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 #include <simgear/scene/material/mat.hxx>
  33 #include <simgear/io/iochannel.hxx>
  34
  35 #include <Scenery/scenery.hxx>
  36 #include <Main/globals.hxx>
  37 #include <Main/fg_props.hxx>
  38 #include <FDM/groundcache.hxx>
  39
  40
  41 static inline void assign(double* ptr, const SGVec3d& vec)
  42 {
  43   ptr[0] = vec[0];
  44   ptr[1] = vec[1];
  45   ptr[2] = vec[2];
  46 }
  47
  48 // Constructor
  49 FGInterface::FGInterface()
  50 {
  51     _setup();
  52 }
  53
  54 FGInterface::FGInterface( double dt )
  55 {
  56     _setup();
  57 }
  58
  59 // Destructor
  60 FGInterface::~FGInterface() {
  61     // unbind();                   // FIXME: should be called explicitly
  62 }
  63
  64 int
  65 FGInterface::_calc_multiloop (double dt)
  66 {
  67     if (dt == 0.0) {
  68         return 0; // paused
  69     }
  70
  71     // this method is now obsolete - multiloop is handled by
  72     // SGSubsystemGroup; the FDM group operates with a fixed time interval
  73     // (defined by /sim/model-hz), so at this level we always want to run
  74     // exactly one FDM iteration
  75     return 1;
  76 }
  77
  78
  79 /**
  80  * Set default values for the state of the FDM.
  81  *
  82  * This method is invoked by the constructors.
  83  */
  84 void
  85 FGInterface::_setup ()
  86 {
  87     inited = false;
  88     bound = false;
  89
  90     _state.d_cg_rp_body_v = SGVec3d::zeros();
  91     _state.v_dot_local_v = SGVec3d::zeros();
  92     _state.v_dot_body_v = SGVec3d::zeros();
  93     _state.a_cg_body_v = SGVec3d::zeros();
  94     _state.a_pilot_body_v = SGVec3d::zeros();
  95     _state.n_cg_body_v = SGVec3d::zeros();
  96     _state.v_local_v = SGVec3d::zeros();
  97     _state.v_local_rel_ground_v = SGVec3d::zeros();
  98     _state.v_local_airmass_v = SGVec3d::zeros();
  99     _state.v_body_v = SGVec3d::zeros();
 100     _state.omega_body_v = SGVec3d::zeros();
 101     _state.euler_rates_v = SGVec3d::zeros();
 102     _state.geocentric_rates_v = SGVec3d::zeros();
 103     _state.geodetic_position_v = SGGeod::fromRadM(0, 0, 0);
 104     _state.cartesian_position_v = SGVec3d::fromGeod(_state.geodetic_position_v);
 105     _state.geocentric_position_v = SGGeoc::fromCart(_state.cartesian_position_v);
 106     _state.euler_angles_v = SGVec3d::zeros();
 107
 108     _state.nlf=0;
 109     _state.v_rel_wind=_state.v_true_kts=0;
 110     _state.v_ground_speed=_state.v_equiv_kts=0;
 111     _state.v_calibrated_kts=0;
 112     _state.alpha=_state.beta=0;
 113     _state.gamma_vert_rad=0;
 114     _state.density=_state.mach_number=0;
 115     _state.static_pressure=_state.total_pressure=0;
 116     _state.dynamic_pressure=0;
 117     _state.static_temperature=_state.total_temperature=0;
 118     _state.sea_level_radius=_state.earth_position_angle=0;
 119     _state.runway_altitude=0;
 120     _state.climb_rate=0;
 121     _state.altitude_agl=0;
 122     _state.track=0;
 123 }
 124
 125 void
 126 FGInterface::init () {}
 127
 128 /**
 129  * Initialize the state of the FDM.
 130  *
 131  * Subclasses of FGInterface may do their own, additional initialization,
 132  * but there is some that is common to all.  Normally, they should call
 133  * this before they begin their own init to make sure the basic structures
 134  * are set up properly.
