1 // flight.cxx -- a general interface to the various flight models
3 // Written by Curtis Olson, started May 1997.
5 // Copyright (C) 1997 Curtis L. Olson - http://www.flightgear.org/~curt
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.
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.
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.
29 #include <simgear/constants.h>
30 #include <simgear/debug/logstream.hxx>
31 #include <simgear/math/SGMath.hxx>
32 #include <simgear/timing/timestamp.hxx>
34 #include <Scenery/scenery.hxx>
35 #include <Main/globals.hxx>
36 #include <Main/fg_props.hxx>
37 #include <FDM/groundcache.hxx>
40 static inline void assign(double* ptr, const SGVec3d& vec)
48 FGInterface::FGInterface()
53 FGInterface::FGInterface( double dt )
59 FGInterface::~FGInterface() {
60 // unbind(); // FIXME: should be called explicitly
64 FGInterface::_calc_multiloop (double dt)
66 // Since some time the simulation time increments we get here are
67 // already a multiple of the basic update freqency.
68 // So, there is no need to do our own multiloop rounding with all bad
69 // roundoff problems when we already have nearly accurate values.
70 // Only the speedup thing must be still handled here
71 int hz = fgGetInt("/sim/model-hz");
72 int multiloop = SGMiscd::roundToInt(dt*hz);
73 int speedup = fgGetInt("/sim/speed-up");
74 return multiloop * speedup;
79 * Set default values for the state of the FDM.
81 * This method is invoked by the constructors.
84 FGInterface::_setup ()
89 d_cg_rp_body_v = SGVec3d::zeros();
90 v_dot_local_v = SGVec3d::zeros();
91 v_dot_body_v = SGVec3d::zeros();
92 a_cg_body_v = SGVec3d::zeros();
93 a_pilot_body_v = SGVec3d::zeros();
94 n_cg_body_v = SGVec3d::zeros();
95 v_local_v = SGVec3d::zeros();
96 v_local_rel_ground_v = SGVec3d::zeros();
97 v_local_airmass_v = SGVec3d::zeros();
98 v_wind_body_v = SGVec3d::zeros();
99 omega_body_v = SGVec3d::zeros();
100 euler_rates_v = SGVec3d::zeros();
101 geocentric_rates_v = SGVec3d::zeros();
102 geodetic_position_v = SGGeod::fromRadM(0, 0, 0);
103 cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v);
104 geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
105 euler_angles_v = SGVec3d::zeros();
108 v_rel_wind=v_true_kts=0;
109 v_ground_speed=v_equiv_kts=0;
113 density=mach_number=0;
114 static_pressure=total_pressure=0;
116 static_temperature=total_temperature=0;
117 sea_level_radius=earth_position_angle=0;
125 FGInterface::init () {}
128 * Initialize the state of the FDM.
130 * Subclasses of FGInterface may do their own, additional initialization,
131 * but there is some that is common to all. Normally, they should call
132 * this before they begin their own init to make sure the basic structures
133 * are set up properly.
136 FGInterface::common_init ()
138 SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
142 ground_cache.set_cache_time_offset(globals->get_sim_time_sec());
144 // Set initial position
145 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
146 double lon = fgGetDouble("/sim/presets/longitude-deg")
147 * SGD_DEGREES_TO_RADIANS;
148 double lat = fgGetDouble("/sim/presets/latitude-deg")
149 * SGD_DEGREES_TO_RADIANS;
150 double alt_ft = fgGetDouble("/sim/presets/altitude-ft");
151 double alt_m = alt_ft * SG_FEET_TO_METER;
152 set_Longitude( lon );
154 SG_LOG( SG_FLIGHT, SG_INFO, "Checking for lon = "
155 << lon*SGD_RADIANS_TO_DEGREES << "deg, lat = "
156 << lat*SGD_RADIANS_TO_DEGREES << "deg, alt = "
159 double ground_elev_m = get_groundlevel_m(lat, lon, alt_m);
160 double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
