git.maemo.org Git - navit-package/blob - navit/transform.c

   1 /**
   2  * Navit, a modular navigation system.
   3  * Copyright (C) 2005-2008 Navit Team
   4  *
   5  * This program is free software; you can redistribute it and/or
   6  * modify it under the terms of the GNU General Public License
   7  * version 2 as published by the Free Software Foundation.
   8  *
   9  * This program is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with this program; if not, write to the
  16  * Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
  17  * Boston, MA  02110-1301, USA.
  18  */
  19
  20 #include <assert.h>
  21 #include <stdio.h>
  22 #include <math.h>
  23 #include <limits.h>
  24 #include <glib.h>
  25 #include <string.h>
  26 #include "config.h"
  27 #include "coord.h"
  28 #include "debug.h"
  29 #include "item.h"
  30 #include "map.h"
  31 #include "transform.h"
  32 #include "projection.h"
  33 #include "point.h"
  34
  35 #define POST_SHIFT 8
  36
  37 struct transformation {
  38         int yaw;                /* Rotation angle */
  39         int pitch;
  40         int ddd;
  41         int m00,m01,m10,m11;    /* 2d transformation matrix */
  42         int xyscale;
  43         int m20,m21;            /* additional 3d parameters */
  44 #ifdef ENABLE_ROLL
  45         int roll;
  46         int m02,m12,m22;
  47         int hog;
  48         navit_float im02,im12,im20,im21,im22;
  49 #endif
  50         navit_float im00,im01,im10,im11;        /* inverse 2d transformation matrix */
  51         struct map_selection *map_sel;
  52         struct map_selection *screen_sel;
  53         struct point screen_center;
  54         int screen_dist;
  55         int offx,offy,offz;
  56         struct coord map_center;        /* Center of source rectangle */
  57         enum projection pro;
  58         navit_float scale;              /* Scale factor */
  59         int scale_shift;
  60         int order;
  61         int order_base;
  62 };
  63
  64
  65
  66 static void
  67 transform_setup_matrix(struct transformation *t)
  68 {
  69         navit_float det;
  70         navit_float fac;
  71         navit_float yawc=navit_cos(-M_PI*t->yaw/180);
  72         navit_float yaws=navit_sin(-M_PI*t->yaw/180);
  73         navit_float pitchc=navit_cos(-M_PI*t->pitch/180);
  74         navit_float pitchs=navit_sin(-M_PI*t->pitch/180);
  75 #ifdef ENABLE_ROLL
  76         navit_float rollc=navit_cos(M_PI*t->roll/180);
  77         navit_float rolls=navit_sin(M_PI*t->roll/180);
  78 #endif
  79
  80         int scale=t->scale;
  81         int order_dir=-1;
  82
  83         dbg(1,"yaw=%d pitch=%d center=0x%x,0x%x\n", t->yaw, t->pitch, t->map_center.x, t->map_center.y);
  84         t->scale_shift=0;
  85         t->order=t->order_base;
  86         if (t->scale >= 1) {
  87                 scale=t->scale;
  88         } else {
  89                 scale=1.0/t->scale;
  90                 order_dir=1;
  91         }
  92         while (scale > 1) {
  93                 if (order_dir < 0)
  94                         t->scale_shift++;
  95                 t->order+=order_dir;
  96                 scale >>= 1;
  97         }
  98         fac=(1 << POST_SHIFT) * (1 << t->scale_shift) / t->scale;
  99         dbg(1,"scale_shift=%d order=%d scale=%f fac=%f\n", t->scale_shift, t->order,t->scale,fac);
 100
 101 #ifdef ENABLE_ROLL
 102         t->m00=rollc*yawc*fac;
 103         t->m01=rollc*yaws*fac;
 104         t->m02=-rolls*fac;
 105         t->m10=(pitchs*rolls*yawc-pitchc*yaws)*(-fac);
 106         t->m11=(pitchs*rolls*yaws+pitchc*yawc)*(-fac);
 107         t->m12=pitchs*rollc*(-fac);
 108         t->m20=(pitchc*rolls*yawc+pitchs*yaws)*fac;
 109         t->m21=(pitchc*rolls*yaws-pitchs*yawc)*fac;
 110         t->m22=pitchc*rollc*fac;
 111 #else
 112         t->m00=yawc*fac;
 113         t->m01=yaws*fac;
 114         t->m10=(-pitchc*yaws)*(-fac);
 115         t->m11=pitchc*yawc*(-fac);
 116         t->m20=pitchs*yaws*fac;
 117         t->m21=(-pitchs*yawc)*fac;
 118 #endif
 119         t->offz=0;
 120         t->xyscale=1;
 121         t->ddd=0;
 122         t->offx=t->screen_center.x;
 123         t->offy=t->screen_center.y;
 124         if (t->pitch) {
 125                 t->ddd=1;
 126                 t->offz=t->screen_dist;
 127                 t->xyscale=t->offz;
 128         }
 129 #ifdef ENABLE_ROLL
 130         det=(navit_float)t->m00*(navit_float)t->m11*(navit_float)t->m22+
 131             (navit_float)t->m01*(navit_float)t->m12*(navit_float)t->m20+
 132             (navit_float)t->m02*(navit_float)t->m10*(navit_float)t->m21-
 133             (navit_float)t->m02*(navit_float)t->m11*(navit_float)t->m20-
 134             (navit_float)t->m01*(navit_float)t->m10*(navit_float)t->m22-
 135             (navit_float)t->m00*(navit_float)t->m12*(navit_float)t->m21;
 136
 137         t->im00=(t->m11*t->m22-t->m12*t->m21)/det;
 138         t->im01=(t->m02*t->m21-t->m01*t->m22)/det;
 139         t->im02=(t->m01*t->m12-t->m02*t->m11)/det;
 140         t->im10=(t->m12*t->m20-t->m10*t->m22)/det;
 141         t->im11=(t->m00*t->m22-t->m02*t->m20)/det;
 142         t->im12=(t->m02*t->m10-t->m00*t->m12)/det;
 143         t->im20=(t->m10*t->m21-t->m11*t->m20)/det;
