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x3domDis.js
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if (typeof dis === "undefined")
dis = {};
// Set up dis as a lower level psuedo-namespace with x3dom
x3dom.dis = dis;
// Support for node.js style modules; ignore if not using node.js require
if (typeof exports === "undefined")
exports = {};
x3dom.dis.CoordinateConversion = function()
{
this.RADIANS_TO_DEGREES = 180.0/Math.PI;
this.DEGREES_TO_RADIANS = Math.PI/180.0;
this.a = 6378137.0; //semi major axis (WGS 84)
this.b = 6356752.3142; //semi minor axis (WGS 84)
/**
* Converts DIS xyz world coordinates to latitude and longitude (IN DEGREES). This algorithm may not be 100% accurate
* near the poles. Uses WGS84 , though you can change the ellipsoid constants a and b if you want to use something
* else. These formulas were obtained from Military Handbook 600008. The code itself has been
* translated from C to Java to Javascript over the years, so hold onto your hats.
*
* @param position {x:, y:, z:}
* @return {latitude:, longitude: altitude:}
*/
x3dom.dis.CoordinateConversion.prototype.convertDisToLatLongInDegrees = function(position)
{
var x = position.x;
var y = position.y;
var z = position.z;
var answer = [];
answer[0] = 0.0;
answer[1] = 0.0;
answer[2] = 0.0;
var a = 6378137.0; //semi major axis (WGS 84)
var b = 6356752.3142; //semi minor axis (WGX 84)
var eSquared; //first eccentricity squared
var rSubN; //radius of the curvature of the prime vertical
var ePrimeSquared;//second eccentricity squared
var W = Math.sqrt((x*x + y*y));
eSquared = (a*a - b*b) / (a*a);
ePrimeSquared = (a*a - b*b) / (b*b);
/**
* Get the longitude.
*/
if(x >= 0 )
{
answer[1] = Math.atan(y/x);
}
else if(x < 0 && y >= 0)
{
answer[1] = Math.atan(y/x) + Math.PI;
}
else
{
answer[1] = Math.atan(y/x) - Math.PI;
}
/**
* Longitude calculation done. Now calculate latitude.
* NOTE: The handbook mentions using the calculated phi (latitude) value to recalculate B
* using tan B = (1-f) tan phi and then performing the entire calculation again to get more accurate values.
* However, for terrestrial applications, one iteration is accurate to .1 millimeter on the surface of the
* earth (Rapp, 1984, p.124), so one iteration is enough for our purposes
*/
var tanBZero = (a*z) / (b * W);
var BZero = Math.atan((tanBZero));
var tanPhi = (z + (ePrimeSquared * b * (Math.pow(Math.sin(BZero), 3))) ) /(W - (a * eSquared * (Math.pow(Math.cos(BZero), 3))));
var phi = Math.atan(tanPhi);
answer[0] = phi;
/**
* Latitude done, now get the elevation. Note: The handbook states that near the poles, it is preferable to use
* h = (Z / sin phi ) - rSubN + (eSquared * rSubN). Our applications are never near the poles, so this formula
* was left unimplemented.
*/
rSubN = (a*a) / Math.sqrt(((a*a) * (Math.cos(phi)*Math.cos(phi)) + ((b*b) * (Math.sin(phi)*Math.sin(phi)))));
answer[2] = (W / Math.cos(phi)) - rSubN;
var result = {latitude:answer[0] * this.RADIANS_TO_DEGREES, longitude:answer[1] * this.RADIANS_TO_DEGREES, altitude:answer[2] * this.RADIANS_TO_DEGREES};
return result;
};
/**
* Converts lat long and geodetic height (elevation) into DIS XYZ
* This algorithm also uses the WGS84 ellipsoid, though you can change the values
* of a and b for a different ellipsoid. Adapted from Military Handbook 600008
* @param latLonAlt {lat: lon: alt:} in degrees and meters
* @return {x: y: z:} in meters
*/
x3dom.dis.CoordinateConversion.prototype.getXYZfromLatLonAltDegrees = function(latLonAlt)
{
var latitudeRadians = latLonAlt.lat * this.DEGREES_TO_RADIANS;
var longtitudeRadians = latLonAlt.lon * this.DEGREES_TO_RADIANS;
//var a = 6378137.0; //semi major axis
//var b = 6356752.3142; //semi minor axis
var cosLat = Math.cos(latitudeRadians);
var sinLat = Math.sin(latitudeRadians);
var rSubN = (this.a*this.a) / Math.sqrt(((this.a*this.a) * (cosLat*cosLat) + ((this.b*this.b) * (sinLat*sinLat))));
var X = (rSubN + latLonAlt.alt) * cosLat * Math.cos(longtitudeRadians);
var Y = (rSubN + latLonAlt.alt) * cosLat * Math.sin(longtitudeRadians);
var Z = ((((this.b*this.b) / (this.a*this.a)) * rSubN) + latLonAlt.alt) * sinLat;
return {x:X, y:Y, z:Z};
};
};
exports.CoordinateConversion = x3dom.dis.CoordinateConversion;
/**
* Some code to extract the entity apperance bit fields.<p>
*
* The entityAppearance field in the espdu is a 32 bit integer. To save
* space, several different fields are contained within it.
