src/FDM/flight.cxx

   1 // flight.cxx -- a general interface to the various flight models
   2 //
   3 // Written by Curtis Olson, started May 1997.
   4 //
   5 // Copyright (C) 1997  Curtis L. Olson  - http://www.flightgear.org/~curt
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  11 //
  12 // This program is distributed in the hope that it will be useful, but
  13 // WITHOUT ANY WARRANTY; without even the implied warranty of
  14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  15 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
  20 //
  21 // $Id$
  22
  23 #ifdef HAVE_CONFIG_H
  24 #  include "config.h"
  25 #endif
  26
  27 #include "flight.hxx"
  28
  29 #include <simgear/constants.h>
  30 #include <simgear/debug/logstream.hxx>
  31 #include <simgear/timing/timestamp.hxx>
  32
  33 #include <Scenery/scenery.hxx>
  34 #include <Main/globals.hxx>
  35 #include <Main/fg_props.hxx>
  36 #include <FDM/groundcache.hxx>
  37
  38
  39 static inline void assign(double* ptr, const SGVec3d& vec)
  40 {
  41   ptr[0] = vec[0];
  42   ptr[1] = vec[1];
  43   ptr[2] = vec[2];
  44 }
  45
  46 // Constructor
  47 FGInterface::FGInterface()
  48 {
  49     _setup();
  50 }
  51
  52 FGInterface::FGInterface( double dt )
  53 {
  54     _setup();
  55 }
  56
  57 // Destructor
  58 FGInterface::~FGInterface() {
  59     // unbind();                   // FIXME: should be called explicitly
  60 }
  61
  62 int
  63 FGInterface::_calc_multiloop (double dt)
  64 {
  65   // Since some time the simulation time increments we get here are
  66   // already a multiple of the basic update frequency.
  67   // So, there is no need to do our own multiloop rounding with all bad
  68   // roundoff problems when we already have nearly accurate values.
  69   // Only the speedup thing must be still handled here
  70   int hz = fgGetInt("/sim/model-hz");
  71   int multiloop = SGMiscd::roundToInt(dt*hz);
  72   int speedup = fgGetInt("/sim/speed-up");
  73   return multiloop * speedup;
  74 }
  75
  76
  77 /**
  78  * Set default values for the state of the FDM.
  79  *
  80  * This method is invoked by the constructors.
  81  */
  82 void
  83 FGInterface::_setup ()
  84 {
  85     inited = false;
  86     bound = false;
  87
  88     d_cg_rp_body_v = SGVec3d::zeros();
  89     v_dot_local_v = SGVec3d::zeros();
  90     v_dot_body_v = SGVec3d::zeros();
  91     a_cg_body_v = SGVec3d::zeros();
  92     a_pilot_body_v = SGVec3d::zeros();
  93     n_cg_body_v = SGVec3d::zeros();
  94     v_local_v = SGVec3d::zeros();
  95     v_local_rel_ground_v = SGVec3d::zeros();
  96     v_local_airmass_v = SGVec3d::zeros();
  97     v_wind_body_v = SGVec3d::zeros();
  98     omega_body_v = SGVec3d::zeros();
  99     euler_rates_v = SGVec3d::zeros();
 100     geocentric_rates_v = SGVec3d::zeros();
 101     geodetic_position_v = SGGeod::fromRadM(0, 0, 0);
 102     cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v);
 103     geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
 104     euler_angles_v = SGVec3d::zeros();
 105
 106     nlf=0;
 107     v_rel_wind=v_true_kts=0;
 108     v_ground_speed=v_equiv_kts=0;
 109     v_calibrated_kts=0;
 110     alpha=beta=0;
 111     gamma_vert_rad=0;
 112     density=mach_number=0;
 113     static_pressure=total_pressure=0;
 114     dynamic_pressure=0;
 115     static_temperature=total_temperature=0;
 116     sea_level_radius=earth_position_angle=0;
 117     runway_altitude=0;
 118     climb_rate=0;
 119     altitude_agl=0;
 120     track=0;
 121 }
 122
 123 void
 124 FGInterface::init () {}
 125
 126 /**
 127  * Initialize the state of the FDM.
 128  *
 129  * Subclasses of FGInterface may do their own, additional initialization,
 130  * but there is some that is common to all.  Normally, they should call
 131  * this before they begin their own init to make sure the basic structures
 132  * are set up properly.
