1 /*****************************************************************************
3 Module: BalloonSimInterface.cxx
4 Author: Christian Mayer
8 -------- Copyright (C) 1999 Christian Mayer (fgfs@christianmayer.de) --------
10 This program is free software; you can redistribute it and/or modify it under
11 the terms of the GNU General Public License as published by the Free Software
12 Foundation; either version 2 of the License, or (at your option) any later
15 This program is distributed in the hope that it will be useful, but WITHOUT
16 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
17 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
20 You should have received a copy of the GNU General Public License along with
21 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
22 Place - Suite 330, Boston, MA 02111-1307, USA.
24 Further information about the GNU General Public License can also be found on
25 the world wide web at http://www.gnu.org.
27 FUNCTIONAL DESCRIPTION
28 ------------------------------------------------------------------------------
29 Interface to the hot air balloon simulator
32 ------------------------------------------------------------------------------
33 01.09.1999 Christian Mayer Created
34 *****************************************************************************/
36 /****************************************************************************/
38 /****************************************************************************/
40 #include <simgear/compiler.h>
42 #ifdef SG_MATH_EXCEPTION_CLASH
48 #include <simgear/constants.h>
49 #include <simgear/debug/logstream.hxx>
50 #include <simgear/math/sg_geodesy.hxx>
51 #include <simgear/misc/sg_path.hxx>
53 #include <Aircraft/aircraft.hxx>
54 #include <Controls/controls.hxx>
55 #include <Main/globals.hxx>
56 #include <Main/fg_props.hxx>
60 /****************************************************************************/
61 /********************************** CODE ************************************/
62 /****************************************************************************/
65 FGBalloonSim::FGBalloonSim( double dt ) {
66 //set the dt of the model
67 current_balloon.set_dt(dt);
71 FGBalloonSim::~FGBalloonSim() {
75 // Initialize the BalloonSim flight model, dt is the time increment for
76 // each subsequent iteration through the EOM
77 void FGBalloonSim::init() {
78 // explicitly call the superclass's
84 SG_LOG( SG_FLIGHT, SG_INFO, "Starting initializing BalloonSim" );
86 SG_LOG( SG_FLIGHT, SG_INFO, " created a balloon" );
92 get_Altitude() * SG_FEET_TO_METER);
93 current_balloon.setPosition( temp );
95 //set Euler angles (?)
100 current_balloon.setHPR( temp );
104 fgGetDouble("/velocities/uBody"),
105 fgGetDouble("/velocities/vBody"),
106 fgGetDouble("/velocities/wBody") );
107 current_balloon.setVelocity( temp );
109 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing BalloonSim" );
113 // Run an iteration of the EOM (equations of motion)
114 bool FGBalloonSim::update( int multiloop ) {
115 double save_alt = 0.0;
117 // lets try to avoid really screwing up the BalloonSim model
118 if ( get_Altitude() < -9000 ) {
119 save_alt = get_Altitude();
123 // set control positions
124 current_balloon.set_burner_strength ( controls.get_throttle(0) );
125 //not more implemented yet
127 // Inform BalloonSim of the local terrain altitude
128 current_balloon.setGroundLevel ( get_Runway_altitude() * SG_FEET_TO_METER);
130 // old -- FGInterface_2_JSBsim() not needed except for Init()
131 // translate FG to JSBsim structure
132 // FGInterface_2_JSBsim(f);
133 // printf("FG_Altitude = %.2f\n", FG_Altitude * 0.3048);
134 // printf("Altitude = %.2f\n", Altitude * 0.3048);
135 // printf("Radius to Vehicle = %.2f\n", Radius_to_vehicle * 0.3048);
137 /* FDMExec.GetState()->Setsim_time(State->Getsim_time()
138 + State->Getdt() * multiloop); */
140 for ( int i = 0; i < multiloop; i++ ) {
141 current_balloon.update();
144 // translate BalloonSim back to FG structure so that the
145 // autopilot (and the rest of the sim can use the updated
148 copy_from_BalloonSim();
150 /*sgVec3 temp, temp2;
151 current_balloon.getPosition( temp );
152 current_balloon.getVelocity( temp2 );
153 SG_LOG( SG_FLIGHT, SG_INFO, "T: " << current_balloon.getTemperature() <<
154 " alt: " << temp[2] <<
155 " gr_alt: " << get_Runway_altitude() <<
156 " burner: " << controls.get_elevator() <<
157 " v[2]: " << temp2[2]); */
159 // but lets restore our original bogus altitude when we are done
160 if ( save_alt < -9000.0 ) {
161 set_Altitude( save_alt );
168 // Convert from the FGInterface struct to the BalloonSim
169 bool FGBalloonSim::copy_to_BalloonSim() {
174 // Convert from the BalloonSim to the FGInterface struct
175 bool FGBalloonSim::copy_from_BalloonSim() {
180 current_balloon.getVelocity( temp );
181 _set_Velocities_Local( temp[0], temp[1], temp[2] );
183 /* ***FIXME*** */ _set_V_equiv_kts( sgLengthVec3 ( temp ) );
185 _set_Omega_Body( 0.0, 0.0, 0.0 );
188 current_balloon.getPosition( temp );
189 //temp[0]: geocentric latitude
191 //temp[2]: altitude (meters)
193 _updatePosition( temp[0], temp[1], temp[2] * SG_METER_TO_FEET );
195 current_balloon.getHPR( temp );
196 set_Euler_Angles( temp[0], temp[1], temp[2] );