161 _set_Runway_altitude ( ground_elev_ft );
162 if ( fgGetBool("/sim/presets/onground") || alt_ft < ground_elev_ft ) {
163 fgSetDouble("/position/altitude-ft", ground_elev_ft + 0.1);
164 set_Altitude( ground_elev_ft + 0.1);
166 set_Altitude( alt_ft );
169 // Set ground elevation
170 SG_LOG( SG_FLIGHT, SG_INFO,
171 "...initializing ground elevation to " << ground_elev_ft
174 // Set sea-level radius
175 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
176 SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
177 << fgGetDouble("/sim/presets/latitude-deg")
178 << " alt = " << get_Altitude() );
179 double slr = SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v);
180 _set_Sea_level_radius( slr * SG_METER_TO_FEET );
182 // Set initial Euler angles
183 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
184 set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
185 * SGD_DEGREES_TO_RADIANS,
186 fgGetDouble("/sim/presets/pitch-deg")
187 * SGD_DEGREES_TO_RADIANS,
188 fgGetDouble("/sim/presets/heading-deg")
189 * SGD_DEGREES_TO_RADIANS );
191 // Set initial velocities
192 SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
193 if ( !fgHasNode("/sim/presets/speed-set") ) {
194 set_V_calibrated_kts(0.0);
196 const string speedset = fgGetString("/sim/presets/speed-set");
197 if ( speedset == "knots" || speedset == "KNOTS" ) {
198 set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") );
199 } else if ( speedset == "mach" || speedset == "MACH" ) {
200 set_Mach_number( fgGetDouble("/sim/presets/mach") );
201 } else if ( speedset == "UVW" || speedset == "uvw" ) {
202 set_Velocities_Wind_Body(
203 fgGetDouble("/sim/presets/uBody-fps"),
204 fgGetDouble("/sim/presets/vBody-fps"),
205 fgGetDouble("/sim/presets/wBody-fps") );
206 } else if ( speedset == "NED" || speedset == "ned" ) {
207 set_Velocities_Local(
208 fgGetDouble("/sim/presets/speed-north-fps"),
209 fgGetDouble("/sim/presets/speed-east-fps"),
210 fgGetDouble("/sim/presets/speed-down-fps") );
212 SG_LOG( SG_FLIGHT, SG_ALERT,
213 "Unrecognized value for /sim/presets/speed-set: "
215 set_V_calibrated_kts( 0.0 );
219 if ( fgHasNode("/sim/presets/glideslope-deg") )
220 set_Gamma_vert_rad( fgGetDouble("/sim/presets/glideslope-deg")
221 * SGD_DEGREES_TO_RADIANS );
222 else if ( fgHasNode( "/velocities/vertical-speed-fps") )
223 set_Climb_Rate( fgGetDouble("/velocities/vertical-speed-fps") );
225 SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
230 * Bind getters and setters to properties.
232 * The bind() method will be invoked after init(). Note that unlike
233 * the usual implementations of FGSubsystem::bind(), this method does
234 * not automatically pick up existing values for the properties at
235 * bind time; instead, all values are set explicitly in the init()
244 fgTie("/position/latitude-deg", this,
245 &FGInterface::get_Latitude_deg,
246 &FGInterface::set_Latitude_deg,
248 fgSetArchivable("/position/latitude-deg");
249 fgTie("/position/longitude-deg", this,
250 &FGInterface::get_Longitude_deg,
251 &FGInterface::set_Longitude_deg,
253 fgSetArchivable("/position/longitude-deg");
254 fgTie("/position/altitude-ft", this,
255 &FGInterface::get_Altitude,
256 &FGInterface::set_Altitude,
258 fgSetArchivable("/position/altitude-ft");
259 fgTie("/position/altitude-agl-ft", this,
260 &FGInterface::get_Altitude_AGL, &FGInterface::set_AltitudeAGL, false);
261 fgSetArchivable("/position/ground-elev-ft");
262 fgTie("/position/ground-elev-ft", this,
263 &FGInterface::get_Runway_altitude); // read-only
264 fgSetArchivable("/position/ground-elev-m");