 144         t->im21=(t->m01*t->m20-t->m00*t->m21)/det;
 145         t->im22=(t->m00*t->m11-t->m01*t->m10)/det;
 146 #else
 147         det=((navit_float)t->m00*(navit_float)t->m11-(navit_float)t->m01*(navit_float)t->m10);
 148         t->im00=t->m11/det;
 149         t->im01=-t->m01/det;
 150         t->im10=-t->m10/det;
 151         t->im11=t->m00/det;
 152 #endif
 153 }
 154
 155 struct transformation *
 156 transform_new(void)
 157 {
 158         struct transformation *this_;
 159
 160         this_=g_new0(struct transformation, 1);
 161         this_->screen_dist=100;
 162         this_->order_base=14;
 163 #if 0
 164         this_->pitch=20;
 165 #endif
 166 #if 0
 167         this_->roll=30;
 168         this_->hog=1000;
 169 #endif
 170         transform_setup_matrix(this_);
 171         return this_;
 172 }
 173
 174 #ifdef ENABLE_ROLL
 175
 176 int
 177 transform_get_hog(struct transformation *this_)
 178 {
 179         return this_->hog;
 180 }
 181
 182 void
 183 transform_set_hog(struct transformation *this_, int hog)
 184 {
 185         this_->hog=hog;
 186 }
 187
 188 #else
 189
 190 int
 191 transform_get_hog(struct transformation *this_)
 192 {
 193         return 0;
 194 }
 195
 196 void
 197 transform_set_hog(struct transformation *this_, int hog)
 198 {
 199         dbg(0,"not supported\n");
 200 }
 201
 202 #endif
 203
 204 int
 205 transformation_get_order_base(struct transformation *this_)
 206 {
 207         return this_->order_base;
 208 }
 209
 210 void
 211 transform_set_order_base(struct transformation *this_, int order_base)
 212 {
 213         this_->order_base=order_base;
 214 }
 215
 216
 217 struct transformation *
 218 transform_dup(struct transformation *t)
 219 {
 220         struct transformation *ret=g_new0(struct transformation, 1);
 221         *ret=*t;
 222         return ret;
 223 }
 224
 225 static const navit_float gar2geo_units = 360.0/(1<<24);
 226 static const navit_float geo2gar_units = 1/(360.0/(1<<24));
 227
 228 void
 229 transform_to_geo(enum projection pro, struct coord *c, struct coord_geo *g)
 230 {
 231         int x,y,northern,zone;
 232         switch (pro) {
 233         case projection_mg:
 234                 g->lng=c->x/6371000.0/M_PI*180;
 235                 g->lat=navit_atan(exp(c->y/6371000.0))/M_PI*360-90;
 236                 break;
 237         case projection_garmin:
 238                 g->lng=c->x*gar2geo_units;
 239                 g->lat=c->y*gar2geo_units;
 240                 break;
 241         case projection_utm:
 242                 x=c->x;
 243                 y=c->y;
 244                 northern=y >= 0;
 245                 if (!northern) {
 246                         y+=10000000;
 247                 }
 248                 zone=(x/1000000);
 249                 x=x%1000000;
 250                 transform_utm_to_geo(x, y, zone, northern, g);
 251                 break;
 252         default:
 253                 break;
 254         }
 255 }
 256
 257 void
 258 transform_from_geo(enum projection pro, struct coord_geo *g, struct coord *c)
 259 {
 260         switch (pro) {
 261         case projection_mg:
 262                 c->x=g->lng*6371000.0*M_PI/180;
 263                 c->y=log(navit_tan(M_PI_4+g->lat*M_PI/360))*6371000.0;
 264                 break;
 265         case projection_garmin:
 266                 c->x=g->lng*geo2gar_units;
 267                 c->y=g->lat*geo2gar_units;
 268                 break;
 269         default:
 270                 break;
 271         }
 272 }
 273
 274 void
 275 transform_from_to(struct coord *cfrom, enum projection from, struct coord *cto, enum projection to)
 276 {
 277         struct coord_geo g;
 278         transform_to_geo(from, cfrom, &g);
 279         transform_from_geo(to, &g, cto);
 280 }
 281
 282 void
 283 transform_geo_to_cart(struct coord_geo *geo, navit_float a, navit_float b, struct coord_geo_cart *cart)
 284 {
 285         navit_float n,ee=1-b*b/(a*a);
 286         n = a/sqrtf(1-ee*navit_sin(geo->lat)*navit_sin(geo->lat));
 287         cart->x=n*navit_cos(geo->lat)*navit_cos(geo->lng);
 288         cart->y=n*navit_cos(geo->lat)*navit_sin(geo->lng);
 289         cart->z=n*(1-ee)*navit_sin(geo->lat);
 290 }
 291
 292 void
 293 transform_cart_to_geo(struct coord_geo_cart *cart, navit_float a, navit_float b, struct coord_geo *geo)
 294 {
 295         navit_float lat,lati,n,ee=1-b*b/(a*a), lng = navit_tan(cart->y/cart->x);
 296
 297         lat = navit_tan(cart->z / navit_sqrt((cart->x * cart->x) + (cart->y * cart->y)));
 298         do
 299         {
 300                 lati = lat;
 301
 302                 n = a / navit_sqrt(1-ee*navit_sin(lat)*navit_sin(lat));
 303                 lat = navit_atan((cart->z + ee * n * navit_sin(lat)) / navit_sqrt(cart->x * cart->x + cart->y * cart->y));
 304         }
 305         while (fabs(lat - lati) >= 0.000000000000001);
 306
 307         geo->lng=lng/M_PI*180;
 308         geo->lat=lat/M_PI*180;
 309 }
 310
 311
 312 void
 313 transform_utm_to_geo(const double UTMEasting, const double UTMNorthing, int ZoneNumber, int NorthernHemisphere, struct coord_geo *geo)
 314 {
 315 //converts UTM coords to lat/long.  Equations from USGS Bulletin 1532
 316 //East Longitudes are positive, West longitudes are negative.
