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