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 <simgear/props/tiedpropertylist.hxx>
86 #include <FDM/groundcache.hxx>
95 * A little helper class to update the track if
96 * the position has changed. In the constructor,
97 * create a copy of the current position and store
98 * references to the position object and the track
100 * The destructor, called at TrackComputer's end of
101 * life/visibility, computes the track if the
102 * position has changed.
104 class TrackComputer {
106 inline TrackComputer( double & track, const SGGeod & position ) :
108 _position( position ),
109 _prevPosition( position ) {
112 inline ~TrackComputer() {
113 if( _prevPosition == _position ) return;
114 _track = SGGeodesy::courseDeg( _prevPosition, _position );
118 const SGGeod & _position;
119 const SGGeod _prevPosition;
122 // This is based heavily on LaRCsim/ls_generic.h
123 class FGInterface : public SGSubsystem {
127 // Has the init() method been called. This is used to delay
128 // initialization until scenery can be loaded and we know the true
132 // Have we bound to the property system
135 // periodic update management variable. This is a scheme to run
136 // the fdm with a fixed delta-t. We control how many iteration of
137 // the fdm to run with the fixed dt based on the elapsed time from
138 // the last update. This allows us to maintain sync with the real
139 // time clock, even though each frame could take a random amount
140 // of time. Since "dt" is unlikely to divide evenly into the
141 // elapse time, we keep track of the remainder and add it into the
142 // next elapsed time. This yields a small amount of temporal
143 // jitter ( < dt ) but in practice seems to work well.
145 // CG position w.r.t. ref. point
146 SGVec3d d_cg_rp_body_v;
149 SGVec3d v_dot_local_v;
150 SGVec3d v_dot_body_v;
152 SGVec3d a_pilot_body_v;
154 SGVec3d omega_dot_body_v;
158 SGVec3d v_local_rel_ground_v; // V rel w.r.t. earth surface
159 SGVec3d v_local_airmass_v; // velocity of airmass (steady winds)
160 SGVec3d v_wind_body_v; // Wind-relative velocities in body axis
162 SGVec3d omega_body_v; // Angular B rates
163 SGVec3d euler_rates_v;
164 SGVec3d geocentric_rates_v; // Geocentric linear velocities
167 SGGeod geodetic_position_v;
168 SGVec3d cartesian_position_v;
169 SGGeoc geocentric_position_v;
170 SGVec3d euler_angles_v;
172 // Normal Load Factor
176 double v_rel_wind, v_true_kts;
177 double v_ground_speed, v_equiv_kts;
178 double v_calibrated_kts;
180 // Miscellaneious Quantities
181 double alpha, beta; // in radians
182 double gamma_vert_rad; // Flight path angles
183 double density, mach_number;
184 double static_pressure, total_pressure;
185 double dynamic_pressure;
186 double static_temperature, total_temperature;
187 double sea_level_radius, earth_position_angle;
188 double runway_altitude;
189 double climb_rate; // in feet per second
193 simgear::TiedPropertyList _tiedProperties;
195 // the ground cache object itself.
