void dskxv_c ( SpiceBoolean pri,
ConstSpiceChar * target,
SpiceInt nsurf,
ConstSpiceInt srflst[],
SpiceDouble et,
ConstSpiceChar * fixref,
SpiceInt nrays,
ConstSpiceDouble vtxarr[][3],
ConstSpiceDouble dirarr[][3],
SpiceDouble xptarr[][3],
SpiceBoolean fndarr[] )
Compute ray-surface intercepts for a set of rays, using data
provided by multiple loaded DSK segments.
CK
DSK
FRAMES
PCK
SPK
TIME
GEOMETRY
INTERCEPT
SURFACE
TOPOGRAPHY
VARIABLE I/O DESCRIPTION
-------- --- --------------------------------------------------
pri I Data prioritization flag.
target I Target body name.
nsurf I Number of surface IDs in list.
srflst I Surface ID list.
et I Epoch, expressed as seconds past J2000 TDB.
fixref I Name of target body-fixed reference frame.
nrays I Number of rays.
vtxarr I Array of vertices of rays.
dirarr I Array of direction vectors of rays.
xptarr O Intercept point array.
fndarr O Found flag array.
pri is a logical flag indicating whether to perform
a prioritized or unprioritized DSK segment search.
In an unprioritized search, no segment masks another:
data from all specified segments are used to
define the surface of interest.
The search is unprioritized if and only if `pri'
is set to SPICEFALSE. In the N0066 SPICE Toolkit, this
is the only allowed value.
target is the name of the target body on which a surface
intercept is sought.
nsurf,
srflst are, respectively, a count of surface ID codes in a
list and an containing the list. Only DSK segments for
for the body designated by `target' and having surface
IDs in this list will considered in the intercept
computation. If the list is empty, all DSK segments
for `target' will be considered.
et is the epoch of the intersection computation,
expressed as seconds past J2000 TDB. This epoch is
used only for DSK segment selection. Segments used
the intercept computation must include `et' in their
time coverage intervals.
fixref is the name of a body-fixed, body-centered reference
frame associated with the target. The input ray vectors
are specified in this frame, as is the output intercept
point.
The frame designated by `fixref' must have a fixed
orientation relative to the frame of any DSK segment
used in the computation.
nrays,
vtxarr,
dirarr are, respectively, a count of rays, an array containing
the vertices of rays, and an array containing the
direction vectors of the rays.
The ray's vertices are considered to represent offsets
from the center of the target body.
The rays' vertices and direction vectors are
represented in the reference frame designated by
`fixref'.
xptarr is an array containing the intercepts of the input
rays on the surface specified by the inputs
pri
target
nsurf
srflst
et
The ith element of `xptarr' is the intercept
corresponding to the ith ray, if such an intercept
exists. If a ray intersects the surface at multiple
points, the intercept closest to the ray's vertex is
selected.
The ith element of `xptarr' is defined if and only if the
ith element of `fndarr' is SPICETRUE.
Units are km.
fndarr is an array of logical flags indicating whether the
input rays intersect the surface. The ith element of
`fndarr' is set to SPICETRUE if and only if an intercept
was found for the ith ray.
See the include file
SpiceDtl.h
for the values of tolerance parameters used by default by the
ray-surface intercept algorithm. These are discussed in in the
Particulars section below.
1) If the input prioritization flag `pri' is set to SPICETRUE,
the error SPICE(NOPRIORITIZATION) is signaled.
2) If the input body name `target' cannot be mapped to an
ID code, the error SPICE(IDCODENOTFOUND) is signaled.
3) If the input frame name `fixref' cannot be mapped to an
ID code, the error SPICE(IDCODENOTFOUND) is signaled.
4) If the frame center associated with `fixref' cannot be
retrieved, the error SPICE(NOFRAMEINFO) is signaled.
5) If the frame center associated with `fixref' is not
the target body, the error SPICE(INVALIDFRAME) is signaled.
6) If `nrays' is less than 1, the error SPICE(INVALIDCOUNT)
is signaled.
7) Any errors that occur during the intercept computation
will be signaled by routines in the call tree of this
routine.
8) If any input string argument pointer is null, the error
SPICE(NULLPOINTER) will be signaled.
9) If any input string argument is empty, the error
SPICE(EMPTYSTRING) will be signaled.
Appropriate kernels must be loaded by the calling program before
this routine is called.
The following data are required:
- SPK data: ephemeris data for the positions of the centers
of DSK reference frames relative to the target body are
required if those frames are not centered at the target
body center.
Typically ephemeris data are made available by loading one
or more SPK files via furnsh_c.