 135  */
 136 void
 137 FGInterface::common_init ()
 138 {
 139     SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
 140
 141     set_inited( true );
 142
 143     ground_cache.set_cache_time_offset(globals->get_sim_time_sec());
 144
 145     // Set initial position
 146     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
 147     double lon = fgGetDouble("/sim/presets/longitude-deg")
 148       * SGD_DEGREES_TO_RADIANS;
 149     double lat = fgGetDouble("/sim/presets/latitude-deg")
 150       * SGD_DEGREES_TO_RADIANS;
 151     double alt_ft = fgGetDouble("/sim/presets/altitude-ft");
 152     double alt_m = alt_ft * SG_FEET_TO_METER;
 153     set_Longitude( lon );
 154     set_Latitude( lat );
 155     SG_LOG( SG_FLIGHT, SG_INFO, "Checking for lon = "
 156             << lon*SGD_RADIANS_TO_DEGREES << "deg, lat = "
 157             << lat*SGD_RADIANS_TO_DEGREES << "deg, alt = "
 158             << alt_ft << "ft");
 159
 160     double ground_elev_m = get_groundlevel_m(lat, lon, alt_m);
 161     double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
 162     _set_Runway_altitude ( ground_elev_ft );
 163
 164     // Set aircraft altitude
 165     if ( fgGetBool("/sim/presets/onground") || alt_ft < ground_elev_ft ) {
 166         fgSetDouble("/position/altitude-ft", ground_elev_ft + 0.1);
 167         set_Altitude( ground_elev_ft + 0.1);
 168     } else {
 169         set_Altitude( alt_ft );
 170     }
 171
 172     // Set ground elevation
 173     SG_LOG( SG_FLIGHT, SG_INFO,
 174             "...initializing ground elevation to " << ground_elev_ft
 175             << "ft..." );
 176
 177     // Set sea-level radius
 178     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
 179     SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
 180             << fgGetDouble("/sim/presets/latitude-deg")
 181             << " alt = " << get_Altitude() );
 182     double slr = SGGeodesy::SGGeodToSeaLevelRadius(_state.geodetic_position_v);
 183     _set_Sea_level_radius( slr * SG_METER_TO_FEET );
 184
 185     // Set initial Euler angles
 186     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
 187     set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
 188                         * SGD_DEGREES_TO_RADIANS,
 189                       fgGetDouble("/sim/presets/pitch-deg")
 190                         * SGD_DEGREES_TO_RADIANS,
 191                       fgGetDouble("/sim/presets/heading-deg")
 192                         * SGD_DEGREES_TO_RADIANS );
 193
 194     // Set initial velocities
 195     SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
 196     if ( !fgHasNode("/sim/presets/speed-set") ) {
 197         set_V_calibrated_kts(0.0);
 198     } else {
 199         const std::string speedset = fgGetString("/sim/presets/speed-set");
 200         if ( speedset == "knots" || speedset == "KNOTS" ) {
 201             set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") );
 202         } else if ( speedset == "mach" || speedset == "MACH" ) {
 203             set_Mach_number( fgGetDouble("/sim/presets/mach") );
 204         } else if ( speedset == "UVW" || speedset == "uvw" ) {
 205             set_Velocities_Body(
 206                                      fgGetDouble("/sim/presets/uBody-fps"),
 207                                      fgGetDouble("/sim/presets/vBody-fps"),
 208                                      fgGetDouble("/sim/presets/wBody-fps") );
 209         } else if ( speedset == "NED" || speedset == "ned" ) {
 210             set_Velocities_Local(
 211                                  fgGetDouble("/sim/presets/speed-north-fps"),
 212                                  fgGetDouble("/sim/presets/speed-east-fps"),
 213                                  fgGetDouble("/sim/presets/speed-down-fps") );
 214         } else {
 215             SG_LOG( SG_FLIGHT, SG_ALERT,
 216                     "Unrecognized value for /sim/presets/speed-set: "
 217                     << speedset);
 218             set_V_calibrated_kts( 0.0 );
 219         }
 220     }
 221
 222     if ( fgHasNode("/sim/presets/glideslope-deg") )
 223         set_Gamma_vert_rad( fgGetDouble("/sim/presets/glideslope-deg")
 224                               * SGD_DEGREES_TO_RADIANS );
 225     else if ( fgHasNode("/sim/presets/speed-set") &&
 226               fgHasNode( "/sim/presets/vertical-speed-fps") )
 227     {
 228         set_Climb_Rate( fgGetDouble("/sim/presets/vertical-speed-fps") );
 229     }
 230
 231     SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
 232 }
 233
 234
 235 /**
 236  * Bind getters and setters to properties.
 237  *
 238  * The bind() method will be invoked after init().  Note that unlike
 239  * the usual implementations of FGSubsystem::bind(), this method does
 240  * not automatically pick up existing values for the properties at
 241  * bind time; instead, all values are set explicitly in the init()
 242  * method.