265 fgTie("/position/ground-elev-m", this,
266 &FGInterface::get_Runway_altitude_m); // read-only
267 fgTie("/environment/ground-elevation-m", this,
268 &FGInterface::get_Runway_altitude_m); // read-only
269 fgSetArchivable("/position/sea-level-radius-ft");
270 fgTie("/position/sea-level-radius-ft", this,
271 &FGInterface::get_Sea_level_radius,
272 &FGInterface::_set_Sea_level_radius, false);
275 fgTie("/orientation/roll-deg", this,
276 &FGInterface::get_Phi_deg,
277 &FGInterface::set_Phi_deg, false);
278 fgSetArchivable("/orientation/roll-deg");
279 fgTie("/orientation/pitch-deg", this,
280 &FGInterface::get_Theta_deg,
281 &FGInterface::set_Theta_deg, false);
282 fgSetArchivable("/orientation/pitch-deg");
283 fgTie("/orientation/heading-deg", this,
284 &FGInterface::get_Psi_deg,
285 &FGInterface::set_Psi_deg, false);
286 fgSetArchivable("/orientation/heading-deg");
287 fgTie("/orientation/track-deg", this,
288 &FGInterface::get_Track); // read-only
290 // Body-axis "euler rates" (rotation speed, but in a funny
292 fgTie("/orientation/roll-rate-degps", this,
293 &FGInterface::get_Phi_dot_degps,
294 &FGInterface::set_Phi_dot_degps, false);
295 fgTie("/orientation/pitch-rate-degps", this,
296 &FGInterface::get_Theta_dot_degps,
297 &FGInterface::set_Theta_dot_degps, false);
298 fgTie("/orientation/yaw-rate-degps", this,
299 &FGInterface::get_Psi_dot_degps,
300 &FGInterface::set_Psi_dot_degps, false);
302 fgTie("/orientation/p-body", this, &FGInterface::get_P_body); // read-only
303 fgTie("/orientation/q-body", this, &FGInterface::get_Q_body); // read-only
304 fgTie("/orientation/r-body", this, &FGInterface::get_R_body); // read-only
306 // Ground speed knots
307 fgTie("/velocities/groundspeed-kt", this,
308 &FGInterface::get_V_ground_speed_kt,
309 &FGInterface::set_V_ground_speed_kt); // read-only
311 // Calibrated airspeed
312 fgTie("/velocities/airspeed-kt", this,
313 &FGInterface::get_V_calibrated_kts,
314 &FGInterface::set_V_calibrated_kts,
317 fgTie("/velocities/equivalent-kt", this,
318 &FGInterface::get_V_equiv_kts); // read-only
321 fgTie("/velocities/mach", this,
322 &FGInterface::get_Mach_number,
323 &FGInterface::set_Mach_number,
327 // fgTie("/velocities/speed-north-fps", this,
328 // &FGInterface::get_V_north,
329 // &FGInterface::set_V_north);
330 // fgSetArchivable("/velocities/speed-north-fps");
331 // fgTie("/velocities/speed-east-fps", this,
332 // &FGInterface::get_V_east,
333 // &FGInterface::set_V_east);
334 // fgSetArchivable("/velocities/speed-east-fps");
335 // fgTie("/velocities/speed-down-fps", this,
336 // &FGInterface::get_V_down,
337 // &FGInterface::set_V_down);
338 // fgSetArchivable("/velocities/speed-down-fps");
339 // FIXME: Temporarily read-only, until the
340 // incompatibilities between JSBSim and
341 // LaRCSim are fixed (LaRCSim adds the
342 // earth's rotation to the east velocity).
343 fgTie("/velocities/speed-north-fps", this,
344 &FGInterface::get_V_north, &FGInterface::set_V_north, false);
345 fgTie("/velocities/speed-east-fps", this,
346 &FGInterface::get_V_east, &FGInterface::set_V_east, false);
347 fgTie("/velocities/speed-down-fps", this,
348 &FGInterface::get_V_down, &FGInterface::set_V_down, false);
350 fgTie("/velocities/north-relground-fps", this,
351 &FGInterface::get_V_north_rel_ground); // read-only
352 fgTie("/velocities/east-relground-fps", this,
353 &FGInterface::get_V_east_rel_ground); // read-only
354 fgTie("/velocities/down-relground-fps", this,
355 &FGInterface::get_V_down_rel_ground); // read-only
359 // FIXME: temporarily archivable, until
360 // the NED problem is fixed.