* Specifically:
*
* Name bit position Purpose
* ---- ------------ --------
* Paint 0 0 = uniform color, 1=camo
* Mobility 1 0 = no mobility kill, 1 = mobility kill
* Fire Power 2 0 = no firepower kill, 1 = firepower kill
* Damage 3-4 0=no damange, 1=slight, 2=moderate, 3=destroyed
* Smoke 5-6 0=not smoking, 1=smoke plume, 2=emitting engine smoke, 3=engine smoke + smoke plume
* Trailing effects 7-8 dust cloud, 0=none, 1=small, 2=medium, 3=large
* hatch 9-11 0=NA, 1=hatch closed, 2=popped, 3=popped + person visible, 4=open, 5=open and visible
* head lights 12 0=off, 1=on
* tail light 13 0=off, 1=on
* brake lights 14 0=off, 1=on
* flaming 15 0=none, 1=flames present
* launcher 16 0=not raised, 1=raised
* camo type 17-18 0=desert, 1=winter, 2=forest
* concealed 19 0=not concealed, 1=prepared concealed position (netting, etc)
* frozen status 20 0=not frozen, 1=frozen (in simulation terms)
* power plant 22 0=power plant off 1=on
* state 23 0=active, 1=deactivated
* tent 24 0=not extended 1=extended
* ramp 25 0=not extended, 1=extended
* blackout lights 26 0=off, 1=on
* blackout brake 27 0=off, 1=on
* spot lights 28 0=off, 1=on
* interior lights 29 0=off, 1=on
* unused 30-31
*
* Typical use:
*
* var entityAppearance = new DisAppearance(espdu.entityAppearance);
* var damage = entityAppearance.getBitfield(3, 4);
*
* This returns the "damage" bitfield in bits 3-4.
*
* var mobility = entityAppearance.getBitfield(1, 1);
*
* Returns the mobility field, 0 = no mobo kill, 1 = mobility kill
*
* @author DMcG
**/
if (typeof dis === "undefined")
dis = {};
// Support for node.js style modules; ignore if not using node.js require
if (typeof exports === "undefined")
exports = {};
/** Constructor. Takes the integer value extracted from the DIS Entity State Field appearance
*
* @param {type} integerValue the entity appearance from the espdu
* @returns {undefined}
*/
x3dom.dis.DisAppearance = function(integerValue)
{
this.entityAppearance = integerValue;
}
/**
* Test code for creating the correct bitmask
* @returns {undefined}
*/
x3dom.dis.DisAppearance.prototype.getTestMask = function()
{
mask = 0;
for(var idx = 0; idx < 7; idx++)
{
mask = mask + this.bit_set(mask, idx);
}
return mask;
};
/**
*
* @param {integer} startPosition
* @param {integer} finishPosition
* @returns {integer}
*/
x3dom.dis.DisAppearance.prototype.getBitField = function(startPosition, finishPosition)
{
// do some sanity checks
if(startPosition < 0 || startPosition > 31 || finishPosition < 0 || finishPosition > 31 || startPosition > finishPosition)
{
console.log("invalid start or finish for bitfield values: ", startPosition, " ", finishPosition);
return 0;
}
// Develop the mask. Addition is equivalent to setting multiple bits.
var mask = 0;
for(var idx = startPosition; idx <= finishPosition; idx++)
{
mask = mask + this.bit_set(0, idx);
}
// do the bitmask
var maskedValue = this.entityAppearance & mask;
// Shift bits to get the normalized value
var fieldValue = maskedValue >>> startPosition;
return fieldValue;
};
/** Set the "bit" position in a number to 1
*
* @param {integer} num the number whose bit we are setting. Typically zero.
* @param {integer} bit which bit to set
* @return {integer} the number passed in, with the "bit"th bit flipped on.
