From 9d8a301551f06ed45c8a0668a0d62eca3a1ebfbf Mon Sep 17 00:00:00 2001
From: Chris Laurel <claurel@gmail.com>
Date: Tue, 30 Nov 2010 20:54:22 +0000
Subject: [PATCH] Fixed rendering of sensor geometry: - Account for geometry
 orientation in intersection calculation - Draw sensor out to its range when
 it doesn't intersect the target body

---
 src/celengine/sensorgeometry.cpp | 20 +++++++++++++-------
 src/celengine/solarsys.cpp       |  6 ++++--
 2 files changed, 17 insertions(+), 9 deletions(-)

diff --git a/src/celengine/sensorgeometry.cpp b/src/celengine/sensorgeometry.cpp
index 764adc742..350b301b0 100644
--- a/src/celengine/sensorgeometry.cpp
+++ b/src/celengine/sensorgeometry.cpp
@@ -74,11 +74,6 @@ SensorGeometry::render(RenderContext& rc, double tsec)
 
     Vector3d pos = targetPos.offsetFromKm(obsPos);
 
-    if (pos.norm() > m_range)
-    {
-        pos = pos.normalized() * m_range;
-    }
-
     Quaterniond q = m_observer->getOrientation(jd);
 
     const unsigned int sectionCount = 40;
@@ -86,7 +81,7 @@ SensorGeometry::render(RenderContext& rc, double tsec)
     Vector3d profile[sectionCount];
     Vector3d footprint[sectionCount];
 
-    Quaterniond obsOrientation = m_observer->getOrientation(jd).conjugate();
+    Quaterniond obsOrientation = m_observer->getOrientation(jd).conjugate() * m_observer->getGeometryOrientation().cast<double>().conjugate();
     Quaterniond targetOrientation = m_target->getOrientation(jd).conjugate();
     Vector3d origin = targetOrientation.conjugate() * -pos;
     Ellipsoidd targetEllipsoid(m_target->getSemiAxes().cast<double>());
@@ -110,6 +105,8 @@ SensorGeometry::render(RenderContext& rc, double tsec)
         double t = double(i) / double(sectionCount);
         double theta = t * PI * 2.0;
 
+        // Note: -sin() is used here to reverse the vertex order so that the _outside_
+        // of the frustum is drawn.
         profile[i] = obsOrientation * Vector3d(cos(theta) * m_horizontalFov, -sin(theta) * m_verticalFov, 1.0).normalized();
     }
 
@@ -120,8 +117,17 @@ SensorGeometry::render(RenderContext& rc, double tsec)
         Vector3d direction = profile[i];
         Vector3d testDirection = targetOrientation.conjugate() * direction;
 
+        // Draw the sensor frustum out to either the range or the point of
+        // intersection with the target body--whichever is closer.
         double distance = 0.0;
-        testIntersection(Ray3d(origin, testDirection), targetEllipsoid, distance);
+        if (testIntersection(Ray3d(origin, testDirection), targetEllipsoid, distance))
+        {
+            distance = std::min(distance, m_range);
+        }
+        else
+        {
+            distance = m_range;
+        }
 
         footprint[i] = distance * direction;
     }
diff --git a/src/celengine/solarsys.cpp b/src/celengine/solarsys.cpp
index db1d75f7e..aeb25b775 100644
--- a/src/celengine/solarsys.cpp
+++ b/src/celengine/solarsys.cpp
@@ -921,6 +921,10 @@ static Body* CreateBody(const string& name,
                     cerr << "No target specified for sensor.\n";
                 }
 
+                double range = 1.0;
+                sensorData->getNumber("Range", range);
+                sensor->setRange(range);
+
                 double horizontalFov = 5.0;
                 double verticalFov = 5.0;
                 sensorData->getNumber("HorizontalFOV", horizontalFov);
@@ -938,8 +942,6 @@ static Body* CreateBody(const string& name,
                 sensor->setFrustumOpacity(frustumOpacity);
                 sensor->setGridOpacity(gridOpacity);
 
-                sensor->setRange(30000.0);
-
                 string resName = string("sensor") + targetName + body->getName();
                 GeometryInfo info(resName, path, Vector3f::Zero(), 1.0f, false);
                 info.resource = sensor;