 133  */
 134 void
 135 FGInterface::common_init ()
 136 {
 137     SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
 138
 139     set_inited( true );
 140
 141     ground_cache.set_cache_time_offset(globals->get_sim_time_sec());
 142
 143     // Set initial position
 144     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
 145     double lon = fgGetDouble("/sim/presets/longitude-deg")
 146       * SGD_DEGREES_TO_RADIANS;
 147     double lat = fgGetDouble("/sim/presets/latitude-deg")
 148       * SGD_DEGREES_TO_RADIANS;
 149     double alt_ft = fgGetDouble("/sim/presets/altitude-ft");
 150     double alt_m = alt_ft * SG_FEET_TO_METER;
 151     set_Longitude( lon );
 152     set_Latitude( lat );
 153     SG_LOG( SG_FLIGHT, SG_INFO, "Checking for lon = "
 154             << lon*SGD_RADIANS_TO_DEGREES << "deg, lat = "
 155             << lat*SGD_RADIANS_TO_DEGREES << "deg, alt = "
 156             << alt_ft << "ft");
 157
 158     double ground_elev_m = get_groundlevel_m(lat, lon, alt_m);
 159     double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
 160     _set_Runway_altitude ( ground_elev_ft );
 161
 162     // Set aircraft altitude
 163     if ( fgGetBool("/sim/presets/onground") || alt_ft < ground_elev_ft ) {
 164         fgSetDouble("/position/altitude-ft", ground_elev_ft + 0.1);
 165         set_Altitude( ground_elev_ft + 0.1);
 166     } else {
 167         set_Altitude( alt_ft );
 168     }
 169
 170     // Set ground elevation
 171     SG_LOG( SG_FLIGHT, SG_INFO,
 172             "...initializing ground elevation to " << ground_elev_ft
 173             << "ft..." );
 174
 175     // Set sea-level radius
 176     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
 177     SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
 178             << fgGetDouble("/sim/presets/latitude-deg")
 179             << " alt = " << get_Altitude() );
 180     double slr = SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v);
 181     _set_Sea_level_radius( slr * SG_METER_TO_FEET );
 182
 183     // Set initial Euler angles
 184     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
 185     set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
 186                         * SGD_DEGREES_TO_RADIANS,
 187                       fgGetDouble("/sim/presets/pitch-deg")
 188                         * SGD_DEGREES_TO_RADIANS,
 189                       fgGetDouble("/sim/presets/heading-deg")
 190                         * SGD_DEGREES_TO_RADIANS );
 191
 192     // Set initial velocities
 193     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
 194     if ( !fgHasNode("/sim/presets/speed-set") ) {
 195         set_V_calibrated_kts(0.0);
 196     } else {
 197         const string speedset = fgGetString("/sim/presets/speed-set");
 198         if ( speedset == "knots" || speedset == "KNOTS" ) {
 199             set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") );
 200         } else if ( speedset == "mach" || speedset == "MACH" ) {
 201             set_Mach_number( fgGetDouble("/sim/presets/mach") );
 202         } else if ( speedset == "UVW" || speedset == "uvw" ) {
 203             set_Velocities_Wind_Body(
 204                                      fgGetDouble("/sim/presets/uBody-fps"),
 205                                      fgGetDouble("/sim/presets/vBody-fps"),
 206                                      fgGetDouble("/sim/presets/wBody-fps") );
 207         } else if ( speedset == "NED" || speedset == "ned" ) {
 208             set_Velocities_Local(
 209                                  fgGetDouble("/sim/presets/speed-north-fps"),
 210                                  fgGetDouble("/sim/presets/speed-east-fps"),
 211                                  fgGetDouble("/sim/presets/speed-down-fps") );
 212         } else {
 213             SG_LOG( SG_FLIGHT, SG_ALERT,
 214                     "Unrecognized value for /sim/presets/speed-set: "
 215                     << speedset);
 216             set_V_calibrated_kts( 0.0 );
 217         }
 218     }
 219
 220     if ( fgHasNode("/sim/presets/glideslope-deg") )
 221         set_Gamma_vert_rad( fgGetDouble("/sim/presets/glideslope-deg")
 222                               * SGD_DEGREES_TO_RADIANS );
 223     else if ( fgHasNode("/sim/presets/speed-set") &&
 224               fgHasNode( "/sim/presets/vertical-speed-fps") )
 225     {
 226         set_Climb_Rate( fgGetDouble("/sim/presets/vertical-speed-fps") );
 227     }
 228
 229     SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
 230 }
 231
 232
 233 /**
 234  * Bind getters and setters to properties.