**/
x3dom.dis.DisAppearance.prototype.bit_set = function(num, bit)
{
return num | 1<<bit;
}
exports.DisAppearance = x3dom.dis.DisAppearance;
//var BigInteger = require('BigInteger');
if (typeof dis === "undefined")
dis = {};
// Support for node.js style modules; ignore if not using node.js require
if (typeof exports === "undefined")
exports = {};
x3dom.dis.InputStream = function(binaryData)
{
this.dataView = new DataView(binaryData, 0); // data, byte offset
this.currentPosition = 0; // ptr to "current" position in array
x3dom.dis.InputStream.prototype.readUByte = function()
{
var data = this.dataView.getUint8(this.currentPosition);
this.currentPosition = this.currentPosition + 1;
return data;
};
x3dom.dis.InputStream.prototype.readByte = function()
{
var data = this.dataView.getInt8(this.currentPosition);
this.currentPosition = this.currentPosition + 1;
return data;
};
x3dom.dis.InputStream.prototype.readUShort = function()
{
var data = this.dataView.getUint16(this.currentPosition);
this.currentPosition = this.currentPosition + 2;
return data;
};
x3dom.dis.InputStream.prototype.readShort = function()
{
var data = this.dataView.getInt16(this.currentPosition);
this.currentPosition = this.currentPosition + 2;
return data;
};
x3dom.dis.InputStream.prototype.readUInt = function()
{
var data = this.dataView.getUint32(this.currentPosition);
this.currentPosition = this.currentPosition + 4;
return data;
};
x3dom.dis.InputStream.prototype.readInt = function()
{
var data = this.dataView.getInt32(this.currentPosition);
this.currentPosition = this.currentPosition + 4;
return data;
};
/** Read a long integer. Assumes big endian format. Uses the BigInteger package. */
x3dom.dis.InputStream.prototype.readLongInt = function()
{
var data1 = this.dataView.getInt32(this.currentPosition);
var data2 = this.dataView.getInt32(this.currentPosition + 4);
this.currentPosition = this.currentPosition + 8;
};
x3dom.dis.InputStream.prototype.readFloat32 = function()
{
var data = this.dataView.getFloat32(this.currentPosition);
this.currentPosition = this.currentPosition + 4;
return data;
};
x3dom.dis.InputStream.prototype.readFloat64 = function()
{
var data = this.dataView.getFloat64(this.currentPosition);
this.currentPosition = this.currentPosition + 8;
return data;
};
x3dom.dis.InputStream.prototype.readLong = function()
{
console.log("Problem in x3dom.dis.InputStream. Javascript cannot natively handle 64 bit ints");
console.log("Returning 0 from read, which is almost certainly wrong");
this.currentPosition = this.currentPosition + 8;
return 0;
};
};
exports.InputStream = x3dom.dis.InputStream;
if (typeof dis === "undefined")
dis = {};
// Support for node.js style modules; ignore if not using node.js require
if (typeof exports === "undefined")
exports = {};
/**
* @param binaryDataBuffer ArrayBuffer
*/
x3dom.dis.OutputStream = function(binaryDataBuffer)
{
this.binaryData = binaryDataBuffer;
this.dataView = new DataView(this.binaryData); // data, byte offset
this.currentPosition = 0; // ptr to current position in array
x3dom.dis.OutputStream.prototype.writeUByte = function(userData)
{
this.dataView.setUint8(this.currentPosition, userData);
this.currentPosition = this.currentPosition + 1;
};
x3dom.dis.OutputStream.prototype.writeByte = function(userData)
{
this.dataView.setInt8(this.currentPosition, userData);
this.currentPosition = this.currentPosition + 1;
};
x3dom.dis.OutputStream.prototype.writeUShort = function(userData)
{
this.dataView.setUint16(this.currentPosition, userData);
this.currentPosition = this.currentPosition + 2;
};
x3dom.dis.OutputStream.prototype.writeShort = function(userData)
{
this.dataView.setInt16(this.currentPosition, userData);
this.currentPosition = this.currentPosition + 2;
};
x3dom.dis.OutputStream.prototype.writeUInt = function(userData)
{
this.dataView.setUint32(this.currentPosition, userData);
this.currentPosition = this.currentPosition + 4;
};
x3dom.dis.OutputStream.prototype.writeInt = function(userData)
{
this.dataView.setInt32(this.currentPosition, userData);
this.currentPosition = this.currentPosition + 4;
};
x3dom.dis.OutputStream.prototype.writeFloat32 = function(userData)
{
this.dataView.setFloat32(this.currentPosition, userData);
this.currentPosition = this.currentPosition + 4;
};
x3dom.dis.OutputStream.prototype.writeFloat64 = function(userData)
{
this.dataView.setFloat64(this.currentPosition, userData);
this.currentPosition = this.currentPosition + 8;
};
x3dom.dis.OutputStream.prototype.writeLong = function(userData)
{
console.log("Problem in x3dom.dis.outputStream. Javascript cannot natively handle 64 bit ints");
console.log("writing 0, which is almost certainly wrong");
this.dataView.setInt32(this.currentPosition, 0);
this.dataView.setInt32(this.currentPosition + 4, 0);
this.currentPosition = this.currentPosition + 8;
};
};
exports.OutputStream = x3dom.dis.OutputStream;
if (typeof dis === "undefined")
dis = {};
// Support for node.js style modules; ignore if not using node.js require
if (typeof exports === "undefined")
exports = {};
/**
* The PDU factory is responsible for decoding binary data and turning
* it into the appropriate type of PDU.
