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Diffstat (limited to 'transform.c')
| -rw-r--r-- | transform.c | 1287 |
1 files changed, 1287 insertions, 0 deletions
diff --git a/transform.c b/transform.c new file mode 100644 index 00000000..a5e9cd10 --- /dev/null +++ b/transform.c @@ -0,0 +1,1287 @@ +/** + * Navit, a modular navigation system. + * Copyright (C) 2005-2008 Navit Team + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * version 2 as published by the Free Software Foundation. + * + * 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., 51 Franklin Street, Fifth Floor, + * Boston, MA 02110-1301, USA. + */ + +#include <assert.h> +#include <stdio.h> +#include <math.h> +#include <limits.h> +#include <glib.h> +#include <string.h> +#include "config.h" +#include "coord.h" +#include "debug.h" +#include "item.h" +#include "map.h" +#include "transform.h" +#include "projection.h" +#include "point.h" + +#define POST_SHIFT 8 + +struct transformation { + int yaw; /* Rotation angle */ + int pitch; + int ddd; + int m00,m01,m10,m11; /* 2d transformation matrix */ + int xyscale; + int m20,m21; /* additional 3d parameters */ +#ifdef ENABLE_ROLL + int roll; + int m02,m12,m22; + int hog; + navit_float im02,im12,im20,im21,im22; +#endif + navit_float im00,im01,im10,im11; /* inverse 2d transformation matrix */ + struct map_selection *map_sel; + struct map_selection *screen_sel; + struct point screen_center; + int screen_dist; + int offx,offy,offz; + struct coord map_center; /* Center of source rectangle */ + enum projection pro; + navit_float scale; /* Scale factor */ + int scale_shift; + int order; + int order_base; +}; + + + +static void +transform_setup_matrix(struct transformation *t) +{ + navit_float det; + navit_float fac; + navit_float yawc=navit_cos(-M_PI*t->yaw/180); + navit_float yaws=navit_sin(-M_PI*t->yaw/180); + navit_float pitchc=navit_cos(-M_PI*t->pitch/180); + navit_float pitchs=navit_sin(-M_PI*t->pitch/180); +#ifdef ENABLE_ROLL + navit_float rollc=navit_cos(M_PI*t->roll/180); + navit_float rolls=navit_sin(M_PI*t->roll/180); +#endif + + int scale=t->scale; + int order_dir=-1; + + dbg(1,"yaw=%d pitch=%d center=0x%x,0x%x\n", t->yaw, t->pitch, t->map_center.x, t->map_center.y); + t->scale_shift=0; + t->order=t->order_base; + if (t->scale >= 1) { + scale=t->scale; + } else { + scale=1.0/t->scale; + order_dir=1; + } + while (scale > 1) { + if (order_dir < 0) + t->scale_shift++; + t->order+=order_dir; + scale >>= 1; + } + fac=(1 << POST_SHIFT) * (1 << t->scale_shift) / t->scale; + dbg(1,"scale_shift=%d order=%d scale=%f fac=%f\n", t->scale_shift, t->order,t->scale,fac); + +#ifdef ENABLE_ROLL + t->m00=rollc*yawc*fac; + t->m01=rollc*yaws*fac; + t->m02=-rolls*fac; + t->m10=(pitchs*rolls*yawc-pitchc*yaws)*(-fac); + t->m11=(pitchs*rolls*yaws+pitchc*yawc)*(-fac); + t->m12=pitchs*rollc*(-fac); + t->m20=(pitchc*rolls*yawc+pitchs*yaws)*fac; + t->m21=(pitchc*rolls*yaws-pitchs*yawc)*fac; + t->m22=pitchc*rollc*fac; +#else + t->m00=yawc*fac; + t->m01=yaws*fac; + t->m10=(-pitchc*yaws)*(-fac); + t->m11=pitchc*yawc*(-fac); + t->m20=pitchs*yaws*fac; + t->m21=(-pitchs*yawc)*fac; +#endif + t->offz=0; + t->xyscale=1; + t->ddd=0; + t->offx=t->screen_center.x; + t->offy=t->screen_center.y; + if (t->pitch) { + t->ddd=1; + t->offz=t->screen_dist; + t->xyscale=t->offz; + } +#ifdef ENABLE_ROLL + det=(navit_float)t->m00*(navit_float)t->m11*(navit_float)t->m22+ + (navit_float)t->m01*(navit_float)t->m12*(navit_float)t->m20+ + (navit_float)t->m02*(navit_float)t->m10*(navit_float)t->m21- + (navit_float)t->m02*(navit_float)t->m11*(navit_float)t->m20- + (navit_float)t->m01*(navit_float)t->m10*(navit_float)t->m22- + (navit_float)t->m00*(navit_float)t->m12*(navit_float)t->m21; + + t->im00=(t->m11*t->m22-t->m12*t->m21)/det; + t->im01=(t->m02*t->m21-t->m01*t->m22)/det; + t->im02=(t->m01*t->m12-t->m02*t->m11)/det; + t->im10=(t->m12*t->m20-t->m10*t->m22)/det; + t->im11=(t->m00*t->m22-t->m02*t->m20)/det; + t->im12=(t->m02*t->m10-t->m00*t->m12)/det; + t->im20=(t->m10*t->m21-t->m11*t->m20)/det; + t->im21=(t->m01*t->m20-t->m00*t->m21)/det; + t->im22=(t->m00*t->m11-t->m01*t->m10)/det; +#else + det=((navit_float)t->m00*(navit_float)t->m11-(navit_float)t->m01*(navit_float)t->m10); + t->im00=t->m11/det; + t->im01=-t->m01/det; + t->im10=-t->m10/det; + t->im11=t->m00/det; +#endif +} + +struct transformation * +transform_new(void) +{ + struct transformation *this_; + + this_=g_new0(struct transformation, 1); + this_->screen_dist=100; + this_->order_base=14; +#if 0 + this_->pitch=20; +#endif +#if 0 + this_->roll=30; + this_->hog=1000; +#endif + transform_setup_matrix(this_); + return this_; +} + +#ifdef ENABLE_ROLL + +int +transform_get_hog(struct transformation *this_) +{ + return this_->hog; +} + +void +transform_set_hog(struct transformation *this_, int hog) +{ + this_->hog=hog; +} + +#else + +int +transform_get_hog(struct transformation *this_) +{ + return 0; +} + +void +transform_set_hog(struct transformation *this_, int hog) +{ + dbg(0,"not supported\n"); +} + +#endif + +int +transformation_get_order_base(struct transformation *this_) +{ + return this_->order_base; +} + +void +transform_set_order_base(struct transformation *this_, int order_base) +{ + this_->order_base=order_base; +} + + +struct transformation * +transform_dup(struct transformation *t) +{ + struct transformation *ret=g_new0(struct transformation, 1); + *ret=*t; + return ret; +} + +static const navit_float gar2geo_units = 360.0/(1<<24); +static const navit_float geo2gar_units = 1/(360.0/(1<<24)); + +void +transform_to_geo(enum projection pro, struct coord *c, struct coord_geo *g) +{ + int x,y,northern,zone; + switch (pro) { + case projection_mg: + g->lng=c->x/6371000.0/M_PI*180; + g->lat=navit_atan(exp(c->y/6371000.0))/M_PI*360-90; + break; + case projection_garmin: + g->lng=c->x*gar2geo_units; + g->lat=c->y*gar2geo_units; + break; + case projection_utm: + x=c->x; + y=c->y; + northern=y >= 0; + if (!northern) { + y+=10000000; + } + zone=(x/1000000); + x=x%1000000; + transform_utm_to_geo(x, y, zone, northern, g); + break; + default: + break; + } +} + +void +transform_from_geo(enum projection pro, struct coord_geo *g, struct coord *c) +{ + switch (pro) { + case projection_mg: + c->x=g->lng*6371000.0*M_PI/180; + c->y=log(navit_tan(M_PI_4+g->lat*M_PI/360))*6371000.0; + break; + case projection_garmin: + c->x=g->lng*geo2gar_units; + c->y=g->lat*geo2gar_units; + break; + default: + break; + } +} + +void +transform_from_to(struct coord *cfrom, enum projection from, struct coord *cto, enum projection to) +{ + struct coord_geo g; + transform_to_geo(from, cfrom, &g); + transform_from_geo(to, &g, cto); +} + +void +transform_geo_to_cart(struct coord_geo *geo, navit_float a, navit_float b, struct coord_geo_cart *cart) +{ + navit_float n,ee=1-b*b/(a*a); + n = a/sqrtf(1-ee*navit_sin(geo->lat)*navit_sin(geo->lat)); + cart->x=n*navit_cos(geo->lat)*navit_cos(geo->lng); + cart->y=n*navit_cos(geo->lat)*navit_sin(geo->lng); + cart->z=n*(1-ee)*navit_sin(geo->lat); +} + +void +transform_cart_to_geo(struct coord_geo_cart *cart, navit_float a, navit_float b, struct coord_geo *geo) +{ + navit_float lat,lati,n,ee=1-b*b/(a*a), lng = navit_tan(cart->y/cart->x); + + lat = navit_tan(cart->z / navit_sqrt((cart->x * cart->x) + (cart->y * cart->y))); + do + { + lati = lat; + + n = a / navit_sqrt(1-ee*navit_sin(lat)*navit_sin(lat)); + lat = navit_atan((cart->z + ee * n * navit_sin(lat)) / navit_sqrt(cart->x * cart->x + cart->y * cart->y)); + } + while (fabs(lat - lati) >= 0.000000000000001); + + geo->lng=lng/M_PI*180; + geo->lat=lat/M_PI*180; +} + + +void +transform_utm_to_geo(const double UTMEasting, const double UTMNorthing, int ZoneNumber, int NorthernHemisphere, struct coord_geo *geo) +{ +//converts UTM coords to lat/long. Equations from USGS Bulletin 1532 +//East Longitudes are positive, West longitudes are negative. +//North latitudes are positive, South latitudes are negative +//Lat and Long are in decimal degrees. + //Written by Chuck Gantz- chuck.gantz@globalstar.com + + double Lat, Long; + double k0 = 0.99960000000000004; + double a = 6378137; + double eccSquared = 0.0066943799999999998; + double eccPrimeSquared; + double e1 = (1-sqrt(1-eccSquared))/(1+sqrt(1-eccSquared)); + double N1, T1, C1, R1, D, M; + double LongOrigin; + double mu, phi1, phi1Rad; + double x, y; + double rad2deg = 180/M_PI; + + x = UTMEasting - 500000.0; //remove 500,000 meter offset for longitude + y = UTMNorthing; + + if (!NorthernHemisphere) { + y -= 10000000.0;//remove 10,000,000 meter offset used for southern hemisphere + } + + LongOrigin = (ZoneNumber - 1)*6 - 180 + 3; //+3 puts origin in middle of zone + + eccPrimeSquared = (eccSquared)/(1-eccSquared); + + M = y / k0; + mu = M/(a*(1-eccSquared/4-3*eccSquared*eccSquared/64-5*eccSquared*eccSquared*eccSquared/256)); + phi1Rad = mu + (3*e1/2-27*e1*e1*e1/32)*sin(2*mu) + + (21*e1*e1/16-55*e1*e1*e1*e1/32)*sin(4*mu) + +(151*e1*e1*e1/96)*sin(6*mu); + phi1 = phi1Rad*rad2deg; + + N1 = a/sqrt(1-eccSquared*sin(phi1Rad)*sin(phi1Rad)); + T1 = tan(phi1Rad)*tan(phi1Rad); + C1 = eccPrimeSquared*cos(phi1Rad)*cos(phi1Rad); + R1 = a*(1-eccSquared)/pow(1-eccSquared*sin(phi1Rad)*sin(phi1Rad), 1.5); + D = x/(N1*k0); + + Lat = phi1Rad - (N1*tan(phi1Rad)/R1)*(D*D/2-(5+3*T1+10*C1-4*C1*C1-9*eccPrimeSquared)*D*D*D*D/24 + +(61+90*T1+298*C1+45*T1*T1-252*eccPrimeSquared-3*C1*C1)*D*D*D*D*D*D/720); + Lat = Lat * rad2deg; + + Long = (D-(1+2*T1+C1)*D*D*D/6+(5-2*C1+28*T1-3*C1*C1+8*eccPrimeSquared+24*T1*T1) + *D*D*D*D*D/120)/cos(phi1Rad); + Long = LongOrigin + Long * rad2deg; + + geo->lat=Lat; + geo->lng=Long; +} + +void +transform_datum(struct coord_geo *from, enum map_datum from_datum, struct coord_geo *to, enum map_datum to_datum) +{ +} + +int +transform(struct transformation *t, enum projection pro, struct coord *c, struct point *p, int count, int unique, int width, int *width_return) +{ + struct coord c1; + int xcn, ycn; + struct coord_geo g; + int xc, yc, zc=0, xco=0, yco=0, zco=0; + int xm,ym,zct; + int zlimit=1000; + int visible, visibleo=-1; + int i,j = 0; + dbg(1,"count=%d\n", count); + for (i=0; i < count; i++) { + if (pro == t->pro) { + xc=c[i].x; + yc=c[i].y; + } else { + transform_to_geo(pro, &c[i], &g); + transform_from_geo(t->pro, &g, &c1); + xc=c1.x; + yc=c1.y; + } + xm=xc; + ym=yc; +// dbg(2,"0x%x, 0x%x - 0x%x,0x%x contains 0x%x,0x%x\n", t->r.lu.x, t->r.lu.y, t->r.rl.x, t->r.rl.y, c->x, c->y); +// ret=coord_rect_contains(&t->r, c); + xc-=t->map_center.x; + yc-=t->map_center.y; + xc >>= t->scale_shift; + yc >>= t->scale_shift; +#ifdef ENABLE_ROLL + xcn=xc*t->m00+yc*t->m01+t->hog*t->m02; + ycn=xc*t->m10+yc*t->m11+t->hog*t->m12; +#else + xcn=xc*t->m00+yc*t->m01; + ycn=xc*t->m10+yc*t->m11; +#endif + + if (t->ddd) { +#ifdef ENABLE_ROLL + zc=(xc*t->m20+yc*t->m21+t->hog*t->m22); +#else + zc=(xc*t->m20+yc*t->m21); +#endif + zct=zc; + zc+=t->offz << POST_SHIFT; + dbg(1,"zc=%d\n", zc); + dbg(1,"zc(%d)=xc(%d)*m20(%d)+yc(%d)*m21(%d)\n", (xc*t->m20+yc*t->m21), xc, t->m20, yc, t->m21); + /* visibility */ + visible=(zc < zlimit ? 