[Gcblue-commits] gcb_wx/src/sim tcSonarEnvironment.cpp, NONE, 1.1 tcSonarRay.cpp, NONE, 1.1 Game.cpp, 1.166, 1.167 tcObjectControl.cpp, 1.56, 1.57 tcSensorState.cpp, 1.20, 1.21 tcSimState.cpp, 1.103, 1.104 tcSonar.cpp, 1.19, 1.20

[Dewitt C. <ddc...@us...>]

Update of /cvsroot/gcblue/gcb_wx/src/sim
In directory sc8-pr-cvs2.sourceforge.net:/tmp/cvs-serv25403/src/sim

Modified Files:
	Game.cpp tcObjectControl.cpp tcSensorState.cpp tcSimState.cpp 
	tcSonar.cpp 
Added Files:
	tcSonarEnvironment.cpp tcSonarRay.cpp 
Log Message:


Index: tcObjectControl.cpp
===================================================================
RCS file: /cvsroot/gcblue/gcb_wx/src/sim/tcObjectControl.cpp,v
retrieving revision 1.56
retrieving revision 1.57
diff -C2 -d -r1.56 -r1.57
*** tcObjectControl.cpp	28 Nov 2006 01:57:37 -0000	1.56
--- tcObjectControl.cpp	20 Dec 2006 00:45:46 -0000	1.57
***************
*** 1949,1952 ****
--- 1949,1955 ----
          altitudeControl->SetActive(true);
          break;
+     case MTYPE_MISSILE:
+         altitudeControl->SetActive(false);
+         break;
      default:
          altitudeControl->SetActive(true);

Index: tcSimState.cpp
===================================================================
RCS file: /cvsroot/gcblue/gcb_wx/src/sim/tcSimState.cpp,v
retrieving revision 1.103
retrieving revision 1.104
diff -C2 -d -r1.103 -r1.104
*** tcSimState.cpp	30 Nov 2006 04:11:13 -0000	1.103
--- tcSimState.cpp	20 Dec 2006 00:45:46 -0000	1.104
***************
*** 59,62 ****
--- 59,63 ----
  #include "tcSubObject.h"
  #include "tcSubDBObject.h"
+ #include "tcSonarEnvironment.h"
  
  #include "tcLauncher.h"
***************
*** 2757,2760 ****
--- 2758,2763 ----
      objectNameMap.clear();
      captiveObjectMap.clear();
+ 
+     tcSonarEnvironment::Get()->Clear();
  }
  
***************
*** 2828,2832 ****
  tcSimState::~tcSimState() 
  {
!     Clear();
  
      if (positionRegistry) delete positionRegistry;
--- 2831,2835 ----
  tcSimState::~tcSimState() 
  {
!     maPlatformState.RemoveAll();
  
      if (positionRegistry) delete positionRegistry;

Index: tcSensorState.cpp
===================================================================
RCS file: /cvsroot/gcblue/gcb_wx/src/sim/tcSensorState.cpp,v
retrieving revision 1.20
retrieving revision 1.21
diff -C2 -d -r1.20 -r1.21
*** tcSensorState.cpp	6 Dec 2006 01:20:43 -0000	1.20
--- tcSensorState.cpp	20 Dec 2006 00:45:46 -0000	1.21
***************
*** 38,42 ****
  tcDatabase* tcSensorState::database = NULL;
  tcSimState* tcSensorState::simState = NULL;
! 
  