 317 //North latitudes are positive, South latitudes are negative
 318 //Lat and Long are in decimal degrees.
 319         //Written by Chuck Gantz- chuck.gantz@globalstar.com
 320
 321         double Lat, Long;
 322         double k0 = 0.99960000000000004;
 323         double a = 6378137;
 324         double eccSquared = 0.0066943799999999998;
 325         double eccPrimeSquared;
 326         double e1 = (1-sqrt(1-eccSquared))/(1+sqrt(1-eccSquared));
 327         double N1, T1, C1, R1, D, M;
 328         double LongOrigin;
 329         double mu, phi1, phi1Rad;
 330         double x, y;
 331         double rad2deg = 180/M_PI;
 332
 333         x = UTMEasting - 500000.0; //remove 500,000 meter offset for longitude
 334         y = UTMNorthing;
 335
 336         if (!NorthernHemisphere) {
 337                 y -= 10000000.0;//remove 10,000,000 meter offset used for southern hemisphere
 338         }
 339
 340         LongOrigin = (ZoneNumber - 1)*6 - 180 + 3;  //+3 puts origin in middle of zone
 341
 342         eccPrimeSquared = (eccSquared)/(1-eccSquared);
 343
 344         M = y / k0;
 345         mu = M/(a*(1-eccSquared/4-3*eccSquared*eccSquared/64-5*eccSquared*eccSquared*eccSquared/256));
 346         phi1Rad = mu    + (3*e1/2-27*e1*e1*e1/32)*sin(2*mu)
 347                                 + (21*e1*e1/16-55*e1*e1*e1*e1/32)*sin(4*mu)
 348                                 +(151*e1*e1*e1/96)*sin(6*mu);
 349         phi1 = phi1Rad*rad2deg;
 350
 351         N1 = a/sqrt(1-eccSquared*sin(phi1Rad)*sin(phi1Rad));
 352         T1 = tan(phi1Rad)*tan(phi1Rad);
 353         C1 = eccPrimeSquared*cos(phi1Rad)*cos(phi1Rad);
 354         R1 = a*(1-eccSquared)/pow(1-eccSquared*sin(phi1Rad)*sin(phi1Rad), 1.5);
 355         D = x/(N1*k0);
 356
 357         Lat = phi1Rad - (N1*tan(phi1Rad)/R1)*(D*D/2-(5+3*T1+10*C1-4*C1*C1-9*eccPrimeSquared)*D*D*D*D/24
 358                                         +(61+90*T1+298*C1+45*T1*T1-252*eccPrimeSquared-3*C1*C1)*D*D*D*D*D*D/720);
 359         Lat = Lat * rad2deg;
 360
 361         Long = (D-(1+2*T1+C1)*D*D*D/6+(5-2*C1+28*T1-3*C1*C1+8*eccPrimeSquared+24*T1*T1)
 362                                         *D*D*D*D*D/120)/cos(phi1Rad);
 363         Long = LongOrigin + Long * rad2deg;
 364
 365         geo->lat=Lat;
 366         geo->lng=Long;
 367 }
 368
 369 void
 370 transform_datum(struct coord_geo *from, enum map_datum from_datum, struct coord_geo *to, enum map_datum to_datum)
 371 {
 372 }
 373
 374 int
 375 transform(struct transformation *t, enum projection pro, struct coord *c, struct point *p, int count, int mindist, int width, int *width_return)
 376 {
 377         struct coord c1;
 378         int xcn, ycn;
 379         struct coord_geo g;
 380         int xc, yc, zc=0, xco=0, yco=0, zco=0;
 381         int xm,ym,zct;
 382         int zlimit=1000;
 383         int visible, visibleo=-1;
 384         int i,j = 0,k=0;
 385         dbg(1,"count=%d\n", count);
 386         for (i=0; i < count; i++) {
 387                 if (pro == t->pro) {
 388                         xc=c[i].x;
 389                         yc=c[i].y;
 390                 } else {
 391                         transform_to_geo(pro, &c[i], &g);
 392                         transform_from_geo(t->pro, &g, &c1);
 393                         xc=c1.x;
 394                         yc=c1.y;
 395                 }
 396                 if (i != 0 && i != count-1 && mindist) {
 397                         if (xc > c[k].x-mindist && xc < c[k].x+mindist && yc > c[k].y-mindist && yc < c[k].y+mindist)
 398                                 continue;
 399                         k=i;
 400                 }
 401                 xm=xc;
 402                 ym=yc;
 403 //              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);
 404 //              ret=coord_rect_contains(&t->r, c);
 405                 xc-=t->map_center.x;
 406                 yc-=t->map_center.y;
 407                 xc >>= t->scale_shift;
 408                 yc >>= t->scale_shift;
 409 #ifdef ENABLE_ROLL
 410                 xcn=xc*t->m00+yc*t->m01+t->hog*t->m02;
 411                 ycn=xc*t->m10+yc*t->m11+t->hog*t->m12;
 412 #else
 413                 xcn=xc*t->m00+yc*t->m01;
 414                 ycn=xc*t->m10+yc*t->m11;
 415 #endif
 416
 417                 if (t->ddd) {
 418 #ifdef ENABLE_ROLL
 419                         zc=(xc*t->m20+yc*t->m21+t->hog*t->m22);
 420 #else
 421                         zc=(xc*t->m20+yc*t->m21);
 422 #endif
 423                         zct=zc;
 424                         zc+=t->offz << POST_SHIFT;
 425                         dbg(1,"zc=%d\n", zc);
 426                         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);
 427                         /* visibility */
 428                         visible=(zc < zlimit ? 0:1);
 429                         dbg(1,"visible=%d old %d\n", visible, visibleo);
 430                         if (visible != visibleo && visibleo != -1) {
 431                                 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);
 432                                 if (zco != zc) {
 433                                         xcn=xcn+(long long)(xco-xcn)*(zlimit-zc)/(zco-zc);
 434                                         ycn=ycn+(long long)(yco-ycn)*(zlimit-zc)/(zco-zc);
 435                                 }
