1 // flight.hxx -- define shared flight model parameters
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 # error This library requires C++
35 `FGInterface::get_Longitude ()'
36 `FGInterface::get_Latitude ()'
37 `FGInterface::get_Altitude ()'
38 `FGInterface::get_Phi ()'
39 `FGInterface::get_Theta ()'
40 `FGInterface::get_Psi ()'
41 `FGInterface::get_V_equiv_kts ()'
43 `FGInterface::get_V_north ()'
44 `FGInterface::get_V_east ()'
45 `FGInterface::get_V_down ()'
47 `FGInterface::get_P_Body ()'
48 `FGInterface::get_Q_Body ()'
49 `FGInterface::get_R_Body ()'
51 `FGInterface::get_Gamma_vert_rad ()'
52 `FGInterface::get_Climb_Rate ()'
53 `FGInterface::get_Alpha ()'
54 `FGInterface::get_Beta ()'
56 `FGInterface::get_Runway_altitude ()'
58 `FGInterface::get_Lon_geocentric ()'
59 `FGInterface::get_Lat_geocentric ()'
60 `FGInterface::get_Sea_level_radius ()'
61 `FGInterface::get_Earth_position_angle ()'
63 `FGInterface::get_Latitude_dot()'
64 `FGInterface::get_Longitude_dot()'
65 `FGInterface::get_Radius_dot()'
67 `FGInterface::get_Dx_cg ()'
68 `FGInterface::get_Dy_cg ()'
69 `FGInterface::get_Dz_cg ()'
71 `FGInterface::get_Radius_to_vehicle ()'
78 #include <simgear/compiler.h>
79 #include <simgear/constants.h>
80 #include <simgear/structure/subsystem_mgr.hxx>
81 #include <simgear/props/tiedpropertylist.hxx>
82 #include <FDM/groundcache.hxx>
91 * A little helper class to update the track if
92 * the position has changed. In the constructor,
93 * create a copy of the current position and store
94 * references to the position object and the track
96 * The destructor, called at TrackComputer's end of
97 * life/visibility, computes the track if the
98 * position has changed.
100 class TrackComputer {
102 inline TrackComputer( double & track, double & path, const SGGeod & position ) :
105 _position( position ),
106 _prevPosition( position ) {
109 inline ~TrackComputer() {
110 if( _prevPosition == _position ) return;
111 // _track = SGGeodesy::courseDeg( _prevPosition, _position );
113 double distance = .0;
114 if( SGGeodesy::inverse( _prevPosition, _position, _track, d, distance ) ) {
115 d = _position.getElevationM() - _prevPosition.getElevationM();
116 _path = atan2( d, distance ) * SGD_RADIANS_TO_DEGREES;
122 const SGGeod & _position;
123 const SGGeod _prevPosition;
126 // This is based heavily on LaRCsim/ls_generic.h
127 class FGInterface : public SGSubsystem {
131 // Has the init() method been called. This is used to delay
132 // initialization until scenery can be loaded and we know the true
136 // Have we bound to the property system
141 // periodic update management variable. This is a scheme to run
142 // the fdm with a fixed delta-t. We control how many iteration of
143 // the fdm to run with the fixed dt based on the elapsed time from
144 // the last update. This allows us to maintain sync with the real
145 // time clock, even though each frame could take a random amount
146 // of time. Since "dt" is unlikely to divide evenly into the
147 // elapse time, we keep track of the remainder and add it into the
148 // next elapsed time. This yields a small amount of temporal
149 // jitter ( < dt ) but in practice seems to work well.