 235  *
 236  * The bind() method will be invoked after init().  Note that unlike
 237  * the usual implementations of FGSubsystem::bind(), this method does
 238  * not automatically pick up existing values for the properties at
 239  * bind time; instead, all values are set explicitly in the init()
 240  * method.
 241  */
 242 void
 243 FGInterface::bind ()
 244 {
 245   bound = true;
 246
 247   _tiedProperties.setRoot(globals->get_props());
 248   // Aircraft position
 249   _tiedProperties.Tie("/position/latitude-deg", this,
 250                       &FGInterface::get_Latitude_deg,
 251                       &FGInterface::set_Latitude_deg,
 252                       false);
 253   fgSetArchivable("/position/latitude-deg");
 254   _tiedProperties.Tie("/position/longitude-deg", this,
 255                       &FGInterface::get_Longitude_deg,
 256                       &FGInterface::set_Longitude_deg,
 257                       false);
 258   fgSetArchivable("/position/longitude-deg");
 259   _tiedProperties.Tie("/position/altitude-ft", this,
 260                       &FGInterface::get_Altitude,
 261                       &FGInterface::set_Altitude,
 262                       false);
 263   fgSetArchivable("/position/altitude-ft");
 264   _tiedProperties.Tie("/position/altitude-agl-ft", this,
 265                       &FGInterface::get_Altitude_AGL, &FGInterface::set_AltitudeAGL, false);
 266   fgSetArchivable("/position/ground-elev-ft");
 267   _tiedProperties.Tie("/position/ground-elev-ft", this,
 268                       &FGInterface::get_Runway_altitude); // read-only
 269   fgSetArchivable("/position/ground-elev-m");
 270   _tiedProperties.Tie("/position/ground-elev-m", this,
 271                       &FGInterface::get_Runway_altitude_m); // read-only
 272   _tiedProperties.Tie("/environment/ground-elevation-m", this,
 273                       &FGInterface::get_Runway_altitude_m); // read-only
 274   fgSetArchivable("/position/sea-level-radius-ft");
 275   _tiedProperties.Tie("/position/sea-level-radius-ft", this,
 276                       &FGInterface::get_Sea_level_radius,
 277                       &FGInterface::_set_Sea_level_radius, false);
 278
 279   // Orientation
 280   _tiedProperties.Tie("/orientation/roll-deg", this,
 281                       &FGInterface::get_Phi_deg,
 282                       &FGInterface::set_Phi_deg, false);
 283   fgSetArchivable("/orientation/roll-deg");
 284   _tiedProperties.Tie("/orientation/pitch-deg", this,
 285                       &FGInterface::get_Theta_deg,
 286                       &FGInterface::set_Theta_deg, false);
 287   fgSetArchivable("/orientation/pitch-deg");
 288   _tiedProperties.Tie("/orientation/heading-deg", this,
 289                       &FGInterface::get_Psi_deg,
 290                       &FGInterface::set_Psi_deg, false);
 291   fgSetArchivable("/orientation/heading-deg");
 292   _tiedProperties.Tie("/orientation/track-deg", this,
 293                       &FGInterface::get_Track); // read-only
 294
 295   // Body-axis "euler rates" (rotation speed, but in a funny
 296   // representation).
 297   _tiedProperties.Tie("/orientation/roll-rate-degps", this,
 298                       &FGInterface::get_Phi_dot_degps,
 299                       &FGInterface::set_Phi_dot_degps, false);
 300   _tiedProperties.Tie("/orientation/pitch-rate-degps", this,
 301                       &FGInterface::get_Theta_dot_degps,
 302                       &FGInterface::set_Theta_dot_degps, false);
 303   _tiedProperties.Tie("/orientation/yaw-rate-degps", this,
 304                       &FGInterface::get_Psi_dot_degps,
 305                       &FGInterface::set_Psi_dot_degps, false);
 306
 307   _tiedProperties.Tie("/orientation/p-body", this, &FGInterface::get_P_body); // read-only
 308   _tiedProperties.Tie("/orientation/q-body", this, &FGInterface::get_Q_body); // read-only
 309   _tiedProperties.Tie("/orientation/r-body", this, &FGInterface::get_R_body); // read-only
 310
 311   // Ground speed knots
 312   _tiedProperties.Tie("/velocities/groundspeed-kt", this,
 313                       &FGInterface::get_V_ground_speed_kt,
 314                       &FGInterface::set_V_ground_speed_kt); // read-only
 315
 316   // Calibrated airspeed
 317   _tiedProperties.Tie("/velocities/airspeed-kt", this,
 318                       &FGInterface::get_V_calibrated_kts,
 319                       &FGInterface::set_V_calibrated_kts,
 320                       false);
 321
 322   _tiedProperties.Tie("/velocities/equivalent-kt", this,
 323                       &FGInterface::get_V_equiv_kts); // read-only
 324
 325   // Mach number
 326   _tiedProperties.Tie("/velocities/mach", this,
 327                       &FGInterface::get_Mach_number,
 328                       &FGInterface::set_Mach_number,
 329                       false);