196 FGGroundCache ground_cache;
198 void set_A_X_pilot(double x)
199 { _set_Accels_Pilot_Body(x, a_pilot_body_v[1], a_pilot_body_v[2]); }
201 void set_A_Y_pilot(double y)
202 { _set_Accels_Pilot_Body(a_pilot_body_v[0], y, a_pilot_body_v[2]); }
204 void set_A_Z_pilot(double z)
205 { _set_Accels_Pilot_Body(a_pilot_body_v[0], a_pilot_body_v[1], z); }
209 int _calc_multiloop (double dt);
213 // deliberately not virtual so that
214 // FGInterface constructor will call
219 void _updatePositionM(const SGVec3d& cartPos);
220 void _updatePositionFt(const SGVec3d& cartPos) {
221 _updatePositionM(SG_FEET_TO_METER*cartPos);
223 void _updatePosition(const SGGeod& geod);
224 void _updatePosition(const SGGeoc& geoc);
226 void _updateGeodeticPosition( double lat, double lon, double alt );
227 void _updateGeocentricPosition( double lat_geoc, double lon, double alt );
228 void _update_ground_elev_at_pos( void );
230 inline void _set_CG_Position( double dx, double dy, double dz ) {
231 d_cg_rp_body_v[0] = dx;
232 d_cg_rp_body_v[1] = dy;
233 d_cg_rp_body_v[2] = dz;
235 inline void _set_Accels_Local( double north, double east, double down ) {
236 v_dot_local_v[0] = north;
237 v_dot_local_v[1] = east;
238 v_dot_local_v[2] = down;
240 inline void _set_Accels_Body( double u, double v, double w ) {
245 inline void _set_Accels_CG_Body( double x, double y, double z ) {
250 inline void _set_Accels_Pilot_Body( double x, double y, double z ) {
251 a_pilot_body_v[0] = x;
252 a_pilot_body_v[1] = y;
253 a_pilot_body_v[2] = z;
255 inline void _set_Accels_CG_Body_N( double x, double y, double z ) {
260 void _set_Nlf(double n) { nlf=n; }
261 inline void _set_Velocities_Local( double north, double east, double down ){
262 v_local_v[0] = north;
266 inline void _set_Velocities_Ground(double north, double east, double down) {
267 v_local_rel_ground_v[0] = north;
268 v_local_rel_ground_v[1] = east;
269 v_local_rel_ground_v[2] = down;
271 inline void _set_Velocities_Local_Airmass( double north, double east,
274 v_local_airmass_v[0] = north;
275 v_local_airmass_v[1] = east;
276 v_local_airmass_v[2] = down;
278 inline void _set_Velocities_Wind_Body( double u, double v, double w) {
279 v_wind_body_v[0] = u;
280 v_wind_body_v[1] = v;
281 v_wind_body_v[2] = w;
283 inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; }
284 inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
285 inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
286 inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
287 inline void _set_Omega_Body( double p, double q, double r ) {
292 inline void _set_Euler_Rates( double phi, double theta, double psi ) {
293 euler_rates_v[0] = phi;
294 euler_rates_v[1] = theta;
295 euler_rates_v[2] = psi;
298 void set_Phi_dot_degps(double x)
300 euler_rates_v[0] = x * SG_DEGREES_TO_RADIANS;
303 void set_Theta_dot_degps(double x)
305 euler_rates_v[1] = x * SG_DEGREES_TO_RADIANS;
308 void set_Psi_dot_degps(double x)
310 euler_rates_v[2] = x * SG_DEGREES_TO_RADIANS;
313 inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
314 geocentric_rates_v[0] = lat;
315 geocentric_rates_v[1] = lon;
316 geocentric_rates_v[2] = rad;
318 inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
319 geocentric_position_v.setLatitudeRad(lat);
320 geocentric_position_v.setLongitudeRad(lon);
321 geocentric_position_v.setRadiusFt(rad);
323 /* Don't call _set_L[at|ong]itude() directly, use _set_Geodetic_Position() instead.
324 These methods can't update the track.
326 inline void _set_Latitude(double lat) {
327 geodetic_position_v.setLatitudeRad(lat);
329 inline void _set_Longitude(double lon) {
330 geodetic_position_v.setLongitudeRad(lon);
333 inline void _set_Altitude(double altitude) {
334 geodetic_position_v.setElevationFt(altitude);
336 inline void _set_Altitude_AGL(double agl) {
339 inline void _set_Geodetic_Position( double lat, double lon ) {
340 _set_Geodetic_Position( lat, lon, geodetic_position_v.getElevationFt());
342 inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
343 TrackComputer tracker( track, geodetic_position_v );
344 geodetic_position_v.setLatitudeRad(lat);
345 geodetic_position_v.setLongitudeRad(lon);
346 geodetic_position_v.setElevationFt(alt);
348 inline void _set_Euler_Angles( double phi, double theta, double psi ) {
349 euler_angles_v[0] = phi;
350 euler_angles_v[1] = theta;
351 euler_angles_v[2] = psi;
353 // FIXME, for compatibility with JSBSim
354 inline void _set_T_Local_to_Body( int i, int j, double value) { }
355 inline void _set_Alpha( double a ) { alpha = a; }
356 inline void _set_Beta( double b ) { beta = b; }
358 inline void set_Alpha_deg( double a ) { alpha = a * SG_DEGREES_TO_RADIANS; }
360 inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
361 inline void _set_Density( double d ) { density = d; }
362 inline void _set_Mach_number( double m ) { mach_number = m; }
363 inline void _set_Static_pressure( double sp ) { static_pressure = sp; }
364 inline void _set_Static_temperature( double t ) { static_temperature = t; }
365 inline void _set_Total_temperature( double tat ) { total_temperature = tat; } //JW
366 inline void _set_Sea_level_radius( double r ) { sea_level_radius = r; }
367 inline void _set_Earth_position_angle(double a) { earth_position_angle = a; }
368 inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; }
369 inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
374 FGInterface( double dt );
375 virtual ~FGInterface();
377 virtual void init ();
378 virtual void bind ();
379 virtual void unbind ();
380 virtual void update(double dt);
381 virtual bool ToggleDataLogging(bool state) { return false; }
382 virtual bool ToggleDataLogging(void) { return false; }
384 // Define the various supported flight models (many not yet implemented)
389 // The NASA LaRCsim (Navion) flight model
392 // Jon S. Berndt's new FDM written from the ground up in C++
395 // Christian's hot air balloon simulation
398 // Aeronautical DEvelopment AGEncy, Bangalore India
401 // The following aren't implemented but are here to spark
402 // thoughts and discussions, and maybe even action.