  /**
--- 38,42 ----
  tcDatabase* tcSensorState::database = NULL;
  tcSimState* tcSensorState::simState = NULL;
! long tcSensorState::nextSensorId = 1000;
  
  /**
***************
*** 357,360 ****
--- 357,362 ----
  tcSensorState& tcSensorState::operator=(tcSensorState& ss) 
  {
+     wxASSERT(false); // is this method used?
+ 
      mbActive = ss.mbActive;
  	isHidden = ss.isHidden;
***************
*** 380,383 ****
--- 382,387 ----
  tcSensorState* tcSensorState::Clone() 
  {
+     wxASSERT(false); // is this method used?
+ 
      // TODO: should use a copy constructor (if this method is used)
      tcSensorState *pNew = new tcSensorState(); 
***************
*** 387,391 ****
  
  /**
!  *
   */
  tcSensorState::tcSensorState() :
--- 391,396 ----
  
  /**
!  * Used to initialize tcSimState::mcDefaultRadar for detect before
!  * create seeker test.
   */
  tcSensorState::tcSensorState() :
***************
*** 401,405 ****
  	sensorPlatform(0),
  	fireControlId(-1),
! 	fireControlIdx(0)
  {
      mcTrack.mnID = NULL_INDEX;
--- 406,411 ----
  	sensorPlatform(0),
  	fireControlId(-1),
! 	fireControlIdx(0),
!     sensorId(nextSensorId++)
  {
      mcTrack.mnID = NULL_INDEX;
***************
*** 424,428 ****
  	fireControlIdx(0),
  	parent(0),
! 	sensorPlatform(0)
  {
  	wxASSERT(dbObj);
--- 430,435 ----
  	fireControlIdx(0),
  	parent(0),
! 	sensorPlatform(0),
!     sensorId(nextSensorId++)
  {
  	wxASSERT(dbObj);

Index: tcSonar.cpp
===================================================================
RCS file: /cvsroot/gcblue/gcb_wx/src/sim/tcSonar.cpp,v
retrieving revision 1.19
retrieving revision 1.20
diff -C2 -d -r1.19 -r1.20
*** tcSonar.cpp	27 Nov 2006 00:46:40 -0000	1.19
--- tcSonar.cpp	20 Dec 2006 00:45:46 -0000	1.20
***************
*** 33,37 ****
--- 33,39 ----
  #include "tcSimState.h"
  #include "tcGameObjIterator.h"
+ #include "tcSonarEnvironment.h"
  #include "common/tcObjStream.h"
+ #include "simmath.h"
  
  #ifdef _DEBUG
***************
*** 141,151 ****
      range_km = C_RADTOKM * nsNav::GCDistanceApprox_rad(par_kin->mfLat_rad, par_kin->mfLon_rad,
          tgt_kin->mfLat_rad, tgt_kin->mfLon_rad);
  
-     float TL = 60.0f + 20.0f * log10f(range_km) + 
-         mpDBObj->alpha * range_km;   // one-way transmission loss referenced to 1 m
  
!     
!     float sonarAlt_m = par_kin->mfAlt_m;
!     float targetAlt_m = tgt_kin->mfAlt_m;
  
      // if parent or target airborne, assume helo dipping sonar and subtract scope_m from alt
--- 143,152 ----
      range_km = C_RADTOKM * nsNav::GCDistanceApprox_rad(par_kin->mfLat_rad, par_kin->mfLon_rad,
          tgt_kin->mfLat_rad, tgt_kin->mfLon_rad);
+     float range_m = 1000.0f * range_km;
  
  
! 
!     float sonarAlt_m = (par_kin->mfAlt_m == 0) ? -5.0f : par_kin->mfAlt_m;
!     float targetAlt_m = (tgt_kin->mfAlt_m == 0) ? -5.0f : tgt_kin->mfAlt_m;
  
      // if parent or target airborne, assume helo dipping sonar and subtract scope_m from alt
***************
*** 169,181 ****
          else
          {
!             wxASSERT(false); // non-helo dipping sonar?
!             return false;
          }
      }
  
!     // crude thermocline
!     bool parentAbove = sonarAlt_m >= -80.0;
!     bool targetAbove = targetAlt_m >= -80.0;
!     if (parentAbove != targetAbove) TL += 10.0f; // add 10 dB loss
  
      float excessSNR;
--- 170,186 ----
          else
          {
!             return false; // e.g. sonobuoy not in the water yet
          }
      }
  
