1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
3 Header: FGGroundCallback.cpp
4 Author: Mathias Froehlich
7 ------ Copyright (C) 2004 Mathias Froehlich (Mathias.Froehlich@web.de) -------
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
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
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.
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.
27 -------------------------------------------------------------------------------
30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
34 #include <math/FGColumnVector3.h>
35 #include <math/FGLocation.h>
36 #include "FGGroundCallback.h"
40 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
42 FGGroundCallback::FGGroundCallback()
44 mReferenceRadius = 20925650.0;
47 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
49 FGGroundCallback::~FGGroundCallback()
53 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
55 double FGGroundCallback::GetAltitude(const FGLocation& loc) const
57 return loc.GetRadius() - mReferenceRadius;
60 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
62 double FGGroundCallback::GetAGLevel(double t, const FGLocation& loc,
63 FGLocation& contact, FGColumnVector3& normal,
64 FGColumnVector3& vel) const
66 vel = FGColumnVector3(0.0, 0.0, 0.0);
67 normal = (-1/FGColumnVector3(loc).Magnitude())*FGColumnVector3(loc);
68 double radius = loc.GetRadius();
69 double agl = GetAltitude(loc);
70 contact = ((radius-agl)/radius)*FGColumnVector3(loc);