static void addtomap(PointLatLngAlt pos, string tag)
{
}
public string SUBMITHOST; // Submitter Host “1.2.3.4” or “enduser5.faa.gov”
public List <List <PointLatLng> > GetPaths()
{
//RLN27.576944W97.108611LN27.468056W96.961111LN27.322222W97.050000LN27.345833W97.088889LN27.439167W97.186944RLN27.672778W97.212222LN27.576944W97.108611LN27.533333W97.133333LN27.638333W97.237222RCN27.686333W97.294667R007.00
List <List <PointLatLng> > list = new List <List <PointLatLng> >();
List <PointLatLng> pointlist = new List <PointLatLng>();
var matches = all.Matches(BOUND);
bool isarcterminate = false;
bool iscircleterminate = false;
int arcdir = 0;
PointLatLngAlt pointcent = null;
PointLatLngAlt pointstart = null;
foreach (Match item in matches)
{
try
{
if (item.Groups[0].Value.ToString().StartsWith("R") || item.Groups[0].Value.ToString().StartsWith("B"))
{
// start new element
if (pointlist.Count > 0)
{
list.Add(pointlist);
pointlist = new List <PointLatLng>();
}
}
if (item.Groups[2].Value == "L")
{
var point = new PointLatLngAlt(double.Parse(item.Groups[4].Value, CultureInfo.InvariantCulture), double.Parse(item.Groups[6].Value, CultureInfo.InvariantCulture));
if (item.Groups[3].Value == "S")
{
point.Lat *= -1;
}
if (item.Groups[5].Value == "W")
{
point.Lng *= -1;
}
if (isarcterminate)
{
double radius = pointcent.GetDistance(pointstart);
double startbearing = pointcent.GetBearing(pointstart);
double endbearing = pointcent.GetBearing(point);
if (arcdir > 0 && endbearing < startbearing)
{
endbearing += 360;
}
if (arcdir < 0)
{
for (double a = startbearing; a > endbearing; a += (10 * arcdir))
{
pointlist.Add(pointcent.newpos(a, radius));
}
}
else
{
for (double a = startbearing; a < endbearing; a += (10 * arcdir))
{
pointlist.Add(pointcent.newpos(a, radius));
}
}
pointlist.Add(point);
isarcterminate = false;
iscircleterminate = false;
continue;
}
if (iscircleterminate)
{
iscircleterminate = false;
continue;
}
pointlist.Add(point);
continue;
}
else if (item.Groups[7].Value == "A")
{
pointcent = new PointLatLngAlt(double.Parse(item.Groups[10].Value, CultureInfo.InvariantCulture), double.Parse(item.Groups[12].Value, CultureInfo.InvariantCulture));
if (item.Groups[9].Value == "S")
{
pointcent.Lat *= -1;
}
if (item.Groups[11].Value == "W")
{
pointcent.Lng *= -1;
}
pointstart = new PointLatLngAlt(double.Parse(item.Groups[14].Value, CultureInfo.InvariantCulture), double.Parse(item.Groups[16].Value, CultureInfo.InvariantCulture));
if (item.Groups[13].Value == "S")
{
pointstart.Lat *= -1;
}
if (item.Groups[15].Value == "W")
{
pointstart.Lng *= -1;
}
arcdir = item.Groups[8].Value == "+" ? 1 : -1;
isarcterminate = true;
continue;
}
else if (item.Groups[17].Value == "C")
{
var point = new PointLatLngAlt(double.Parse(item.Groups[19].Value, CultureInfo.InvariantCulture), double.Parse(item.Groups[21].Value, CultureInfo.InvariantCulture));
if (item.Groups[18].Value == "S")
{
point.Lat *= -1;
}
if (item.Groups[20].Value == "W")
{
point.Lng *= -1;
}
// radius in m from nautical miles
double radius = double.Parse(item.Groups[22].Value, CultureInfo.InvariantCulture) * 1852;
for (int a = 0; a <= 360; a += 10)
{
pointlist.Add(point.newpos(a, radius));
}
list.Add(pointlist);
pointlist = new List <PointLatLng>();
iscircleterminate = true;
continue;
}
}
catch { }
}
if (pointlist.Count > 0)
{
list.Add(pointlist);
}
return(list);
}
//http://www.chrobotics.com/library/understanding-euler-angles
// x = north / roll
// y = pitch / east
// z = yaw / down
public static List <PointLatLngAlt> calc(PointLatLngAlt plla, double R, double P, double Y, double hfov, double vfov)
{
// alt should be asl
// P pitch where the center os pointing ie -80
// R roll
// if roll and pitch is 0, use the quick method.
