SimsWorld/StandardGlobe/standardglobe.cpp

#include "standardglobe.h"
#include <cmath>
#include <QVector3D>

double StandardGlobe::_radius_m = 6500000;

StandardGlobe::StandardGlobe()
{
}

ECEFv3d StandardGlobe::llaToEcef(const LonLatAlt& v)
{
	// 计算距离球心距离
	auto axis_r_g = v._alt_m + _radius_m;
	// ecef-z坐标
	auto axis_z = axis_r_g * sin(deg2a(v._lat_deg));
	// 纬度圈半径
	auto axis_r_lat = axis_r_g * cos(deg2a(v._lat_deg));
	// ecef-x
	auto axis_x = axis_r_lat * cos(deg2a(v._lon_deg));
	// ecef-y
	auto axis_y = axis_r_lat * sin(deg2a(v._lon_deg));

	return ECEFv3d{ axis_x, axis_y, axis_z };
}

LonLatAlt StandardGlobe::ecefToLLA(const ECEFv3d& v)
{
	auto r2 = std::sqrt(v._x_pos * v._x_pos + v._y_pos * v._y_pos);
	auto rad_lon = acos(v._x_pos / r2);
	if (v._y_pos < 0)
		rad_lon *= -1;
	auto rx = std::sqrt(v._x_pos * v._x_pos + v._y_pos * v._y_pos + v._z_pos * v._z_pos);
	auto rad_lat = asin(v._z_pos / rx);
	if(v._z_pos < 0)
		rad_lat *= -1;

	LonLatAlt ret;
	ret._lon_deg = rad2d(rad_lon);
	ret._lat_deg = rad2d(rad_lat);
	ret._alt_m = rx - _radius_m;

	return ret;
}

void StandardGlobe::getDistanceWithLLA(const LonLatAlt& base, const LonLatAlt& target, double& dist, double& azi)
{
	// 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();

	// 两点之间的矢量夹角
	auto cos_between = QVector3D::dotProduct(vec_bn, vec_tn);
	// 两点之间最短球面弧线长度
	dist = acos(cos_between) * _radius_m;

	// 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();
	// 初始夹角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
	azi = rad2d(angle);
}

#include <qquaternion.h>
void StandardGlobe::getLLAWithDistance(const LonLatAlt& base, double dist, double azi, LonLatAlt& target)
{
	auto ecef_basevec = llaToEcef(base).getVec3().normalized();
	QQuaternion u0 = QQuaternion::fromAxisAndAngle(ecef_basevec, -azi);

	// 获取切线方向矢量
	auto vec_hv = u0.rotatedVector(QVector3D(0, 0, 1)).normalized();
	// 获取法线方向矢量
	auto vec_bv = QVector3D::crossProduct(ecef_basevec, vec_hv).normalized();
	auto rad_between = dist / _radius_m;

	QQuaternion u1 = QQuaternion::fromAxisAndAngle(vec_bv, rad2d(rad_between));
	auto ecef_t = u1.rotatedVector(llaToEcef(base).getVec3());

	ECEFv3d sv;
	sv._x_pos = ecef_t.x();
	sv._y_pos = ecef_t.y();
	sv._z_pos = ecef_t.z();
	target = ecefToLLA(sv);
}

PolarPos StandardGlobe::getPolarWithLLA(const LonLatAlt& base, const LonLatAlt& 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 (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));

	auto axis_x = QVector3D::crossProduct(vec_hn, vec_btn).normalized();
	auto axis_flag = QVector3D::crossProduct(axis_x, vec_hn);
	if (QVector3D::dotProduct(axis_flag, vec_bn) < 0) {
		pit_deg *= -1;
	}

	PolarPos p;
	p._azimuth_deg = azi_deg;
	p._pitch_deg = pit_deg;
	p._dist_m = vec_bt.length();
	return p;
}

LonLatAlt StandardGlobe::getLLAWithPolar(const LonLatAlt& base, const PolarPos& target)
{
	auto ecef_bvec = llaToEcef(base).getVec3();
	auto u_azi = QQuaternion::fromAxisAndAngle(ecef_bvec.normalized(),-target._azimuth_deg);

	auto vec_ts = u_azi.rotatedVector(QVector3D(0, 0, 1)).normalized();
	auto axis_pitch = QVector3D::crossProduct(vec_ts, ecef_bvec.normalized());
	auto u_pit = QQuaternion::fromAxisAndAngle(axis_pitch, target._pitch_deg);

	auto ts_appv = u_pit.rotatedVector(vec_ts).normalized() * target._dist_m;

	auto ecef_target = ecef_bvec + ts_appv;
	ECEFv3d tt = ECEFv3d::fromVec3(ecef_target);

	return ecefToLLA(tt);
}

QVector3D ECEFv3d::getVec3() const
{
	return QVector3D(_x_pos, _y_pos, _z_pos);
}
ECEFv3d ECEFv3d::fromVec3(const QVector3D& p) {
	ECEFv3d o;
	o._x_pos = p.x();
	o._y_pos = p.y();
	o._z_pos = p.z();
	return o;
}

LonLatAlt::LonLatAlt(const LonLatPos& plain_pos)
	: _lon_deg(plain_pos._lon_deg),
	_lat_deg(plain_pos._lat_deg),
	_alt_m(0) {
}

LonLatAlt::LonLatAlt(double lon, double lat, double alt)
	:_lon_deg(lon), _lat_deg(lat), _alt_m(alt) {
}

LonLatPos LonLatAlt::toLonLatPos() const
{
	return LonLatPos{ _lon_deg, _lat_deg };
}