 243  */
 244 void
 245 FGInterface::bind ()
 246 {
 247   bound = true;
 248
 249   _tiedProperties.setRoot(globals->get_props());
 250   // Aircraft position
 251   _tiedProperties.Tie("/position/latitude-deg", this,
 252                       &FGInterface::get_Latitude_deg,
 253                       &FGInterface::set_Latitude_deg,
 254                       false);
 255   fgSetArchivable("/position/latitude-deg");
 256   _tiedProperties.Tie("/position/longitude-deg", this,
 257                       &FGInterface::get_Longitude_deg,
 258                       &FGInterface::set_Longitude_deg,
 259                       false);
 260   fgSetArchivable("/position/longitude-deg");
 261   _tiedProperties.Tie("/position/altitude-ft", this,
 262                       &FGInterface::get_Altitude,
 263                       &FGInterface::set_Altitude,
 264                       false);
 265   fgSetArchivable("/position/altitude-ft");
 266   _tiedProperties.Tie("/position/altitude-agl-ft", this,
 267                       &FGInterface::get_Altitude_AGL, &FGInterface::set_AltitudeAGL, false);
 268   fgSetArchivable("/position/ground-elev-ft");
 269   _tiedProperties.Tie("/position/ground-elev-ft", this,
 270                       &FGInterface::get_Runway_altitude); // read-only
 271   fgSetArchivable("/position/ground-elev-m");
 272   _tiedProperties.Tie("/position/ground-elev-m", this,
 273                       &FGInterface::get_Runway_altitude_m); // read-only
 274   _tiedProperties.Tie("/environment/ground-elevation-m", this,
 275                       &FGInterface::get_Runway_altitude_m); // read-only
 276   fgSetArchivable("/position/sea-level-radius-ft");
 277   _tiedProperties.Tie("/position/sea-level-radius-ft", this,
 278                       &FGInterface::get_Sea_level_radius,
 279                       &FGInterface::_set_Sea_level_radius, false);
 280
 281   // Orientation
 282   _tiedProperties.Tie("/orientation/roll-deg", this,
 283                       &FGInterface::get_Phi_deg,
 284                       &FGInterface::set_Phi_deg, false);
 285   fgSetArchivable("/orientation/roll-deg");
 286   _tiedProperties.Tie("/orientation/pitch-deg", this,
 287                       &FGInterface::get_Theta_deg,
 288                       &FGInterface::set_Theta_deg, false);
 289   fgSetArchivable("/orientation/pitch-deg");
 290   _tiedProperties.Tie("/orientation/heading-deg", this,
 291                       &FGInterface::get_Psi_deg,
 292                       &FGInterface::set_Psi_deg, false);
 293   fgSetArchivable("/orientation/heading-deg");
 294   _tiedProperties.Tie("/orientation/track-deg", this,
 295                       &FGInterface::get_Track); // read-only
 296   _tiedProperties.Tie("/orientation/path-deg", this,
 297                       &FGInterface::get_Path); // read-only
 298
 299   // Body-axis "euler rates" (rotation speed, but in a funny
 300   // representation).
 301   _tiedProperties.Tie("/orientation/roll-rate-degps", this,
 302                       &FGInterface::get_Phi_dot_degps,
 303                       &FGInterface::set_Phi_dot_degps, false);
 304   _tiedProperties.Tie("/orientation/pitch-rate-degps", this,
 305                       &FGInterface::get_Theta_dot_degps,
 306                       &FGInterface::set_Theta_dot_degps, false);
 307   _tiedProperties.Tie("/orientation/yaw-rate-degps", this,
 308                       &FGInterface::get_Psi_dot_degps,
 309                       &FGInterface::set_Psi_dot_degps, false);
 310
 311   _tiedProperties.Tie("/orientation/p-body", this, &FGInterface::get_P_body); // read-only
 312   _tiedProperties.Tie("/orientation/q-body", this, &FGInterface::get_Q_body); // read-only
 313   _tiedProperties.Tie("/orientation/r-body", this, &FGInterface::get_R_body); // read-only
 314
 315   // Ground speed knots
 316   _tiedProperties.Tie("/velocities/groundspeed-kt", this,
 317                       &FGInterface::get_V_ground_speed_kt,
 318                       &FGInterface::set_V_ground_speed_kt); // read-only
 319
 320   // Calibrated airspeed
 321   _tiedProperties.Tie("/velocities/airspeed-kt", this,
 322                       &FGInterface::get_V_calibrated_kts,
 323                       &FGInterface::set_V_calibrated_kts,
 324                       false);
 325
 326   _tiedProperties.Tie("/velocities/equivalent-kt", this,
 327                       &FGInterface::get_V_equiv_kts); // read-only
 328
 329   // Mach number
 330   _tiedProperties.Tie("/velocities/mach", this,
 331                       &FGInterface::get_Mach_number,
 332                       &FGInterface::set_Mach_number,
 333                       false);
 334
 335   // Local velocities
 336 //   _tiedProperties.Tie("/velocities/speed-north-fps", this,
 337 //                       &FGInterface::get_V_north,
 338 //                       &FGInterface::set_V_north);
 339 //   fgSetArchivable("/velocities/speed-north-fps");
 340 //   _tiedProperties.Tie("/velocities/speed-east-fps", this,
 341 //                       &FGInterface::get_V_east,
 342 //                       &FGInterface::set_V_east);
 343 //   fgSetArchivable("/velocities/speed-east-fps");
 344 //   _tiedProperties.Tie("/velocities/speed-down-fps", this,
 345 //                       &FGInterface::get_V_down,
 346 //                       &FGInterface::set_V_down);
 347 //   fgSetArchivable("/velocities/speed-down-fps");
 348
 349   // FIXME: Temporarily read-only, until the
 350   // incompatibilities between JSBSim and
 351   // LaRCSim are fixed (LaRCSim adds the
 352   // earth's rotation to the east velocity).
