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 ()'
82 #include <simgear/compiler.h>
83 #include <simgear/constants.h>
84 #include <simgear/structure/subsystem_mgr.hxx>
85 #include <FDM/groundcache.hxx>
92 * A little helper class to update the track if
93 * the position has changed. In the constructor,
94 * create a copy of the current position and store
95 * references to the position object and the track
97 * The destructor, called at TrackComputer's end of
98 * life/visibility, computes the track if the
99 * position has changed.
101 class TrackComputer {
103 inline TrackComputer( double & track, const SGGeod & position ) :
105 _position( position ),
106 _prevPosition( position ) {
109 inline ~TrackComputer() {
110 if( _prevPosition == _position ) return;
111 _track = SGGeodesy::courseDeg( _prevPosition, _position );
115 const SGGeod & _position;
116 const SGGeod _prevPosition;
119 // This is based heavily on LaRCsim/ls_generic.h
120 class FGInterface : public SGSubsystem {
124 // Has the init() method been called. This is used to delay
125 // initialization until scenery can be loaded and we know the true
129 // Have we bound to the property system
132 // periodic update management variable. This is a scheme to run
133 // the fdm with a fixed delta-t. We control how many iteration of
134 // the fdm to run with the fixed dt based on the elapsed time from
135 // the last update. This allows us to maintain sync with the real
136 // time clock, even though each frame could take a random amount
137 // of time. Since "dt" is unlikely to divide evenly into the
138 // elapse time, we keep track of the remainder and add it into the
139 // next elapsed time. This yields a small amount of temporal
140 // jitter ( < dt ) but in practice seems to work well.
142 // CG position w.r.t. ref. point
143 SGVec3d d_cg_rp_body_v;
146 SGVec3d v_dot_local_v;
147 SGVec3d v_dot_body_v;
149 SGVec3d a_pilot_body_v;
151 SGVec3d omega_dot_body_v;
155 SGVec3d v_local_rel_ground_v; // V rel w.r.t. earth surface
156 SGVec3d v_local_airmass_v; // velocity of airmass (steady winds)
157 SGVec3d v_wind_body_v; // Wind-relative velocities in body axis
159 SGVec3d omega_body_v; // Angular B rates
160 SGVec3d euler_rates_v;
161 SGVec3d geocentric_rates_v; // Geocentric linear velocities
164 SGGeod geodetic_position_v;
165 SGVec3d cartesian_position_v;
166 SGGeoc geocentric_position_v;
167 SGVec3d euler_angles_v;
169 // Normal Load Factor
173 double v_rel_wind, v_true_kts;
174 double v_ground_speed, v_equiv_kts;
175 double v_calibrated_kts;
177 // Miscellaneious Quantities
178 double alpha, beta; // in radians
179 double gamma_vert_rad; // Flight path angles
180 double density, mach_number;
181 double static_pressure, total_pressure;
182 double dynamic_pressure;
183 double static_temperature, total_temperature;
184 double sea_level_radius, earth_position_angle;
185 double runway_altitude;
186 double climb_rate; // in feet per second
190 double daux[16]; // auxilliary doubles
191 float faux[16]; // auxilliary floats
192 int iaux[16]; // auxilliary ints
194 // the ground cache object itself.