361 fgTie("/velocities/uBody-fps", this,
362 &FGInterface::get_uBody,
363 &FGInterface::set_uBody,
365 fgSetArchivable("/velocities/uBody-fps");
366 fgTie("/velocities/vBody-fps", this,
367 &FGInterface::get_vBody,
368 &FGInterface::set_vBody,
370 fgSetArchivable("/velocities/vBody-fps");
371 fgTie("/velocities/wBody-fps", this,
372 &FGInterface::get_wBody,
373 &FGInterface::set_wBody,
375 fgSetArchivable("/velocities/wBody-fps");
377 // Climb and slip (read-only)
378 fgTie("/velocities/vertical-speed-fps", this,
379 &FGInterface::get_Climb_Rate,
380 &FGInterface::set_Climb_Rate, false );
381 fgTie("/velocities/glideslope", this,
382 &FGInterface::get_Gamma_vert_rad,
383 &FGInterface::set_Gamma_vert_rad, false );
384 fgTie("/orientation/side-slip-rad", this,
385 &FGInterface::get_Beta, &FGInterface::_set_Beta, false);
386 fgTie("/orientation/side-slip-deg", this,
387 &FGInterface::get_Beta_deg); // read-only
388 fgTie("/orientation/alpha-deg", this,
389 &FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg, false);
390 fgTie("/accelerations/nlf", this,
391 &FGInterface::get_Nlf); // read-only
394 fgTie("/accelerations/ned/north-accel-fps_sec",
395 this, &FGInterface::get_V_dot_north); // read-only
396 fgTie("/accelerations/ned/east-accel-fps_sec",
397 this, &FGInterface::get_V_dot_east); // read-only
398 fgTie("/accelerations/ned/down-accel-fps_sec",
399 this, &FGInterface::get_V_dot_down); // read-only
401 // Pilot accelerations
402 fgTie("/accelerations/pilot/x-accel-fps_sec",
403 this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot, false);
404 fgTie("/accelerations/pilot/y-accel-fps_sec",
405 this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot, false);
406 fgTie("/accelerations/pilot/z-accel-fps_sec",
407 this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot, false);
409 fgTie("/accelerations/n-z-cg-fps_sec",
410 this, &FGInterface::get_N_Z_cg); // read-only
416 * Unbind any properties bound to this FDM.
418 * This method allows the FDM to release properties so that a new
419 * FDM can bind them instead.
422 FGInterface::unbind ()
430 fgUntie("/position/latitude-deg");
431 fgUntie("/position/longitude-deg");
432 fgUntie("/position/altitude-ft");
433 fgUntie("/position/altitude-agl-ft");
434 fgUntie("/position/ground-elev-ft");
435 fgUntie("/position/ground-elev-m");
436 fgUntie("/environment/ground-elevation-m");
437 fgUntie("/position/sea-level-radius-ft");
438 fgUntie("/orientation/roll-deg");
439 fgUntie("/orientation/pitch-deg");
440 fgUntie("/orientation/heading-deg");
441 fgUntie("/orientation/track-deg");
442 fgUntie("/orientation/roll-rate-degps");
443 fgUntie("/orientation/pitch-rate-degps");
444 fgUntie("/orientation/yaw-rate-degps");
445 fgUntie("/orientation/p-body");
446 fgUntie("/orientation/q-body");
447 fgUntie("/orientation/r-body");
448 fgUntie("/orientation/side-slip-rad");
449 fgUntie("/orientation/side-slip-deg");
450 fgUntie("/orientation/alpha-deg");
451 fgUntie("/velocities/airspeed-kt");
452 fgUntie("/velocities/groundspeed-kt");
453 fgUntie("/velocities/equivalent-kt");
454 fgUntie("/velocities/mach");
455 fgUntie("/velocities/speed-north-fps");
456 fgUntie("/velocities/speed-east-fps");
457 fgUntie("/velocities/speed-down-fps");
458 fgUntie("/velocities/north-relground-fps");
459 fgUntie("/velocities/east-relground-fps");
460 fgUntie("/velocities/down-relground-fps");
461 fgUntie("/velocities/uBody-fps");
462 fgUntie("/velocities/vBody-fps");
463 fgUntie("/velocities/wBody-fps");
464 fgUntie("/velocities/vertical-speed-fps");
465 fgUntie("/velocities/glideslope");
466 fgUntie("/accelerations/nlf");
467 fgUntie("/accelerations/pilot/x-accel-fps_sec");
468 fgUntie("/accelerations/pilot/y-accel-fps_sec");
469 fgUntie("/accelerations/pilot/z-accel-fps_sec");
470 fgUntie("/accelerations/ned/north-accel-fps_sec");
471 fgUntie("/accelerations/ned/east-accel-fps_sec");
472 fgUntie("/accelerations/ned/down-accel-fps_sec");
473 fgUntie("/accelerations/n-z-cg-fps_sec");
477 * Update the state of the FDM (i.e. run the equations of motion).