- DSK data: DSK files containing topographic data for the
target body must be loaded. If a surface list is specified,
data for at least one of the listed surfaces must be loaded.
- Frame data: if a frame definition is required to convert
DSK segment data to the body-fixed frame designated by
`fixref', the target, that definition must be available in the
kernel pool. Typically the definitions of frames not already
built-in to SPICE are supplied by loading a frame kernel.
- CK data: if the frame to which `fixref' refers is a CK frame,
and if any DSK segments used in the computation have a
different frame, at least one CK file will be needed to
permit transformation of vectors between that frame and both
the J2000 and the target body-fixed frames.
- SCLK data: if a CK file is needed, an associated SCLK
kernel is required to enable conversion between encoded SCLK
(used to time-tag CK data) and barycentric dynamical time
(TDB).
In all cases, kernel data are normally loaded once per program
run, NOT every time this routine is called.
This routine is suitable for efficient ray-surface intercept
computations in which the relative observer-target geometry is
constant but the rays vary.
For cases in which it is necessary to know the source of the
data defining the surface on which an intercept was found,
use the CSPICE routine dskxsi_c.
For cases in which a ray's vertex is not explicitly known but is
defined by relative observer-target geometry, the CSPICE
ray-surface intercept routine sincpt_c should be used.
This routine works with multiple DSK files. It places no
restrictions on the data types or coordinate systems of the DSK
segments used in the computation. DSK segments using different
reference frames may be used in a single computation. The only
restriction is that any pair of reference frames used directly or
indirectly are related by a constant rotation.
Using DSK data
==============
DSK loading and unloading
-------------------------
DSK files providing data used by this routine are loaded by
calling furnsh_c and can be unloaded by calling unload_c or
kclear_c. See the documentation of furnsh_c for limits on numbers
of loaded DSK files.
For run-time efficiency, it's desirable to avoid frequent
loading and unloading of DSK files. When there is a reason to
use multiple versions of data for a given target body---for
example, if topographic data at varying resolutions are to be
used---the surface list can be used to select DSK data to be
used for a given computation. It is not necessary to unload
the data that are not to be used. This recommendation presumes
that DSKs containing different versions of surface data for a
given body have different surface ID codes.
DSK data priority
-----------------
A DSK coverage overlap occurs when two segments in loaded DSK
files cover part or all of the same domain---for example, a
given longitude-latitude rectangle---and when the time
intervals of the segments overlap as well.
When DSK data selection is prioritized, in case of a coverage
overlap, if the two competing segments are in different DSK
files, the segment in the DSK file loaded last takes
precedence. If the two segments are in the same file, the
segment located closer to the end of the file takes
precedence.
When DSK data selection is unprioritized, data from competing
segments are combined. For example, if two competing segments
both represent a surface as sets of triangular plates, the
union of those sets of plates is considered to represent the
surface.
Currently only unprioritized data selection is supported.
Because prioritized data selection may be the default behavior
in a later version of the routine, the presence of the `pri'
argument is required.
Round-off errors and mitigating algorithms
------------------------------------------
When topographic data are used to represent the surface of a
target body, round-off errors can produce some results that
may seem surprising.
Note that, since the surface in question might have mountains,
valleys, and cliffs, the points of intersection found for
nearly identical sets of inputs may be quite far apart from
each other: for example, a ray that hits a mountain side in a
nearly tangent fashion may, on a different host computer, be
found to miss the mountain and hit a valley floor much farther
from the observer, or even miss the target altogether.
Round-off errors can affect segment selection: for example, a
ray that is expected to intersect the target body's surface
near the boundary between two segments might hit either
segment, or neither of them; the result may be
platform-dependent.
A similar situation exists when a surface is modeled by a set
of triangular plates, and the ray is expected to intersect the
surface near a plate boundary.
To avoid having the routine fail to find an intersection when
one clearly should exist, this routine uses two "greedy"
algorithms:
1) If the ray passes sufficiently close to any of the
boundary surfaces of a segment (for example, surfaces of
maximum and minimum longitude or latitude), that segment
is tested for an intersection of the ray with the
surface represented by the segment's data.
This choice prevents all of the segments from being
missed when at least one should be hit, but it could, on
rare occasions, cause an intersection to be found in a
segment other than the one that would be found if higher
precision arithmetic were used.
2) For type 2 segments, which represent surfaces as
sets of triangular plates, each plate is expanded very
slightly before a ray-plate intersection test is
performed. The default plate expansion factor is
1 + XFRACT
where XFRACT is declared in
SpiceDtl.h
For example, given a value for XFRACT of 1.e-10, the
sides of the plate are lengthened by 1/10 of a micron
per km. The expansion keeps the centroid of the plate
fixed.