409 // Driven externally via a serial port, net, file, etc.
414 inline bool get_inited() const { return inited; }
415 inline void set_inited( bool value ) { inited = value; }
417 inline bool get_bound() const { return bound; }
419 //perform initializion that is common to all FDM's
423 virtual void set_Latitude(double lat); // geocentric
424 virtual void set_Longitude(double lon);
425 virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
426 virtual void set_AltitudeAGL(double altagl); // and vice-versa
427 virtual void set_Latitude_deg (double lat) {
428 set_Latitude(lat * SGD_DEGREES_TO_RADIANS);
430 virtual void set_Longitude_deg (double lon) {
431 set_Longitude(lon * SGD_DEGREES_TO_RADIANS);
434 // Speeds -- setting any of these will trigger a re-calc of the rest
435 virtual void set_V_calibrated_kts(double vc);
436 virtual void set_Mach_number(double mach);
437 virtual void set_Velocities_Local( double north, double east, double down );
438 inline void set_V_north (double north) {
439 set_Velocities_Local(north, v_local_v[1], v_local_v[2]);
441 inline void set_V_east (double east) {
442 set_Velocities_Local(v_local_v[0], east, v_local_v[2]);
444 inline void set_V_down (double down) {
445 set_Velocities_Local(v_local_v[0], v_local_v[1], down);
447 virtual void set_Velocities_Wind_Body( double u, double v, double w);
448 virtual void set_uBody (double uBody) {
449 set_Velocities_Wind_Body(uBody, v_wind_body_v[1], v_wind_body_v[2]);
451 virtual void set_vBody (double vBody) {
452 set_Velocities_Wind_Body(v_wind_body_v[0], vBody, v_wind_body_v[2]);
454 virtual void set_wBody (double wBody) {
455 set_Velocities_Wind_Body(v_wind_body_v[0], v_wind_body_v[1], wBody);
459 virtual void set_Euler_Angles( double phi, double theta, double psi );
460 virtual void set_Phi (double phi) {
461 set_Euler_Angles(phi, get_Theta(), get_Psi());
463 virtual void set_Theta (double theta) {
464 set_Euler_Angles(get_Phi(), theta, get_Psi());
466 virtual void set_Psi (double psi) {
467 set_Euler_Angles(get_Phi(), get_Theta(), psi);
469 virtual void set_Phi_deg (double phi) {
470 set_Phi(phi * SGD_DEGREES_TO_RADIANS);
472 virtual void set_Theta_deg (double theta) {
473 set_Theta(theta * SGD_DEGREES_TO_RADIANS);
475 virtual void set_Psi_deg (double psi) {
476 set_Psi(psi * SGD_DEGREES_TO_RADIANS);
480 virtual void set_Climb_Rate( double roc);
481 virtual void set_Gamma_vert_rad( double gamma);
485 virtual void set_Static_pressure(double p);
486 virtual void set_Static_temperature(double T);
487 virtual void set_Density(double rho);
489 virtual void set_Velocities_Local_Airmass (double wnorth,
493 // ========== Mass properties and geometry values ==========
495 // CG position w.r.t. ref. point
496 inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; }
497 inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; }
498 inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
500 // ========== Accelerations ==========
502 inline double get_V_dot_north() const { return v_dot_local_v[0]; }
503 inline double get_V_dot_east() const { return v_dot_local_v[1]; }
504 inline double get_V_dot_down() const { return v_dot_local_v[2]; }
506 inline double get_U_dot_body() const { return v_dot_body_v[0]; }
507 inline double get_V_dot_body() const { return v_dot_body_v[1]; }
508 inline double get_W_dot_body() const { return v_dot_body_v[2]; }
510 inline double get_A_X_cg() const { return a_cg_body_v[0]; }
511 inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
512 inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
514 inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
515 inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
516 inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
518 inline double get_N_X_cg() const { return n_cg_body_v[0]; }
519 inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
520 inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
522 inline double get_Nlf(void) const { return nlf; }