if (R == 0 && P == 0)
{
// calc fov in m on the ground at 0 alt
var fovh = Math.Tan(hfov / 2.0 * MathHelper.deg2rad) * plla.Alt;
var fovv = Math.Tan(vfov / 2.0 * MathHelper.deg2rad) * plla.Alt;
var fovd = Math.Sqrt(fovh * fovh + fovv * fovv);
// where we put our footprint
var ans2 = new List <PointLatLngAlt>();
// calc bearing from center to corner
var bearing1 = Math.Atan2(fovh, fovv) * MathHelper.rad2deg;
// calc first corner point
var newpos1 = plla.newpos(bearing1 + Y, Math.Sqrt(fovh * fovh + fovv * fovv));
// set alt to 0, as we used the hypot for distance and fov is based on 0 alt
newpos1.Alt = 0;
// calc intersection from center to new point and return ground hit point
var cen1 = calcIntersection(plla, newpos1);
// add to our footprint poly
ans2.Add(cen1);
addtomap(cen1, "cen1");
//repeat
newpos1 = plla.newpos(Y - bearing1, Math.Sqrt(fovh * fovh + fovv * fovv));
newpos1.Alt = 0;
cen1 = calcIntersection(plla, newpos1);
ans2.Add(cen1);
addtomap(cen1, "cen2");
newpos1 = plla.newpos(bearing1 + Y - 180, Math.Sqrt(fovh * fovh + fovv * fovv));
newpos1.Alt = 0;
cen1 = calcIntersection(plla, newpos1);
ans2.Add(cen1);
addtomap(cen1, "cen3");
newpos1 = plla.newpos(Y - bearing1 - 180, Math.Sqrt(fovh * fovh + fovv * fovv));
newpos1.Alt = 0;
cen1 = calcIntersection(plla, newpos1);
ans2.Add(cen1);
addtomap(cen1, "cen4");
addtomap(plla, "plane");
return(ans2);
}
double frontangle = (P * 0) + vfov / 2;
double backangle = (P * 0) - vfov / 2;
double leftangle = (R * 0) + hfov / 2;
double rightangle = (R * 0) - hfov / 2;
addtomap(plla, "plane");
Matrix3 dcm = new Matrix3();
dcm.from_euler(R * MathHelper.deg2rad, P * MathHelper.deg2rad, Y * MathHelper.deg2rad);
dcm.normalize();
Vector3 center1 = new Vector3(0, 0, 10000);
var test = dcm * center1;
var bearing2 = Math.Atan2(test.y, test.x) * MathHelper.rad2deg;
var newpos2 = plla.newpos(bearing2, Math.Sqrt(test.x * test.x + test.y * test.y));
newpos2.Alt -= test.z;
var cen = calcIntersection(plla, newpos2);
var dist = plla.GetDistance(cen);
addtomap(cen, "center " + dist.ToString("0"));
//
dcm.from_euler(R * MathHelper.deg2rad, P * MathHelper.deg2rad, Y * MathHelper.deg2rad);
dcm.rotate(new Vector3(rightangle * MathHelper.deg2rad, 0, 0));
dcm.normalize();
dcm.rotate(new Vector3(0, frontangle * MathHelper.deg2rad, 0));
dcm.normalize();
/*
* var mx = new Matrix3();
* var my = new Matrix3();
* var mz = new Matrix3();
*
* mx.from_euler((rightangle + R) * MathHelper.deg2rad, 0, 0);
* my.from_euler(0, (frontangle + P) * MathHelper.deg2rad, 0);
* mz.from_euler(0, 0, Y * MathHelper.deg2rad);
*
* printdcm(mx);
* printdcm(my);
* printdcm(mz);
* printdcm(my * mx);
* printdcm(mz * my * mx);
*
* test = mz * my * mx * center1;
*/
test = dcm * center1;
bearing2 = (Math.Atan2(test.y, test.x) * MathHelper.rad2deg);
newpos2 = plla.newpos(bearing2, Math.Sqrt(test.x * test.x + test.y * test.y));
newpos2.Alt -= test.z;
//addtomap(newpos2, "tr2");
var groundpointtr = calcIntersection(plla, newpos2);
addtomap(groundpointtr, "tr");
//
dcm.from_euler(R * MathHelper.deg2rad, P * MathHelper.deg2rad, Y * MathHelper.deg2rad);
dcm.rotate(new Vector3(leftangle * MathHelper.deg2rad, 0, 0));
dcm.normalize();
dcm.rotate(new Vector3(0, frontangle * MathHelper.deg2rad, 0));
dcm.normalize();
test = dcm * center1;
bearing2 = Math.Atan2(test.y, test.x) * MathHelper.rad2deg;
newpos2 = plla.newpos(bearing2, Math.Sqrt(test.x * test.x + test.y * test.y));
newpos2.Alt -= test.z;
var groundpointtl = calcIntersection(plla, newpos2);
addtomap(groundpointtl, "tl");
//
dcm.from_euler(R * MathHelper.deg2rad, P * MathHelper.deg2rad, Y * MathHelper.deg2rad);
dcm.rotate(new Vector3(leftangle * MathHelper.deg2rad, 0, 0));
dcm.normalize();
dcm.rotate(new Vector3(0, backangle * MathHelper.deg2rad, 0));
dcm.normalize();
test = dcm * center1;
bearing2 = Math.Atan2(test.y, test.x) * MathHelper.rad2deg;
newpos2 = plla.newpos(bearing2, Math.Sqrt(test.x * test.x + test.y * test.y));
newpos2.Alt -= test.z;
var groundpointbl = calcIntersection(plla, newpos2);
addtomap(groundpointbl, "bl");
//
dcm.from_euler(R * MathHelper.deg2rad, P * MathHelper.deg2rad, Y * MathHelper.deg2rad);
dcm.rotate(new Vector3(rightangle * MathHelper.deg2rad, 0, 0));
dcm.normalize();
dcm.rotate(new Vector3(0, backangle * MathHelper.deg2rad, 0));
dcm.normalize();
test = dcm * center1;
bearing2 = Math.Atan2(test.y, test.x) * MathHelper.rad2deg;
newpos2 = plla.newpos(bearing2, Math.Sqrt(test.x * test.x + test.y * test.y));
newpos2.Alt -= test.z;
var groundpointbr = calcIntersection(plla, newpos2);
addtomap(groundpointbr, "br");
//
var ans = new List <PointLatLngAlt>();
ans.Add(groundpointtl);
ans.Add(groundpointtr);
ans.Add(groundpointbr);
ans.Add(groundpointbl);
return(ans);
}
