From 73dc83d8f3c143f2b396ed04cb16fccabd4f7382 Mon Sep 17 00:00:00 2001 From: codeboss <2422523675@qq.com> Date: Sat, 7 Jun 2025 16:44:25 +0800 Subject: [PATCH] =?UTF-8?q?=E6=94=B9=E8=BF=9B=E5=B7=A5=E7=A8=8B=E4=BB=A3?= =?UTF-8?q?=E7=A0=81=E5=88=86=E5=B8=83?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- ComponentBasic/ComponentBasic.vcxproj | 4 +- MessageBasic/MessageBasic.vcxproj | 2 +- MessageBasic/messagebasic.h | 4 +- StandardGlobe/StandardGlobe.vcxproj | 2 +- StandardGlobe/standardglobe.cpp | 64 +++++++++++++++++++++++++++ StandardGlobe/standardglobe.h | 21 +++++++-- 6 files changed, 88 insertions(+), 9 deletions(-) diff --git a/ComponentBasic/ComponentBasic.vcxproj b/ComponentBasic/ComponentBasic.vcxproj index 579a290..86ba03e 100644 --- a/ComponentBasic/ComponentBasic.vcxproj +++ b/ComponentBasic/ComponentBasic.vcxproj @@ -37,7 +37,7 @@ 5.12.11_msvc2017_64 - core + core;gui debug @@ -60,7 +60,7 @@ - $(SolutionDir)SimsBasic;$(SolutionDir)MessageBasic;$(IncludePath) + $(SolutionDir)SimsBasic;$(SolutionDir)MessageBasic;$(SolutionDir)StandardGlobe;$(IncludePath) $(SolutionDir)$(Platform)\$(Configuration);$(LibraryPath) diff --git a/MessageBasic/MessageBasic.vcxproj b/MessageBasic/MessageBasic.vcxproj index 1e52966..c3ba860 100644 --- a/MessageBasic/MessageBasic.vcxproj +++ b/MessageBasic/MessageBasic.vcxproj @@ -37,7 +37,7 @@ 5.12.11_msvc2017_64 - core + core;gui debug diff --git a/MessageBasic/messagebasic.h b/MessageBasic/messagebasic.h index 05bb00a..e9b09ec 100644 --- a/MessageBasic/messagebasic.h +++ b/MessageBasic/messagebasic.h @@ -1,8 +1,8 @@ #pragma once #include "messagebasic_global.h" -#include "simsbasic.h" -#include "standardglobe.h" +#include +#include #define NAME(v) #v #define DOUBLE_SAVE(u) obj[NAME(u)] = u diff --git a/StandardGlobe/StandardGlobe.vcxproj b/StandardGlobe/StandardGlobe.vcxproj index e98440f..a91c0de 100644 --- a/StandardGlobe/StandardGlobe.vcxproj +++ b/StandardGlobe/StandardGlobe.vcxproj @@ -37,7 +37,7 @@ 5.12.11_msvc2017_64 - core;3dcore;3danimation;3dextras;3dinput;3dlogic;3drender + core;gui debug diff --git a/StandardGlobe/standardglobe.cpp b/StandardGlobe/standardglobe.cpp index 6ff891b..7d1438d 100644 --- a/StandardGlobe/standardglobe.cpp +++ b/StandardGlobe/standardglobe.cpp @@ -1,5 +1,6 @@ #include "standardglobe.h" #include +#include double StandardGlobe::_radius_m = 65000000; #define PI 3.14159265354 @@ -95,7 +96,70 @@ void StandardGlobe::getTargetLLAWithDistance(const LLAPos& base, double dist, do target = ecefToLLA(sv); } +PolarPos StandardGlobe::getPolarWithLLA(const LLAPos& base, const LLAPos& target) +{ + // ecef矢量 + auto vec_base = llaToEcef(base).getVec3(); + auto vec_target = llaToEcef(target).getVec3(); + auto vec_bn = vec_base.normalized(); + auto vec_tn = vec_target.normalized(); + + // 目标平面法线矢量 + auto vec_vn = QVector3D::crossProduct(vec_bn, vec_tn).normalized(); + // 目标平面切线矢量 + auto vec_hn = QVector3D::crossProduct(vec_vn, vec_bn).normalized(); + + // 初始方位角cos值 + auto cos_angle = QVector3D::dotProduct(vec_hn, QVector3D(0, 0, 1)); + auto angle = acos(cos_angle); + + // 180°校验 + auto flag_vec = QVector3D::crossProduct(vec_hn, QVector3D(0, 0, 1)).normalized(); + if (vec_bn.z() * flag_vec.z() < 0) + angle = 2 * PI - angle; + + // 返回方位角 + auto azi_deg = rad2d(angle); + + // 视线矢量 + auto vec_bt = vec_target - vec_base; + auto vec_btn = vec_bt.normalized(); + auto cos_pitch = QVector3D::dotProduct(vec_hn, vec_btn); + auto pit_deg = rad2d(acos(cos_pitch)); + + PolarPos p; + p._azimuth_deg = azi_deg; + p._pitch_deg = pit_deg; + p._dist_m = vec_bt.length(); + return p; +} + +LLAPos StandardGlobe::getLLAWithPolar(const LLAPos& base, const PolarPos& target) +{ + auto ecef_b = llaToEcef(base).getVec3(); + auto u_azi = QQuaternion(-deg2a(target._azimuth_deg), ecef_b.normalized()); + + auto vec_ts = u_azi.rotatedVector(QVector3D(0,0,1)).normalized(); + auto axis_pitch = QVector3D::crossProduct(vec_ts, ecef_b.normalized()); + auto u_pit = QQuaternion(deg2a(target._pitch_deg), axis_pitch); + + auto r_shadow = target._dist_m * cos(deg2a(target._pitch_deg)); + auto ts_appv = u_pit.rotatedVector(vec_ts).normalized() * r_shadow; + + auto ecef_target = ecef_b + ts_appv; + ECEFPos tt = ECEFPos::fromVec3(ecef_target); + + return ecefToLLA(tt); +} + QVector3D ECEFPos::getVec3() const { return QVector3D(_x_pos, _y_pos, _z_pos); } +ECEFPos ECEFPos::fromVec3(const QVector3D& p) { + ECEFPos o; + o._x_pos = p.x(); + o._y_pos = p.y(); + o._z_pos = p.z(); + return o; +} diff --git a/StandardGlobe/standardglobe.h b/StandardGlobe/standardglobe.h index a08ede2..91074ab 100644 --- a/StandardGlobe/standardglobe.h +++ b/StandardGlobe/standardglobe.h @@ -1,7 +1,8 @@ #pragma once #include "standardglobe_global.h" -#include + +class QVector3D; /// /// 经纬高坐标系坐标 @@ -16,10 +17,11 @@ struct LLAPos { /// 地心坐标系 /// struct ECEFPos { - double _x_pos = 0; + double _x_pos = 0;// 指向0°经度圈与纬度0°交点 double _y_pos = 0; double _z_pos = 0; QVector3D getVec3() const; + static ECEFPos fromVec3(const QVector3D& p); }; /// @@ -72,5 +74,18 @@ public: /// /// static void getTargetLLAWithDistance(const LLAPos& base, double dist, double azi, LLAPos& target); - + /// + /// 通过LLA坐标，获取目标极坐标 + /// + /// + /// + /// + static PolarPos getPolarWithLLA(const LLAPos &base, const LLAPos &target); + /// + /// 通过极坐标，获取目标LLA坐标 + /// + /// + /// + /// + static LLAPos getLLAWithPolar(const LLAPos &base, const PolarPos &target); };