195 FGGroundCache ground_cache;
199 int _calc_multiloop (double dt);
203 // deliberately not virtual so that
204 // FGInterface constructor will call
209 void _updatePositionM(const SGVec3d& cartPos);
210 void _updatePositionFt(const SGVec3d& cartPos) {
211 _updatePositionM(SG_FEET_TO_METER*cartPos);
213 void _updatePosition(const SGGeod& geod);
214 void _updatePosition(const SGGeoc& geoc);
216 void _updateGeodeticPosition( double lat, double lon, double alt );
217 void _updateGeocentricPosition( double lat_geoc, double lon, double alt );
218 void _update_ground_elev_at_pos( void );
220 inline void _set_CG_Position( double dx, double dy, double dz ) {
221 d_cg_rp_body_v[0] = dx;
222 d_cg_rp_body_v[1] = dy;
223 d_cg_rp_body_v[2] = dz;
225 inline void _set_Accels_Local( double north, double east, double down ) {
226 v_dot_local_v[0] = north;
227 v_dot_local_v[1] = east;
228 v_dot_local_v[2] = down;
230 inline void _set_Accels_Body( double u, double v, double w ) {
235 inline void _set_Accels_CG_Body( double x, double y, double z ) {
240 inline void _set_Accels_Pilot_Body( double x, double y, double z ) {
241 a_pilot_body_v[0] = x;
242 a_pilot_body_v[1] = y;
243 a_pilot_body_v[2] = z;
245 inline void _set_Accels_CG_Body_N( double x, double y, double z ) {
250 void _set_Nlf(double n) { nlf=n; }
251 inline void _set_Velocities_Local( double north, double east, double down ){
252 v_local_v[0] = north;
256 inline void _set_Velocities_Ground(double north, double east, double down) {
257 v_local_rel_ground_v[0] = north;
258 v_local_rel_ground_v[1] = east;
259 v_local_rel_ground_v[2] = down;
261 inline void _set_Velocities_Local_Airmass( double north, double east,
264 v_local_airmass_v[0] = north;
265 v_local_airmass_v[1] = east;
266 v_local_airmass_v[2] = down;
268 inline void _set_Velocities_Wind_Body( double u, double v, double w) {
269 v_wind_body_v[0] = u;
270 v_wind_body_v[1] = v;
271 v_wind_body_v[2] = w;
273 inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; }
274 inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
275 inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
276 inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
277 inline void _set_Omega_Body( double p, double q, double r ) {
282 inline void _set_Euler_Rates( double phi, double theta, double psi ) {
283 euler_rates_v[0] = phi;
284 euler_rates_v[1] = theta;
285 euler_rates_v[2] = psi;
287 inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
288 geocentric_rates_v[0] = lat;
289 geocentric_rates_v[1] = lon;
290 geocentric_rates_v[2] = rad;
292 inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
293 geocentric_position_v.setLatitudeRad(lat);
294 geocentric_position_v.setLongitudeRad(lon);
295 geocentric_position_v.setRadiusFt(rad);
297 /* Don't call _set_L[at|ong]itude() directly, use _set_Geodetic_Position() instead.
298 These methods can't update the track.
300 inline void _set_Latitude(double lat) {
301 geodetic_position_v.setLatitudeRad(lat);
303 inline void _set_Longitude(double lon) {
304 geodetic_position_v.setLongitudeRad(lon);
307 inline void _set_Altitude(double altitude) {
308 geodetic_position_v.setElevationFt(altitude);
310 inline void _set_Altitude_AGL(double agl) {
313 inline void _set_Geodetic_Position( double lat, double lon ) {
314 _set_Geodetic_Position( lat, lon, geodetic_position_v.getElevationFt());
316 inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
317 TrackComputer tracker( track, geodetic_position_v );
318 geodetic_position_v.setLatitudeRad(lat);
319 geodetic_position_v.setLongitudeRad(lon);
320 geodetic_position_v.setElevationFt(alt);
322 inline void _set_Euler_Angles( double phi, double theta, double psi ) {
323 euler_angles_v[0] = phi;
324 euler_angles_v[1] = theta;
325 euler_angles_v[2] = psi;
327 // FIXME, for compatibility with JSBSim
328 inline void _set_T_Local_to_Body( int i, int j, double value) { }
329 inline void _set_Alpha( double a ) { alpha = a; }
330 inline void _set_Beta( double b ) { beta = b; }
331 inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
332 inline void _set_Density( double d ) { density = d; }
333 inline void _set_Mach_number( double m ) { mach_number = m; }
334 inline void _set_Static_pressure( double sp ) { static_pressure = sp; }
335 inline void _set_Static_temperature( double t ) { static_temperature = t; }
336 inline void _set_Total_temperature( double tat ) { total_temperature = tat; } //JW
337 inline void _set_Sea_level_radius( double r ) { sea_level_radius = r; }
338 inline void _set_Earth_position_angle(double a) { earth_position_angle = a; }
339 inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; }
340 inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
342 inline void _set_daux( int n, double value ) { daux[n] = value; }
343 inline void _set_faux( int n, float value ) { faux[n] = value; }
344 inline void _set_iaux( int n, int value ) { iaux[n] = value; }
349 FGInterface( double dt );
350 virtual ~FGInterface();
352 virtual void init ();
353 virtual void bind ();
354 virtual void unbind ();
355 virtual void update(double dt);
356 virtual bool ToggleDataLogging(bool state) { return false; }
357 virtual bool ToggleDataLogging(void) { return false; }
359 // Define the various supported flight models (many not yet implemented)
364 // The NASA LaRCsim (Navion) flight model
367 // Jon S. Berndt's new FDM written from the ground up in C++
370 // Christian's hot air balloon simulation
373 // Aeronautical DEvelopment AGEncy, Bangalore India
376 // The following aren't implemented but are here to spark
377 // thoughts and discussions, and maybe even action.