 353   _tiedProperties.Tie("/velocities/speed-north-fps", this,
 354                       &FGInterface::get_V_north, &FGInterface::set_V_north, false);
 355   _tiedProperties.Tie("/velocities/speed-east-fps", this,
 356                       &FGInterface::get_V_east, &FGInterface::set_V_east, false);
 357   _tiedProperties.Tie("/velocities/speed-down-fps", this,
 358                       &FGInterface::get_V_down, &FGInterface::set_V_down, false);
 359
 360   _tiedProperties.Tie("/velocities/north-relground-fps", this,
 361                       &FGInterface::get_V_north_rel_ground); // read-only
 362   _tiedProperties.Tie("/velocities/east-relground-fps", this,
 363                       &FGInterface::get_V_east_rel_ground); // read-only
 364   _tiedProperties.Tie("/velocities/down-relground-fps", this,
 365                       &FGInterface::get_V_down_rel_ground); // read-only
 366
 367   // ECEF velocity in body axis
 368   // FIXME: temporarily archivable, until the NED problem is fixed.
 369   _tiedProperties.Tie("/velocities/uBody-fps", this,
 370                       &FGInterface::get_uBody,
 371                       &FGInterface::set_uBody,
 372                       false);
 373   fgSetArchivable("/velocities/uBody-fps");
 374   _tiedProperties.Tie("/velocities/vBody-fps", this,
 375                       &FGInterface::get_vBody,
 376                       &FGInterface::set_vBody,
 377                       false);
 378   fgSetArchivable("/velocities/vBody-fps");
 379   _tiedProperties.Tie("/velocities/wBody-fps", this,
 380                       &FGInterface::get_wBody,
 381                       &FGInterface::set_wBody,
 382                       false);
 383   fgSetArchivable("/velocities/wBody-fps");
 384
 385   // Climb and slip (read-only)
 386   _tiedProperties.Tie("/velocities/vertical-speed-fps", this,
 387                       &FGInterface::get_Climb_Rate,
 388                       &FGInterface::set_Climb_Rate, false );
 389   _tiedProperties.Tie("/velocities/glideslope", this,
 390                       &FGInterface::get_Gamma_vert_rad,
 391                       &FGInterface::set_Gamma_vert_rad, false );
 392   _tiedProperties.Tie("/orientation/side-slip-rad", this,
 393                       &FGInterface::get_Beta, &FGInterface::_set_Beta, false);
 394   _tiedProperties.Tie("/orientation/side-slip-deg", this,
 395                       &FGInterface::get_Beta_deg); // read-only
 396   _tiedProperties.Tie("/orientation/alpha-deg", this,
 397                       &FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg, false);
 398   _tiedProperties.Tie("/accelerations/nlf", this,
 399                       &FGInterface::get_Nlf); // read-only
 400
 401   // NED accelerations
 402   _tiedProperties.Tie("/accelerations/ned/north-accel-fps_sec",
 403                       this, &FGInterface::get_V_dot_north); // read-only
 404   _tiedProperties.Tie("/accelerations/ned/east-accel-fps_sec",
 405                       this, &FGInterface::get_V_dot_east); // read-only
 406   _tiedProperties.Tie("/accelerations/ned/down-accel-fps_sec",
 407                       this, &FGInterface::get_V_dot_down); // read-only
 408
 409   // Pilot accelerations
 410   _tiedProperties.Tie("/accelerations/pilot/x-accel-fps_sec",
 411                       this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot, false);
 412   _tiedProperties.Tie("/accelerations/pilot/y-accel-fps_sec",
 413                       this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot, false);
 414   _tiedProperties.Tie("/accelerations/pilot/z-accel-fps_sec",
 415                       this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot, false);
 416
 417   _tiedProperties.Tie("/accelerations/n-z-cg-fps_sec",
 418                       this, &FGInterface::get_N_Z_cg); // read-only
 419 }
 420
 421
 422 /**
 423  * Unbind any properties bound to this FDM.
 424  *
 425  * This method allows the FDM to release properties so that a new
 426  * FDM can bind them instead.
 427  */
 428 void
 429 FGInterface::unbind ()
 430 {
 431   _tiedProperties.Untie();
 432   bound = false;
 433 }
 434
 435 /**
 436  * Update the state of the FDM (i.e. run the equations of motion).