 330
 331   // Local velocities
 332 //   _tiedProperties.Tie("/velocities/speed-north-fps", this,
 333 //                       &FGInterface::get_V_north,
 334 //                       &FGInterface::set_V_north);
 335 //   fgSetArchivable("/velocities/speed-north-fps");
 336 //   _tiedProperties.Tie("/velocities/speed-east-fps", this,
 337 //                       &FGInterface::get_V_east,
 338 //                       &FGInterface::set_V_east);
 339 //   fgSetArchivable("/velocities/speed-east-fps");
 340 //   _tiedProperties.Tie("/velocities/speed-down-fps", this,
 341 //                       &FGInterface::get_V_down,
 342 //                       &FGInterface::set_V_down);
 343 //   fgSetArchivable("/velocities/speed-down-fps");
 344
 345   // FIXME: Temporarily read-only, until the
 346   // incompatibilities between JSBSim and
 347   // LaRCSim are fixed (LaRCSim adds the
 348   // earth's rotation to the east velocity).
 349   _tiedProperties.Tie("/velocities/speed-north-fps", this,
 350                       &FGInterface::get_V_north, &FGInterface::set_V_north, false);
 351   _tiedProperties.Tie("/velocities/speed-east-fps", this,
 352                       &FGInterface::get_V_east, &FGInterface::set_V_east, false);
 353   _tiedProperties.Tie("/velocities/speed-down-fps", this,
 354                       &FGInterface::get_V_down, &FGInterface::set_V_down, false);
 355
 356   _tiedProperties.Tie("/velocities/north-relground-fps", this,
 357                       &FGInterface::get_V_north_rel_ground); // read-only
 358   _tiedProperties.Tie("/velocities/east-relground-fps", this,
 359                       &FGInterface::get_V_east_rel_ground); // read-only
 360   _tiedProperties.Tie("/velocities/down-relground-fps", this,
 361                       &FGInterface::get_V_down_rel_ground); // read-only
 362
 363   // Relative wind
 364   // FIXME: temporarily archivable, until the NED problem is fixed.
 365   _tiedProperties.Tie("/velocities/uBody-fps", this,
 366                       &FGInterface::get_uBody,
 367                       &FGInterface::set_uBody,
 368                       false);
 369   fgSetArchivable("/velocities/uBody-fps");
 370   _tiedProperties.Tie("/velocities/vBody-fps", this,
 371                       &FGInterface::get_vBody,
 372                       &FGInterface::set_vBody,
 373                       false);
 374   fgSetArchivable("/velocities/vBody-fps");
 375   _tiedProperties.Tie("/velocities/wBody-fps", this,
 376                       &FGInterface::get_wBody,
 377                       &FGInterface::set_wBody,
 378                       false);
 379   fgSetArchivable("/velocities/wBody-fps");
 380
 381   // Climb and slip (read-only)
 382   _tiedProperties.Tie("/velocities/vertical-speed-fps", this,
 383                       &FGInterface::get_Climb_Rate,
 384                       &FGInterface::set_Climb_Rate, false );
 385   _tiedProperties.Tie("/velocities/glideslope", this,
 386                       &FGInterface::get_Gamma_vert_rad,
 387                       &FGInterface::set_Gamma_vert_rad, false );
 388   _tiedProperties.Tie("/orientation/side-slip-rad", this,
 389                       &FGInterface::get_Beta, &FGInterface::_set_Beta, false);
 390   _tiedProperties.Tie("/orientation/side-slip-deg", this,
 391                       &FGInterface::get_Beta_deg); // read-only
 392   _tiedProperties.Tie("/orientation/alpha-deg", this,
 393                       &FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg, false);
 394   _tiedProperties.Tie("/accelerations/nlf", this,
 395                       &FGInterface::get_Nlf); // read-only
 396
 397   // NED accelerations
 398   _tiedProperties.Tie("/accelerations/ned/north-accel-fps_sec",
 399                       this, &FGInterface::get_V_dot_north); // read-only
 400   _tiedProperties.Tie("/accelerations/ned/east-accel-fps_sec",
 401                       this, &FGInterface::get_V_dot_east); // read-only
 402   _tiedProperties.Tie("/accelerations/ned/down-accel-fps_sec",
 403                       this, &FGInterface::get_V_dot_down); // read-only
 404
 405   // Pilot accelerations
 406   _tiedProperties.Tie("/accelerations/pilot/x-accel-fps_sec",
 407                       this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot, false);
 408   _tiedProperties.Tie("/accelerations/pilot/y-accel-fps_sec",
 409                       this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot, false);
 410   _tiedProperties.Tie("/accelerations/pilot/z-accel-fps_sec",
 411                       this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot, false);
 412
 413   _tiedProperties.Tie("/accelerations/n-z-cg-fps_sec",
 414                       this, &FGInterface::get_N_Z_cg); // read-only
 415 }
 416
 417
 418 /**
 419  * Unbind any properties bound to this FDM.