*
* The websocket will typically send the web page a IEEE 1278.1 binary
* array of data. It could be any one of dozens of PDUs. The start of
* all PDUs is the same--they have the same header. One of the fields in
* the header is the PduType, an 8 bit integer with a unqiue value for
* each type of PDU. We have to peak at that value, decide what type
* of PDU to create of the binary we have received, and then decode it.
*
* * @DMcG
*/
x3dom.dis.PduFactory = function()
{
};
/**
* decode incoming binary data and
* return the correct type of PDU.
*
* @param {type} data the IEEE 1278.1 binary data
* @returns {Pdu} Returns an instance of some PDU, be it espdu, fire, detonation, etc. Exception if PduType not known.
*/
x3dom.dis.PduFactory.prototype.createPdu = function(data)
{
var asUint8Array = new Uint8Array(data);
var pduType = asUint8Array[2];
var inputStream = new x3dom.dis.InputStream(data);
var newPdu = null;
//try
//{
switch(pduType)
{
case 1: // entity state PDU
newPdu = new x3dom.dis.EntityStatePdu();
newPdu.initFromBinary(inputStream);
break;
case 2: // Fire
newPdu = new x3dom.dis.FirePdu();
newPdu.initFromBinary(inputStream);
break;
case 3: // detonation
newPdu = new x3dom.dis.DetonationPdu();
newPdu.initFromBinary(inputStream);
break;
case 4: // Collision
newPdu = new x3dom.dis.CollisionPdu();
newPdu.initFromBinary(inputStream);
break;
case 11: // Create entity
newPdu = new x3dom.dis.CreateEntityPdu();
newPdu.initFromBinary(inputStream);
break;
case 12: // Remove entity
newPdu = new x3dom.dis.RemoveEntityPdu();
newPdu.initFromBinary(inputStream);
break;
case 20: // data
newPdu = new x3dom.dis.DataPdu();
newPdu.initFromBinary(inputStream);
break;
default:
throw "PduType: " + pduType + " Unrecognized PDUType. Add PDU in x3dom.dis.PduFactory.";
}
//}
// This also picks up any errors decoding what we though was a "normal" PDU
//catch(error)
//{
// newPdu = null;
//}
return newPdu;
};
x3dom.dis.PduFactory.prototype.getPdusFromBundle = function(data)
{
}
exports.PduFactory = x3dom.dis.PduFactory;
/**
* Sets up a local tangent place (ENU) coordinate system at a given location
* and altitude, and handles conversions between geodetic, ECEF, and local
* tangent plane coordinate systems.
*
* For reference see "Conversion of Geodetic coordinates to the Local
* Tangent Plane", version 2.01,
* http://www.psas.pdx.edu/CoordinateSystem/Latitude_to_LocalTangent.pdf
*
* and "Geodetic Systems",
* http://wiki.gis.com/wiki/index.php/Geodetic_system#From_geodetic_coordinates_to_local_ENU_coordinates
*
* There's also a bunch of ancient code from older versions that someone, somewhere,
* lifted from a military handbook, originally written in C, translated to Java,
* and now translated to Javascript.
*
* Terminology:
*
* ECEF: earth centered, earth fixed coordinate system, same as DIS. Cartesian,
* origin at center of the earth, z through north pole, x out the equator and
* prime meridian, y out equator and 90 deg east. This coordinate system rotates
* with the earth, ie the x axis always points out the prime meridian and equator
* even as the earth rotates.
*
* Geodetic: latitude, longitude, altitude.
*
* WGS84: Shape of the earth, an ellipsoid roughly, with a and b the semimajor and semiminor axes
*
* ENU: East, North, Up: local coordinate system with a given geodetic origin. Tangent
* plane to the earth.