!     long key = sensorId;
!     float TL = tcSonarEnvironment::Get()->GetTL(key, parent->mfStatusTime, -sonarAlt_m, range_m, -targetAlt_m);
!     TL += mpDBObj->alpha * range_km;   // add freq based atten here (not in tcSonarEnvironment yet)
!     
! 
!     // ambient noise (flawed as is because assumes target signal is always centered in sonar passband)
!     float NL_background_dB = tcSonarEnvironment::Get()->GetAmbientNL(mpDBObj->averageFreq_Hz);
!     NL = Add_dB(NL_background_dB, NL);
! 
  
      float excessSNR;

--- NEW FILE: tcSonarRay.cpp ---
/**
**  @file tcSonarRay.cpp
*/
/*  Copyright (C) 2006 Dewitt Colclough (de...@gc...)
**  All rights reserved. 

**  This file is part of the Global Conflict Blue (GCB) program.
**  GCB is free software; you can redistribute it and/or modify
**  it under the terms of version 2 of the GNU General Public License as 
**  published by the Free Software Foundation.

**  GCB is distributed in the hope that it will be useful,
**  but WITHOUT ANY WARRANTY; without even the implied warranty of
**  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
**  GNU General Public License for more details.

**  You should have received a copy of the GNU General Public License
**  along with GCB; if not, write to the Free Software
**  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
**/

#include "stdwx.h"

#include "tcSonarRay.h"
#include <osg/Timer>

#ifdef _DEBUG
#define new DEBUG_NEW
#endif



/**
* @return depth of ray at range_m or -999.9f if beyond last point
*/
float tcSonarRay::CalculateDepth(float range_m, float& reflectionLoss_dB) const
{
    const float beyondRay = -999.9f;

    reflectionLoss_dB = 99.0f;

    if (data.size() == 0)
    {
        wxASSERT(false);
        return beyondRay;
    }

    if (range_m >= data.back().xmax) return beyondRay;

    for (size_t k=0; k<data.size(); k++)
    {
        if (range_m < data[k].xmax)
        {
            reflectionLoss_dB = data[k].reflectionLoss_dB;

            float dx = range_m - data[k].xc;
            float yterm = sqrtf(data[k].R2 - dx*dx);

            return (data[k].R < 0) ? -yterm + data[k].yc : yterm + data[k].yc;
        }
    }

    wxASSERT(false); // error, not found in ray and not beyond ray
    return beyondRay;
}


/**
*
*/
tcSonarRay::tcSonarRay()
{
}


/**
*
*/
tcSonarRay::~tcSonarRay() 
{
}
Index: Game.cpp
===================================================================
RCS file: /cvsroot/gcblue/gcb_wx/src/sim/Game.cpp,v
retrieving revision 1.166
retrieving revision 1.167
diff -C2 -d -r1.166 -r1.167
*** Game.cpp	6 Dec 2006 01:20:43 -0000	1.166
--- Game.cpp	20 Dec 2006 00:45:46 -0000	1.167
***************
*** 68,71 ****
--- 68,72 ----
  #include "tcPlatformDBObject.h"
  #include "tcDatabaseViewer.h"
+ #include "tcSonarEnvironment.h"
  #include <osg/Timer>
  
***************
*** 562,565 ****
--- 563,572 ----
  	std::cout << "Time init success" << std::endl;
  
+ #ifdef _DEBUG
+  //   tcSonarEnvironment::Get()->Test();
+ #endif
+ 
+ 
+ 
  	try
  	{    
***************
*** 2784,2787 ****
--- 2791,2799 ----
  		return;
  	}
+     else if (chatBox->mbActive)
+     {
+         chatBox->SetActive(false);
+         return;
+     }
  
  

--- NEW FILE: tcSonarEnvironment.cpp ---
/**
**  @file tcSonarEnvironment.cpp
*/
/*  Copyright (C) 2006 Dewitt Colclough (de...@gc...)
**  All rights reserved. 