152 * encapsulate primary flight state. This is packaged so it can be
153 * (unfortunately) sent directly over the wire by the 'native' FDM
158 // CG position w.r.t. ref. point
159 SGVec3d d_cg_rp_body_v;
162 SGVec3d v_dot_local_v;
163 SGVec3d v_dot_body_v;
165 SGVec3d a_pilot_body_v;
167 SGVec3d omega_dot_body_v;
171 SGVec3d v_local_rel_ground_v; // V rel w.r.t. earth surface
172 SGVec3d v_local_airmass_v; // velocity of airmass (steady winds)
173 SGVec3d v_body_v; // ECEF velocities in body axis
175 SGVec3d omega_body_v; // Angular B rates
176 SGVec3d euler_rates_v;
177 SGVec3d geocentric_rates_v; // Geocentric linear velocities
180 SGGeod geodetic_position_v;
181 SGVec3d cartesian_position_v;
182 SGGeoc geocentric_position_v;
183 SGVec3d euler_angles_v;
185 // Normal Load Factor
189 double v_rel_wind, v_true_kts;
190 double v_ground_speed, v_equiv_kts;
191 double v_calibrated_kts;
193 // Miscellaneious Quantities
194 double alpha, beta; // in radians
195 double gamma_vert_rad; // Flight path angles
196 double density, mach_number;
197 double static_pressure, total_pressure;
198 double dynamic_pressure;
199 double static_temperature, total_temperature;
200 double sea_level_radius, earth_position_angle;
201 double runway_altitude;
202 double climb_rate; // in feet per second
210 simgear::TiedPropertyList _tiedProperties;
212 // the ground cache object itself.
213 FGGroundCache ground_cache;
215 void set_A_X_pilot(double x)
216 { _set_Accels_Pilot_Body(x, _state.a_pilot_body_v[1], _state.a_pilot_body_v[2]); }
218 void set_A_Y_pilot(double y)
219 { _set_Accels_Pilot_Body(_state.a_pilot_body_v[0], y, _state.a_pilot_body_v[2]); }
221 void set_A_Z_pilot(double z)
222 { _set_Accels_Pilot_Body(_state.a_pilot_body_v[0], _state.a_pilot_body_v[1], z); }
227 int _calc_multiloop (double dt);
231 // deliberately not virtual so that
232 // FGInterface constructor will call
237 void _updatePositionM(const SGVec3d& cartPos);
238 void _updatePositionFt(const SGVec3d& cartPos) {
239 _updatePositionM(SG_FEET_TO_METER*cartPos);
241 void _updatePosition(const SGGeod& geod);
242 void _updatePosition(const SGGeoc& geoc);
244 void _updateGeodeticPosition( double lat, double lon, double alt );
245 void _updateGeocentricPosition( double lat_geoc, double lon, double alt );
246 void _update_ground_elev_at_pos( void );
248 inline void _set_CG_Position( double dx, double dy, double dz ) {
249 _state.d_cg_rp_body_v[0] = dx;
250 _state.d_cg_rp_body_v[1] = dy;
251 _state.d_cg_rp_body_v[2] = dz;
253 inline void _set_Accels_Local( double north, double east, double down ) {
254 _state.v_dot_local_v[0] = north;
255 _state.v_dot_local_v[1] = east;
256 _state.v_dot_local_v[2] = down;
258 inline void _set_Accels_Body( double u, double v, double w ) {
259 _state.v_dot_body_v[0] = u;
260 _state.v_dot_body_v[1] = v;
261 _state.v_dot_body_v[2] = w;
263 inline void _set_Accels_CG_Body( double x, double y, double z ) {
264 _state.a_cg_body_v[0] = x;
265 _state.a_cg_body_v[1] = y;
266 _state.a_cg_body_v[2] = z;
268 inline void _set_Accels_Pilot_Body( double x, double y, double z ) {
269 _state.a_pilot_body_v[0] = x;
270 _state.a_pilot_body_v[1] = y;
271 _state.a_pilot_body_v[2] = z;
273 inline void _set_Accels_CG_Body_N( double x, double y, double z ) {
274 _state.n_cg_body_v[0] = x;
275 _state.n_cg_body_v[1] = y;
276 _state.n_cg_body_v[2] = z;
278 void _set_Nlf(double n) { _state.nlf=n; }
279 inline void _set_Velocities_Local( double north, double east, double down ){
280 _state.v_local_v[0] = north;
281 _state.v_local_v[1] = east;
282 _state.v_local_v[2] = down;
284 inline void _set_Velocities_Ground(double north, double east, double down) {
285 _state.v_local_rel_ground_v[0] = north;
286 _state.v_local_rel_ground_v[1] = east;
287 _state.v_local_rel_ground_v[2] = down;
