadrants)
/ fixed(360) * fixed_two_pi));
const FlatPoint ftarget2 = floc + ftarget1;
const GeoPoint targetG = proj.Unproject(ftarget2);
SetTarget(targetG, true);
}
/**
* Constructor for virtual airspaces for use in range-based
* intersection queries
*
* @param loc Location about which to create a virtual airspace envelope
* @param task_projection projection to be used for flat-earth representation
* @param range range in meters of virtual bounding box
*
* @return dummy airspace envelope
*/
Airspace(const GeoPoint&loc, const TaskProjection& task_projection, const
fixed range=fixed_zero):
FlatBoundingBox(task_projection.project(loc),
task_projection.project_range(loc,range)),
pimpl_airspace(NULL)
{
};
const FlatBoundingBox
AirspaceCircle::get_bounding_box(const TaskProjection& task_projection)
{
static const Angle a225 = Angle::degrees(fixed(225));
static const Angle a135 = Angle::degrees(fixed(135));
static const Angle a045 = Angle::degrees(fixed(045));
static const Angle a315 = Angle::degrees(fixed(315));
const fixed eradius = m_radius * fixed(1.42);
const GeoPoint ll = GeoVector(eradius, a225).end_point(m_center);
const GeoPoint lr = GeoVector(eradius, a135).end_point(m_center);
const GeoPoint ur = GeoVector(eradius, a045).end_point(m_center);
const GeoPoint ul = GeoVector(eradius, a315).end_point(m_center);
FlatGeoPoint fll = task_projection.project(ll);
FlatGeoPoint flr = task_projection.project(lr);
FlatGeoPoint ful = task_projection.project(ul);
FlatGeoPoint fur = task_projection.project(ur);
// note +/- 1 to ensure rounding keeps bb valid
return FlatBoundingBox(FlatGeoPoint(min(fll.Longitude, ful.Longitude) - 1,
min(fll.Latitude, flr.Latitude) - 1),
FlatGeoPoint(max(flr.Longitude, fur.Longitude) + 1,
max(ful.Latitude, fur.Latitude) + 1));
}
GeoPoint
AirspacePolygon::ClosestPoint(const GeoPoint &loc,
const TaskProjection &projection) const
{
const FlatGeoPoint p = projection.ProjectInteger(loc);
const FlatGeoPoint pb = m_border.NearestPoint(p);
return projection.Unproject(pb);
}
void
OrderedTaskPoint::ScanProjection(TaskProjection &task_projection) const
{
task_projection.Scan(GetLocation());
for (const auto &i : GetBoundary())
task_projection.Scan(i);
}
void
OrderedTaskPoint::scan_projection(TaskProjection& task_projection) const
{
task_projection.scan_location(get_location());
#define fixed_steps fixed(0.05)
for (fixed t=fixed_zero; t<= fixed_one; t+= fixed_steps) {
task_projection.scan_location(get_boundary_parametric(t));
}
}
void
OrderedTaskPoint::scan_projection(TaskProjection &task_projection) const
{
task_projection.scan_location(GetLocation());
#define fixed_steps fixed(0.05)
const ObservationZone::Boundary boundary = GetBoundary();
for (auto i = boundary.begin(), end = boundary.end(); i != end; ++i)
task_projection.scan_location(*i);
}
void
ChartProjection::Set(const PixelRect &rc,
const TaskProjection &task_projection,
double radius_factor)
{
const GeoPoint center = task_projection.GetCenter();
const auto radius = std::max(double(10000),
task_projection.ApproxRadius() * radius_factor);
Set(rc, center, radius);
}
void
OrderedTaskPoint::UpdateBoundingBox(const TaskProjection &task_projection)
{
flat_bb = FlatBoundingBox(task_projection.ProjectInteger(GetLocation()));
for (const auto &i : GetBoundary())
flat_bb.Expand(task_projection.ProjectInteger(i));
flat_bb.ExpandByOne(); // add 1 to fix rounding
}
void
OrderedTaskPoint::update_boundingbox(const TaskProjection& task_projection)
{
flat_bb = FlatBoundingBox(task_projection.project(get_location()));
for (fixed t=fixed_zero; t<= fixed_one; t+= fixed_steps)
flat_bb.expand(task_projection.project(get_boundary_parametric(t)));
flat_bb.expand(); // add 1 to fix rounding
}
void
ChartProjection::Set(const PixelRect &rc,
const TaskProjection &task_projection,
fixed radius_factor)
{
const GeoPoint center = task_projection.get_center();
const fixed radius = max(fixed(10000),
task_projection.ApproxRadius() * radius_factor);
set_projection(rc, center, radius);
}
void
OrderedTaskPoint::update_boundingbox(const TaskProjection &task_projection)
{
flat_bb = FlatBoundingBox(task_projection.project(GetLocation()));
const ObservationZone::Boundary boundary = GetBoundary();