**  This file is part of the Global Conflict Blue (GCB) program.
**  GCB is free software; you can redistribute it and/or modify
**  it under the terms of version 2 of the GNU General Public License as 
**  published by the Free Software Foundation.

**  GCB is distributed in the hope that it will be useful,
**  but WITHOUT ANY WARRANTY; without even the implied warranty of
**  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
**  GNU General Public License for more details.

**  You should have received a copy of the GNU General Public License
**  along with GCB; if not, write to the Free Software
**  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
**/

#include "stdwx.h"

#include "tcSonarEnvironment.h"
#include "tcSonarRay.h"
#include "tcOptions.h"
#include <osg/Timer>

#ifdef _DEBUG
#define new DEBUG_NEW
#endif


tcSonarEnvironment* tcSonarEnvironment::Get()
{
    static tcSonarEnvironment instance;
    return &instance;
}



void tcSonarEnvironment::AddSVPPoint(float depth_m, float speed_mps)
{
    SVPData data;

    data.depth_m = depth_m;
    data.v_mps = speed_mps;

    svp.push_back(data);

    if (svp.size() < 2) return;

    if (!ValidateSVP()) return;

    for (size_t k=0; k<svp.size()-1; k++)
    {
        float inv_gradient = 0;
        if (svp[k+1].v_mps != svp[k].v_mps)
        {
            inv_gradient = (svp[k+1].depth_m - svp[k].depth_m) / (svp[k+1].v_mps - svp[k].v_mps);
        }
        else
        {
            inv_gradient = 1e7;
        }

        float R = svp[k].v_mps * inv_gradient;
        svp[k].R_m = R;
        svp[k].R2_m = R*R;
    }

    svp.back().R_m = 1e10f;
    svp.back().R2_m = 1e20f;
}

/**
* @param startDepth_m depth of sonar (positive number)
* @param startAngle_rad starting angle of ray, positive is down
*/
const tcSonarRay& tcSonarEnvironment::CalculateRay(float startDepth_m, float startAngle_rad)
{
    static tcSonarRay ray;

    ray.data.clear();

    const float max_x = 100e3;

    float x = 0;
    float y = startDepth_m;
    float angle = startAngle_rad;
    unsigned int bounces = 0;
    const unsigned int maxBounces = 4;
    float reflectionLoss_dB = 0;

    if (fabsf(angle) < 0.002f)
    {
        angle = (angle > 0) ? 0.002f : -0.002f;
    }

    if (!ValidateSVP())
    {
        return ray;
    }

    while ((x <= max_x) && (reflectionLoss_dB < 20.0f) && (ray.data.size() < 100))
    {        
        tcSonarRay::RayPoint point;
        point.x = x;
        point.y = y;

        // find the SVP segment we're in
        size_t currentSegment = GetSVPSegment(angle, y, reflectionLoss_dB);

        float R = svp[currentSegment].R_m;
        float R2 = svp[currentSegment].R2_m;
        float xc = x + R*sinf(angle);
        float yc = y - R*cosf(angle);

        float y_next = (angle >= 0) ? svp[currentSegment+1].depth_m : svp[currentSegment].depth_m;
        float x_term = R2 - (y_next-yc)*(y_next-yc);
        float x_term2 = R2 - (y-yc)*(y-yc);
        float x_solve = 0;
        float y_solve = 0;

        if (x_term > 0)
        {
            float sqrt_x_term = sqrtf(x_term);
            float x_solve1 = xc + sqrt_x_term;
            float x_solve2 = xc - sqrt_x_term;

            if ((x_solve2 > x) && (x_solve2 < x_solve1)) x_solve = x_solve2;
            else x_solve = x_solve1;
            
            y_solve = y_next;
           