384 // Driven externally via a serial port, net, file, etc.
389 inline bool get_inited() const { return inited; }
390 inline void set_inited( bool value ) { inited = value; }
392 inline bool get_bound() const { return bound; }
394 //perform initializion that is common to all FDM's
398 virtual void set_Latitude(double lat); // geocentric
399 virtual void set_Longitude(double lon);
400 virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
401 virtual void set_AltitudeAGL(double altagl); // and vice-versa
402 virtual void set_Latitude_deg (double lat) {
403 set_Latitude(lat * SGD_DEGREES_TO_RADIANS);
405 virtual void set_Longitude_deg (double lon) {
406 set_Longitude(lon * SGD_DEGREES_TO_RADIANS);
409 // Speeds -- setting any of these will trigger a re-calc of the rest
410 virtual void set_V_calibrated_kts(double vc);
411 virtual void set_Mach_number(double mach);
412 virtual void set_Velocities_Local( double north, double east, double down );
413 inline void set_V_north (double north) {
414 set_Velocities_Local(north, v_local_v[1], v_local_v[2]);
416 inline void set_V_east (double east) {
417 set_Velocities_Local(v_local_v[0], east, v_local_v[2]);
419 inline void set_V_down (double down) {
420 set_Velocities_Local(v_local_v[0], v_local_v[1], down);
422 virtual void set_Velocities_Wind_Body( double u, double v, double w);
423 virtual void set_uBody (double uBody) {
424 set_Velocities_Wind_Body(uBody, v_wind_body_v[1], v_wind_body_v[2]);
426 virtual void set_vBody (double vBody) {
427 set_Velocities_Wind_Body(v_wind_body_v[0], vBody, v_wind_body_v[2]);
429 virtual void set_wBody (double wBody) {
430 set_Velocities_Wind_Body(v_wind_body_v[0], v_wind_body_v[1], wBody);
434 virtual void set_Euler_Angles( double phi, double theta, double psi );
435 virtual void set_Phi (double phi) {
436 set_Euler_Angles(phi, get_Theta(), get_Psi());
438 virtual void set_Theta (double theta) {
439 set_Euler_Angles(get_Phi(), theta, get_Psi());
441 virtual void set_Psi (double psi) {
442 set_Euler_Angles(get_Phi(), get_Theta(), psi);
444 virtual void set_Phi_deg (double phi) {
445 set_Phi(phi * SGD_DEGREES_TO_RADIANS);
447 virtual void set_Theta_deg (double theta) {
448 set_Theta(theta * SGD_DEGREES_TO_RADIANS);
450 virtual void set_Psi_deg (double psi) {
451 set_Psi(psi * SGD_DEGREES_TO_RADIANS);
455 virtual void set_Climb_Rate( double roc);
456 virtual void set_Gamma_vert_rad( double gamma);
460 virtual void set_Static_pressure(double p);
461 virtual void set_Static_temperature(double T);
462 virtual void set_Density(double rho);
464 virtual void set_Velocities_Local_Airmass (double wnorth,
468 // ========== Mass properties and geometry values ==========
470 // CG position w.r.t. ref. point
471 inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; }
472 inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; }
473 inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
475 // ========== Accelerations ==========
477 inline double get_V_dot_north() const { return v_dot_local_v[0]; }
478 inline double get_V_dot_east() const { return v_dot_local_v[1]; }
479 inline double get_V_dot_down() const { return v_dot_local_v[2]; }
481 inline double get_U_dot_body() const { return v_dot_body_v[0]; }
482 inline double get_V_dot_body() const { return v_dot_body_v[1]; }
483 inline double get_W_dot_body() const { return v_dot_body_v[2]; }
485 inline double get_A_X_cg() const { return a_cg_body_v[0]; }
486 inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
487 inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
489 inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
490 inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
491 inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
493 inline double get_N_X_cg() const { return n_cg_body_v[0]; }
494 inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
495 inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
497 inline double get_Nlf(void) const { return nlf; }
499 // ========== Velocities ==========
501 inline double get_V_north() const { return v_local_v[0]; }
502 inline double get_V_east() const { return v_local_v[1]; }
503 inline double get_V_down() const { return v_local_v[2]; }
504 inline double get_uBody () const { return v_wind_body_v[0]; }
505 inline double get_vBody () const { return v_wind_body_v[1]; }
506 inline double get_wBody () const { return v_wind_body_v[2]; }
508 // Please dont comment these out. fdm=ada uses these (see
510 inline double get_V_north_rel_ground() const {
511 return v_local_rel_ground_v[0];
513 inline double get_V_east_rel_ground() const {
514 return v_local_rel_ground_v[1];
516 inline double get_V_down_rel_ground() const {
517 return v_local_rel_ground_v[2];
519 // <--- fdm=ada uses these (see cockpit.cxx)
521 inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