480 FGInterface::update (double dt)
482 SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
486 void FGInterface::_updatePositionM(const SGVec3d& cartPos)
488 TrackComputer tracker( track, geodetic_position_v );
489 cartesian_position_v = cartPos;
490 geodetic_position_v = SGGeod::fromCart(cartesian_position_v);
491 geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
492 _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
493 _update_ground_elev_at_pos();
497 void FGInterface::_updatePosition(const SGGeod& geod)
499 TrackComputer tracker( track, geodetic_position_v );
500 geodetic_position_v = geod;
501 cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v);
502 geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
504 _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
505 _update_ground_elev_at_pos();
509 void FGInterface::_updatePosition(const SGGeoc& geoc)
511 TrackComputer tracker( track, geodetic_position_v );
512 geocentric_position_v = geoc;
513 cartesian_position_v = SGVec3d::fromGeoc(geocentric_position_v);
514 geodetic_position_v = SGGeod::fromCart(cartesian_position_v);
516 _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
517 _update_ground_elev_at_pos();
521 void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
523 _updatePosition(SGGeod::fromRadFt(lon, lat, alt));
527 void FGInterface::_updateGeocentricPosition( double lat, double lon,
530 _updatePosition(SGGeoc::fromRadFt(lon, lat, get_Sea_level_radius() + alt));
533 void FGInterface::_update_ground_elev_at_pos( void ) {
534 double groundlevel_m = get_groundlevel_m(geodetic_position_v);
535 _set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET );
539 void FGInterface::set_Latitude(double lat) {
540 geodetic_position_v.setLatitudeRad(lat);
543 void FGInterface::set_Longitude(double lon) {
544 geodetic_position_v.setLongitudeRad(lon);
547 void FGInterface::set_Altitude(double alt) {
548 geodetic_position_v.setElevationFt(alt);
551 void FGInterface::set_AltitudeAGL(double altagl) {
556 void FGInterface::set_V_calibrated_kts(double vc) {
557 v_calibrated_kts = vc;
560 void FGInterface::set_Mach_number(double mach) {
564 void FGInterface::set_Velocities_Local( double north,
567 v_local_v[0] = north;
572 void FGInterface::set_Velocities_Wind_Body( double u,
575 v_wind_body_v[0] = u;
576 v_wind_body_v[1] = v;
577 v_wind_body_v[2] = w;
581 void FGInterface::set_Euler_Angles( double phi,
584 euler_angles_v[0] = phi;
585 euler_angles_v[1] = theta;
586 euler_angles_v[2] = psi;
590 void FGInterface::set_Climb_Rate( double roc) {
594 void FGInterface::set_Gamma_vert_rad( double gamma) {
595 gamma_vert_rad = gamma;
598 void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
599 void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
600 void FGInterface::set_Density(double rho) { density = rho; }
602 void FGInterface::set_Velocities_Local_Airmass (double wnorth,
605 v_local_airmass_v[0] = wnorth;
606 v_local_airmass_v[1] = weast;
607 v_local_airmass_v[2] = wdown;
611 void FGInterface::_busdump(void) {
613 SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v: " << d_cg_rp_body_v);
614 SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v: " << v_dot_local_v);
615 SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v: " << v_dot_body_v);
616 SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v: " << a_cg_body_v);
617 SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v: " << a_pilot_body_v);
618 SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v: " << n_cg_body_v);
619 SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v: " << v_local_v);
620 SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v: " << v_local_rel_ground_v);
621 SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v: " << v_local_airmass_v);
622 SG_LOG(SG_FLIGHT,SG_INFO,"v_wind_body_v: " << v_wind_body_v);
623 SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v: " << omega_body_v);
624 SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v: " << euler_rates_v);
625 SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v: " << geocentric_rates_v);
626 SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v: " << geocentric_position_v);
627 SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v: " << geodetic_position_v);
628 SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v: " << euler_angles_v);
630 SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
631 SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
632 SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
633 SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
634 SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
635 SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
636 SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
637 SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
638 SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
639 SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
640 SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
641 SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
642 SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
643 SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
644 SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
645 SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
646 SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
647 SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
648 SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
649 SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
650 SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
654 FGInterface::prepare_ground_cache_m(double startSimTime, double endSimTime,
655 const double pt[3], double rad)
657 return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
662 FGInterface::prepare_ground_cache_ft(double startSimTime, double endSimTime,
663 const double pt[3], double rad)
665 // Convert units and do the real work.