for (auto i = boundary.begin(), end = boundary.end(); i != end; ++i)
flat_bb.Expand(task_projection.project(*i));
flat_bb.ExpandByOne(); // add 1 to fix rounding
}
Airspace::Airspace(const GeoPoint &ll, const GeoPoint &ur,
const TaskProjection &task_projection)
:FlatBoundingBox(task_projection.ProjectInteger(ll),
task_projection.ProjectInteger(ur)),
airspace(nullptr)
{
}
void
OrderedTaskPoint::update_boundingbox(const TaskProjection& task_projection)
{
FlatGeoPoint fmin;
FlatGeoPoint fmax;
bool empty = true;
for (fixed t=fixed_zero; t<= fixed_one; t+= fixed_steps) {
FlatGeoPoint f = task_projection.project(get_boundary_parametric(t));
if (empty) {
empty = false;
fmin = f;
fmax = f;
} else {
fmin.Longitude = min(fmin.Longitude, f.Longitude);
fmin.Latitude = min(fmin.Latitude, f.Latitude);
fmax.Longitude = max(fmax.Longitude, f.Longitude);
fmax.Latitude = max(fmax.Latitude, f.Latitude);
}
}
// note +/- 1 to ensure rounding keeps bb valid
fmin.Longitude-= 1; fmin.Latitude-= 1;
fmax.Longitude+= 1; fmax.Latitude+= 1;
flat_bb = FlatBoundingBox(fmin,fmax);
}
SearchPoint::SearchPoint(const GeoPoint &loc, const TaskProjection &tp)
:location(loc), flat_location(tp.ProjectInteger(loc))
#ifndef NDEBUG
, projected(true)
#endif
{
}
GeoPoint
RoutePolars::MSLIntercept(const int index, const AGeoPoint& p,
const TaskProjection& proj) const
{
const unsigned safe_index = ((unsigned)index) % ROUTEPOLAR_POINTS;
const FlatGeoPoint fp = proj.ProjectInteger(p);
const fixed d = p.altitude * polar_glide.GetPoint(safe_index).inv_gradient;
const fixed scale = proj.GetApproximateScale();
const int steps = int(d / scale) + 1;
int dx, dy;
RoutePolar::IndexToDXDY(safe_index, dx, dy);
dx = (dx * steps) >> 7;
dy = (dy * steps) >> 7;
const FlatGeoPoint dp(fp.longitude + dx, fp.latitude + dy);
return proj.Unproject(dp);
}
SearchPoint::SearchPoint(const FlatGeoPoint &floc, const TaskProjection &tp)
:location(tp.Unproject(floc)), flat_location(floc)
#ifndef NDEBUG
, projected(true)
#endif
{
}
/**
* Constructor for virtual airspaces for use in bounding-box
* specified intersection queries
*
* @param ll Lower left corner of bounding box
* @param ur Upper right corner of bounding box
* @param task_projection projection to be used for flat-earth representation
*
* @return dummy airspace envelope
*/
Airspace(const GeoPoint &ll,
const GeoPoint &ur,
const TaskProjection& task_projection):
FlatBoundingBox(task_projection.project(ll),
task_projection.project(ur)),
pimpl_airspace(NULL)
{
};
void
SearchPoint::Project(const TaskProjection &tp)
{
flat_location = tp.ProjectInteger(location);
#ifndef NDEBUG
projected = true;
#endif
}
void
Waypoint::Project(const TaskProjection &task_projection)
{
flat_location = task_projection.ProjectInteger(location);
#ifndef NDEBUG
flat_location_initialised = true;
#endif
}
AirspaceIntersectionVector
AirspacePolygon::Intersects(const GeoPoint &start, const GeoPoint &end,
const TaskProjection &projection) const
{
const FlatRay ray(projection.ProjectInteger(start),
projection.ProjectInteger(end));
AirspaceIntersectSort sorter(start, *this);
for (auto it = m_border.begin(); it + 1 != m_border.end(); ++it) {
const FlatRay r_seg(it->GetFlatLocation(), (it + 1)->GetFlatLocation());
fixed t = ray.DistinctIntersection(r_seg);
if (!negative(t))
sorter.add(t, projection.Unproject(ray.Parametric(t)));
}
return sorter.all();
}
bool
RoutePolars::Intersection(const AGeoPoint& origin, const AGeoPoint& destination,
const RasterMap* map, const TaskProjection& proj,
GeoPoint& intx) const
{
if (map == nullptr || !map->IsDefined())
return false;
RouteLink e(RoutePoint(proj.ProjectInteger(destination),
destination.altitude),
RoutePoint(proj.ProjectInteger(origin), origin.altitude), proj);
if (!positive(e.d))
return false;
const RoughAltitude vh = CalcVHeight(e);
intx = map->Intersection(origin, (short)(origin.altitude - GetSafetyHeight()),
(short)vh, destination);
return !(intx == destination);
}
void
ThermalLocator::Update(const fixed t_0,
const GeoPoint &location_0,
const SpeedVector wind,
ThermalLocatorInfo &therm)
{
if (n_points < TLOCATOR_NMIN) {
therm.estimate_valid = false;
return; // nothing to do.