*
* All Errors mine
*
* @DMcG
*
* @param {float} lat latitude in degrees of the origin of the local tangent plane coordinate system
* @param {float} lon longitude, in degrees, of origin
* @param {float} alt altitude, in meters, of the origin of the local tangent plane coordinate system
*/
if (typeof dis === "undefined")
dis = {};
// Support for node.js style modules; ignore if not using node.js require
if (typeof exports === "undefined")
exports = {};
/** Constructor, creates an object that can do coordinate systems conversions.
* Takes a geodetic point that is the origin of a tangent plane to the surface
* of the earth. This is useful for doing local simulation work. The local
* coordinate system has postive x east, positive y north, and positive Z up,
* aka an ENU coordinate system. Methods for converting from that coordinate system
* to the DIS (ECEF) coordinate system or geotetic coordinate systems are provided.
*
* @param {type} lat latitude, in degrees, of where the local tangent plane is located
* @param {type} lon longitude, in degrees, of the origin of the local tangent plane
* @param {type} alt altitude, in meters, of the origin of the local tangent plane
* @returns {RangeCoordinates} An object that can do coordinate system conversions
*/
x3dom.dis.RangeCoordinates = function(lat, lon, alt)
{
this.RADIANS_PER_DEGREE = 2 * Math.PI / 360.0;
this.DEGREES_PER_RADIAN = 360.0 / (2* Math.PI);
/** WGS84 semimajor axis (constant) */
this.a = 6378137.0;
/** WGS84 semiminor axis (constant) */
this.b = 6356752.3142;
/** Ellipsoidal Flatness (constant) */
this.f = (this.a - this.b) / this.a; // Should be 3.3528107 X 10^-3
/** Eccentricity (constant) */
this.e = Math.sqrt(this.f * (2 - this.f)); // Should be 8.1819191 X 10^-2
// The origin of the local, East-North-Up (ENU) coordinate system, in lat/lon degrees and meters.
this.ENUOrigin = {};
this.ENUOrigin.latitude = lat;
this.ENUOrigin.longitude = lon;
this.ENUOrigin.altitude = alt;
// Find the origin of the ENU in earth-centered, earth-fixed ECEF aka DIS coordinates
this.ENUOriginInECEF = {};
this.ENUOriginInECEF = this.latLonAltDegreesToECEF(lat, lon, alt);
};
/** Determines N, the distance from a normal plane at the given
* latitude to the Z-axis running through the center of the earth.
* This is NOT the same as the distance to the center of the earth.
*
* @param {float} lambda the latitude, in radians.
* @returns {float} distance in meters from the latitude to the axis of the earth
*/
x3dom.dis.RangeCoordinates.prototype.N = function(lambda)
{
//N(lambda) = a / sqrt( 1 - e^2 * sin^2(lambda) )
var val = this.a / Math.sqrt(1- ( Math.pow(this.e, 2) * Math.pow( Math.sin(lambda), 2) ) );
return val;
};
/**
* Converts a latitude, longitude, and altitude object to DIS rectilinear
* coordinates, aka earth-centered, earth-fixed, rectilinear.
*
* @param {latitude:longitude:altitude:} latLonAlt The lat/lon/alt, in degrees and meters
* @returns {x, y, z} rectilienar coordinates in ECEF, aka DIS coordinates
*/
x3dom.dis.RangeCoordinates.prototype.latLonAltDegreesObjectToECEF = function(latLonAlt)
{
return this.latLonAltDegreesToECEF(latLonAlt.latitude, latLonAlt.longitude, latLonAlt.altitude);
};
/**
* Converts a latitude, longitude, and altitude to DIS rectilinear
* coordinates, aka earth-centered, earth-fixed, rectilinear.