 420  *
 421  * This method allows the FDM to release properties so that a new
 422  * FDM can bind them instead.
 423  */
 424 void
 425 FGInterface::unbind ()
 426 {
 427   _tiedProperties.Untie();
 428   bound = false;
 429 }
 430
 431 /**
 432  * Update the state of the FDM (i.e. run the equations of motion).
 433  */
 434 void
 435 FGInterface::update (double dt)
 436 {
 437     SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
 438 }
 439
 440
 441 void FGInterface::_updatePositionM(const SGVec3d& cartPos)
 442 {
 443     TrackComputer tracker( track, geodetic_position_v );
 444     cartesian_position_v = cartPos;
 445     geodetic_position_v = SGGeod::fromCart(cartesian_position_v);
 446     geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
 447     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
 448     _update_ground_elev_at_pos();
 449 }
 450
 451
 452 void FGInterface::_updatePosition(const SGGeod& geod)
 453 {
 454     TrackComputer tracker( track, geodetic_position_v );
 455     geodetic_position_v = geod;
 456     cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v);
 457     geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
 458
 459     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
 460     _update_ground_elev_at_pos();
 461 }
 462
 463
 464 void FGInterface::_updatePosition(const SGGeoc& geoc)
 465 {
 466     TrackComputer tracker( track, geodetic_position_v );
 467     geocentric_position_v = geoc;
 468     cartesian_position_v = SGVec3d::fromGeoc(geocentric_position_v);
 469     geodetic_position_v = SGGeod::fromCart(cartesian_position_v);
 470
 471     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
 472     _update_ground_elev_at_pos();
 473 }
 474
 475
 476 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
 477 {
 478     _updatePosition(SGGeod::fromRadFt(lon, lat, alt));
 479 }
 480
 481
 482 void FGInterface::_updateGeocentricPosition( double lat, double lon,
 483                                              double alt )
 484 {
 485     _updatePosition(SGGeoc::fromRadFt(lon, lat, get_Sea_level_radius() + alt));
 486 }
 487
 488 void FGInterface::_update_ground_elev_at_pos( void ) {
 489     double groundlevel_m = get_groundlevel_m(geodetic_position_v);
 490     _set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET );
 491 }
 492
 493 // Positions
 494 void FGInterface::set_Latitude(double lat) {
 495     geodetic_position_v.setLatitudeRad(lat);
 496 }
 497
 498 void FGInterface::set_Longitude(double lon) {
 499     geodetic_position_v.setLongitudeRad(lon);
 500 }
 501
 502 void FGInterface::set_Altitude(double alt) {
 503     geodetic_position_v.setElevationFt(alt);
 504 }
 505
 506 void FGInterface::set_AltitudeAGL(double altagl) {
 507     altitude_agl=altagl;
 508 }
 509
 510 // Velocities
 511 void FGInterface::set_V_calibrated_kts(double vc) {
 512     v_calibrated_kts = vc;
 513 }
 514
 515 void FGInterface::set_Mach_number(double mach) {
 516     mach_number = mach;
 517 }
 518
 519 void FGInterface::set_Velocities_Local( double north,
 520                                         double east,
 521                                         double down ){
 522     v_local_v[0] = north;
 523     v_local_v[1] = east;
 524     v_local_v[2] = down;
 525 }
 526
 527 void FGInterface::set_Velocities_Wind_Body( double u,
 528                                             double v,
 529                                             double w){
 530     v_wind_body_v[0] = u;
 531     v_wind_body_v[1] = v;
 532     v_wind_body_v[2] = w;
 533 }
 534
 535 // Euler angles
 536 void FGInterface::set_Euler_Angles( double phi,
 537                                     double theta,
 538                                     double psi ) {
 539     euler_angles_v[0] = phi;
 540     euler_angles_v[1] = theta;
 541     euler_angles_v[2] = psi;
 542 }
 543
 544 // Flight Path
 545 void FGInterface::set_Climb_Rate( double roc) {
 546     climb_rate = roc;
 547 }
 548
 549 void FGInterface::set_Gamma_vert_rad( double gamma) {
 550     gamma_vert_rad = gamma;
 551 }
 552
 553 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
 554 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
 555 void FGInterface::set_Density(double rho) { density = rho; }
 556
 557 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
 558                                                 double weast,
 559                                                 double wdown ) {
 560     v_local_airmass_v[0] = wnorth;
 561     v_local_airmass_v[1] = weast;
 562     v_local_airmass_v[2] = wdown;
 563 }
 564
 565
 566 void FGInterface::_busdump(void)