        }
        else if (x_term2 > 0)
        {
            x_solve = xc + sqrtf(x_term2);
            y_solve = y;
        }
        else
        {
            wxASSERT(false);
            return ray;
        }

        wxASSERT(x_solve > x); 
        float angle_solve = atanf((xc-x_solve)/(y_solve-yc));

        if (y_solve <= 0) // hit surface?
        {
            y = 0;
            angle_solve = (angle_solve < 0) ? -angle_solve : angle_solve;
            reflectionLoss_dB += surfaceLoss_dB;
        }

        x = x_solve;
        y = y_solve;
        angle = angle_solve;

        point.xmax = x;
        point.R = R;
        point.R2 = R2;
        point.xc = xc;
        point.yc = yc;
        point.reflectionLoss_dB = reflectionLoss_dB;

        ray.data.push_back(point);
    }


    return ray;
}

void tcSonarEnvironment::Clear()
{
    ClearSVP();
    beamCache.clear();
}


void tcSonarEnvironment::ClearSVP()
{
    SetDefaultSVP();
}

float tcSonarEnvironment::GetAmbientNL(float freq_Hz) const
{
    return noiseLevelBase - noiseLevelSlope * log10f(freq_Hz);
}


float tcSonarEnvironment::GetBottomLoss() const
{
    return bottomLoss_dB;
}

unsigned int tcSonarEnvironment::GetSeaState() const
{
    return seaState;
}

float tcSonarEnvironment::GetSurfaceLoss() const
{
    return surfaceLoss_dB;
}


const std::vector<tcSonarEnvironment::SVPData>& tcSonarEnvironment::GetSVP() const
{
    return svp;
}

size_t tcSonarEnvironment::GetSVPSegment(float& angle, float& depth, float& reflectionLoss_dB)
{
    
    if (depth >= svp.back().depth_m) // hit bottom?
    { 
        depth -= 0.001f;
        angle = -angle;
        reflectionLoss_dB += bottomLoss_dB;
        return svp.size()-2;
    }

    
    if (angle >= 0)
    {
        for (size_t k=0;(k<svp.size()-1); k++)
        {
            if ((depth >= svp[k].depth_m) && (depth < svp[k+1].depth_m))
            {
                return k;
            }
        }
    }
    else
    {
        for (size_t k=0;(k<svp.size()-1); k++)
        {
            if ((depth > svp[k].depth_m) && (depth <= svp[k+1].depth_m))
            {
                return k;
            }
        }
    }


    wxASSERT(false);
    fprintf(stderr, "tcSonarEnvironment::GetSVPSegment - unknown error\n");
    return 0;

}

/**
* @return transmission loss in dB (positive loss)
* @param depth_m depth of sonar
*/
float tcSonarEnvironment::GetTL(long key, double t, float depth_m, float targetRange_m, float targetDepth_m)
{
    if (tcOptions::Get()->useRayTracingSonar == 0)
    {
        return GetTLSimple(depth_m, targetRange_m, targetDepth_m);
    }

    std::map<long, BeamData>::iterator iter = beamCache.find(key);
    if (iter == beamCache.end())
    {
        BeamData beamData;
        beamData.depth_m = -999.9f; // to force update
        beamData.t_update = t;
        beamCache[key] = beamData;
        iter = beamCache.find(key);
    }

    wxASSERT(iter != beamCache.end());

    if (fabsf(iter->second.depth_m - depth_m) >= depthUpdateThreshold_m)
    {
        UpdateBeam(iter->second.beam, depth_m);
        iter->second.depth_m = depth_m;
    }

    float TL_min = 10.0f * log10f(targetRange_m);  // cylindrical spreading ref 1 m
    float TL_max = 2.5f * TL_min;  // cube law spreading

    float flux = 1e-6f;
    for (size_t k=0; k<iter->second.beam.size(); k++)
    {
        float reflectionLoss_dB;
        float dd_m = fabsf(iter->second.beam[k].CalculateDepth(targetRange_m, reflectionLoss_dB) - targetDepth_m);
        if (dd_m < 50.0)
        {
            float a = -fluxDecay*dd_m - 0.23026f*reflectionLoss_dB;
            flux += expf(a);
        }
    }

    float path_TL = rayCount_dB -10*log10(flux);
    wxASSERT(path_TL >= 0);

    float total_TL = path_TL + TL_min;
    if (total_TL < TL_max)
    {
        return total_TL;
    }
    else
    {
        return TL_max;
    }
 