522 inline double get_V_east_airmass() const { return v_local_airmass_v[1]; }
523 inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
525 inline double get_U_body() const { return v_wind_body_v[0]; }
526 inline double get_V_body() const { return v_wind_body_v[1]; }
527 inline double get_W_body() const { return v_wind_body_v[2]; }
529 inline double get_V_rel_wind() const { return v_rel_wind; }
531 inline double get_V_true_kts() const { return v_true_kts; }
533 inline double get_V_ground_speed() const { return v_ground_speed; }
534 inline double get_V_ground_speed_kt() const { return v_ground_speed * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM; }
536 inline double get_V_equiv_kts() const { return v_equiv_kts; }
538 inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
540 inline double get_P_body() const { return omega_body_v[0]; }
541 inline double get_Q_body() const { return omega_body_v[1]; }
542 inline double get_R_body() const { return omega_body_v[2]; }
544 inline double get_Phi_dot() const { return euler_rates_v[0]; }
545 inline double get_Theta_dot() const { return euler_rates_v[1]; }
546 inline double get_Psi_dot() const { return euler_rates_v[2]; }
547 inline double get_Phi_dot_degps() const { return euler_rates_v[0] * SGD_RADIANS_TO_DEGREES; }
548 inline double get_Theta_dot_degps() const { return euler_rates_v[1] * SGD_RADIANS_TO_DEGREES; }
549 inline double get_Psi_dot_degps() const { return euler_rates_v[2] * SGD_RADIANS_TO_DEGREES; }
551 inline double get_Latitude_dot() const { return geocentric_rates_v[0]; }
552 inline double get_Longitude_dot() const { return geocentric_rates_v[1]; }
553 inline double get_Radius_dot() const { return geocentric_rates_v[2]; }
555 // ========== Positions ==========
557 inline double get_Lat_geocentric() const {
558 return geocentric_position_v.getLatitudeRad();
560 inline double get_Lon_geocentric() const {
561 return geocentric_position_v.getLongitudeRad();
563 inline double get_Radius_to_vehicle() const {
564 return geocentric_position_v.getRadiusFt();
567 const SGGeod& getPosition() const { return geodetic_position_v; }
568 const SGGeoc& getGeocPosition() const { return geocentric_position_v; }
569 const SGVec3d& getCartPosition() const { return cartesian_position_v; }
571 inline double get_Latitude() const {
572 return geodetic_position_v.getLatitudeRad();
574 inline double get_Longitude() const {
575 return geodetic_position_v.getLongitudeRad();
577 inline double get_Altitude() const {
578 return geodetic_position_v.getElevationFt();
580 inline double get_Altitude_AGL(void) const { return altitude_agl; }
581 inline double get_Track(void) const { return track; }
583 inline double get_Latitude_deg () const {
584 return geodetic_position_v.getLatitudeDeg();
586 inline double get_Longitude_deg () const {
587 return geodetic_position_v.getLongitudeDeg();
590 inline double get_Phi() const { return euler_angles_v[0]; }
591 inline double get_Theta() const { return euler_angles_v[1]; }
592 inline double get_Psi() const { return euler_angles_v[2]; }
593 inline double get_Phi_deg () const { return get_Phi() * SGD_RADIANS_TO_DEGREES; }
594 inline double get_Theta_deg () const { return get_Theta() * SGD_RADIANS_TO_DEGREES; }
595 inline double get_Psi_deg () const { return get_Psi() * SGD_RADIANS_TO_DEGREES; }
598 // ========== Miscellaneous quantities ==========
600 inline double get_Alpha() const { return alpha; }
601 inline double get_Alpha_deg() const { return alpha * SGD_RADIANS_TO_DEGREES; }
602 inline double get_Beta() const { return beta; }
603 inline double get_Beta_deg() const { return beta * SGD_RADIANS_TO_DEGREES; }
604 inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
606 inline double get_Density() const { return density; }
607 inline double get_Mach_number() const { return mach_number; }
609 inline double get_Static_pressure() const { return static_pressure; }
610 inline double get_Total_pressure() const { return total_pressure; }
611 inline double get_Dynamic_pressure() const { return dynamic_pressure; }
613 inline double get_Static_temperature() const { return static_temperature; }
614 inline double get_Total_temperature() const { return total_temperature; }
616 inline double get_Sea_level_radius() const { return sea_level_radius; }
617 inline double get_Earth_position_angle() const {
618 return earth_position_angle;
621 inline double get_Runway_altitude() const { return runway_altitude; }
622 inline double get_Runway_altitude_m() const { return SG_FEET_TO_METER * runway_altitude; }
624 inline double get_Climb_Rate() const { return climb_rate; }
626 // Auxilliary variables
627 inline double get_daux( int n ) const { return daux[n]; }
628 inline float get_faux( int n ) const { return faux[n]; }
629 inline int get_iaux( int n ) const { return iaux[n]; }
631 // Note that currently this is the "same" value runway altitude...