*
* @param {float} latitude (in radians)
* @param {float} longitude (in radians)
* @param {float} altitude (in meters)
* @returns {x, y, z} rectilienar coordinates in ECEF-r, aka DIS coordinates
*/
x3dom.dis.RangeCoordinates.prototype.latLonAltRadiansToECEF = function(latitude, longitude, altitude)
{
/*
// altitude corresponds to h in the paper, lambda to latitude, phi to longitude
var x = (altitude + this.N(latitude)) * Math.cos(latitude) * Math.cos(longitude);
var y = (altitude + this.N(latitude)) * Math.cos(latitude) * Math.sin(longitude);
var z = (altitude + (1 - Math.pow(this.e, 2) ) * this.N(latitude)) * Math.sin(longitude);
var coordinates = {};
coordinates.x = x;
coordinates.y = y;
coordinates.z = z;
*/
var cosLat = Math.cos(latitude);
var sinLat = Math.sin(latitude);
var rSubN = (this.a*this.a) / Math.sqrt(((this.a*this.a) * (cosLat*cosLat) + ((this.b*this.b) * (sinLat*sinLat))));
var X = (rSubN + altitude) * cosLat * Math.cos(longitude);
var Y = (rSubN + altitude) * cosLat * Math.sin(longitude);
var Z = ((((this.b*this.b) / (this.a*this.a)) * rSubN) + altitude) * sinLat;
return {x:X, y:Y, z:Z};
};
/*
*
* @param {type} latitude in degrees
* @param {type} longitude in degrees
* @param {type} altitude in meters
* @returns {x,y,z} coordinates in ECEF, in meters aka DIS global coordinates
*/
x3dom.dis.RangeCoordinates.prototype.latLonAltDegreesToECEF = function(latitude, longitude, altitude)
{
return this.latLonAltRadiansToECEF(latitude * this.RADIANS_PER_DEGREE, longitude * this.RADIANS_PER_DEGREE, altitude);
};
/**
* Converts DIS xyz world coordinates to latitude and longitude (IN DEGREES). This algorithm may not be 100% accurate
* near the poles. Uses WGS84 , though you can change the ellipsoid constants a and b if you want to use something
* else. These formulas were obtained from Military Handbook 600008. The code itself has been
* translated from C to Java to Javascript over the years, so hold onto your hats. (This is
* copied from other sources than those listed above. Seems to work, though.)
*
* @param position {x:, y:, z:}
* @return {latitude:, longitude: altitude:}
*/
x3dom.dis.RangeCoordinates.prototype.ECEFObjectToLatLongAltInDegrees = function(position)
{
var x = position.x;
var y = position.y;
var z = position.z;
var answer = [];
answer[0] = 0.0;
answer[1] = 0.0;
answer[2] = 0.0;
var a = this.a; // semi major axis (WGS 84)
var b = this.b; //semi minor axis (WGS 84)
var eSquared; //first eccentricity squared
var rSubN; //radius of the curvature of the prime vertical
var ePrimeSquared;//second eccentricity squared
var W = Math.sqrt((x*x + y*y));
eSquared = (a*a - b*b) / (a*a);
ePrimeSquared = (a*a - b*b) / (b*b);
/**
* Get the longitude.
*/
if(x >= 0 )
{
answer[1] = Math.atan(y/x);
}
else if(x < 0 && y >= 0)
{
answer[1] = Math.atan(y/x) + Math.PI;
}
else
{
answer[1] = Math.atan(y/x) - Math.PI;
}
/**
* Longitude calculation done. Now calculate latitude.
* NOTE: The handbook mentions using the calculated phi (latitude) value to recalculate B
* using tan B = (1-f) tan phi and then performing the entire calculation again to get more accurate values.
* However, for terrestrial applications, one iteration is accurate to .1 millimeter on the surface of the
* earth (Rapp, 1984, p.124), so one iteration is enough for our purposes
*/
var tanBZero = (a*z) / (b * W);
var BZero = Math.atan((tanBZero));
var tanPhi = (z + (ePrimeSquared * b * (Math.pow(Math.sin(BZero), 3))) ) /(W - (a * eSquared * (Math.pow(Math.cos(BZero), 3))));
var phi = Math.atan(tanPhi);
answer[0] = phi;
/**
* Latitude done, now get the elevation. Note: The handbook states that near the poles, it is preferable to use
* h = (Z / sin phi ) - rSubN + (eSquared * rSubN). Our applications are never near the poles, so this formula
* was left unimplemented.
*/
rSubN = (a*a) / Math.sqrt(((a*a) * (Math.cos(phi)*Math.cos(phi)) + ((b*b) * (Math.sin(phi)*Math.sin(phi)))));
answer[2] = (W / Math.cos(phi)) - rSubN;
var ld = answer[0] * this.DEGREES_PER_RADIAN;
var lnd = answer[1] * this.DEGREES_PER_RADIAN;
var result = {latitude:ld, longitude:lnd, altitude:answer[2]};
return result;
};
/**
* Converts an ECEF position to the local ENU coordinate system. Units are meters,
* and the origin of the ENU coordinate system is set in the constructor.
*
* @param {x:y:z:} ecefPosition ecef position (in meters)
* @returns {x:y:z:} object with x, y, and z local coordinates, ENU
*/
x3dom.dis.RangeCoordinates.prototype.ECEFObjectToENU = function(ecefPosition)
{
return this.ECEFtoENU(ecefPosition.x, ecefPosition.y, ecefPosition.z);
};
/**
* Converts an ECEF position to the local ENU coordinate system. Units are meters,
* and the origin of the ENU coordinate system is set in the constructor.