 436                                 dbg(1,"result (%d,%d,%d) * %d / %d\n", xcn,ycn,zc,zlimit-zc,zco-zc);
 437                                 zc=zlimit;
 438                                 xco=xcn;
 439                                 yco=ycn;
 440                                 zco=zc;
 441                                 if (visible)
 442                                         i--;
 443                                 visibleo=visible;
 444                         } else {
 445                                 xco=xcn;
 446                                 yco=ycn;
 447                                 zco=zc;
 448                                 visibleo=visible;
 449                                 if (! visible)
 450                                         continue;
 451                         }
 452                         dbg(1,"zc=%d\n", zc);
 453                         dbg(1,"xcn %d ycn %d\n", xcn, ycn);
 454                         dbg(1,"%d,%d %d\n",xc,yc,zc);
 455 #if 0
 456                         dbg(0,"%d/%d=%d %d/%d=%d\n",xcn,xc,xcn/xc,ycn,yc,ycn/yc);
 457 #endif
 458 #if 1
 459                         xc=(long long)xcn*t->xyscale/zc;
 460                         yc=(long long)ycn*t->xyscale/zc;
 461 #else
 462                         xc=xcn/(1000+zc);
 463                         yc=ycn/(1000+zc);
 464 #endif
 465                         dbg(1,"%d,%d %d\n",xc,yc,zc);
 466                 } else {
 467                         xc=xcn;
 468                         yc=ycn;
 469                         xc>>=POST_SHIFT;
 470                         yc>>=POST_SHIFT;
 471                 }
 472                 xc+=t->offx;
 473                 yc+=t->offy;
 474                 dbg(1,"xc=%d yc=%d\n", xc, yc);
 475                 p[j].x=xc;
 476                 p[j].y=yc;
 477                 if (width_return) {
 478                         if (t->ddd)
 479                                 width_return[j]=width*(t->offz << POST_SHIFT)/zc;
 480                         else
 481                                 width_return[j]=width;
 482                 }
 483                 j++;
 484         }
 485         return j;
 486 }
 487
 488 void
 489 transform_reverse(struct transformation *t, struct point *p, struct coord *c)
 490 {
 491         double zc,xc,yc,xcn,ycn,q;
 492         double offz=t->offz << POST_SHIFT;
 493         xc=p->x - t->offx;
 494         yc=p->y - t->offy;
 495         if (t->ddd) {
 496                 xc/=t->xyscale;
 497                 yc/=t->xyscale;
 498                 double f00=xc*t->im00*t->m20;
 499                 double f01=yc*t->im01*t->m20;
 500                 double f10=xc*t->im10*t->m21;
 501                 double f11=yc*t->im11*t->m21;
 502 #ifdef ENABLE_ROLL
 503                 q=(1-f00-f01-t->im02*t->m20-f10-f11-t->im12*t->m21);
 504                 if (q < 0)
 505                         q=0.15;
 506                 zc=(offz*((f00+f01+f10+f11))+t->hog*t->m22)/q;
 507 #else
 508                 q=(1-f00-f01-f10-f11);
 509                 if (q < 0)
 510                         q=0.15;
 511                 zc=offz*(f00+f01+f10+f11)/q;
 512 #endif
 513                 xcn=xc*(zc+offz);
 514                 ycn=yc*(zc+offz);
 515 #ifdef ENABLE_ROLL
 516                 xc=xcn*t->im00+ycn*t->im01+zc*t->im02;
 517                 yc=xcn*t->im10+ycn*t->im11+zc*t->im12;
 518 #else
 519                 xc=xcn*t->im00+ycn*t->im01;
 520                 yc=xcn*t->im10+ycn*t->im11;
 521 #endif
 522
 523         } else {
 524                 xcn=xc;
 525                 ycn=yc;
 526                 xc=(xcn*t->im00+ycn*t->im01)*(1 << POST_SHIFT);
 527                 yc=(xcn*t->im10+ycn*t->im11)*(1 << POST_SHIFT);
 528         }
 529         c->x=xc*(1 << t->scale_shift)+t->map_center.x;
 530         c->y=yc*(1 << t->scale_shift)+t->map_center.y;
 531 }
 532
 533 enum projection
 534 transform_get_projection(struct transformation *this_)
 535 {
 536         return this_->pro;
 537 }
 538
 539 void
 540 transform_set_projection(struct transformation *this_, enum projection pro)
 541 {
 542         this_->pro=pro;
 543 }
 544
 545 static int
 546 min4(int v1,int v2, int v3, int v4)
 547 {
 548         int res=v1;
 549         if (v2 < res)
 550                 res=v2;
 551         if (v3 < res)
 552                 res=v3;
 553         if (v4 < res)
 554                 res=v4;
 555         return res;
 556 }
 557
 558 static int
 559 max4(int v1,int v2, int v3, int v4)
 560 {
 561         int res=v1;
 562         if (v2 > res)
 563                 res=v2;
 564         if (v3 > res)
 565                 res=v3;
 566         if (v4 > res)
 567                 res=v4;
 568         return res;
 569 }
 570
 571 struct map_selection *
 572 transform_get_selection(struct transformation *this_, enum projection pro, int order)
 573 {
 574
 575         struct map_selection *ret,*curri,*curro;
 576         struct coord_geo g;
 577
 578         ret=map_selection_dup(this_->map_sel);
 579         curri=this_->map_sel;
 580         curro=ret;
 581         while (curri) {
 582                 if (this_->pro != pro) {
 583                         transform_to_geo(this_->pro, &curri->u.c_rect.lu, &g);
 584                         transform_from_geo(pro, &g, &curro->u.c_rect.lu);
 585                         dbg(1,"%f,%f", g.lat, g.lng);