0:1); + dbg(1,"visible=%d old %d\n", visible, visibleo); + if (visible != visibleo && visibleo != -1) { + dbg(1,"clipping (%d,%d,%d)-(%d,%d,%d) (%d,%d,%d)\n", xcn, ycn, zc, xco, yco, zco, xco-xcn, yco-ycn, zco-zc); + if (zco != zc) { + xcn=xcn+(long long)(xco-xcn)*(zlimit-zc)/(zco-zc); + ycn=ycn+(long long)(yco-ycn)*(zlimit-zc)/(zco-zc); + } + dbg(1,"result (%d,%d,%d) * %d / %d\n", xcn,ycn,zc,zlimit-zc,zco-zc); + zc=zlimit; + xco=xcn; + yco=ycn; + zco=zc; + if (visible) + i--; + visibleo=visible; + } else { + xco=xcn; + yco=ycn; + zco=zc; + visibleo=visible; + if (! visible) + continue; + } + dbg(1,"zc=%d\n", zc); + dbg(1,"xcn %d ycn %d\n", xcn, ycn); + dbg(1,"%d,%d %d\n",xc,yc,zc); +#if 0 + dbg(0,"%d/%d=%d %d/%d=%d\n",xcn,xc,xcn/xc,ycn,yc,ycn/yc); +#endif +#if 1 + xc=(long long)xcn*t->xyscale/zc; + yc=(long long)ycn*t->xyscale/zc; +#else + xc=xcn/(1000+zc); + yc=ycn/(1000+zc); +#endif + dbg(1,"%d,%d %d\n",xc,yc,zc); + } else { + xc=xcn; + yc=ycn; + xc>>=POST_SHIFT; + yc>>=POST_SHIFT; + } + xc+=t->offx; + yc+=t->offy; + dbg(1,"xc=%d yc=%d\n", xc, yc); + if (j == 0 || !unique || p[j-1].x != xc || p[j-1].y != yc) { + p[j].x=xc; + p[j].y=yc; + if (width_return) { + if (t->ddd) + width_return[j]=width*(t->offz << POST_SHIFT)/zc; + else + width_return[j]=width; + } + j++; + } + } + return j; +} + +void +transform_reverse(struct transformation *t, struct point *p, struct coord *c) +{ + double zc,xc,yc,xcn,ycn,q; + double offz=t->offz << POST_SHIFT; + xc=p->x - t->offx; + yc=p->y - t->offy; + if (t->ddd) { + xc/=t->xyscale; + yc/=t->xyscale; + double f00=xc*t->im00*t->m20; + double f01=yc*t->im01*t->m20; + double f10=xc*t->im10*t->m21; + double f11=yc*t->im11*t->m21; +#ifdef ENABLE_ROLL + q=(1-f00-f01-t->im02*t->m20-f10-f11-t->im12*t->m21); + if (q < 0) + q=0.15; + zc=(offz*((f00+f01+f10+f11))+t->hog*t->m22)/q; +#else + q=(1-f00-f01-f10-f11); + if (q < 0) + q=0.15; + zc=offz*(f00+f01+f10+f11)/q; +#endif + xcn=xc*(zc+offz); + ycn=yc*(zc+offz); +#ifdef ENABLE_ROLL + xc=xcn*t->im00+ycn*t->im01+zc*t->im02; + yc=xcn*t->im10+ycn*t->im11+zc*t->im12; +#else + xc=xcn*t->im00+ycn*t->im01; + yc=xcn*t->im10+ycn*t->im11; +#endif + + } else { + xcn=xc; + ycn=yc; + xc=(xcn*t->im00+ycn*t->im01)*(1 << POST_SHIFT); + yc=(xcn*t->im10+ycn*t->im11)*(1 << POST_SHIFT); + } + c->x=xc*(1 << t->scale_shift)+t->map_center.x; + c->y=yc*(1 << t->scale_shift)+t->map_center.y; +} + +enum projection +transform_get_projection(struct transformation *this_) +{ + return this_->pro; +} + +void +transform_set_projection(struct transformation *this_, enum projection pro) +{ + this_->pro=pro; +} + +static int +min4(int v1,int v2, int v3, int v4) +{ + int res=v1; + if (v2 < res) + res=v2; + if (v3 < res) + res=v3; + if (v4 < res) + res=v4; + return res; +} + +static int +max4(int v1,int v2, int v3, int v4) +{ + int res=v1; + if (v2 > res) + res=v2; + if (v3 > res) + res=v3; + if (v4 > res) + res=v4; + return res; +} + +struct map_selection * +transform_get_selection(struct transformation *this_, enum projection pro, int order) +{ + + struct map_selection *ret,*curri,*curro; + struct coord_geo g; + + ret=map_selection_dup(this_->map_sel); + curri=this_->map_sel; + curro=ret; + while (curri) { + if (this_->pro != pro) { + transform_to_geo(this_->pro, &curri->u.c_rect.lu, &g); + transform_from_geo(pro, &g, &curro->u.c_rect.lu); + dbg(1,"%f,%f", g.lat, g.lng); + transform_to_geo(this_->pro, &curri->u.c_rect.rl, &g); + transform_from_geo(pro, &g, &curro->u.c_rect.rl); + dbg(1,": - %f,%f\n", g.lat, g.lng); + } + dbg(1,"transform rect for %d is %d,%d - %d,%d\n", pro, curro->u.c_rect.lu.x, curro->u.c_rect.lu.y, curro->u.c_rect.rl.x, curro->u.c_rect.rl.y); + curro->order+=order; + curro->range=item_range_all; + curri=curri->next; + curro=curro->next; + } + return