289 inline void _set_Velocities_Local_Airmass( double north, double east,
292 _state.v_local_airmass_v[0] = north;
293 _state.v_local_airmass_v[1] = east;
294 _state.v_local_airmass_v[2] = down;
296 inline void _set_Velocities_Body( double u, double v, double w) {
297 _state.v_body_v[0] = u;
298 _state.v_body_v[1] = v;
299 _state.v_body_v[2] = w;
301 inline void _set_V_rel_wind(double vt) { _state.v_rel_wind = vt; }
302 inline void _set_V_ground_speed( double v) { _state.v_ground_speed = v; }
303 inline void _set_V_equiv_kts( double kts ) { _state.v_equiv_kts = kts; }
304 inline void _set_V_calibrated_kts( double kts ) { _state.v_calibrated_kts = kts; }
305 inline void _set_Omega_Body( double p, double q, double r ) {
306 _state.omega_body_v[0] = p;
307 _state.omega_body_v[1] = q;
308 _state.omega_body_v[2] = r;
310 inline void _set_Euler_Rates( double phi, double theta, double psi ) {
311 _state.euler_rates_v[0] = phi;
312 _state.euler_rates_v[1] = theta;
313 _state.euler_rates_v[2] = psi;
316 void set_Phi_dot_degps(double x)
318 _state.euler_rates_v[0] = x * SGD_DEGREES_TO_RADIANS;
321 void set_Theta_dot_degps(double x)
323 _state.euler_rates_v[1] = x * SGD_DEGREES_TO_RADIANS;
326 void set_Psi_dot_degps(double x)
328 _state.euler_rates_v[2] = x * SGD_DEGREES_TO_RADIANS;
331 inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
332 _state.geocentric_rates_v[0] = lat;
333 _state.geocentric_rates_v[1] = lon;
334 _state.geocentric_rates_v[2] = rad;
336 inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
337 _state.geocentric_position_v.setLatitudeRad(lat);
338 _state.geocentric_position_v.setLongitudeRad(lon);
339 _state.geocentric_position_v.setRadiusFt(rad);
341 /* Don't call _set_L[at|ong]itude() directly, use _set_Geodetic_Position() instead.
342 These methods can't update the track.
344 inline void _set_Latitude(double lat) {
345 geodetic_position_v.setLatitudeRad(lat);
347 inline void _set_Longitude(double lon) {
348 geodetic_position_v.setLongitudeRad(lon);
351 inline void _set_Altitude(double altitude) {
352 _state.geodetic_position_v.setElevationFt(altitude);
354 inline void _set_Altitude_AGL(double agl) {
355 _state.altitude_agl = agl;
357 inline void _set_Geodetic_Position( double lat, double lon ) {
358 _set_Geodetic_Position( lat, lon, _state.geodetic_position_v.getElevationFt());
360 inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
361 TrackComputer tracker( _state.track, _state.path, _state.geodetic_position_v );
362 _state.geodetic_position_v.setLatitudeRad(lat);
363 _state.geodetic_position_v.setLongitudeRad(lon);
364 _state.geodetic_position_v.setElevationFt(alt);
366 inline void _set_Euler_Angles( double phi, double theta, double psi ) {
367 _state.euler_angles_v[0] = phi;
368 _state.euler_angles_v[1] = theta;
369 _state.euler_angles_v[2] = psi;
371 // FIXME, for compatibility with JSBSim
372 inline void _set_T_Local_to_Body( int i, int j, double value) { }
373 inline void _set_Alpha( double a ) { _state.alpha = a; }
374 inline void _set_Beta( double b ) { _state.beta = b; }
376 inline void set_Alpha_deg( double a ) { _state.alpha = a * SGD_DEGREES_TO_RADIANS; }
378 inline void _set_Gamma_vert_rad( double gv ) { _state.gamma_vert_rad = gv; }
379 inline void _set_Density( double d ) { _state.density = d; }
380 inline void _set_Mach_number( double m ) { _state.mach_number = m; }
381 inline void _set_Static_pressure( double sp ) { _state.static_pressure = sp; }
382 inline void _set_Static_temperature( double t ) { _state.static_temperature = t; }
383 inline void _set_Total_temperature( double tat ) { _state.total_temperature = tat; } //JW
384 inline void _set_Sea_level_radius( double r ) { _state.sea_level_radius = r; }
385 inline void _set_Earth_position_angle(double a) {_state.earth_position_angle = a; }