*
* @param {float} X the X coordinate of the ECEF position
* @param {float} Y the Y coordinate
* @param {float} Z the Z coordinate
* @returns {x:y:z:} object with x, y, and z local coordinates, ENU
*/
x3dom.dis.RangeCoordinates.prototype.ECEFtoENU = function(X, Y, Z)
{
// Origin of ENU tangent plane coordinate system in ECEF coordinate system
var Xr = this.ENUOriginInECEF.x;
var Yr = this.ENUOriginInECEF.y;
var Zr = this.ENUOriginInECEF.z;
var originLonRadians = this.ENUOrigin.longitude * this.RADIANS_PER_DEGREE;
var originLatRadians = this.ENUOrigin.latitude * this.RADIANS_PER_DEGREE;
e = -(Math.sin(originLonRadians)) * (X-Xr) + Math.cos(originLonRadians) * (Y-Yr);
n = -(Math.sin(originLatRadians)) * Math.cos(originLonRadians) * (X-Xr) - Math.sin(originLatRadians) * Math.sin(originLonRadians) * (Y-Yr) + Math.cos(originLatRadians) * (Z-Zr);
u = Math.cos(originLatRadians) * Math.cos(originLonRadians) * (X-Xr) + Math.cos(originLatRadians) * Math.sin(originLonRadians) * (Y-Yr) + Math.sin(originLatRadians) * (Z-Zr);
// Local coordinate system x, y, z
return {x:e, y:n, z:u};
};
/**
* Converts a local coordinate system / ENU/ Local Tangent Plane object to ECEF, aka DIS coordinates.
*
* @param enuPosition {x:y:z:} local coordinate object
* @returns {x:y:z:} point in ECEF / DIS coordinate system
*/
x3dom.dis.RangeCoordinates.prototype.ENUObjectToECEF = function(enuPosition)
{
return this.ENUtoECEF(enuPosition.x, enuPosition.y, enuPosition.z);
};
/**
* Converts a local coordinate system / ENU/ Local Tangent Plane point to ECEF, aka DIS coordinates.
*
* @param localX {float} local coordinate system X
* @param localY {float} local coordinate system Y
* @param localZ {float} local coordinate system Z
* @returns {x:y:z:} point in ECEF / DIS coordinate system
*/
x3dom.dis.RangeCoordinates.prototype.ENUtoECEF = function(localX, localY, localZ)
{
// ENU local coordinate system origin, in ECEF
var Xr = this.ENUOriginInECEF.x;
var Yr = this.ENUOriginInECEF.y;
var Zr = this.ENUOriginInECEF.z;
var refLong = this.ENUOrigin.longitude;
var refLat = this.ENUOrigin.latitude;
/** original code this was copied from
function [X, Y, Z] = enu2xyz(refLat, refLong, refH, e, n, u)
% Convert east, north, up coordinates (labeled e, n, u) to ECEF
% coordinates. The reference point (phi, lambda, h) must be given. All distances are in metres
[Xr,Yr,Zr] = llh2xyz(refLat,refLong, refH); % location of reference point
X = -sin(refLong)*e - cos(refLong)*sin(refLat)*n + cos(refLong)*cos(refLat)*u + Xr;
Y = cos(refLong)*e - sin(refLong)*sin(refLat)*n + cos(refLat)*sin(refLong)*u + Yr;
Z = cos(refLat)*n + sin(refLat)*u + Zr;
*/
X = -(Math.sin(refLong)) * localX - Math.cos(refLong) * Math.sin(refLat) * localY + Math.cos(refLong) * Math.cos(refLat) * localZ + Xr;
Y = Math.cos(refLong) * localX - Math.sin(refLong) * Math.sin(refLat) * localY + Math.cos(refLat) * Math.sin(refLong) * localZ + Yr;
Z = Math.cos(refLat) * localY + Math.sin(refLat) * localZ + Zr;
return {x:X, y:Y, z:Z};
};
exports.RangeCoordinates = x3dom.dis.RangeCoordinates;if (typeof dis === "undefined")
dis = {};
// Support for node.js style modules; ignore if not using node.js require
if (typeof exports === "undefined")
exports = {};
/**
* Utility class that converts between strings and the DIS ESPDU marking
* field. The marking field is 12 bytes long, with the first byte being
* the character set used, and the remaining 11 bytes character codes in
* that character set. This is often used for debugging or "billboard"
* displays in 3D; it's intended for humans. The string character values
* are clamped (or filled) to exactly 11 bytes, so "This is a long string"
* will be clamped to "This is a l" (in charachter codes) and "foo" will
* be filled to "foo\0\0\0\0\0\0\0\0".<p>
*
* It is recommended that only ASCII character set (character set = 1)
* be used.