524 // ========== Velocities ==========
526 inline double get_V_north() const { return v_local_v[0]; }
527 inline double get_V_east() const { return v_local_v[1]; }
528 inline double get_V_down() const { return v_local_v[2]; }
529 inline double get_uBody () const { return v_wind_body_v[0]; }
530 inline double get_vBody () const { return v_wind_body_v[1]; }
531 inline double get_wBody () const { return v_wind_body_v[2]; }
533 // Please dont comment these out. fdm=ada uses these (see
535 inline double get_V_north_rel_ground() const {
536 return v_local_rel_ground_v[0];
538 inline double get_V_east_rel_ground() const {
539 return v_local_rel_ground_v[1];
541 inline double get_V_down_rel_ground() const {
542 return v_local_rel_ground_v[2];
544 // <--- fdm=ada uses these (see cockpit.cxx)
546 inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
547 inline double get_V_east_airmass() const { return v_local_airmass_v[1]; }
548 inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
550 inline double get_U_body() const { return v_wind_body_v[0]; }
551 inline double get_V_body() const { return v_wind_body_v[1]; }
552 inline double get_W_body() const { return v_wind_body_v[2]; }
554 inline double get_V_rel_wind() const { return v_rel_wind; }
556 inline double get_V_true_kts() const { return v_true_kts; }
558 inline double get_V_ground_speed() const { return v_ground_speed; }
559 inline double get_V_ground_speed_kt() const { return v_ground_speed * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM; }
560 inline void set_V_ground_speed_kt(double ground_speed) { v_ground_speed = ground_speed / ( SG_FEET_TO_METER * 3600 * SG_METER_TO_NM); }
562 inline double get_V_equiv_kts() const { return v_equiv_kts; }
564 inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
566 inline double get_P_body() const { return omega_body_v[0]; }
567 inline double get_Q_body() const { return omega_body_v[1]; }
568 inline double get_R_body() const { return omega_body_v[2]; }
570 inline double get_Phi_dot() const { return euler_rates_v[0]; }
571 inline double get_Theta_dot() const { return euler_rates_v[1]; }
572 inline double get_Psi_dot() const { return euler_rates_v[2]; }
573 inline double get_Phi_dot_degps() const { return euler_rates_v[0] * SGD_RADIANS_TO_DEGREES; }
574 inline double get_Theta_dot_degps() const { return euler_rates_v[1] * SGD_RADIANS_TO_DEGREES; }
575 inline double get_Psi_dot_degps() const { return euler_rates_v[2] * SGD_RADIANS_TO_DEGREES; }
577 inline double get_Latitude_dot() const { return geocentric_rates_v[0]; }
578 inline double get_Longitude_dot() const { return geocentric_rates_v[1]; }
579 inline double get_Radius_dot() const { return geocentric_rates_v[2]; }
581 // ========== Positions ==========
583 inline double get_Lat_geocentric() const {
584 return geocentric_position_v.getLatitudeRad();
586 inline double get_Lon_geocentric() const {
587 return geocentric_position_v.getLongitudeRad();
589 inline double get_Radius_to_vehicle() const {
590 return geocentric_position_v.getRadiusFt();
593 const SGGeod& getPosition() const { return geodetic_position_v; }
594 const SGGeoc& getGeocPosition() const { return geocentric_position_v; }
595 const SGVec3d& getCartPosition() const { return cartesian_position_v; }
597 inline double get_Latitude() const {
598 return geodetic_position_v.getLatitudeRad();
600 inline double get_Longitude() const {
601 return geodetic_position_v.getLongitudeRad();
603 inline double get_Altitude() const {
604 return geodetic_position_v.getElevationFt();
606 inline double get_Altitude_AGL(void) const { return altitude_agl; }
607 inline double get_Track(void) const { return track; }
609 inline double get_Latitude_deg () const {
610 return geodetic_position_v.getLatitudeDeg();
612 inline double get_Longitude_deg () const {
613 return geodetic_position_v.getLongitudeDeg();
616 inline double get_Phi() const { return euler_angles_v[0]; }
617 inline double get_Theta() const { return euler_angles_v[1]; }