386 inline void _set_Runway_altitude( double alt ) { _state.runway_altitude = alt; }
387 inline void _set_Climb_Rate(double rate) { _state.climb_rate = rate; }
392 FGInterface( double dt );
393 virtual ~FGInterface();
395 virtual void init ();
396 virtual void bind ();
397 virtual void unbind ();
398 virtual void update(double dt);
399 virtual bool ToggleDataLogging(bool state) { return false; }
400 virtual bool ToggleDataLogging(void) { return false; }
402 bool readState(SGIOChannel* io);
403 bool writeState(SGIOChannel* io);
405 // Define the various supported flight models (many not yet implemented)
410 // The NASA LaRCsim (Navion) flight model
413 // Jon S. Berndt's new FDM written from the ground up in C++
416 // Christian's hot air balloon simulation
419 // Aeronautical DEvelopment AGEncy, Bangalore India
422 // The following aren't implemented but are here to spark
423 // thoughts and discussions, and maybe even action.
430 // Driven externally via a serial port, net, file, etc.
435 inline bool get_inited() const { return inited; }
436 inline void set_inited( bool value ) { inited = value; }
438 inline bool get_bound() const { return bound; }
440 //perform initializion that is common to all FDM's
444 virtual void set_Latitude(double lat); // geocentric
445 virtual void set_Longitude(double lon);
446 virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
447 virtual void set_AltitudeAGL(double altagl); // and vice-versa
448 virtual void set_Latitude_deg (double lat) {
449 set_Latitude(lat * SGD_DEGREES_TO_RADIANS);
451 virtual void set_Longitude_deg (double lon) {
452 set_Longitude(lon * SGD_DEGREES_TO_RADIANS);
455 // Speeds -- setting any of these will trigger a re-calc of the rest
456 virtual void set_V_calibrated_kts(double vc);
457 virtual void set_Mach_number(double mach);
458 virtual void set_Velocities_Local( double north, double east, double down );
459 inline void set_V_north (double north) {
460 set_Velocities_Local(north, _state.v_local_v[1], _state.v_local_v[2]);
462 inline void set_V_east (double east) {
463 set_Velocities_Local(_state.v_local_v[0], east, _state.v_local_v[2]);
465 inline void set_V_down (double down) {
466 set_Velocities_Local(_state.v_local_v[0], _state.v_local_v[1], down);
468 virtual void set_Velocities_Body( double u, double v, double w);
469 virtual void set_uBody (double uBody) {
470 set_Velocities_Body(uBody, _state.v_body_v[1], _state.v_body_v[2]);
472 virtual void set_vBody (double vBody) {
473 set_Velocities_Body(_state.v_body_v[0], vBody, _state.v_body_v[2]);
475 virtual void set_wBody (double wBody) {
476 set_Velocities_Body(_state.v_body_v[0], _state.v_body_v[1], wBody);
480 virtual void set_Euler_Angles( double phi, double theta, double psi );
481 virtual void set_Phi (double phi) {
482 set_Euler_Angles(phi, get_Theta(), get_Psi());
484 virtual void set_Theta (double theta) {
485 set_Euler_Angles(get_Phi(), theta, get_Psi());
487 virtual void set_Psi (double psi) {
488 set_Euler_Angles(get_Phi(), get_Theta(), psi);
490 virtual void set_Phi_deg (double phi) {
491 set_Phi(phi * SGD_DEGREES_TO_RADIANS);
493 virtual void set_Theta_deg (double theta) {
494 set_Theta(theta * SGD_DEGREES_TO_RADIANS);
496 virtual void set_Psi_deg (double psi) {
497 set_Psi(psi * SGD_DEGREES_TO_RADIANS);
501 virtual void set_Climb_Rate( double roc);
502 virtual void set_Gamma_vert_rad( double gamma);
506 virtual void set_Static_pressure(double p);
507 virtual void set_Static_temperature(double T);
508 virtual void set_Density(double rho);
510 virtual void set_Velocities_Local_Airmass (double wnorth,
514 // ========== Mass properties and geometry values ==========
516 // CG position w.r.t. ref. point
517 inline double get_Dx_cg() const { return _state.d_cg_rp_body_v[0]; }