 586                         transform_to_geo(this_->pro, &curri->u.c_rect.rl, &g);
 587                         transform_from_geo(pro, &g, &curro->u.c_rect.rl);
 588                         dbg(1,": - %f,%f\n", g.lat, g.lng);
 589                 }
 590                 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);
 591                 curro->order+=order;
 592                 curro->range=item_range_all;
 593                 curri=curri->next;
 594                 curro=curro->next;
 595         }
 596         return ret;
 597 }
 598
 599 struct coord *
 600 transform_center(struct transformation *this_)
 601 {
 602         return &this_->map_center;
 603 }
 604
 605 struct coord *
 606 transform_get_center(struct transformation *this_)
 607 {
 608         return &this_->map_center;
 609 }
 610
 611 void
 612 transform_set_center(struct transformation *this_, struct coord *c)
 613 {
 614         this_->map_center=*c;
 615 }
 616
 617
 618 void
 619 transform_set_yaw(struct transformation *t,int yaw)
 620 {
 621         t->yaw=yaw;
 622         transform_setup_matrix(t);
 623 }
 624
 625 int
 626 transform_get_yaw(struct transformation *this_)
 627 {
 628         return this_->yaw;
 629 }
 630
 631 void
 632 transform_set_pitch(struct transformation *this_,int pitch)
 633 {
 634         this_->pitch=pitch;
 635         transform_setup_matrix(this_);
 636 }
 637 int
 638 transform_get_pitch(struct transformation *this_)
 639 {
 640         return this_->pitch;
 641 }
 642
 643 #ifdef ENABLE_ROLL
 644 void
 645 transform_set_roll(struct transformation *this_,int roll)
 646 {
 647         this_->roll=roll;
 648         transform_setup_matrix(this_);
 649 }
 650
 651 int
 652 transform_get_roll(struct transformation *this_)
 653 {
 654         return this_->roll;
 655 }
 656
 657 #else
 658
 659 void
 660 transform_set_roll(struct transformation *this_,int roll)
 661 {
 662         dbg(0,"not supported\n");
 663 }
 664
 665 int
 666 transform_get_roll(struct transformation *this_)
 667 {
 668         return 0;
 669 }
 670
 671 #endif
 672
 673 void
 674 transform_set_distance(struct transformation *this_,int distance)
 675 {
 676         this_->screen_dist=distance;
 677         transform_setup_matrix(this_);
 678 }
 679
 680 int
 681 transform_get_distance(struct transformation *this_)
 682 {
 683         return this_->screen_dist;
 684 }
 685
 686 void
 687 transform_set_screen_selection(struct transformation *t, struct map_selection *sel)
 688 {
 689         map_selection_destroy(t->screen_sel);
 690         t->screen_sel=map_selection_dup(sel);
 691         if (sel) {
 692                 t->screen_center.x=(sel->u.p_rect.rl.x-sel->u.p_rect.lu.x)/2;
 693                 t->screen_center.y=(sel->u.p_rect.rl.y-sel->u.p_rect.lu.y)/2;
 694                 transform_setup_matrix(t);
 695         }
 696 }
 697
 698 void
 699 transform_set_screen_center(struct transformation *t, struct point *p)
 700 {
 701         t->screen_center=*p;
 702 }
 703
 704 #if 0
 705 void
 706 transform_set_size(struct transformation *t, int width, int height)
 707 {
 708         t->width=width;
 709         t->height=height;
 710 }
 711 #endif
 712
 713 void
 714 transform_get_size(struct transformation *t, int *width, int *height)
 715 {
 716         struct point_rect *r;
 717         if (t->screen_sel) {
 718                 r=&t->screen_sel->u.p_rect;
 719                 *width=r->rl.x-r->lu.x;
 720                 *height=r->rl.y-r->lu.y;
 721         }
 722 }
 723
 724 void
 725 transform_setup(struct transformation *t, struct pcoord *c, int scale, int yaw)
 726 {
 727         t->pro=c->pro;
 728         t->map_center.x=c->x;
 729         t->map_center.y=c->y;
 730         t->scale=scale/16.0;
 731         transform_set_yaw(t, yaw);
 732 }
 733
 734 #if 0
 735
 736 void
 737 transform_setup_source_rect_limit(struct transformation *t, struct coord *center, int limit)
 738 {
 739         t->center=*center;
 740         t->scale=1;
 741         t->angle=0;
 742         t->r.lu.x=center->x-limit;
 743         t->r.rl.x=center->x+limit;
 744         t->r.rl.y=center->y-limit;
 745         t->r.lu.y=center->y+limit;
 746 }
 747 #endif
 748
 749 void
 750 transform_setup_source_rect(struct transformation *t)
 751 {
 752         int i;
 753         struct coord screen[4];
 754         struct point screen_pnt[4];
 755         struct point_rect *pr;
 756         struct map_selection *ms,*msm,*next,**msm_last;
 757         ms=t->map_sel;
 758         while (ms) {
 759                 next=ms->next;
 760                 g_free(ms);
 761                 ms=next;
 762         }
 763         t->map_sel=NULL;
 764         msm_last=&t->map_sel;
 765         ms=t->screen_sel;
 766         while (ms) {
 767                 msm=g_new0(struct map_selection, 1);
 768                 *msm=*ms;
 769                 pr=&ms->u.p_rect;
 770                 screen_pnt[0].x=pr->lu.x;
 771                 screen_pnt[0].y=pr->lu.y;
 772                 screen_pnt[1].x=pr->rl.x;
 773                 screen_pnt[1].y=pr->lu.y;
 774                 screen_pnt[2].x=pr->lu.x;
 775                 screen_pnt[2].y=pr->rl.y;
 776                 screen_pnt[3].x=pr->rl.x;
 777                 screen_pnt[3].y=pr->rl.y;
 778                 for (i = 0 ; i < 4 ; i++) {
 779                         transform_reverse(t, &screen_pnt[i], &screen[i]);