*
* @returns {undefined}
*/
x3dom.dis.StringConversion = function()
{
};
/**
* Given a string, returns a DIS marking field. The character set is set to
* 1, for ascii. The length is clamped to 11, and zero-filled if the string
* is shorter than 11.
*
* @returns {array} disMarking field, 12 bytes long, character set = 1 (ascii) in 0, zero-filled to 11 character codes
*/
x3dom.dis.StringConversion.prototype.StringToDisMarking = function(markingString)
{
var byteMarking = [];
// character set 1 = ascii
byteMarking.push(1);
var markingLength = markingString.length;
// Clamp it to 11 bytes of character data
if(markingLength > 11)
markingLength = 11;
// If the string is shorter than 11 bytes, we zero-fill the array
var diff = 11 - markingLength;
for(var idx = 0; idx < markingLength; idx++)
{
byteMarking.push(markingString.charCodeAt(idx));
}
for(var idx = markingLength; idx < 11; idx++)
{
byteMarking.push(0);
}
return byteMarking;
};
/**
* Given a DIS marking field, returns a string. Assumes always ascii.
*
* @param {array} disMarking dis marking field, [0] = character set, the rest character codes
* @returns {string} string equivalent of the marking field
*/
x3dom.dis.StringConversion.prototype.DisMarkingToString = function(disMarking)
{
var marking = "";
for(var idx = 1; idx < disMarking.length; idx++)
{
marking = marking + String.fromCharCode(disMarking[idx]);
}
return marking;
};
// This is a temporary placeholder until full require.js code
// support is present.
if (typeof exports === "undefined")
exports = {};
exports.RangeCoordinates = x3dom.dis.RangeCoordinates;
exports.InputStream = x3dom.dis.InputStream;
exports.OutputStream = x3dom.dis.OutputStream;
/**
* Section 5.3.6.5. Acknowledge the receiptof a start/resume, stop/freeze, or RemoveEntityPDU. COMPLETE
*
* Copyright (c) 2008-2015, MOVES Institute, Naval Postgraduate School. All rights reserved.
* This work is licensed under the BSD open source license, available at https://www.movesinstitute.org/licenses/bsd.html
*
* @author DMcG
*/
// On the client side, support for a namespace.
if (typeof dis === "undefined")
dis = {};
// Support for node.js style modules. Ignored if used in a client context.
// See http://howtonode.org/creating-custom-modules
if (typeof exports === "undefined")
exports = {};
x3dom.dis.AcknowledgePdu = function()
{
/** The version of the protocol. 5=DIS-1995, 6=DIS-1998. */
this.protocolVersion = 6;
/** Exercise ID */
this.exerciseID = 0;
/** Type of pdu, unique for each PDU class */
this.pduType = 15;
/** value that refers to the protocol family, eg SimulationManagement, et */
this.protocolFamily = 5;
/** Timestamp value */
this.timestamp = 0;
/** Length, in bytes, of the PDU. Changed name from length to avoid use of Hibernate QL reserved word */
this.pduLength = 0;
/** zero-filled array of padding */
this.padding = 0;
/** Entity that is sending message */
this.originatingEntityID = new x3dom.dis.EntityID();
/** Entity that is intended to receive message */
this.receivingEntityID = new x3dom.dis.EntityID();
/** type of message being acknowledged */
this.acknowledgeFlag = 0;
/** Whether or not the receiving entity was able to comply with the request */
this.responseFlag = 0;
/** Request ID that is unique */
this.requestID = 0;
x3dom.dis.AcknowledgePdu.prototype.initFromBinary = function(inputStream)
{
this.protocolVersion = inputStream.readUByte();
this.exerciseID = inputStream.readUByte();
this.pduType = inputStream.readUByte();
this.protocolFamily = inputStream.readUByte();
this.timestamp = inputStream.readUInt();
this.pduLength = inputStream.readUShort();
this.padding = inputStream.readShort();
this.originatingEntityID.initFromBinary(inputStream);
this.receivingEntityID.initFromBinary(inputStream);
this.acknowledgeFlag = inputStream.readUShort();
this.responseFlag = inputStream.readUShort();
this.requestID = inputStream.readUInt();
};
x3dom.dis.AcknowledgePdu.prototype.encodeToBinary = function(outputStream)
{
outputStream.writeUByte(this.protocolVersion);
outputStream.writeUByte(this.exerciseID);
outputStream.writeUByte(this.pduType);
outputStream.writeUByte(this.protocolFamily);
outputStream.writeUInt(this.timestamp);
outputStream.writeUShort(this.pduLength);
outputStream.writeShort(this.padding);
this.originatingEntityID.encodeToBinary(outputStream);