666 SGVec3d pt_ft = SG_FEET_TO_METER*SGVec3d(pt);
667 return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
668 pt_ft, rad*SG_FEET_TO_METER);
672 FGInterface::is_valid_m(double *ref_time, double pt[3], double *rad)
675 bool valid = ground_cache.is_valid(*ref_time, _pt, *rad);
680 bool FGInterface::is_valid_ft(double *ref_time, double pt[3], double *rad)
682 // Convert units and do the real work.
684 bool found_ground = ground_cache.is_valid(*ref_time, _pt, *rad);
685 assign(pt, SG_METER_TO_FEET*_pt);
686 *rad *= SG_METER_TO_FEET;
691 FGInterface::get_cat_m(double t, const double pt[3],
692 double end[2][3], double vel[2][3])
694 SGVec3d _end[2], _vel[2];
695 double dist = ground_cache.get_cat(t, SGVec3d(pt), _end, _vel);
696 for (int k=0; k<2; ++k) {
697 assign( end[k], _end[k] );
698 assign( vel[k], _vel[k] );
704 FGInterface::get_cat_ft(double t, const double pt[3],
705 double end[2][3], double vel[2][3])
707 // Convert units and do the real work.
708 SGVec3d pt_m = SG_FEET_TO_METER*SGVec3d(pt);
709 SGVec3d _end[2], _vel[2];
710 double dist = ground_cache.get_cat(t, pt_m, _end, _vel);
711 for (int k=0; k<2; ++k) {
712 assign( end[k], SG_METER_TO_FEET*_end[k] );
713 assign( vel[k], SG_METER_TO_FEET*_vel[k] );
715 return dist*SG_METER_TO_FEET;
719 FGInterface::get_body_m(double t, simgear::BVHNode::Id id,
720 double bodyToWorld[16], double linearVel[3],
721 double angularVel[3])
723 SGMatrixd _bodyToWorld;
724 SGVec3d _linearVel, _angularVel;
725 if (!ground_cache.get_body(t, _bodyToWorld, _linearVel, _angularVel, id))
728 assign(linearVel, _linearVel);
729 assign(angularVel, _angularVel);
730 for (unsigned i = 0; i < 16; ++i)
731 bodyToWorld[i] = _bodyToWorld.data()[i];
737 FGInterface::get_agl_m(double t, const double pt[3], double max_altoff,
738 double contact[3], double normal[3],
739 double linearVel[3], double angularVel[3],
740 SGMaterial const*& material, simgear::BVHNode::Id& id)
742 SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
743 SGVec3d _contact, _normal, _linearVel, _angularVel;
745 bool ret = ground_cache.get_agl(t, pt_m, _contact, _normal, _linearVel,
746 _angularVel, id, material);
747 // correct the linear velocity, since the line intersector delivers
748 // values for the start point and the get_agl function should
749 // traditionally deliver for the contact point
750 _linearVel += cross(_angularVel, _contact - pt_m);
752 assign(contact, _contact);
753 assign(normal, _normal);
754 assign(linearVel, _linearVel);
755 assign(angularVel, _angularVel);
760 FGInterface::get_agl_ft(double t, const double pt[3], double max_altoff,
761 double contact[3], double normal[3],
762 double linearVel[3], double angularVel[3],
763 SGMaterial const*& material, simgear::BVHNode::Id& id)
765 // Convert units and do the real work.
766 SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
767 pt_m *= SG_FEET_TO_METER;
768 SGVec3d _contact, _normal, _linearVel, _angularVel;
770 bool ret = ground_cache.get_agl(t, pt_m, _contact, _normal, _linearVel,
771 _angularVel, id, material);
772 // correct the linear velocity, since the line intersector delivers
773 // values for the start point and the get_agl function should
774 // traditionally deliver for the contact point
775 _linearVel += cross(_angularVel, _contact - pt_m);
777 // Convert units back ...