518 inline double get_Dy_cg() const { return _state.d_cg_rp_body_v[1]; }
519 inline double get_Dz_cg() const { return _state.d_cg_rp_body_v[2]; }
521 // ========== Accelerations ==========
523 inline double get_V_dot_north() const { return _state.v_dot_local_v[0]; }
524 inline double get_V_dot_east() const { return _state.v_dot_local_v[1]; }
525 inline double get_V_dot_down() const { return _state.v_dot_local_v[2]; }
527 inline double get_U_dot_body() const { return _state.v_dot_body_v[0]; }
528 inline double get_V_dot_body() const { return _state.v_dot_body_v[1]; }
529 inline double get_W_dot_body() const { return _state.v_dot_body_v[2]; }
531 inline double get_A_X_cg() const { return _state.a_cg_body_v[0]; }
532 inline double get_A_Y_cg() const { return _state.a_cg_body_v[1]; }
533 inline double get_A_Z_cg() const { return _state.a_cg_body_v[2]; }
535 inline double get_A_X_pilot() const { return _state.a_pilot_body_v[0]; }
536 inline double get_A_Y_pilot() const { return _state.a_pilot_body_v[1]; }
537 inline double get_A_Z_pilot() const { return _state.a_pilot_body_v[2]; }
539 inline double get_N_X_cg() const { return _state.n_cg_body_v[0]; }
540 inline double get_N_Y_cg() const { return _state.n_cg_body_v[1]; }
541 inline double get_N_Z_cg() const { return _state.n_cg_body_v[2]; }
543 inline double get_Nlf(void) const { return _state.nlf; }
545 // ========== Velocities ==========
547 inline double get_V_north() const { return _state.v_local_v[0]; }
548 inline double get_V_east() const { return _state.v_local_v[1]; }
549 inline double get_V_down() const { return _state.v_local_v[2]; }
550 inline double get_uBody () const { return _state.v_body_v[0]; }
551 inline double get_vBody () const { return _state.v_body_v[1]; }
552 inline double get_wBody () const { return _state.v_body_v[2]; }
554 // Please dont comment these out. fdm=ada uses these (see
556 inline double get_V_north_rel_ground() const {
557 return _state.v_local_rel_ground_v[0];
559 inline double get_V_east_rel_ground() const {
560 return _state.v_local_rel_ground_v[1];
562 inline double get_V_down_rel_ground() const {
563 return _state.v_local_rel_ground_v[2];
565 // <--- fdm=ada uses these (see cockpit.cxx)
567 inline double get_V_north_airmass() const { return _state.v_local_airmass_v[0]; }
568 inline double get_V_east_airmass() const { return _state.v_local_airmass_v[1]; }
569 inline double get_V_down_airmass() const { return _state.v_local_airmass_v[2]; }
571 inline double get_U_body() const { return _state.v_body_v[0]; }
572 inline double get_V_body() const { return _state.v_body_v[1]; }
573 inline double get_W_body() const { return _state.v_body_v[2]; }
575 inline double get_V_rel_wind() const { return _state.v_rel_wind; }
577 inline double get_V_true_kts() const { return _state.v_true_kts; }
579 inline double get_V_ground_speed() const { return _state.v_ground_speed; }
580 inline double get_V_ground_speed_kt() const { return _state.v_ground_speed * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM; }
581 inline void set_V_ground_speed_kt(double ground_speed) { _state.v_ground_speed = ground_speed / ( SG_FEET_TO_METER * 3600 * SG_METER_TO_NM); }
583 inline double get_V_equiv_kts() const { return _state.v_equiv_kts; }
585 inline double get_V_calibrated_kts() const { return _state.v_calibrated_kts; }
587 inline double get_P_body() const { return _state.omega_body_v[0]; }
588 inline double get_Q_body() const { return _state.omega_body_v[1]; }
589 inline double get_R_body() const { return _state.omega_body_v[2]; }
591 inline double get_Phi_dot() const { return _state.euler_rates_v[0]; }
592 inline double get_Theta_dot() const { return _state.euler_rates_v[1]; }
593 inline double get_Psi_dot() const { return _state.euler_rates_v[2]; }