 567 {
 568     SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v: " << d_cg_rp_body_v);
 569     SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v: " << v_dot_local_v);
 570     SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v: " << v_dot_body_v);
 571     SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v: " << a_cg_body_v);
 572     SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v: " << a_pilot_body_v);
 573     SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v: " << n_cg_body_v);
 574     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v: " << v_local_v);
 575     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v: " << v_local_rel_ground_v);
 576     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v: " << v_local_airmass_v);
 577     SG_LOG(SG_FLIGHT,SG_INFO,"v_wind_body_v: " << v_wind_body_v);
 578     SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v: " << omega_body_v);
 579     SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v: " << euler_rates_v);
 580     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v: " << geocentric_rates_v);
 581     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v: " << geocentric_position_v);
 582     SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v: " << geodetic_position_v);
 583     SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v: " << euler_angles_v);
 584
 585     SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
 586     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
 587     SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
 588     SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
 589     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
 590     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
 591     SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
 592     SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
 593     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
 594     SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
 595     SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
 596     SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
 597     SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
 598     SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
 599     SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
 600     SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
 601     SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
 602     SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
 603     SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
 604     SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
 605     SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
 606 }
 607
 608 bool
 609 FGInterface::prepare_ground_cache_m(double startSimTime, double endSimTime,
 610                                     const double pt[3], double rad)
 611 {
 612   return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
 613                                            SGVec3d(pt), rad);
 614 }
 615
 616 bool
 617 FGInterface::prepare_ground_cache_ft(double startSimTime, double endSimTime,
 618                                      const double pt[3], double rad)
 619 {
 620   // Convert units and do the real work.
 621   SGVec3d pt_ft = SG_FEET_TO_METER*SGVec3d(pt);
 622   return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
 623                                            pt_ft, rad*SG_FEET_TO_METER);
 624 }
 625
 626 bool
 627 FGInterface::is_valid_m(double *ref_time, double pt[3], double *rad)
 628 {
 629   SGVec3d _pt;
 630   bool valid = ground_cache.is_valid(*ref_time, _pt, *rad);
 631   assign(pt, _pt);
 632   return valid;
 633 }
 634
 635 bool FGInterface::is_valid_ft(double *ref_time, double pt[3], double *rad)
 636 {
 637   // Convert units and do the real work.
 638   SGVec3d _pt;
 639   bool found_ground = ground_cache.is_valid(*ref_time, _pt, *rad);
 640   assign(pt, SG_METER_TO_FEET*_pt);
 641   *rad *= SG_METER_TO_FEET;
 642   return found_ground;
 643 }
 644
 645 double
 646 FGInterface::get_cat_m(double t, const double pt[3],
 647                        double end[2][3], double vel[2][3])
 648 {
 649   SGVec3d _end[2], _vel[2];
 650   double dist = ground_cache.get_cat(t, SGVec3d(pt), _end, _vel);
 651   for (int k=0; k<2; ++k) {
 652     assign( end[k], _end[k] );
 653     assign( vel[k], _vel[k] );
 654   }
 655   return dist;
 656 }
 657
 658 double
 659 FGInterface::get_cat_ft(double t, const double pt[3],
 660                         double end[2][3], double vel[2][3])
 661 {
 662   // Convert units and do the real work.