 437  */
 438 void
 439 FGInterface::update (double dt)
 440 {
 441     SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
 442 }
 443
 444 bool FGInterface::readState(SGIOChannel* io)
 445 {
 446     FlightState buf;
 447     int length = sizeof(FlightState);
 448
 449     if ( io->get_type() == sgFileType ) {
 450             if ( io->read( (char *)(& buf), length ) == length ) {
 451             SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
 452             } else {
 453             return false;
 454         }
 455         } else {
 456             while ( io->read( (char *)(& buf), length ) == length ) {
 457             SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
 458             }
 459         }
 460
 461     _state = buf; // copy the read state over
 462     return true;
 463 }
 464
 465 bool FGInterface::writeState(SGIOChannel* io)
 466 {
 467     if (!bound || !inited) {
 468         return false;
 469     }
 470
 471     int length = sizeof(FlightState);
 472     if ( ! io->write( (char *)(& _state), length ) ) {
 473             SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
 474             return false;
 475         }
 476
 477     return true;
 478 }
 479
 480 void FGInterface::_updatePositionM(const SGVec3d& cartPos)
 481 {
 482     TrackComputer tracker( _state.track, _state.path, _state.geodetic_position_v );
 483     _state.cartesian_position_v = cartPos;
 484     _state.geodetic_position_v = SGGeod::fromCart(_state.cartesian_position_v);
 485     _state.geocentric_position_v = SGGeoc::fromCart(_state.cartesian_position_v);
 486     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(_state.geodetic_position_v)*SG_METER_TO_FEET );
 487     _update_ground_elev_at_pos();
 488 }
 489
 490
 491 void FGInterface::_updatePosition(const SGGeod& geod)
 492 {
 493     TrackComputer tracker( _state.track, _state.path, _state.geodetic_position_v );
 494     _state.geodetic_position_v = geod;
 495     _state.cartesian_position_v = SGVec3d::fromGeod(_state.geodetic_position_v);
 496     _state.geocentric_position_v = SGGeoc::fromCart(_state.cartesian_position_v);
 497
 498     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(_state.geodetic_position_v)*SG_METER_TO_FEET );
 499     _update_ground_elev_at_pos();
 500 }
 501
 502
 503 void FGInterface::_updatePosition(const SGGeoc& geoc)
 504 {
 505     TrackComputer tracker( _state.track, _state.path, _state.geodetic_position_v );
 506     _state.geocentric_position_v = geoc;
 507     _state.cartesian_position_v = SGVec3d::fromGeoc(_state.geocentric_position_v);
 508     _state.geodetic_position_v = SGGeod::fromCart(_state.cartesian_position_v);
 509
 510     _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(_state.geodetic_position_v)*SG_METER_TO_FEET );
 511     _update_ground_elev_at_pos();
 512 }
 513
 514
 515 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
 516 {
 517     _updatePosition(SGGeod::fromRadFt(lon, lat, alt));
 518 }
 519
 520
 521 void FGInterface::_updateGeocentricPosition( double lat, double lon,
 522                                              double alt )
 523 {
 524     _updatePosition(SGGeoc::fromRadFt(lon, lat, get_Sea_level_radius() + alt));
 525 }
 526
 527 void FGInterface::_update_ground_elev_at_pos( void ) {
 528     double groundlevel_m = get_groundlevel_m(_state.geodetic_position_v);
 529     _set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET );
 530 }
 531
 532 // Positions
 533 void FGInterface::set_Latitude(double lat) {
 534     _state.geodetic_position_v.setLatitudeRad(lat);
 535 }
 536
 537 void FGInterface::set_Longitude(double lon) {
 538     _state.geodetic_position_v.setLongitudeRad(lon);
 539 }
 540
 541 void FGInterface::set_Altitude(double alt) {
 542     _state.geodetic_position_v.setElevationFt(alt);
 543 }
 544
 545 void FGInterface::set_AltitudeAGL(double altagl) {
 546     _state.altitude_agl=altagl;
 547 }
 548
 549 // Velocities
 550 void FGInterface::set_V_calibrated_kts(double vc) {
 551     _state.v_calibrated_kts = vc;
 552 }
 553
 554 void FGInterface::set_Mach_number(double mach) {
 555     _state.mach_number = mach;
 556 }
 557
 558 void FGInterface::set_Velocities_Local( double north,
 559                                         double east,
 560                                         double down ){
 561     _state.v_local_v[0] = north;
 562     _state.v_local_v[1] = east;
 563     _state.v_local_v[2] = down;
 564 }
 565
 566 void FGInterface::set_Velocities_Body( double u,
 567                                             double v,
 568                                             double w){
 569     _state.v_body_v[0] = u;
 570     _state.v_body_v[1] = v;
 571     _state.v_body_v[2] = w;
 572 }
 573
 574 // Euler angles
 575 void FGInterface::set_Euler_Angles( double phi,
 576                                     double theta,
 577                                     double psi ) {
 578     _state.euler_angles_v[0] = phi;
 579     _state.euler_angles_v[1] = theta;
 580     _state.euler_angles_v[2] = psi;
 581 }
 582
 583 // Flight Path
 584 void FGInterface::set_Climb_Rate( double roc) {
 585     _state.climb_rate = roc;
 586 }
 587
 588 void FGInterface::set_Gamma_vert_rad( double gamma) {
 589     _state.gamma_vert_rad = gamma;
 590 }
 591
 592 void FGInterface::set_Static_pressure(double p) { _state.static_pressure = p; }
 593 void FGInterface::set_Static_temperature(double T) { _state.static_temperature = T; }
 594 void FGInterface::set_Density(double rho) { _state.density = rho; }
 595
 596 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