}

float tcSonarEnvironment::GetTLSimple(float depth_m, float targetRange_m, float targetDepth_m)
{
    float TL_dB = 20.0f * log10f(targetRange_m);

    // crude thermocline
    bool parentAbove = depth_m < 80.0;
    bool targetAbove = targetDepth_m < 80.0;
    if (parentAbove != targetAbove) TL_dB += 10.0f; // add 10 dB loss

    return TL_dB;
}

void tcSonarEnvironment::SetBottomLoss(float val_dB)
{
    bottomLoss_dB = val_dB;
}

void tcSonarEnvironment::SetDefaultSVP()
{
    svp.clear();
    AddSVPPoint(0, 1515);
    AddSVPPoint(200, 1500);
    AddSVPPoint(300, 1510);
    AddSVPPoint(500, 1520);
}

void tcSonarEnvironment::SetSeaState(unsigned int val)
{
    if (val > 7)
    {
        val = 7;
        wxASSERT(false);
    }

    seaState = val;

    noiseLevelSlope = 16.0;

    switch (seaState)
    {
    case 0: 
        noiseLevelBase = 3.0f*noiseLevelSlope + 44.0f;
        break;
    case 1: 
        noiseLevelBase = 3.0f*noiseLevelSlope + 53.0f;
        break;
    case 2: 
        noiseLevelBase = 3.0f*noiseLevelSlope + 58.0f;
        break;
    case 3: 
        noiseLevelBase = 3.0f*noiseLevelSlope + 62.0f;
        break;
    case 4: 
        noiseLevelBase = 3.0f*noiseLevelSlope + 65.0f;
        break;
    case 5: 
        noiseLevelBase = 3.0f*noiseLevelSlope + 67.0f;
        break;
    case 6: 
        noiseLevelBase = 3.0f*noiseLevelSlope + 69.0f;
        break;
    case 7: 
        noiseLevelBase = 3.0f*noiseLevelSlope + 73.0f;
        break;
    default:
        wxASSERT(false);
    }

}


void tcSonarEnvironment::SetSurfaceLoss(float val_dB)
{
    surfaceLoss_dB = val_dB;
}

void tcSonarEnvironment::SetSVP(const std::vector<tcSonarEnvironment::SVPData>& svp_)
{
    svp = svp_;
}


void tcSonarEnvironment::Test()
{
    osg::Timer_t t1 = osg::Timer::instance()->tick();

    float startDepth = 100.0f;

    std::vector<tcSonarRay> beam;
    UpdateBeam(beam, startDepth);

    osg::Timer_t t2 = osg::Timer::instance()->tick();
    double elapsedTime_ms = osg::Timer::instance()->delta_m(t1, t2);

    WriteBeamToCSV(beam, "beam.csv");
 
    float TL_dB = GetTL(1, 0, startDepth, 1000.0f, 300.0f); // call once to calc beam

    // calculate TL vs. range
    osg::Timer_t t3 = osg::Timer::instance()->tick();
    std::vector<float> range_vect;
    std::vector<float> loss_vect;
    for (float range_m=0; range_m<100000.0f; range_m+=250.0f)
    {
        TL_dB = GetTL(1, 0, startDepth, range_m, 50.0f);

        range_vect.push_back(range_m);
        loss_vect.push_back(TL_dB);
    }
    osg::Timer_t t4 = osg::Timer::instance()->tick();
    double elapsedTime2_ms = osg::Timer::instance()->delta_m(t3, t4);