594 inline double get_Phi_dot_degps() const { return _state.euler_rates_v[0] * SGD_RADIANS_TO_DEGREES; }
595 inline double get_Theta_dot_degps() const { return _state.euler_rates_v[1] * SGD_RADIANS_TO_DEGREES; }
596 inline double get_Psi_dot_degps() const { return _state.euler_rates_v[2] * SGD_RADIANS_TO_DEGREES; }
598 inline double get_Latitude_dot() const { return _state.geocentric_rates_v[0]; }
599 inline double get_Longitude_dot() const { return _state.geocentric_rates_v[1]; }
600 inline double get_Radius_dot() const { return _state.geocentric_rates_v[2]; }
602 // ========== Positions ==========
604 inline double get_Lat_geocentric() const {
605 return _state.geocentric_position_v.getLatitudeRad();
607 inline double get_Lon_geocentric() const {
608 return _state.geocentric_position_v.getLongitudeRad();
610 inline double get_Radius_to_vehicle() const {
611 return _state.geocentric_position_v.getRadiusFt();
614 const SGGeod& getPosition() const { return _state.geodetic_position_v; }
615 const SGGeoc& getGeocPosition() const { return _state.geocentric_position_v; }
616 const SGVec3d& getCartPosition() const { return _state.cartesian_position_v; }
618 inline double get_Latitude() const {
619 return _state.geodetic_position_v.getLatitudeRad();
621 inline double get_Longitude() const {
622 return _state.geodetic_position_v.getLongitudeRad();
624 inline double get_Altitude() const {
625 return _state.geodetic_position_v.getElevationFt();
627 inline double get_Altitude_AGL(void) const { return _state.altitude_agl; }
628 inline double get_Track(void) const { return _state.track; }
629 inline double get_Path(void) const { return _state.path; }
631 inline double get_Latitude_deg () const {
632 return _state.geodetic_position_v.getLatitudeDeg();
634 inline double get_Longitude_deg () const {
635 return _state.geodetic_position_v.getLongitudeDeg();
638 inline double get_Phi() const { return _state.euler_angles_v[0]; }
639 inline double get_Theta() const { return _state.euler_angles_v[1]; }
640 inline double get_Psi() const { return _state.euler_angles_v[2]; }
641 inline double get_Phi_deg () const { return get_Phi() * SGD_RADIANS_TO_DEGREES; }
642 inline double get_Theta_deg () const { return get_Theta() * SGD_RADIANS_TO_DEGREES; }
643 inline double get_Psi_deg () const { return get_Psi() * SGD_RADIANS_TO_DEGREES; }
646 // ========== Miscellaneous quantities ==========
648 inline double get_Alpha() const { return _state.alpha; }
649 inline double get_Alpha_deg() const { return _state.alpha * SGD_RADIANS_TO_DEGREES; }
650 inline double get_Beta() const { return _state.beta; }
651 inline double get_Beta_deg() const { return _state.beta * SGD_RADIANS_TO_DEGREES; }
652 inline double get_Gamma_vert_rad() const { return _state.gamma_vert_rad; }
654 inline double get_Density() const { return _state.density; }
655 inline double get_Mach_number() const { return _state.mach_number; }
657 inline double get_Static_pressure() const { return _state.static_pressure; }
658 inline double get_Total_pressure() const { return _state.total_pressure; }
659 inline double get_Dynamic_pressure() const { return _state.dynamic_pressure; }
661 inline double get_Static_temperature() const { return _state.static_temperature; }
662 inline double get_Total_temperature() const { return _state.total_temperature; }
664 inline double get_Sea_level_radius() const { return _state.sea_level_radius; }
665 inline double get_Earth_position_angle() const {
666 return _state.earth_position_angle;
669 inline double get_Runway_altitude() const { return _state.runway_altitude; }
670 inline double get_Runway_altitude_m() const { return SG_FEET_TO_METER * _state.runway_altitude; }
672 inline double get_Climb_Rate() const { return _state.climb_rate; }
674 // Note that currently this is the "same" value runway altitude...