778 assign( contact, SG_METER_TO_FEET*_contact );
779 assign( normal, _normal );
780 assign( linearVel, SG_METER_TO_FEET*_linearVel );
781 assign( angularVel, _angularVel );
786 FGInterface::get_nearest_m(double t, const double pt[3], double maxDist,
787 double contact[3], double normal[3],
788 double linearVel[3], double angularVel[3],
789 SGMaterial const*& material,
790 simgear::BVHNode::Id& id)
792 SGVec3d _contact, _linearVel, _angularVel;
793 if (!ground_cache.get_nearest(t, SGVec3d(pt), maxDist, _contact, _linearVel,
794 _angularVel, id, material))
797 assign(contact, _contact);
798 assign(linearVel, _linearVel);
799 assign(angularVel, _angularVel);
804 FGInterface::get_nearest_ft(double t, const double pt[3], double maxDist,
805 double contact[3], double normal[3],
806 double linearVel[3], double angularVel[3],
807 SGMaterial const*& material,
808 simgear::BVHNode::Id& id)
810 SGVec3d _contact, _linearVel, _angularVel;
811 if (!ground_cache.get_nearest(t, SG_FEET_TO_METER*SGVec3d(pt),
812 SG_FEET_TO_METER*maxDist, _contact, _linearVel,
813 _angularVel, id, material))
816 assign(contact, SG_METER_TO_FEET*_contact);
817 assign(linearVel, SG_METER_TO_FEET*_linearVel);
818 assign(angularVel, _angularVel);
823 FGInterface::get_groundlevel_m(double lat, double lon, double alt)
825 return get_groundlevel_m(SGGeod::fromRadM(lon, lat, alt));
829 FGInterface::get_groundlevel_m(const SGGeod& geod)
831 // Compute the cartesian position of the given lat/lon/alt.
832 SGVec3d pos = SGVec3d::fromGeod(geod);
834 // FIXME: how to handle t - ref_time differences ???
836 double ref_time = 0, radius;
837 // Prepare the ground cache for that position.
838 if (!is_valid_m(&ref_time, cpos.data(), &radius)) {
839 double startTime = ref_time;
840 double endTime = startTime + 1;
841 bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), 10);
842 /// This is most likely the case when the given altitude is
843 /// too low, try with a new altitude of 10000m, that should be
844 /// sufficient to find a ground level below everywhere on our planet
846 pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000));
847 /// If there is still no ground, return sea level radius
848 if (!prepare_ground_cache_m(startTime, endTime, pos.data(), 10))
851 } else if (radius*radius <= distSqr(pos, cpos)) {
852 double startTime = ref_time;
853 double endTime = startTime + 1;
855 /// We reuse the old radius value, but only if it is at least 10 Meters ..
856 if (!(10 < radius)) // Well this strange compare is nan safe
859 bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), radius);
860 /// This is most likely the case when the given altitude is
861 /// too low, try with a new altitude of 10000m, that should be
862 /// sufficient to find a ground level below everywhere on our planet
864 pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000));
865 /// If there is still no ground, return sea level radius
866 if (!prepare_ground_cache_m(startTime, endTime, pos.data(), radius))
871 double contact[3], normal[3], vel[3], angvel[3];
872 const SGMaterial* material;
873 simgear::BVHNode::Id id;
874 // Ignore the return value here, since it just tells us if
875 // the returns stem from the groundcache or from the coarse
876 // computations below the groundcache. The contact point is still something
877 // valid, the normals and the other returns just contain some defaults.
878 get_agl_m(ref_time, pos.data(), 2.0, contact, normal, vel, angvel,
880 return SGGeod::fromCart(SGVec3d(contact)).getElevationM();
884 FGInterface::caught_wire_m(double t, const double pt[4][3])
887 for (int i=0; i<4; ++i)
888 pt_m[i] = SGVec3d(pt[i]);
890 return ground_cache.caught_wire(t, pt_m);
894 FGInterface::caught_wire_ft(double t, const double pt[4][3])
896 // Convert units and do the real work.
898 for (int i=0; i<4; ++i)
899 pt_m[i] = SG_FEET_TO_METER*SGVec3d(pt[i]);
901 return ground_cache.caught_wire(t, pt_m);
905 FGInterface::get_wire_ends_m(double t, double end[2][3], double vel[2][3])
907 SGVec3d _end[2], _vel[2];
908 bool ret = ground_cache.get_wire_ends(t, _end, _vel);
909 for (int k=0; k<2; ++k) {
910 assign( end[k], _end[k] );
911 assign( vel[k], _vel[k] );
917 FGInterface::get_wire_ends_ft(double t, double end[2][3], double vel[2][3])
919 // Convert units and do the real work.
920 SGVec3d _end[2], _vel[2];
921 bool ret = ground_cache.get_wire_ends(t, _end, _vel);
922 for (int k=0; k<2; ++k) {
923 assign( end[k], SG_METER_TO_FEET*_end[k] );
924 assign( vel[k], SG_METER_TO_FEET*_vel[k] );
930 FGInterface::release_wire(void)
932 ground_cache.release_wire();