    WriteTLToCSV(range_vect, loss_vect, "TL.csv");

    wxString s;

    s.Printf("Elapsed time for %d rays: %.1f ms (%.1f ms/ray)\n"
             "TL time for %d calcs: %.1f ms (%.1f ms/calc)",
             beam.size(), elapsedTime_ms, elapsedTime_ms / float(beam.size()),
             range_vect.size(), elapsedTime2_ms, elapsedTime2_ms / float(range_vect.size()));

    wxMessageBox(s);

}


void tcSonarEnvironment::UpdateBeam(std::vector<tcSonarRay>& beam, float depth_m)
{
    beam.clear();

    for (float angle=minAngle_rad; angle<=maxAngle_rad; angle += angleStep_rad)
    {
        beam.push_back(CalculateRay(depth_m, angle));
    }

}


/**
* @return true if SVP is valid, false otherwise
*/
bool tcSonarEnvironment::ValidateSVP()
{
    if (svp.size() < 2)
    {
        wxASSERT(false);
        fprintf(stderr, "tcSonarEnvironment::ValidateSVP - SVP must have at least 2 points\n");
        return false;
    }

    if (svp[0].depth_m != 0)
    {
        wxASSERT(false);
        fprintf(stderr, "tcSonarEnvironment::ValidateSVP - first SVP depth must be 0 (currently = %f)\n",
            svp[0].depth_m);
        return false;
    }

    for (size_t k=1; k<svp.size(); k++)
    {
        if (svp[k].depth_m <= svp[k-1].depth_m)
        {
            wxASSERT(false);
            fprintf(stderr, "tcSonarEnvironment::ValidateSVP - SVP depth must monotonically increase (%d,%f <= %d,%f)\n",
                k, svp[k].depth_m, k-1, svp[k-1].depth_m);
            return false;
        }
    }

    return true;    
}

void tcSonarEnvironment::WriteBeamToCSV(const std::vector<tcSonarRay>& beam, const std::string& fileName)
{
    tcFile log;
    log.Open(fileName.c_str(), tcFile::modeCreate | tcFile::modeWrite | tcFile::modeText);
    
    for (float range_km=0; range_km<100.0f; range_km+=0.25f)
    {
        wxString s;
        
        s.Printf("%.1f,", range_km);
        log.WriteString(s.c_str());

        for (size_t k=0; k<beam.size(); k+=10)
        {
            float reflectionLoss_dB;
            s.Printf("%.1f,", beam[k].CalculateDepth(1000.0f*range_km, reflectionLoss_dB));
            log.WriteString(s.c_str());
        }
        log.WriteString("\n");
    }
}

void tcSonarEnvironment::WriteTLToCSV(const std::vector<float>& range_vect, const std::vector<float>& loss_vect,
                                      const std::string& fileName)
{
    tcFile log;
    log.Open(fileName.c_str(), tcFile::modeCreate | tcFile::modeWrite | tcFile::modeText);
    
    for (size_t k=0; k<range_vect.size(); k++)
    {
        wxString s;
        
        s.Printf("%.1f,%.1f,%.1f,%.1f\n", range_vect[k], loss_vect[k], 10*log10(range_vect[k]), 30*log10(range_vect[k]));
        log.WriteString(s.c_str());
    }
}

/**
*
*/
tcSonarEnvironment::tcSonarEnvironment() :
    surfaceLoss_dB(10.0f),
    bottomLoss_dB(15.0f),
    minAngle_rad(-0.295f),
    maxAngle_rad(0.295f),
    angleStep_rad(0.01f),
    rayCount_dB(17.8f),
    depthUpdateThreshold_m(5.0f),
    fluxDecay(0.1),
    seaState(0)
{
    SetDefaultSVP();
    SetSeaState(3);
}


/**
*
*/
tcSonarEnvironment::~tcSonarEnvironment() 
{
}