Plate expansion prevents all plates from being missed
in cases where clearly at least one should be hit.
As with the greedy segment selection algorithm, plate
expansion can occasionally cause an intercept to be
found on a different plate than would be found if higher
precision arithmetic were used. It also can occasionally
cause an intersection to be found when the ray misses
the target by a very small distance.
The numerical results shown for these examples may differ across
platforms. The results depend on the SPICE kernels used as
input, the compiler and supporting libraries, and the machine
specific arithmetic implementation.
1) Compute surface intercepts of rays emanating from a set of
vertices distributed on a longitude-latitude grid. All
vertices are outside the target body, and all rays point
toward the target's center.
Check intercepts against expected values. Indicate the
number of errors, the number of computations, and the
number of intercepts found.
Use the meta-kernel shown below to load example SPICE
kernels.
KPL/MK
File: dskxv_ex1.tm
This meta-kernel is intended to support operation of SPICE
example programs. The kernels shown here should not be
assumed to contain adequate or correct versions of data
required by SPICE-based user applications.
In order for an application to use this meta-kernel, the
kernels referenced here must be present in the user's
current working directory.
The names and contents of the kernels referenced
by this meta-kernel are as follows:
File name Contents
--------- --------
phobos512.bds DSK based on
Gaskell ICQ Q=512
plate model
\begindata
PATH_SYMBOLS = 'GEN'
PATH_VALUES = '/ftp/pub/naif/generic_kernels'
KERNELS_TO_LOAD = ( '$GEN/dsk/phobos/phobos512.bds' )
\begintext
Example code begins here.
/.
Multi-segment, vectorized spear program.
This program expects all loaded DSKs
to represent the same body and surface.
Syntax: vspear <meta-kernel>
./
#include <stdio.h>
#include <stdlib.h>
#include "SpiceUsr.h"
int main( int argc, char **argv )
{
/.
Local constants
./
#define DTOL 1.0e-14
#define FILSIZ 256
#define FRNMLN 33
#define BDNMLN 37
#define TYPLEN 5
#define INTLEN 12
#define MAXN 100000
#define MAXSRF 100
/.
Local variables
./
static SpiceBoolean fndarr [MAXN];
SpiceBoolean found;
SpiceChar dsk1 [FILSIZ];
SpiceChar fixref [FRNMLN];
SpiceChar source [FILSIZ];
SpiceChar filtyp [TYPLEN];
SpiceChar target [BDNMLN];
SpiceDLADescr dladsc;
SpiceDSKDescr dskdsc;
SpiceDouble d;
static SpiceDouble dirarr[MAXN][3];
SpiceDouble et;
SpiceDouble lat;
SpiceDouble latcrd[3];
SpiceDouble latstp;
SpiceDouble lon;
SpiceDouble lonstp;
SpiceDouble polmrg;
SpiceDouble r;
SpiceDouble radius;
SpiceDouble vlat;
SpiceDouble vlon;
SpiceDouble vrad;
static SpiceDouble vtxarr[MAXN][3];
static SpiceDouble xptarr[MAXN][3];
SpiceDouble xyzhit[3];
SpiceInt bodyid;
SpiceInt framid;
SpiceInt handle;
SpiceInt i;
SpiceInt nderr;
SpiceInt nhits;
SpiceInt nlstep;
SpiceInt nrays;
SpiceInt nsurf;
static SpiceInt srflst [MAXSRF];
SpiceInt surfid;
chkin_c ( "vspear" );
/.
Get meta-kernel name from the command line.
./
if ( argc != 2 )
{
printf ( "Command syntax: spearv <meta-kernel>\n" );
exit(1);
}
/.
Load the meta-kernel.
./
furnsh_c ( argv[1] );
/.
Get a handle for one of the loaded DSKs,
then find the first segment and extract
the body and surface IDs.
./
kdata_c ( 0, "DSK", FILSIZ, TYPLEN, FILSIZ,
dsk1, filtyp, source, &handle, &found );
if ( !found )
{
sigerr_c ( "SPICE(NOINFO)" );
}
dlabfs_c ( handle, &dladsc, &found );
if ( !found )
{
sigerr_c ( "SPICE(NOSEGMENT)" );
}
dskgd_c ( handle, &dladsc, &dskdsc );
bodyid = dskdsc.center;
surfid = dskdsc.surfce;
framid = dskdsc.frmcde;
bodc2n_c ( bodyid, BDNMLN, target, &found );
if ( !found )
{
setmsg_c ( "Cannot map body ID # to a name." );
errint_c ( "#", bodyid );
sigerr_c ( "SPICE(BODYNAMENOTFOUND)" );
}
frmnam_c ( framid, FRNMLN, fixref );
if ( eqstr_c( fixref, " " ) )
{
setmsg_c ( "Cannot map frame ID # to a name." );
errint_c ( "#", framid );
sigerr_c ( "SPICE(BODYNAMENOTFOUND)" );
}
/.