 597                                                 double weast,
 598                                                 double wdown ) {
 599     _state.v_local_airmass_v[0] = wnorth;
 600     _state.v_local_airmass_v[1] = weast;
 601     _state.v_local_airmass_v[2] = wdown;
 602 }
 603
 604
 605 void FGInterface::_busdump(void)
 606 {
 607     SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v: " << _state.d_cg_rp_body_v);
 608     SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v: " << _state.v_dot_local_v);
 609     SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v: " << _state.v_dot_body_v);
 610     SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v: " << _state.a_cg_body_v);
 611     SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v: " << _state.a_pilot_body_v);
 612     SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v: " << _state.n_cg_body_v);
 613     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v: " << _state.v_local_v);
 614     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v: " << _state.v_local_rel_ground_v);
 615     SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v: " << _state.v_local_airmass_v);
 616     SG_LOG(SG_FLIGHT,SG_INFO,"v_body_v: " << _state.v_body_v);
 617     SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v: " << _state.omega_body_v);
 618     SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v: " << _state.euler_rates_v);
 619     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v: " << _state.geocentric_rates_v);
 620     SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v: " << _state.geocentric_position_v);
 621     SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v: " << _state.geodetic_position_v);
 622     SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v: " << _state.euler_angles_v);
 623
 624     SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << _state.nlf );
 625     SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << _state.v_rel_wind );
 626     SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << _state.v_true_kts );
 627     SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << _state.v_ground_speed );
 628     SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << _state.v_equiv_kts );
 629     SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << _state.v_calibrated_kts );
 630     SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << _state.alpha );
 631     SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << _state.beta );
 632     SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << _state.gamma_vert_rad );
 633     SG_LOG(SG_FLIGHT,SG_INFO,"density: " << _state.density );
 634     SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << _state.mach_number );
 635     SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << _state.static_pressure );
 636     SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << _state.total_pressure );
 637     SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << _state.dynamic_pressure );
 638     SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << _state.static_temperature );
 639     SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << _state.total_temperature );
 640     SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << _state.sea_level_radius );
 641     SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << _state.earth_position_angle );
 642     SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << _state.runway_altitude );
 643     SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << _state.climb_rate );
 644     SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << _state.altitude_agl );
 645 }
 646
 647 bool
 648 FGInterface::prepare_ground_cache_m(double startSimTime, double endSimTime,
 649                                     const double pt[3], double rad)
 650 {
 651   return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
 652                                            SGVec3d(pt), rad);
 653 }
 654
 655 bool
 656 FGInterface::prepare_ground_cache_ft(double startSimTime, double endSimTime,
 657                                      const double pt[3], double rad)
 658 {
 659   // Convert units and do the real work.
 660   SGVec3d pt_ft = SG_FEET_TO_METER*SGVec3d(pt);
 661   return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
 662                                            pt_ft, rad*SG_FEET_TO_METER);
 663 }
 664
 665 bool
 666 FGInterface::is_valid_m(double *ref_time, double pt[3], double *rad)
 667 {
 668   SGVec3d _pt;
 669   bool valid = ground_cache.is_valid(*ref_time, _pt, *rad);
 670   assign(pt, _pt);
 671   return valid;
 672 }
 673
 674 bool FGInterface::is_valid_ft(double *ref_time, double pt[3], double *rad)
 675 {
 676   // Convert units and do the real work.
 677   SGVec3d _pt;
 678   bool found_ground = ground_cache.is_valid(*ref_time, _pt, *rad);
 679   assign(pt, SG_METER_TO_FEET*_pt);
 680   *rad *= SG_METER_TO_FEET;
 681   return found_ground;
 682 }
 683
 684 double
 685 FGInterface::get_cat_m(double t, const double pt[3],
 686                        double end[2][3], double vel[2][3])
 687 {
 688   SGVec3d _end[2], _vel[2];
 689   double dist = ground_cache.get_cat(t, SGVec3d(pt), _end, _vel);
 690   for (int k=0; k<2; ++k) {
 691     assign( end[k], _end[k] );
 692     assign( vel[k], _vel[k] );
 693   }
 694   return dist;
 695 }
 696
 697 double
 698 FGInterface::get_cat_ft(double t, const double pt[3],
 699                         double end[2][3], double vel[2][3])
 700 {
 701   // Convert units and do the real work.
