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/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "QGCGeoBoundingCube.h"
#include <QDebug>
#include <cmath>
double QGCGeoBoundingCube::MaxAlt = 1000000.0;
double QGCGeoBoundingCube::MinAlt = -1000000.0;
double QGCGeoBoundingCube::MaxNorth = 90.0;
double QGCGeoBoundingCube::MaxSouth = -90.0;
double QGCGeoBoundingCube::MaxWest = -180.0;
double QGCGeoBoundingCube::MaxEast = 180.0;
//-----------------------------------------------------------------------------
QGCGeoBoundingCube::QGCGeoBoundingCube(QObject* parent)
: QObject(parent)
{
reset();
}
//-----------------------------------------------------------------------------
bool
QGCGeoBoundingCube::isValid() const
{
return pointNW.isValid() && pointSE.isValid() && pointNW.latitude() != MaxSouth && pointSE.latitude() != MaxNorth && \
pointNW.longitude() != MaxEast && pointSE.longitude() != MaxWest && pointNW.altitude() < MaxAlt && pointSE.altitude() > MinAlt;
}
//-----------------------------------------------------------------------------
void
QGCGeoBoundingCube::reset()
{
pointNW = QGeoCoordinate(MaxSouth, MaxEast, MaxAlt);
pointSE = QGeoCoordinate(MaxNorth, MaxWest, MinAlt);
}
//-----------------------------------------------------------------------------
QGeoCoordinate
QGCGeoBoundingCube::center() const
{
if(!isValid())
return QGeoCoordinate();
double lat = (((pointNW.latitude() + 90.0) + (pointSE.latitude() + 90.0)) / 2.0) - 90.0;
double lon = (((pointNW.longitude() + 180.0) + (pointSE.longitude() + 180.0)) / 2.0) - 180.0;
double alt = (pointNW.altitude() + pointSE.altitude()) / 2.0;
return QGeoCoordinate(lat, lon, alt);
}
//-----------------------------------------------------------------------------
QList<QGeoCoordinate>
QGCGeoBoundingCube::polygon2D(double clipTo) const
{
QList<QGeoCoordinate> coords;
if(isValid()) {
//-- Should we clip it?
if(clipTo > 0.0 && area() > clipTo) {
//-- Clip it to a square of given area centered on current bounding box center.
double side = sqrt(clipTo);
QGeoCoordinate c = center();
double a = pow((side * 0.5), 2);
double h = sqrt(a + a) * 1000.0;
QGeoCoordinate nw = c.atDistanceAndAzimuth(h, 315.0);
QGeoCoordinate se = c.atDistanceAndAzimuth(h, 135.0);
coords.append(QGeoCoordinate(nw.latitude(), nw.longitude(), se.altitude()));
coords.append(QGeoCoordinate(nw.latitude(), se.longitude(), se.altitude()));
coords.append(QGeoCoordinate(se.latitude(), se.longitude(), se.altitude()));
coords.append(QGeoCoordinate(se.latitude(), nw.longitude(), se.altitude()));
coords.append(QGeoCoordinate(nw.latitude(), nw.longitude(), se.altitude()));
} else {
coords.append(QGeoCoordinate(pointNW.latitude(), pointNW.longitude(), pointSE.altitude()));
coords.append(QGeoCoordinate(pointNW.latitude(), pointSE.longitude(), pointSE.altitude()));
coords.append(QGeoCoordinate(pointSE.latitude(), pointSE.longitude(), pointSE.altitude()));
coords.append(QGeoCoordinate(pointSE.latitude(), pointNW.longitude(), pointSE.altitude()));
coords.append(QGeoCoordinate(pointNW.latitude(), pointNW.longitude(), pointSE.altitude()));
}
}
return coords;
}
//-----------------------------------------------------------------------------
bool
QGCGeoBoundingCube::operator ==(const QList<QGeoCoordinate>& coords) const
{
QList<QGeoCoordinate> c = polygon2D();
if(c.size() != coords.size()) return false;
for(int i = 0; i < c.size(); i++) {
if(c[i] != coords[i]) return false;
}
return true;
}
//-----------------------------------------------------------------------------
double
QGCGeoBoundingCube::width() const
{
if(!isValid())
return 0.0;
QGeoCoordinate ne = QGeoCoordinate(pointNW.latitude(), pointSE.longitude());
return pointNW.distanceTo(ne);
}
//-----------------------------------------------------------------------------
double
QGCGeoBoundingCube::height() const
{
if(!isValid())
return 0.0;
QGeoCoordinate sw = QGeoCoordinate(pointSE.latitude(), pointNW.longitude());
return pointNW.distanceTo(sw);
}
//-----------------------------------------------------------------------------
double
QGCGeoBoundingCube::area() const
{
if(!isValid())
return 0.0;
// Area in km^2
double a = (height() / 1000.0) * (width() / 1000.0);
return a;
}
//-----------------------------------------------------------------------------
double
QGCGeoBoundingCube::radius() const
{
if(!isValid())
return 0.0;
return pointNW.distanceTo(pointSE) / 2.0;
}