Set the magnitude of the ray vertices. Use a large
number to ensure the vertices are outside of
any realistic target.
./
r = 1.0e10;
/.
Spear the target with rays pointing toward
the origin. Use a grid of ray vertices
located on a sphere enclosing the target.
The variable `polmrg' ("pole margin") can
be set to a small positive value to reduce
the number of intercepts done at the poles.
This may speed up the computation for
the multi-segment case, since rays parallel
to the Z axis will cause all segments converging
at the pole of interest to be tested for an
intersection.
./
polmrg = 0.5;
latstp = 1.0;
lonstp = 2.0;
nhits = 0;
nderr = 0;
lon = -180.0;
lat = 90.0;
nlstep = 0;
nrays = 0;
/.
Generate rays.
./
while ( lon < 180.0 )
{
while ( nlstep <= 180 )
{
if ( lon == 180.0 )
{
lat = 90.0 - nlstep*latstp;
}
else
{
if ( nlstep == 0 )
{
lat = 90.0 - polmrg;
}
else if ( nlstep == 180 )
{
lat = -90.0 + polmrg;
}
else
{
lat = 90.0 - nlstep*latstp;
}
}
latrec_c ( r, lon*rpd_c(),
lat*rpd_c(), vtxarr[nrays] );
vminus_c ( vtxarr[nrays], dirarr[nrays] );
++ nrays;
++ nlstep;
}
lon += lonstp;
lat = 90.0;
nlstep = 0;
}
/.
Assign surface ID list.
Note that, if we knew that all files had the desired
surface ID, we could set `nsurf' to 0 and omit the
initialization of the surface ID list.
./
nsurf = 1;
srflst[0] = surfid;
printf ( "Computing intercepts...\n" );
dskxv_c ( SPICEFALSE, target, nsurf, srflst,
et, fixref, nrays, vtxarr,
dirarr, xptarr, fndarr );
printf ( "Done.\n" );
/.
Check results.
./
for ( i = 0; i < nrays; i++ )
{
if ( fndarr[i] )
{
/.
Record that a new intercept was found.
./
++ nhits;
/.
Compute the latitude and longitude of
the intercept. Make sure these agree
well with those of the vertex.
./
reclat_c ( xptarr[i], latcrd, latcrd+1, latcrd+2 );
radius = latcrd[0];
/.
Recover the vertex longitude and latitude.
./
reclat_c ( vtxarr[i], &vrad, &vlon, &vlat );
latrec_c ( radius, vlon, vlat, xyzhit );
d = vdist_c( xptarr[i], xyzhit );
if ( d/r > DTOL )
{
printf ( "===========================\n" );
printf ( "Lon = %f; Lat = %f\n",
lon, lat );
printf ( "Bad intercept\n" );
printf ( "Distance error = %e\n", d );
printf ( "xpt = (%e %e %e)\n",
xptarr[i][0], xptarr[i][1], xptarr[i][2] );
printf ( "xyzhit = (%e %e %e)\n",
xyzhit[0], xyzhit[1], xyzhit[2] );
++ nderr;
}
}
else
{
/.
Missing the target entirely is a fatal error.
This is true only for this program, not in
general. For example, if the target shape is
a torus, many rays would miss the target.
./
printf ( "===========================\n" );
printf ( "Lon = %f; Lat = %f\n",
lon, lat );
printf ( "No intercept\n" );
exit( 1 );
}
}
printf( "nrays = %d\n", (int)nrays );
printf( "nhits = %d\n", (int)nhits );
printf( "nderr = %d\n", (int)nderr );
return ( 0 );
}
When this program was executed on a PC/Linux/gcc 64-bit
platform, the output was:
Computing intercepts...
Done.
nrays = 32580
nhits = 32580
nderr = 0
1) The frame designated by `fixref' must have a fixed
orientation relative to the frame of any DSK segment
used in the computation. This routine has no
practical way of ensuring that this condition is met;
so this responsibility is delegated to the calling
application.
None.
N.J. Bachman (JPL)
-CSPICE Version 1.0.0, 26-FEB-2016 (NJB)
vectorized ray-surface intercept
vectorized ray-dsk intercept
Link to routine dskxv_c source file dskxv_c.c
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