ret; +} + +struct coord * +transform_center(struct transformation *this_) +{ + return &this_->map_center; +} + +struct coord * +transform_get_center(struct transformation *this_) +{ + return &this_->map_center; +} + +void +transform_set_center(struct transformation *this_, struct coord *c) +{ + this_->map_center=*c; +} + + +void +transform_set_yaw(struct transformation *t,int yaw) +{ + t->yaw=yaw; + transform_setup_matrix(t); +} + +int +transform_get_yaw(struct transformation *this_) +{ + return this_->yaw; +} + +void +transform_set_pitch(struct transformation *this_,int pitch) +{ + this_->pitch=pitch; + transform_setup_matrix(this_); +} +int +transform_get_pitch(struct transformation *this_) +{ + return this_->pitch; +} + +#ifdef ENABLE_ROLL +void +transform_set_roll(struct transformation *this_,int roll) +{ + this_->roll=roll; + transform_setup_matrix(this_); +} + +int +transform_get_roll(struct transformation *this_) +{ + return this_->roll; +} + +#else + +void +transform_set_roll(struct transformation *this_,int roll) +{ + dbg(0,"not supported\n"); +} + +int +transform_get_roll(struct transformation *this_) +{ + return 0; +} + +#endif + +void +transform_set_distance(struct transformation *this_,int distance) +{ + this_->screen_dist=distance; + transform_setup_matrix(this_); +} + +int +transform_get_distance(struct transformation *this_) +{ + return this_->screen_dist; +} + +void +transform_set_screen_selection(struct transformation *t, struct map_selection *sel) +{ + map_selection_destroy(t->screen_sel); + t->screen_sel=map_selection_dup(sel); + if (sel) { + t->screen_center.x=(sel->u.p_rect.rl.x-sel->u.p_rect.lu.x)/2; + t->screen_center.y=(sel->u.p_rect.rl.y-sel->u.p_rect.lu.y)/2; + transform_setup_matrix(t); + } +} + +void +transform_set_screen_center(struct transformation *t, struct point *p) +{ + t->screen_center=*p; +} + +#if 0 +void +transform_set_size(struct transformation *t, int width, int height) +{ + t->width=width; + t->height=height; +} +#endif + +void +transform_get_size(struct transformation *t, int *width, int *height) +{ + struct point_rect *r; + if (t->screen_sel) { + r=&t->screen_sel->u.p_rect; + *width=r->rl.x-r->lu.x; + *height=r->rl.y-r->lu.y; + } +} + +void +transform_setup(struct transformation *t, struct pcoord *c, int scale, int yaw) +{ + t->pro=c->pro; + t->map_center.x=c->x; + t->map_center.y=c->y; + t->scale=scale/16.0; + transform_set_yaw(t, yaw); +} + +#if 0 + +void +transform_setup_source_rect_limit(struct transformation *t, struct coord *center, int limit) +{ + t->center=*center; + t->scale=1; + t->angle=0; + t->r.lu.x=center->x-limit; + t->r.rl.x=center->x+limit; + t->r.rl.y=center->y-limit; + t->r.lu.y=center->y+limit; +} +#endif + +void +transform_setup_source_rect(struct transformation *t) +{ + int i; + struct coord screen[4]; + struct point screen_pnt[4]; + struct point_rect *pr; + struct map_selection *ms,*msm,*next,**msm_last; + ms=t->map_sel; + while (ms) { + next=ms->next; + g_free(ms); + ms=next; + } + t->map_sel=NULL; + msm_last=&t->map_sel; + ms=t->screen_sel; + while (ms) { + msm=g_new0(struct map_selection, 1); + *msm=*ms; + pr=&ms->u.p_rect; + screen_pnt[0].x=pr->lu.x; + screen_pnt[0].y=pr->lu.y; + screen_pnt[1].x=pr->rl.x; + screen_pnt[1].y=pr->lu.y; + screen_pnt[2].x=pr->lu.x; + screen_pnt[2].y=pr->rl.y; + screen_pnt[3].x=pr->rl.x; + screen_pnt[3].y=pr->rl.y; + for (i = 0 ; i < 4 ; i++) { + transform_reverse(t, &screen_pnt[i], &screen[i]); + dbg(1,"map(%d) %d,%d=0x%x,0x%x\n", i,screen_pnt[i].x, screen_pnt[i].y, screen[i].x, screen[i].y); + } + msm->u.c_rect.lu.x=min4(screen[0].x,screen[1].x,screen[2].x,screen[3].x); + msm->u.c_rect.rl.x=max4(screen[0].x,screen[1].x,screen[2].x,screen[3].x); + msm->u.c_rect.rl.y=min4(screen[0].y,screen[1].y,screen[2].y,screen[3].y); + msm->u.c_rect.lu.y=max4(screen[0].y,screen[1].y,screen[2].y,screen[3].y); + dbg(1,"%dx%d\n", msm->u.c_rect.rl.x-msm->u.c_rect.lu.x, + msm->u.c_rect.lu.y-msm->u.c_rect.rl.y); + *msm_last=msm; + msm_last=&msm->next; + ms=ms->next; + } +} + +long +transform_get_scale(struct transformation *t) +{ + return (int)(t->scale*16); +} + +void +transform_set_scale(struct transformation *t, long scale) +{ + t->scale=scale/16.0; + transform_setup_matrix(t); +} + + +int +transform_get_order(struct transformation *t) +{ + dbg(1,"order %d\n", t->order); + return t->order; +} + + + +#define TWOPI (M_PI*2) +#define GC2RAD(c) ((c) * TWOPI/(1<<24)) +#define minf(a,b) ((a) < (b) ? (a) : (b)) + +static double +transform_distance_garmin(struct coord *c1, struct coord *c2) +{ +#ifdef USE_HALVESINE + static const int earth_radius = 6371*1000; //m change accordingly +// static const int earth_radius = 3960; //miles + +//Point 1 cords + navit_float lat1 = GC2RAD(c1->y); + navit_float long1 = GC2RAD(c1->x); + +//Point 2 cords + navit_float lat2 = GC2RAD(c2->y); + navit_float long2 = GC2RAD(c2->x); + +//Haversine Formula + navit_float dlong = long2-long1; + navit_float dlat = lat2-lat1; + + navit_float sinlat = navit_sin(dlat/2); + navit_float sinlong = navit_sin(dlong/2); + + navit_float a=(sinlat*sinlat)+navit_cos(lat1)*navit_cos(lat2)*(sinlong*sinlong); + navit_float c=2*navit_asin(minf(1,navit_sqrt(a))); +#ifdef AVOID_FLOAT + return round(earth_radius*c); +#else + return earth_radius*c; +#endif +#else +#define GMETER 2.3887499999999999 + navit_float dx,dy; + dx=c1->x-c2->x; + dy=c1->y-c2->y; + return navit_sqrt(dx*dx+dy*dy)*GMETER; +#undef GMETER +#endif +} + +double +transform_scale(int y) +{ + struct coord c; + struct coord_geo g; + c.x=0; + c.y=y; + transform_to_geo(projection_mg, &c, &g); + return 1/navit_cos(g.lat/180*M_PI); +} + +#ifdef AVOID_FLOAT +static int +tab_sqrt[]={14142,13379,12806,12364,12018,11741,11517,11333,11180,11051,10943,10850,10770,10701,10640,10587,10540,10499,10462,10429,10400,10373,10349,10327,10307,10289,10273,10257,10243,10231,10219,10208}; + +static int tab_int_step = 0x20000; +static int tab_int_scale[]={10000,10002,10008,10019,10033,10052,10076,10103,10135,10171,10212,10257,10306,10359,10417,10479,10546,10617,10693,10773,10858,10947,11041,11140,11243,11352,11465,11582,11705,11833,11965,12103,12246,12394,12547,12706,12870,13039,13214,13395,13581,13773,13971,14174,14384,14600,14822,15050,15285,15526,15774,16028,16289,16557,16832,17114,17404,17700,18005,18316,18636,18964,19299,19643,19995,20355,20724,21102,21489,21885,22290,22705,23129,23563,24007,24461,24926,25401,25886,26383,26891}; + +int transform_int_scale(int y) +{ + int a=tab_int_step,i,size = sizeof(tab_int_scale)/sizeof(int); + if (y < 0) + y=-y; + i=y/tab_int_step; + if (i < size-1) + return tab_int_scale[i]+((tab_int_scale[i+1]-tab_int_scale[i])*(y-i*tab_int_step))/tab_int_step; + return tab_int_scale[size-1]; +} +#endif + +double +transform_distance(enum projection pro, struct coord *c1, struct coord *c2) +{ + if (pro == projection_mg) { +#ifndef AVOID_FLOAT + double dx,dy,scale=transform_scale((c1->y+c2->y)/2); + dx=c1->x-c2->x; + dy=c1->y-c2->y; + return sqrt(dx*dx+dy*dy)/scale; +#else + int dx,dy,f,scale=transform_int_scale((c1->y+c2->y)/2); + dx=c1->x-c2->x; + dy=c1->y-c2->y; + if (dx < 0) + dx=-dx; + if (dy < 0) + dy=-dy; + while (dx > 20000 || dy > 20000) { + dx/=10; + dy/=10; + scale/=10; + } + if (! dy) + return dx*10000/scale; + if (! dx) + return dy*10000/scale; + if (dx > dy) { + f=dx*8/dy-8; + if (f >= 32) + return dx*10000/scale; + return dx*tab_sqrt[f]/scale; + } else { + f=dy*8/dx-8; + if (f >= 32) + return dy*10000/scale; + return dy*tab_sqrt[f]/scale; + } +#endif + } else if (pro == projection_garmin) { + return transform_distance_garmin(c1, c2); + } else { + dbg(0,"Unknown projection: %d\n", pro); + return 0; + } +} + +void +transform_project(enum projection pro, struct coord *c, int distance, int angle, struct coord *res) +{ + double scale; + switch (pro) { + case projection_mg: + scale=transform_scale(c->y); + res->x=c->x+distance*sin(angle*M_PI/180)*scale; + res->y=c->y+distance*cos(angle*M_PI/180)*scale; + break; + default: + dbg(0,"Unsupported projection: %d\n", pro); + return; + } + +} + + +double +transform_polyline_length(enum projection pro, struct coord *c, int count) +{ + double ret=0; + int i; + + for (i = 0 ; i < count-1 ; i++) + ret+=transform_distance(pro, &c[i], &c[i+1]); + return ret; +} + +int +transform_distance_sq(struct coord *c1, struct coord *c2) +{ + int dx=c1->x-c2->x; + int dy=c1->y-c2->y; + + if (dx > 32767 || dy > 32767 || dx < -32767 || dy < -32767) + return INT_MAX; + else + return dx*dx+dy*dy; +} + +int +transform_distance_sq_pc(struct pcoord *c1, struct pcoord *c2) +{ + struct coord p1,p2; + p1.x = c1->x; p1.y = c1->y; + p2.x = c2->x; p2.y = c2->y; + return transform_distance_sq(&p1, &p2); +} + +int +transform_distance_line_sq(struct coord *l0, struct coord *l1, struct coord *ref, struct coord *lpnt) +{ + int vx,vy,wx,wy; + int c1,c2; + int climit=1000000; + struct coord l; + + vx=l1->x-l0->x; + vy=l1->y-l0->y; + wx=ref->x-l0->x; + wy=ref->y-l0->y; + + c1=vx*wx+vy*wy; + if ( c1 <= 0 ) { + if (lpnt) + *lpnt=*l0; + return transform_distance_sq(l0, ref); + } + c2=vx*vx+vy*vy; + if ( c2 <= c1 ) { + if (lpnt) + *lpnt=*l1; + return transform_distance_sq(l1, ref); + } + while (c1 > climit || c2 > climit) { + c1/=256; + c2/=256; + } + l.x=l0->x+vx*c1/c2; + l.y=l0->y+vy*c1/c2; + if (lpnt) + *lpnt=l; + return transform_distance_sq(&l, ref); +} + +int +transform_distance_polyline_sq(struct coord *c, int count, struct coord *ref, struct coord *lpnt, int *pos) +{ + int i,dist,distn; + struct coord lp; + if (count < 2) + return INT_MAX; + if (pos) + *pos=0; + dist=transform_distance_line_sq(&c[0], &c[1], ref, lpnt); + for (i=2 ; i < count ; i++) { + distn=transform_distance_line_sq(&c[i-1], &c[i], ref, &lp); + if (distn < dist) { + dist=distn; + if (lpnt) + *lpnt=lp; + if (pos) + *pos=i-1; + } + } + return dist; +} + + +void +transform_print_deg(double deg) +{ + printf("%2.0f:%2.0f:%2.4f", floor(deg), fmod(deg*60,60), fmod(deg*3600,60)); +} + +#ifdef AVOID_FLOAT +static int tab_atan[]={0,262,524,787,1051,1317,1584,1853,2126,2401,2679,2962,3249,3541,3839,4142,4452,4770,5095,5430,5774,6128,6494,6873,7265,7673,8098,8541,9004,9490,10000,10538}; + +static int +atan2_int_lookup(int val) +{ + int len=sizeof(tab_atan)/sizeof(int); + int i=len/2; + int p=i-1; + for (;;) { + i>>=1; + if (val < tab_atan[p]) + p-=i; + else + if (val < tab_atan[p+1]) + return p+(p>>1); + else + p+=i; + } +} + +static int +atan2_int(int dx, int dy) +{ + int f,mul=1,add=0,ret; + if (! dx) { + return dy < 0 ? 180 : 0; + } + if (! dy) { + return dx < 0 ? -90 : 90; + } + if (dx < 0) { + dx=-dx; + mul=-1; + } + if (dy < 0) { + dy=-dy; + add=180*mul; + mul*=-1; + } + while (dx > 20000 || dy > 20000) { + dx/=10; + dy/=10; + } + if (dx > dy) { + ret=90-atan2_int_lookup(dy*10000/dx); + } else { + ret=atan2_int_lookup(dx*10000/dy); + } + return ret*mul+add; +} +#endif + +int +transform_get_angle_delta(struct coord *c1, struct coord *c2, int dir) +{ + int dx=c2->x-c1->x; + int dy=c2->y-c1->y; +#ifndef AVOID_FLOAT + double angle; + angle=atan2(dx,dy); + angle*=180/M_PI; +#else + int angle; + angle=atan2_int(dx,dy); +#endif + if (dir == -1) + angle=angle-180; + if (angle < 0) + angle+=360; + return angle; +} + +int +transform_within_border(struct transformation *this_, struct point *p, int border) +{ + struct map_selection *ms=this_->screen_sel; + while (ms) { + struct point_rect *r=&ms->u.p_rect; + if (p->x >= r->lu.x+border && p->x <= r->rl.x-border && + p->y >= r->lu.y+border && p->y <= r->rl.y-border) + return 1; + ms=ms->next; + } + return 0; +} + +int +transform_within_dist_point(struct coord *ref, struct coord *c, int dist) +{ + if (c->x-dist > ref->x) + return 0; + if (c->x+dist < ref->x) + return 0; + if (c->y-dist > ref->y) + return 0; + if (c->y+dist < ref->y) + return 0; + if ((c->x-ref->x)*(c->x-ref->x) + (c->y-ref->y)*(c->y-ref->y) <= dist*dist) + return 1; + return 0; +} + +int +transform_within_dist_line(struct coord *ref, struct coord *c0, struct coord *c1, int dist) +{ + int vx,vy,wx,wy; + int n1,n2; + struct coord lc; + + if (c0->x < c1->x) { + if (c0->x-dist > ref->x) + return 0; + if (c1->x+dist < ref->x) + return 0; + } else { + if (c1->x-dist > ref->x) + return 0; + if (c0->x+dist < ref->x) + return 0; + } + if (c0->y < c1->y) { + if (c0->y-dist > ref->y) + return 0; + if (c1->y+dist < ref->y) + return 0; + } else { + if (c1->y-dist > ref->y) + return 0; + if (c0->y+dist < ref->y) + return 0; + } + vx=c1->x-c0->x; + vy=c1->y-c0->y; + wx=ref->x-c0->x; + wy=ref->y-c0->y; + + n1=vx*wx+vy*wy; + if ( n1 <= 0 ) + return transform_within_dist_point(ref, c0, dist); + n2=vx*vx+vy*vy; + if ( n2 <= n1 ) + return transform_within_dist_point(ref, c1, dist); + + lc.x=c0->x+vx*n1/n2; + lc.y=c0->y+vy*n1/n2; + return transform_within_dist_point(ref, &lc, dist); +} + +int +transform_within_dist_polyline(struct coord *ref, struct coord *c, int count, int close, int dist) +{ + int i; + for (i = 0 ; i < count-1 ; i++) { + if (transform_within_dist_line(ref,c+i,c+i+1,dist)) { + return 1; + } + } + if (close) + return (transform_within_dist_line(ref,c,c+count-1,dist)); + return 0; +} + +int +transform_within_dist_polygon(struct coord *ref, struct coord *c, int count, int dist) +{ + int i, j, ci = 0; + for (i = 0, j = count-1; i < count; j = i++) { + if ((((c[i].y <= ref->y) && ( ref->y < c[j].y )) || + ((c[j].y <= ref->y) && ( ref->y < c[i].y))) && + (ref->x < (c[j].x - c[i].x) * (ref->y - c[i].y) / (c[j].y - c[i].y) + c[i].x)) + ci = !ci; + } + if (! ci) { + if (dist) + return transform_within_dist_polyline(ref, c, count, dist, 1); + else + return 0; + } + return 1; +} + +int +transform_within_dist_item(struct coord *ref, enum item_type type, struct coord *c, int count, int dist) +{ + if (type < type_line) + return transform_within_dist_point(ref, c, dist); + if (type < type_area) + return transform_within_dist_polyline(ref, c, count, 0, dist); + return transform_within_dist_polygon(ref, c, count, dist); +} + +void +transform_destroy(struct transformation *t) +{ + g_free(t); +} + + +/* +Note: there are many mathematically equivalent ways to express these formulas. As usual, not all of them are computationally equivalent. + +L = latitude in radians (positive north) +Lo = longitude in radians (positive east) +E = easting (meters) +N = northing (meters) + +For the sphere + +E = r Lo +N = r ln [ tan (pi/4 + L/2) ] + +where + +r = radius of the sphere (meters) +ln() is the natural logarithm + +For the ellipsoid + +E = a Lo +N = a * ln ( tan (pi/4 + L/2) * ( (1 - e * sin (L)) / (1 + e * sin (L))) ** (e/2) ) + + + e + - + pi L 1 - e sin(L) 2 + = a ln( tan( ---- + ---) (--------------) ) + 4 2 1 + e sin(L) + + +where + +a = the length of the semi-major axis of the ellipsoid (meters) +e = the first eccentricity of the ellipsoid + + +*/ + + |