Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
-#include <iostream>
#include <math.h>
#include "pbd/cartesian.h"
using namespace std;
void
-PBD::azi_ele_to_cart (double azi, double ele, double& x, double& y, double& z)
+PBD::spherical_to_cartesian (double azi, double ele, double len, double& x, double& y, double& z)
{
/* convert from cylindrical coordinates in degrees to cartesian */
static const double atorad = 2.0 * M_PI / 360.0 ;
-
- x = cos (azi * atorad) * cos (ele * atorad);
- y = sin (azi * atorad) * cos (ele * atorad);
- z = sin (ele * atorad);
+
+ if (len == 0.0) {
+ len = 1.0;
+ }
+
+ x = len * cos (azi * atorad) * cos (ele * atorad);
+ y = len * sin (azi * atorad) * cos (ele * atorad);
+ z = len * sin (ele * atorad);
}
void
-PBD::cart_to_azi_ele (double x, double y, double z, double& azimuth, double& elevation)
+PBD::cartesian_to_spherical (double x, double y, double z, double& azimuth, double& elevation, double& length)
{
+#if 1
+ /* converts cartesian coordinates to cylindrical in degrees*/
+
+ double rho, theta, phi;
+
+ rho = sqrt (x*x + y*y + z*z);
+ phi = acos (1.0/rho);
+ theta = atan2 (y, x);
+
+ /* XXX for now, clamp phi to zero */
+
+ phi = 0.0;
+
+ if (theta < 0.0) {
+ azimuth = 180.0 - (180.0 * (theta / M_PI)); /* LHS is negative */
+ } else {
+ azimuth = 180.0 * (theta / M_PI);
+ }
+
+ if (phi < 0.0) {
+ elevation = 180.0 - (180.0 * (phi / M_PI)); /* LHS is negative */
+ } else {
+ elevation = 180.0 * (phi / M_PI);
+ }
+
+ length = rho;
+#else
/* converts cartesian coordinates to cylindrical in degrees*/
const double atorad = 2.0 * M_PI / 360.0;
elevation = atan_x_pl_y_per_z / atorad;
// distance = sqrtf (x*x + y*y + z*z);
+#endif
}