}
GeoPoint dloc = FindLatitudeLongitude(location_0, wind.bearing, wind.norm);
TaskProjection projection;
projection.reset(location_0);
projection.update_fast();
// drift points
Drift(t_0, projection, location_0 - dloc);
FlatPoint av = glider_average();
// find thermal center relative to glider's average position
FlatPoint f0(fixed_zero, fixed_zero);
fixed acc = fixed_zero;
for (unsigned i = 0; i < n_points; ++i) {
f0 += (points[i].loc_drift-av)*points[i].lift_weight;
acc += points[i].lift_weight;
}
// if sufficient data, estimate location
if (!positive(acc)) {
therm.estimate_valid = false;
return;
}
f0 = f0 * (fixed_one/acc) + av;
therm.estimate_location = projection.funproject(f0);
therm.estimate_valid = true;
}
AirspaceIntersectionVector
AirspaceCircle::Intersects(const GeoPoint &start, const GeoPoint &end,
const TaskProjection &projection) const
{
const fixed f_radius = projection.ProjectRangeFloat(m_center, m_radius);
const FlatPoint f_center = projection.ProjectFloat(m_center);
const FlatPoint f_start = projection.ProjectFloat(start);
const FlatPoint f_end = projection.ProjectFloat(end);
const FlatLine line(f_start, f_end);
FlatPoint f_p1, f_p2;
if (!line.intersect_circle(f_radius, f_center, f_p1, f_p2))
return AirspaceIntersectionVector();
const fixed mag = line.dsq();
if (!positive(mag))
return AirspaceIntersectionVector();
const fixed inv_mag = fixed(1) / mag;
const fixed t1 = FlatLine(f_start, f_p1).dot(line);
const fixed t2 = (f_p1 == f_p2) ?
fixed(-1) : FlatLine(f_start, f_p2).dot(line);
const bool in_range = (t1 < mag) || (t2 < mag);
// if at least one point is within range, capture both points
AirspaceIntersectSort sorter(start, *this);
if ((t1 >= fixed(0)) && in_range)
sorter.add(t1 * inv_mag, projection.Unproject(f_p1));
if ((t2 >= fixed(0)) && in_range)
sorter.add(t2 * inv_mag, projection.Unproject(f_p2));
return sorter.all();
}
FlatGeoPoint
RoutePolars::ReachIntercept(const int index, const AGeoPoint& origin,
const RasterMap* map,
const TaskProjection& proj) const
{
const bool valid = map && map->IsDefined();
const RoughAltitude altitude = origin.altitude - GetSafetyHeight();
const AGeoPoint m_origin((GeoPoint)origin, altitude);
const GeoPoint dest = MSLIntercept(index, m_origin, proj);
const GeoPoint p = valid ?
map->Intersection(m_origin, (short)altitude, (short)altitude, dest) : dest;
return proj.ProjectInteger(p);
}
bool
RoutePolars::CheckClearance(const RouteLink &e, const RasterMap* map,
const TaskProjection &proj, RoutePoint& inp) const
{
if (!config.IsTerrainEnabled())
return true;
GeoPoint int_x;
int int_h;
GeoPoint start = proj.Unproject(e.first);
GeoPoint dest = proj.Unproject(e.second);
assert(map);
if (!map->FirstIntersection(start, (int)e.first.altitude, dest,
(int)e.second.altitude, (int)CalcVHeight(e),
(int)climb_ceiling, (int)GetSafetyHeight(),
int_x, int_h))
return true;
inp = RoutePoint(proj.ProjectInteger(int_x), RoughAltitude(int_h));
return false;
}
void
AATPoint::SetTarget(RangeAndRadial rar, const TaskProjection &proj)
{
const FlatPoint fprev =
proj.ProjectFloat(GetPrevious()->GetLocationRemaining());
const FlatPoint floc = proj.ProjectFloat(GetLocation());
const FlatLine flb (fprev,floc);
const FlatLine fradius(floc,
proj.ProjectFloat(negative(rar.range)
? GetLocationMin()
: GetLocationMax()));
const fixed radius = fradius.d() * fabs(rar.range);
const Angle angle = rar.radial - flb.angle();
const FlatPoint ftarget1(radius * angle.cos(),
radius * -(angle).sin());
const FlatPoint ftarget2 = floc + ftarget1;
const GeoPoint targetG = proj.Unproject(ftarget2);
SetTarget(targetG, true);
}