 780                         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);
 781                 }
 782                 msm->u.c_rect.lu.x=min4(screen[0].x,screen[1].x,screen[2].x,screen[3].x);
 783                 msm->u.c_rect.rl.x=max4(screen[0].x,screen[1].x,screen[2].x,screen[3].x);
 784                 msm->u.c_rect.rl.y=min4(screen[0].y,screen[1].y,screen[2].y,screen[3].y);
 785                 msm->u.c_rect.lu.y=max4(screen[0].y,screen[1].y,screen[2].y,screen[3].y);
 786                 dbg(1,"%dx%d\n", msm->u.c_rect.rl.x-msm->u.c_rect.lu.x,
 787                                  msm->u.c_rect.lu.y-msm->u.c_rect.rl.y);
 788                 *msm_last=msm;
 789                 msm_last=&msm->next;
 790                 ms=ms->next;
 791         }
 792 }
 793
 794 long
 795 transform_get_scale(struct transformation *t)
 796 {
 797         return (int)(t->scale*16);
 798 }
 799
 800 void
 801 transform_set_scale(struct transformation *t, long scale)
 802 {
 803         t->scale=scale/16.0;
 804         transform_setup_matrix(t);
 805 }
 806
 807
 808 int
 809 transform_get_order(struct transformation *t)
 810 {
 811         dbg(1,"order %d\n", t->order);
 812         return t->order;
 813 }
 814
 815
 816
 817 #define TWOPI (M_PI*2)
 818 #define GC2RAD(c) ((c) * TWOPI/(1<<24))
 819 #define minf(a,b) ((a) < (b) ? (a) : (b))
 820
 821 static double
 822 transform_distance_garmin(struct coord *c1, struct coord *c2)
 823 {
 824 #ifdef USE_HALVESINE
 825         static const int earth_radius = 6371*1000; //m change accordingly
 826 // static const int earth_radius  = 3960; //miles
 827
 828 //Point 1 cords
 829         navit_float lat1  = GC2RAD(c1->y);
 830         navit_float long1 = GC2RAD(c1->x);
 831
 832 //Point 2 cords
 833         navit_float lat2  = GC2RAD(c2->y);
 834         navit_float long2 = GC2RAD(c2->x);
 835
 836 //Haversine Formula
 837         navit_float dlong = long2-long1;
 838         navit_float dlat  = lat2-lat1;
 839
 840         navit_float sinlat  = navit_sin(dlat/2);
 841         navit_float sinlong = navit_sin(dlong/2);
 842
 843         navit_float a=(sinlat*sinlat)+navit_cos(lat1)*navit_cos(lat2)*(sinlong*sinlong);
 844         navit_float c=2*navit_asin(minf(1,navit_sqrt(a)));
 845 #ifdef AVOID_FLOAT
 846         return round(earth_radius*c);
 847 #else
 848         return earth_radius*c;
 849 #endif
 850 #else
 851 #define GMETER 2.3887499999999999
 852         navit_float dx,dy;
 853         dx=c1->x-c2->x;
 854         dy=c1->y-c2->y;
 855         return navit_sqrt(dx*dx+dy*dy)*GMETER;
 856 #undef GMETER
 857 #endif
 858 }
 859
 860 double
 861 transform_scale(int y)
 862 {
 863         struct coord c;
 864         struct coord_geo g;
 865         c.x=0;
 866         c.y=y;
 867         transform_to_geo(projection_mg, &c, &g);
 868         return 1/navit_cos(g.lat/180*M_PI);
 869 }
 870
 871 #ifdef AVOID_FLOAT
 872 static int
 873 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};
 874
 875 static int tab_int_step = 0x20000;
 876 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};
 877
 878 int transform_int_scale(int y)
 879 {
 880         int a=tab_int_step,i,size = sizeof(tab_int_scale)/sizeof(int);
 881         if (y < 0)
 882                 y=-y;
 883         i=y/tab_int_step;
 884         if (i < size-1)
 885                 return tab_int_scale[i]+((tab_int_scale[i+1]-tab_int_scale[i])*(y-i*tab_int_step))/tab_int_step;
 886         return tab_int_scale[size-1];
 887 }
 888 #endif
 889
 890 double
 891 transform_distance(enum projection pro, struct coord *c1, struct coord *c2)
 892 {
 893         if (pro == projection_mg) {
 894 #ifndef AVOID_FLOAT
 895         double dx,dy,scale=transform_scale((c1->y+c2->y)/2);
 896         dx=c1->x-c2->x;
 897         dy=c1->y-c2->y;
 898         return sqrt(dx*dx+dy*dy)/scale;
 899 #else
 900         int dx,dy,f,scale=transform_int_scale((c1->y+c2->y)/2);
 901         dx=c1->x-c2->x;
 902         dy=c1->y-c2->y;
 903         if (dx < 0)
 904                 dx=-dx;
 905         if (dy < 0)
 906                 dy=-dy;
 907         while (dx > 20000 || dy > 20000) {
 908                 dx/=10;
 909                 dy/=10;
 910                 scale/=10;
 911         }
 912         if (! dy)
 913                 return dx*10000/scale;
 914         if (! dx)
 915                 return dy*10000/scale;
 916         if (dx > dy) {
 917                 f=dx*8/dy-8;
 918                 if (f >= 32)
 919                         return dx*10000/scale;
 920                 return dx*tab_sqrt[f]/scale;
 921         } else {
 922                 f=dy*8/dx-8;
 923                 if (f >= 32)
 924                         return dy*10000/scale;
 925                 return dy*tab_sqrt[f]/scale;
 926         }
 927 #endif
 928         } else if (pro == projection_garmin) {
 929                 return transform_distance_garmin(c1, c2);
 930         } else {
 931                 dbg(0,"Unknown projection: %d\n", pro);
 932                 return 0;
 933         }
 934 }
 935
 936 void
 937 transform_project(enum projection pro, struct coord *c, int distance, int angle, struct coord *res)
 938 {
 939         double scale;
 940         switch (pro) {
 941         case projection_mg:
 942                 scale=transform_scale(c->y);