 702   SGVec3d pt_m = SG_FEET_TO_METER*SGVec3d(pt);
 703   SGVec3d _end[2], _vel[2];
 704   double dist = ground_cache.get_cat(t, pt_m, _end, _vel);
 705   for (int k=0; k<2; ++k) {
 706     assign( end[k], SG_METER_TO_FEET*_end[k] );
 707     assign( vel[k], SG_METER_TO_FEET*_vel[k] );
 708   }
 709   return dist*SG_METER_TO_FEET;
 710 }
 711
 712 bool
 713 FGInterface::get_body_m(double t, simgear::BVHNode::Id id,
 714                         double bodyToWorld[16], double linearVel[3],
 715                         double angularVel[3])
 716 {
 717   SGMatrixd _bodyToWorld;
 718   SGVec3d _linearVel, _angularVel;
 719   if (!ground_cache.get_body(t, _bodyToWorld, _linearVel, _angularVel, id))
 720     return false;
 721
 722   assign(linearVel, _linearVel);
 723   assign(angularVel, _angularVel);
 724   for (unsigned i = 0; i < 16; ++i)
 725       bodyToWorld[i] = _bodyToWorld.data()[i];
 726
 727   return true;
 728 }
 729
 730 bool
 731 FGInterface::get_agl_m(double t, const double pt[3], double max_altoff,
 732                        double contact[3], double normal[3],
 733                        double linearVel[3], double angularVel[3],
 734                        simgear::BVHMaterial const*& material, simgear::BVHNode::Id& id)
 735 {
 736   SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
 737   SGVec3d _contact, _normal, _linearVel, _angularVel;
 738   material = 0;
 739   bool ret = ground_cache.get_agl(t, pt_m, _contact, _normal, _linearVel,
 740                                   _angularVel, id, material);
 741   // correct the linear velocity, since the line intersector delivers
 742   // values for the start point and the get_agl function should
 743   // traditionally deliver for the contact point
 744   _linearVel += cross(_angularVel, _contact - pt_m);
 745
 746   assign(contact, _contact);
 747   assign(normal, _normal);
 748   assign(linearVel, _linearVel);
 749   assign(angularVel, _angularVel);
 750   return ret;
 751 }
 752
 753 bool
 754 FGInterface::get_agl_ft(double t, const double pt[3], double max_altoff,
 755                         double contact[3], double normal[3],
 756                         double linearVel[3], double angularVel[3],
 757                         simgear::BVHMaterial const*& material, simgear::BVHNode::Id& id)
 758 {
 759   // Convert units and do the real work.
 760   SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
 761   pt_m *= SG_FEET_TO_METER;
 762   SGVec3d _contact, _normal, _linearVel, _angularVel;
 763   material = 0;
 764   bool ret = ground_cache.get_agl(t, pt_m, _contact, _normal, _linearVel,
 765                                   _angularVel, id, material);
 766   // correct the linear velocity, since the line intersector delivers
 767   // values for the start point and the get_agl function should
 768   // traditionally deliver for the contact point
 769   _linearVel += cross(_angularVel, _contact - pt_m);
 770
 771   // Convert units back ...
 772   assign( contact, SG_METER_TO_FEET*_contact );
 773   assign( normal, _normal );
 774   assign( linearVel, SG_METER_TO_FEET*_linearVel );
 775   assign( angularVel, _angularVel );
 776   return ret;
 777 }
 778
 779 bool
 780 FGInterface::get_nearest_m(double t, const double pt[3], double maxDist,
 781                            double contact[3], double normal[3],
 782                            double linearVel[3], double angularVel[3],
 783                            simgear::BVHMaterial const*& material,
 784                            simgear::BVHNode::Id& id)
 785 {
 786   SGVec3d _contact, _linearVel, _angularVel;
 787   material = 0;
 788   if (!ground_cache.get_nearest(t, SGVec3d(pt), maxDist, _contact, _linearVel,
 789                                 _angularVel, id, material))
 790       return false;
 791
 792   assign(contact, _contact);
 793   assign(linearVel, _linearVel);
 794   assign(angularVel, _angularVel);
 795   return true;
 796 }
 797
 798 bool
 799 FGInterface::get_nearest_ft(double t, const double pt[3], double maxDist,
 800                             double contact[3], double normal[3],
 801                             double linearVel[3], double angularVel[3],
 802                             simgear::BVHMaterial const*& material,
 803                             simgear::BVHNode::Id& id)
 804 {
 805   SGVec3d _contact, _linearVel, _angularVel;
 806   material = 0;
 807   if (!ground_cache.get_nearest(t, SG_FEET_TO_METER*SGVec3d(pt),
 808                                 SG_FEET_TO_METER*maxDist, _contact, _linearVel,
 809                                 _angularVel, id, material))
 810       return false;
 811
 812   assign(contact, SG_METER_TO_FEET*_contact);
 813   assign(linearVel, SG_METER_TO_FEET*_linearVel);
 814   assign(angularVel, _angularVel);
 815   return true;
 816 }
 817
 818 double
 819 FGInterface::get_groundlevel_m(double lat, double lon, double alt)
 820 {
 821   return get_groundlevel_m(SGGeod::fromRadM(lon, lat, alt));
 822 }
 823
 824 double
 825 FGInterface::get_groundlevel_m(const SGGeod& geod)
 826 {
 827   // Compute the cartesian position of the given lat/lon/alt.