675 inline double get_ground_elev_ft() const { return _state.runway_altitude; }
678 //////////////////////////////////////////////////////////////////////////
679 // Ground handling routines
680 //////////////////////////////////////////////////////////////////////////
682 // Prepare the ground cache for the wgs84 position pt_*.
683 // That is take all vertices in the ball with radius rad around the
684 // position given by the pt_* and store them in a local scene graph.
685 bool prepare_ground_cache_m(double startSimTime, double endSimTime,
686 const double pt[3], double rad);
687 bool prepare_ground_cache_ft(double startSimTime, double endSimTime,
688 const double pt[3], double rad);
691 // Returns true if the cache is valid.
692 // Also the reference time, point and radius values where the cache
693 // is valid for are returned.
694 bool is_valid_m(double *ref_time, double pt[3], double *rad);
695 bool is_valid_ft(double *ref_time, double pt[3], double *rad);
697 // Return the nearest catapult to the given point
698 // pt in wgs84 coordinates.
699 double get_cat_m(double t, const double pt[3],
700 double end[2][3], double vel[2][3]);
701 double get_cat_ft(double t, const double pt[3],
702 double end[2][3], double vel[2][3]);
705 // Return the orientation and position matrix and the linear and angular
706 // velocity of that local coordinate systems origin for a given time and
707 // body id. The velocities are in the wgs84 frame at the bodys origin.
708 bool get_body_m(double t, simgear::BVHNode::Id id, double bodyToWorld[16],
709 double linearVel[3], double angularVel[3]);
712 // Return the altitude above ground below the wgs84 point pt
713 // Search for the nearest triangle to pt in downward direction.
714 // Return ground properties. The velocities are in the wgs84 frame at the
716 bool get_agl_m(double t, const double pt[3], double max_altoff,
717 double contact[3], double normal[3], double linearVel[3],
718 double angularVel[3], simgear::BVHMaterial const*& material,
719 simgear::BVHNode::Id& id);
720 bool get_agl_ft(double t, const double pt[3], double max_altoff,
721 double contact[3], double normal[3], double linearVel[3],
722 double angularVel[3], simgear::BVHMaterial const*& material,
723 simgear::BVHNode::Id& id);
724 double get_groundlevel_m(double lat, double lon, double alt);
725 double get_groundlevel_m(const SGGeod& geod);
728 // Return the nearest point in any direction to the point pt with a maximum
729 // distance maxDist. The velocities are in the wgs84 frame at the query
731 bool get_nearest_m(double t, const double pt[3], double maxDist,
732 double contact[3], double normal[3], double linearVel[3],
733 double angularVel[3], simgear::BVHMaterial const*& material,
734 simgear::BVHNode::Id& id);
735 bool get_nearest_ft(double t, const double pt[3], double maxDist,
736 double contact[3], double normal[3],double linearVel[3],
737 double angularVel[3], simgear::BVHMaterial const*& material,
738 simgear::BVHNode::Id& id);
741 // Return 1 if the hook intersects with a wire.
742 // That test is done by checking if the quad spanned by the points pt*
743 // intersects with the line representing the wire.
744 // If the wire is caught, the cache will trace this wires endpoints until
745 // the FDM calls release_wire().
746 bool caught_wire_m(double t, const double pt[4][3]);
747 bool caught_wire_ft(double t, const double pt[4][3]);
749 // Return the location and speed of the wire endpoints.
750 bool get_wire_ends_m(double t, double end[2][3], double vel[2][3]);
751 bool get_wire_ends_ft(double t, double end[2][3], double vel[2][3]);
753 // Tell the cache code that it does no longer need to care for
754 // the wire end position.
755 void release_wire(void);
758 #endif // _FLIGHT_HXX