 943                 res->x=c->x+distance*sin(angle*M_PI/180)*scale;
 944                 res->y=c->y+distance*cos(angle*M_PI/180)*scale;
 945                 break;
 946         default:
 947                 dbg(0,"Unsupported projection: %d\n", pro);
 948                 return;
 949         }
 950
 951 }
 952
 953
 954 double
 955 transform_polyline_length(enum projection pro, struct coord *c, int count)
 956 {
 957         double ret=0;
 958         int i;
 959
 960         for (i = 0 ; i < count-1 ; i++)
 961                 ret+=transform_distance(pro, &c[i], &c[i+1]);
 962         return ret;
 963 }
 964
 965 int
 966 transform_distance_sq(struct coord *c1, struct coord *c2)
 967 {
 968         int dx=c1->x-c2->x;
 969         int dy=c1->y-c2->y;
 970
 971         if (dx > 32767 || dy > 32767 || dx < -32767 || dy < -32767)
 972                 return INT_MAX;
 973         else
 974                 return dx*dx+dy*dy;
 975 }
 976
 977 int
 978 transform_distance_sq_pc(struct pcoord *c1, struct pcoord *c2)
 979 {
 980         struct coord p1,p2;
 981         p1.x = c1->x; p1.y = c1->y;
 982         p2.x = c2->x; p2.y = c2->y;
 983         return transform_distance_sq(&p1, &p2);
 984 }
 985
 986 int
 987 transform_distance_line_sq(struct coord *l0, struct coord *l1, struct coord *ref, struct coord *lpnt)
 988 {
 989         int vx,vy,wx,wy;
 990         int c1,c2;
 991         int climit=1000000;
 992         struct coord l;
 993
 994         vx=l1->x-l0->x;
 995         vy=l1->y-l0->y;
 996         wx=ref->x-l0->x;
 997         wy=ref->y-l0->y;
 998
 999         c1=vx*wx+vy*wy;
1000         if ( c1 <= 0 ) {
1001                 if (lpnt)
1002                         *lpnt=*l0;
1003                 return transform_distance_sq(l0, ref);
1004         }
1005         c2=vx*vx+vy*vy;
1006         if ( c2 <= c1 ) {
1007                 if (lpnt)
1008                         *lpnt=*l1;
1009                 return transform_distance_sq(l1, ref);
1010         }
1011         while (c1 > climit || c2 > climit) {
1012                 c1/=256;
1013                 c2/=256;
1014         }
1015         l.x=l0->x+vx*c1/c2;
1016         l.y=l0->y+vy*c1/c2;
1017         if (lpnt)
1018                 *lpnt=l;
1019         return transform_distance_sq(&l, ref);
1020 }
1021
1022 int
1023 transform_distance_polyline_sq(struct coord *c, int count, struct coord *ref, struct coord *lpnt, int *pos)
1024 {
1025         int i,dist,distn;
1026         struct coord lp;
1027         if (count < 2)
1028                 return INT_MAX;
1029         if (pos)
1030                 *pos=0;
1031         dist=transform_distance_line_sq(&c[0], &c[1], ref, lpnt);
1032         for (i=2 ; i < count ; i++) {
1033                 distn=transform_distance_line_sq(&c[i-1], &c[i], ref, &lp);
1034                 if (distn < dist) {
1035                         dist=distn;
1036                         if (lpnt)
1037                                 *lpnt=lp;
1038                         if (pos)
1039                                 *pos=i-1;
1040                 }
1041         }
1042         return dist;
1043 }
1044
1045
1046 void
1047 transform_print_deg(double deg)
1048 {
1049         printf("%2.0f:%2.0f:%2.4f", floor(deg), fmod(deg*60,60), fmod(deg*3600,60));
1050 }
1051
1052 #ifdef AVOID_FLOAT
1053 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};
1054
1055 static int
1056 atan2_int_lookup(int val)
1057 {
1058         int len=sizeof(tab_atan)/sizeof(int);
1059         int i=len/2;
1060         int p=i-1;
1061         for (;;) {
1062                 i>>=1;
1063                 if (val < tab_atan[p])
1064                         p-=i;
1065                 else
1066                         if (val < tab_atan[p+1])
1067                                 return p+(p>>1);
1068                         else
1069                                 p+=i;
1070         }
1071 }
1072
1073 static int
1074 atan2_int(int dx, int dy)
1075 {
1076         int f,mul=1,add=0,ret;
1077         if (! dx) {
1078                 return dy < 0 ? 180 : 0;
1079         }
1080         if (! dy) {
1081                 return dx < 0 ? -90 : 90;
1082         }
1083         if (dx < 0) {
1084                 dx=-dx;
1085                 mul=-1;
1086         }
1087         if (dy < 0) {
1088                 dy=-dy;
1089                 add=180*mul;
1090                 mul*=-1;
1091         }
1092         while (dx > 20000 || dy > 20000) {
1093                 dx/=10;
1094                 dy/=10;
1095         }
1096         if (dx > dy) {
1097                 ret=90-atan2_int_lookup(dy*10000/dx);
1098         } else {
1099                 ret=atan2_int_lookup(dx*10000/dy);
1100         }
1101         return ret*mul+add;
1102 }
1103 #endif
1104
1105 int
1106 transform_get_angle_delta(struct coord *c1, struct coord *c2, int dir)
1107 {
1108         int dx=c2->x-c1->x;
1109         int dy=c2->y-c1->y;
1110 #ifndef AVOID_FLOAT
1111         double angle;
1112         angle=atan2(dx,dy);
1113         angle*=180/M_PI;
1114 #else
1115         int angle;
1116         angle=atan2_int(dx,dy);
1117 #endif
1118         if (dir == -1)
1119                 angle=angle-180;
1120         if (angle < 0)
1121                 angle+=360;
1122         return angle;
1123 }
1124
1125 int
1126 transform_within_border(struct transformation *this_, struct point *p, int border)