 663   SGVec3d pt_m = SG_FEET_TO_METER*SGVec3d(pt);
 664   SGVec3d _end[2], _vel[2];
 665   double dist = ground_cache.get_cat(t, pt_m, _end, _vel);
 666   for (int k=0; k<2; ++k) {
 667     assign( end[k], SG_METER_TO_FEET*_end[k] );
 668     assign( vel[k], SG_METER_TO_FEET*_vel[k] );
 669   }
 670   return dist*SG_METER_TO_FEET;
 671 }
 672
 673 bool
 674 FGInterface::get_body_m(double t, simgear::BVHNode::Id id,
 675                         double bodyToWorld[16], double linearVel[3],
 676                         double angularVel[3])
 677 {
 678   SGMatrixd _bodyToWorld;
 679   SGVec3d _linearVel, _angularVel;
 680   if (!ground_cache.get_body(t, _bodyToWorld, _linearVel, _angularVel, id))
 681     return false;
 682
 683   assign(linearVel, _linearVel);
 684   assign(angularVel, _angularVel);
 685   for (unsigned i = 0; i < 16; ++i)
 686       bodyToWorld[i] = _bodyToWorld.data()[i];
 687
 688   return true;
 689 }
 690
 691 bool
 692 FGInterface::get_agl_m(double t, const double pt[3], double max_altoff,
 693                        double contact[3], double normal[3],
 694                        double linearVel[3], double angularVel[3],
 695                        SGMaterial const*& material, simgear::BVHNode::Id& id)
 696 {
 697   SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
 698   SGVec3d _contact, _normal, _linearVel, _angularVel;
 699   material = 0;
 700   bool ret = ground_cache.get_agl(t, pt_m, _contact, _normal, _linearVel,
 701                                   _angularVel, id, material);
 702   // correct the linear velocity, since the line intersector delivers
 703   // values for the start point and the get_agl function should
 704   // traditionally deliver for the contact point
 705   _linearVel += cross(_angularVel, _contact - pt_m);
 706
 707   assign(contact, _contact);
 708   assign(normal, _normal);
 709   assign(linearVel, _linearVel);
 710   assign(angularVel, _angularVel);
 711   return ret;
 712 }
 713
 714 bool
 715 FGInterface::get_agl_ft(double t, const double pt[3], double max_altoff,
 716                         double contact[3], double normal[3],
 717                         double linearVel[3], double angularVel[3],
 718                         SGMaterial const*& material, simgear::BVHNode::Id& id)
 719 {
 720   // Convert units and do the real work.
 721   SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
 722   pt_m *= SG_FEET_TO_METER;
 723   SGVec3d _contact, _normal, _linearVel, _angularVel;
 724   material = 0;
 725   bool ret = ground_cache.get_agl(t, pt_m, _contact, _normal, _linearVel,
 726                                   _angularVel, id, material);
 727   // correct the linear velocity, since the line intersector delivers
 728   // values for the start point and the get_agl function should
 729   // traditionally deliver for the contact point
 730   _linearVel += cross(_angularVel, _contact - pt_m);
 731
 732   // Convert units back ...
 733   assign( contact, SG_METER_TO_FEET*_contact );
 734   assign( normal, _normal );
 735   assign( linearVel, SG_METER_TO_FEET*_linearVel );
 736   assign( angularVel, _angularVel );
 737   return ret;
 738 }
 739
 740 bool
 741 FGInterface::get_nearest_m(double t, const double pt[3], double maxDist,
 742                            double contact[3], double normal[3],
 743                            double linearVel[3], double angularVel[3],
 744                            SGMaterial const*& material,
 745                            simgear::BVHNode::Id& id)
 746 {
 747   SGVec3d _contact, _linearVel, _angularVel;
 748   if (!ground_cache.get_nearest(t, SGVec3d(pt), maxDist, _contact, _linearVel,
 749                                 _angularVel, id, material))
 750       return false;
 751
 752   assign(contact, _contact);
 753   assign(linearVel, _linearVel);
 754   assign(angularVel, _angularVel);
 755   return true;
 756 }
 757
 758 bool
 759 FGInterface::get_nearest_ft(double t, const double pt[3], double maxDist,
 760                             double contact[3], double normal[3],
 761                             double linearVel[3], double angularVel[3],
 762                             SGMaterial const*& material,
 763                             simgear::BVHNode::Id& id)
 764 {
 765   SGVec3d _contact, _linearVel, _angularVel;
 766   if (!ground_cache.get_nearest(t, SG_FEET_TO_METER*SGVec3d(pt),
 767                                 SG_FEET_TO_METER*maxDist, _contact, _linearVel,
 768                                 _angularVel, id, material))
 769       return false;
 770
 771   assign(contact, SG_METER_TO_FEET*_contact);
 772   assign(linearVel, SG_METER_TO_FEET*_linearVel);
 773   assign(angularVel, _angularVel);
 774   return true;
 775 }
 776
 777 double
 778 FGInterface::get_groundlevel_m(double lat, double lon, double alt)
 779 {
 780   return get_groundlevel_m(SGGeod::fromRadM(lon, lat, alt));
 781 }
 782
 783 double
 784 FGInterface::get_groundlevel_m(const SGGeod& geod)
 785 {
 786   // Compute the cartesian position of the given lat/lon/alt.
