mirror of https://github.com/kepler155c/opus
107 lines
2.2 KiB
Lua
107 lines
2.2 KiB
Lua
local Util = require('opus.util')
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local GPS = { }
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local device = _G.device
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local gps = _G.gps
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function GPS.locate(timeout, debug)
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local pt = { }
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timeout = timeout or 10
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pt.x, pt.y, pt.z = gps.locate(timeout, debug)
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if pt.x then
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return pt
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end
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end
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function GPS.isAvailable()
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return device.wireless_modem and GPS.locate()
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end
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function GPS.getPoint(timeout, debug)
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local pt = GPS.locate(timeout, debug)
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if not pt then
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return
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end
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pt.x = math.floor(pt.x)
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pt.y = math.floor(pt.y)
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pt.z = math.floor(pt.z)
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if _G.pocket then
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pt.y = pt.y - 1
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end
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return pt
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end
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-- from stock gps API
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local function trilaterate(A, B, C)
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local a2b = B.position - A.position
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local a2c = C.position - A.position
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if math.abs( a2b:normalize():dot( a2c:normalize() ) ) > 0.999 then
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return
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end
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local d = a2b:length()
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local ex = a2b:normalize( )
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local i = ex:dot( a2c )
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local ey = (a2c - (ex * i)):normalize()
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local j = ey:dot( a2c )
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local ez = ex:cross( ey )
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local r1 = A.distance
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local r2 = B.distance
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local r3 = C.distance
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local x = (r1*r1 - r2*r2 + d*d) / (2*d)
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local y = (r1*r1 - r3*r3 - x*x + (x-i)*(x-i) + j*j) / (2*j)
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local result = A.position + (ex * x) + (ey * y)
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local zSquared = r1*r1 - x*x - y*y
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if zSquared > 0 then
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local z = math.sqrt( zSquared )
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local result1 = result + (ez * z)
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local result2 = result - (ez * z)
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local rounded1, rounded2 = result1:round(), result2:round()
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if rounded1.x ~= rounded2.x or rounded1.y ~= rounded2.y or rounded1.z ~= rounded2.z then
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return rounded1, rounded2
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else
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return rounded1
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end
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end
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return result:round()
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end
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local function narrow( p1, p2, fix )
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local dist1 = math.abs( (p1 - fix.position):length() - fix.distance )
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local dist2 = math.abs( (p2 - fix.position):length() - fix.distance )
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if math.abs(dist1 - dist2) < 0.05 then
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return p1, p2
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elseif dist1 < dist2 then
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return p1:round()
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else
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return p2:round()
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end
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end
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-- end stock gps api
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function GPS.trilaterate(tFixes)
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local attemps = 0
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for tFixes in Util.permutation(tFixes) do
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attemps = attemps + 1
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local pos1, pos2 = trilaterate(tFixes[4], tFixes[3], tFixes[2])
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if pos2 then
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pos1, pos2 = narrow(pos1, pos2, tFixes[1])
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end
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if not pos2 and pos1 and not (pos1.x ~= pos1.x) then
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return pos1, attemps
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end
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end
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end
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return GPS |