src/FDM/JSBSim/input_output/FGGroundCallback.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGGroundCallback.cpp
   4  Author:       Mathias Froehlich
   5  Date started: 05/21/04
   6
   7  ------ Copyright (C) 2004 Mathias Froehlich (Mathias.Froehlich@web.de) -------
   8
   9  This program is free software; you can redistribute it and/or modify it under
  10  the terms of the GNU Lesser General Public License as published by the Free Software
  11  Foundation; either version 2 of the License, or (at your option) any later
  12  version.
  13
  14  This program is distributed in the hope that it will be useful, but WITHOUT
  15  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  16  FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
  17  details.
  18
  19  You should have received a copy of the GNU Lesser General Public License along with
  20  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  21  Place - Suite 330, Boston, MA  02111-1307, USA.
  22
  23  Further information about the GNU Lesser General Public License can also be found on
  24  the world wide web at http://www.gnu.org.
  25
  26 HISTORY
  27 -------------------------------------------------------------------------------
  28 05/21/00   MF   Created
  29
  30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  31 SENTRY
  32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  33
  34 #include "math/FGColumnVector3.h"
  35 #include "math/FGLocation.h"
  36 #include "FGGroundCallback.h"
  37
  38 namespace JSBSim {
  39
  40 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  41
  42 FGDefaultGroundCallback::FGDefaultGroundCallback(double referenceRadius)
  43 {
  44   mSeaLevelRadius = referenceRadius; // Sea level radius
  45   mTerrainLevelRadius = mSeaLevelRadius;
  46 }
  47
  48 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  49
  50 double FGDefaultGroundCallback::GetAltitude(const FGLocation& loc) const
  51 {
  52   return loc.GetRadius() - mSeaLevelRadius;
  53 }
  54
  55 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  56
  57 double FGDefaultGroundCallback::GetAGLevel(double t, const FGLocation& loc,
  58                                     FGLocation& contact, FGColumnVector3& normal,
  59                                     FGColumnVector3& vel, FGColumnVector3& angularVel) const
  60 {
  61   vel = FGColumnVector3(0.0, 0.0, 0.0);
  62   angularVel = FGColumnVector3(0.0, 0.0, 0.0);
  63   normal = FGColumnVector3(loc).Normalize();
  64   double loc_radius = loc.GetRadius();  // Get the radius of the given location
  65                                         // (e.g. the CG)
  66   double agl = loc_radius - mTerrainLevelRadius;
  67   contact = (mTerrainLevelRadius/loc_radius)*FGColumnVector3(loc);
  68   return agl;
  69 }
  70
  71 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  72
  73 } // namespace JSBSim