 787   SGVec3d pos = SGVec3d::fromGeod(geod);
 788
 789   // FIXME: how to handle t - ref_time differences ???
 790   SGVec3d cpos;
 791   double ref_time = 0, radius;
 792   // Prepare the ground cache for that position.
 793   if (!is_valid_m(&ref_time, cpos.data(), &radius)) {
 794     double startTime = ref_time;
 795     double endTime = startTime + 1;
 796     bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), 10);
 797     /// This is most likely the case when the given altitude is
 798     /// too low, try with a new altitude of 10000m, that should be
 799     /// sufficient to find a ground level below everywhere on our planet
 800     if (!ok) {
 801       pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000));
 802       /// If there is still no ground, return sea level radius
 803       if (!prepare_ground_cache_m(startTime, endTime, pos.data(), 10))
 804         return 0;
 805     }
 806   } else if (radius*radius <= distSqr(pos, cpos)) {
 807     double startTime = ref_time;
 808     double endTime = startTime + 1;
 809
 810     /// We reuse the old radius value, but only if it is at least 10 Meters ..
 811     if (!(10 < radius)) // Well this strange compare is nan safe
 812       radius = 10;
 813
 814     bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), radius);
 815     /// This is most likely the case when the given altitude is
 816     /// too low, try with a new altitude of 10000m, that should be
 817     /// sufficient to find a ground level below everywhere on our planet
 818     if (!ok) {
 819       pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000));
 820       /// If there is still no ground, return sea level radius
 821       if (!prepare_ground_cache_m(startTime, endTime, pos.data(), radius))
 822         return 0;
 823     }
 824   }
 825
 826   double contact[3], normal[3], vel[3], angvel[3];
 827   const SGMaterial* material;
 828   simgear::BVHNode::Id id;
 829   // Ignore the return value here, since it just tells us if
 830   // the returns stem from the groundcache or from the coarse
 831   // computations below the groundcache. The contact point is still something
 832   // valid, the normals and the other returns just contain some defaults.
 833   get_agl_m(ref_time, pos.data(), 2.0, contact, normal, vel, angvel,
 834             material, id);
 835   return SGGeod::fromCart(SGVec3d(contact)).getElevationM();
 836 }
 837
 838 bool
 839 FGInterface::caught_wire_m(double t, const double pt[4][3])
 840 {
 841   SGVec3d pt_m[4];
 842   for (int i=0; i<4; ++i)
 843     pt_m[i] = SGVec3d(pt[i]);
 844
 845   return ground_cache.caught_wire(t, pt_m);
 846 }
 847
 848 bool
 849 FGInterface::caught_wire_ft(double t, const double pt[4][3])
 850 {
 851   // Convert units and do the real work.
 852   SGVec3d pt_m[4];
 853   for (int i=0; i<4; ++i)
 854     pt_m[i] = SG_FEET_TO_METER*SGVec3d(pt[i]);
 855
 856   return ground_cache.caught_wire(t, pt_m);
 857 }
 858
 859 bool
 860 FGInterface::get_wire_ends_m(double t, double end[2][3], double vel[2][3])
 861 {
 862   SGVec3d _end[2], _vel[2];
 863   bool ret = ground_cache.get_wire_ends(t, _end, _vel);
 864   for (int k=0; k<2; ++k) {
 865     assign( end[k], _end[k] );
 866     assign( vel[k], _vel[k] );
 867   }
 868   return ret;
 869 }
 870
 871 bool
 872 FGInterface::get_wire_ends_ft(double t, double end[2][3], double vel[2][3])
 873 {
 874   // Convert units and do the real work.
 875   SGVec3d _end[2], _vel[2];
 876   bool ret = ground_cache.get_wire_ends(t, _end, _vel);
 877   for (int k=0; k<2; ++k) {
 878     assign( end[k], SG_METER_TO_FEET*_end[k] );
 879     assign( vel[k], SG_METER_TO_FEET*_vel[k] );
 880   }
 881   return ret;
 882 }
 883
 884 void
 885 FGInterface::release_wire(void)
 886 {
 887   ground_cache.release_wire();
 888 }
 889