 828   SGVec3d pos = SGVec3d::fromGeod(geod);
 829
 830   // FIXME: how to handle t - ref_time differences ???
 831   SGVec3d cpos;
 832   double ref_time = 0, radius;
 833   // Prepare the ground cache for that position.
 834   if (!is_valid_m(&ref_time, cpos.data(), &radius)) {
 835     double startTime = ref_time;
 836     double endTime = startTime + 1;
 837     bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), 10);
 838     /// This is most likely the case when the given altitude is
 839     /// too low, try with a new altitude of 10000m, that should be
 840     /// sufficient to find a ground level below everywhere on our planet
 841     if (!ok) {
 842       pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000));
 843       /// If there is still no ground, return sea level radius
 844       if (!prepare_ground_cache_m(startTime, endTime, pos.data(), 10))
 845         return 0;
 846     }
 847   } else if (radius*radius <= distSqr(pos, cpos)) {
 848     double startTime = ref_time;
 849     double endTime = startTime + 1;
 850
 851     /// We reuse the old radius value, but only if it is at least 10 Meters ..
 852     if (!(10 < radius)) // Well this strange compare is nan safe
 853       radius = 10;
 854
 855     bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), radius);
 856     /// This is most likely the case when the given altitude is
 857     /// too low, try with a new altitude of 10000m, that should be
 858     /// sufficient to find a ground level below everywhere on our planet
 859     if (!ok) {
 860       pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000));
 861       /// If there is still no ground, return sea level radius
 862       if (!prepare_ground_cache_m(startTime, endTime, pos.data(), radius))
 863         return 0;
 864     }
 865   }
 866
 867   double contact[3], normal[3], vel[3], angvel[3];
 868   const simgear::BVHMaterial* material;
 869   simgear::BVHNode::Id id;
 870   // Ignore the return value here, since it just tells us if
 871   // the returns stem from the groundcache or from the coarse
 872   // computations below the groundcache. The contact point is still something
 873   // valid, the normals and the other returns just contain some defaults.
 874   get_agl_m(ref_time, pos.data(), 2.0, contact, normal, vel, angvel,
 875             material, id);
 876   return SGGeod::fromCart(SGVec3d(contact)).getElevationM();
 877 }
 878
 879 bool
 880 FGInterface::caught_wire_m(double t, const double pt[4][3])
 881 {
 882   SGVec3d pt_m[4];
 883   for (int i=0; i<4; ++i)
 884     pt_m[i] = SGVec3d(pt[i]);
 885
 886   return ground_cache.caught_wire(t, pt_m);
 887 }
 888
 889 bool
 890 FGInterface::caught_wire_ft(double t, const double pt[4][3])
 891 {
 892   // Convert units and do the real work.
 893   SGVec3d pt_m[4];
 894   for (int i=0; i<4; ++i)
 895     pt_m[i] = SG_FEET_TO_METER*SGVec3d(pt[i]);
 896
 897   return ground_cache.caught_wire(t, pt_m);
 898 }
 899
 900 bool
 901 FGInterface::get_wire_ends_m(double t, double end[2][3], double vel[2][3])
 902 {
 903   SGVec3d _end[2], _vel[2];
 904   bool ret = ground_cache.get_wire_ends(t, _end, _vel);
 905   for (int k=0; k<2; ++k) {
 906     assign( end[k], _end[k] );
 907     assign( vel[k], _vel[k] );
 908   }
 909   return ret;
 910 }
 911
 912 bool
 913 FGInterface::get_wire_ends_ft(double t, double end[2][3], double vel[2][3])
 914 {
 915   // Convert units and do the real work.
 916   SGVec3d _end[2], _vel[2];
 917   bool ret = ground_cache.get_wire_ends(t, _end, _vel);
 918   for (int k=0; k<2; ++k) {
 919     assign( end[k], SG_METER_TO_FEET*_end[k] );
 920     assign( vel[k], SG_METER_TO_FEET*_vel[k] );
 921   }
 922   return ret;
 923 }
 924
 925 void
 926 FGInterface::release_wire(void)
 927 {
 928   ground_cache.release_wire();
 929 }
 930