1127 {
1128         struct map_selection *ms=this_->screen_sel;
1129         while (ms) {
1130                 struct point_rect *r=&ms->u.p_rect;
1131                 if (p->x >= r->lu.x+border && p->x <= r->rl.x-border &&
1132                     p->y >= r->lu.y+border && p->y <= r->rl.y-border)
1133                         return 1;
1134                 ms=ms->next;
1135         }
1136         return 0;
1137 }
1138
1139 int
1140 transform_within_dist_point(struct coord *ref, struct coord *c, int dist)
1141 {
1142         if (c->x-dist > ref->x)
1143                 return 0;
1144         if (c->x+dist < ref->x)
1145                 return 0;
1146         if (c->y-dist > ref->y)
1147                 return 0;
1148         if (c->y+dist < ref->y)
1149                 return 0;
1150         if ((c->x-ref->x)*(c->x-ref->x) + (c->y-ref->y)*(c->y-ref->y) <= dist*dist)
1151                 return 1;
1152         return 0;
1153 }
1154
1155 int
1156 transform_within_dist_line(struct coord *ref, struct coord *c0, struct coord *c1, int dist)
1157 {
1158         int vx,vy,wx,wy;
1159         int n1,n2;
1160         struct coord lc;
1161
1162         if (c0->x < c1->x) {
1163                 if (c0->x-dist > ref->x)
1164                         return 0;
1165                 if (c1->x+dist < ref->x)
1166                         return 0;
1167         } else {
1168                 if (c1->x-dist > ref->x)
1169                         return 0;
1170                 if (c0->x+dist < ref->x)
1171                         return 0;
1172         }
1173         if (c0->y < c1->y) {
1174                 if (c0->y-dist > ref->y)
1175                         return 0;
1176                 if (c1->y+dist < ref->y)
1177                         return 0;
1178         } else {
1179                 if (c1->y-dist > ref->y)
1180                         return 0;
1181                 if (c0->y+dist < ref->y)
1182                         return 0;
1183         }
1184         vx=c1->x-c0->x;
1185         vy=c1->y-c0->y;
1186         wx=ref->x-c0->x;
1187         wy=ref->y-c0->y;
1188
1189         n1=vx*wx+vy*wy;
1190         if ( n1 <= 0 )
1191                 return transform_within_dist_point(ref, c0, dist);
1192         n2=vx*vx+vy*vy;
1193         if ( n2 <= n1 )
1194                 return transform_within_dist_point(ref, c1, dist);
1195
1196         lc.x=c0->x+vx*n1/n2;
1197         lc.y=c0->y+vy*n1/n2;
1198         return transform_within_dist_point(ref, &lc, dist);
1199 }
1200
1201 int
1202 transform_within_dist_polyline(struct coord *ref, struct coord *c, int count, int close, int dist)
1203 {
1204         int i;
1205         for (i = 0 ; i < count-1 ; i++) {
1206                 if (transform_within_dist_line(ref,c+i,c+i+1,dist)) {
1207                         return 1;
1208                 }
1209         }
1210         if (close)
1211                 return (transform_within_dist_line(ref,c,c+count-1,dist));
1212         return 0;
1213 }
1214
1215 int
1216 transform_within_dist_polygon(struct coord *ref, struct coord *c, int count, int dist)
1217 {
1218         int i, j, ci = 0;
1219         for (i = 0, j = count-1; i < count; j = i++) {
1220                 if ((((c[i].y <= ref->y) && ( ref->y < c[j].y )) ||
1221                 ((c[j].y <= ref->y) && ( ref->y < c[i].y))) &&
1222                 (ref->x < (c[j].x - c[i].x) * (ref->y - c[i].y) / (c[j].y - c[i].y) + c[i].x))
1223                         ci = !ci;
1224         }
1225         if (! ci) {
1226                 if (dist)
1227                         return transform_within_dist_polyline(ref, c, count, dist, 1);
1228                 else
1229                         return 0;
1230         }
1231         return 1;
1232 }
1233
1234 int
1235 transform_within_dist_item(struct coord *ref, enum item_type type, struct coord *c, int count, int dist)
1236 {
1237         if (type < type_line)
1238                 return transform_within_dist_point(ref, c, dist);
1239         if (type < type_area)
1240                 return transform_within_dist_polyline(ref, c, count, 0, dist);
1241         return transform_within_dist_polygon(ref, c, count, dist);
1242 }
1243
1244 void
1245 transform_destroy(struct transformation *t)
1246 {
1247         g_free(t);
1248 }
1249
1250
1251 /*
1252 Note: there are many mathematically equivalent ways to express these formulas. As usual, not all of them are computationally equivalent.
1253
1254 L = latitude in radians (positive north)
1255 Lo = longitude in radians (positive east)
1256 E = easting (meters)
1257 N = northing (meters)
1258
1259 For the sphere
1260
1261 E = r Lo
1262 N = r ln [ tan (pi/4 + L/2) ]
1263
1264 where
1265
1266 r = radius of the sphere (meters)
1267 ln() is the natural logarithm
1268
1269 For the ellipsoid
1270
1271 E = a Lo
1272 N = a * ln ( tan (pi/4 + L/2) * ( (1 - e * sin (L)) / (1 + e * sin (L))) ** (e/2)  )
1273
1274
1275                                                e
1276                                                -
1277                    pi     L     1 - e sin(L)   2
1278     =  a ln( tan( ---- + ---) (--------------)   )
1279                    4      2     1 + e sin(L)
1280
1281
1282 where
1283
1284 a = the length of the semi-major axis of the ellipsoid (meters)
1285 e = the first eccentricity of the ellipsoid
1286
1287
1288 */
1289
1290