632 inline double get_ground_elev_ft() const { return runway_altitude; }
635 //////////////////////////////////////////////////////////////////////////
636 // Ground handling routines
637 //////////////////////////////////////////////////////////////////////////
639 // Prepare the ground cache for the wgs84 position pt_*.
640 // That is take all vertices in the ball with radius rad around the
641 // position given by the pt_* and store them in a local scene graph.
642 bool prepare_ground_cache_m(double startSimTime, double endSimTime,
643 const double pt[3], double rad);
644 bool prepare_ground_cache_ft(double startSimTime, double endSimTime,
645 const double pt[3], double rad);
648 // Returns true if the cache is valid.
649 // Also the reference time, point and radius values where the cache
650 // is valid for are returned.
651 bool is_valid_m(double *ref_time, double pt[3], double *rad);
652 bool is_valid_ft(double *ref_time, double pt[3], double *rad);
654 // Return the nearest catapult to the given point
655 // pt in wgs84 coordinates.
656 double get_cat_m(double t, const double pt[3],
657 double end[2][3], double vel[2][3]);
658 double get_cat_ft(double t, const double pt[3],
659 double end[2][3], double vel[2][3]);
662 // Return the orientation and position matrix and the linear and angular
663 // velocity of that local coordinate systems origin for a given time and
664 // body id. The velocities are in the wgs84 frame at the bodys origin.
665 bool get_body_m(double t, simgear::BVHNode::Id id, double bodyToWorld[16],
666 double linearVel[3], double angularVel[3]);
669 // Return the altitude above ground below the wgs84 point pt
670 // Search for the nearest triangle to pt in downward direction.
671 // Return ground properties. The velocities are in the wgs84 frame at the
673 bool get_agl_m(double t, const double pt[3], double max_altoff,
674 double contact[3], double normal[3], double linearVel[3],
675 double angularVel[3], SGMaterial const*& material,
676 simgear::BVHNode::Id& id);
677 bool get_agl_ft(double t, const double pt[3], double max_altoff,
678 double contact[3], double normal[3], double linearVel[3],
679 double angularVel[3], SGMaterial const*& material,
680 simgear::BVHNode::Id& id);
681 double get_groundlevel_m(double lat, double lon, double alt);
682 double get_groundlevel_m(const SGGeod& geod);
685 // Return the nearest point in any direction to the point pt with a maximum
686 // distance maxDist. The velocities are in the wgs84 frame at the query
688 bool get_nearest_m(double t, const double pt[3], double maxDist,
689 double contact[3], double normal[3], double linearVel[3],
690 double angularVel[3], SGMaterial const*& material,
691 simgear::BVHNode::Id& id);
692 bool get_nearest_ft(double t, const double pt[3], double maxDist,
693 double contact[3], double normal[3],double linearVel[3],
694 double angularVel[3], SGMaterial const*& material,
695 simgear::BVHNode::Id& id);
698 // Return 1 if the hook intersects with a wire.
699 // That test is done by checking if the quad spanned by the points pt*
700 // intersects with the line representing the wire.
701 // If the wire is caught, the cache will trace this wires endpoints until
702 // the FDM calls release_wire().
703 bool caught_wire_m(double t, const double pt[4][3]);
704 bool caught_wire_ft(double t, const double pt[4][3]);
706 // Return the location and speed of the wire endpoints.
707 bool get_wire_ends_m(double t, double end[2][3], double vel[2][3]);
708 bool get_wire_ends_ft(double t, double end[2][3], double vel[2][3]);
710 // Tell the cache code that it does no longer need to care for
711 // the wire end position.
712 void release_wire(void);
715 extern FGInterface * cur_fdm_state;
717 // Toggle data logging on/off
718 void fgToggleFDMdataLogging(void);
721 #endif // _FLIGHT_HXX