618 inline double get_Psi() const { return euler_angles_v[2]; }
619 inline double get_Phi_deg () const { return get_Phi() * SGD_RADIANS_TO_DEGREES; }
620 inline double get_Theta_deg () const { return get_Theta() * SGD_RADIANS_TO_DEGREES; }
621 inline double get_Psi_deg () const { return get_Psi() * SGD_RADIANS_TO_DEGREES; }
624 // ========== Miscellaneous quantities ==========
626 inline double get_Alpha() const { return alpha; }
627 inline double get_Alpha_deg() const { return alpha * SGD_RADIANS_TO_DEGREES; }
628 inline double get_Beta() const { return beta; }
629 inline double get_Beta_deg() const { return beta * SGD_RADIANS_TO_DEGREES; }
630 inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
632 inline double get_Density() const { return density; }
633 inline double get_Mach_number() const { return mach_number; }
635 inline double get_Static_pressure() const { return static_pressure; }
636 inline double get_Total_pressure() const { return total_pressure; }
637 inline double get_Dynamic_pressure() const { return dynamic_pressure; }
639 inline double get_Static_temperature() const { return static_temperature; }
640 inline double get_Total_temperature() const { return total_temperature; }
642 inline double get_Sea_level_radius() const { return sea_level_radius; }
643 inline double get_Earth_position_angle() const {
644 return earth_position_angle;
647 inline double get_Runway_altitude() const { return runway_altitude; }
648 inline double get_Runway_altitude_m() const { return SG_FEET_TO_METER * runway_altitude; }
650 inline double get_Climb_Rate() const { return climb_rate; }
652 // Note that currently this is the "same" value runway altitude...
653 inline double get_ground_elev_ft() const { return runway_altitude; }
656 //////////////////////////////////////////////////////////////////////////
657 // Ground handling routines
658 //////////////////////////////////////////////////////////////////////////
660 // Prepare the ground cache for the wgs84 position pt_*.
661 // That is take all vertices in the ball with radius rad around the
662 // position given by the pt_* and store them in a local scene graph.
663 bool prepare_ground_cache_m(double startSimTime, double endSimTime,
664 const double pt[3], double rad);
665 bool prepare_ground_cache_ft(double startSimTime, double endSimTime,
666 const double pt[3], double rad);
669 // Returns true if the cache is valid.
670 // Also the reference time, point and radius values where the cache
671 // is valid for are returned.
672 bool is_valid_m(double *ref_time, double pt[3], double *rad);
673 bool is_valid_ft(double *ref_time, double pt[3], double *rad);
675 // Return the nearest catapult to the given point
676 // pt in wgs84 coordinates.
677 double get_cat_m(double t, const double pt[3],
678 double end[2][3], double vel[2][3]);
679 double get_cat_ft(double t, const double pt[3],
680 double end[2][3], double vel[2][3]);
683 // Return the orientation and position matrix and the linear and angular
684 // velocity of that local coordinate systems origin for a given time and
685 // body id. The velocities are in the wgs84 frame at the bodys origin.
686 bool get_body_m(double t, simgear::BVHNode::Id id, double bodyToWorld[16],
687 double linearVel[3], double angularVel[3]);
690 // Return the altitude above ground below the wgs84 point pt
691 // Search for the nearest triangle to pt in downward direction.
692 // Return ground properties. The velocities are in the wgs84 frame at the
694 bool get_agl_m(double t, const double pt[3], double max_altoff,
695 double contact[3], double normal[3], double linearVel[3],
696 double angularVel[3], SGMaterial const*& material,
697 simgear::BVHNode::Id& id);
698 bool get_agl_ft(double t, const double pt[3], double max_altoff,
699 double contact[3], double normal[3], double linearVel[3],
700 double angularVel[3], SGMaterial const*& material,
701 simgear::BVHNode::Id& id);
702 double get_groundlevel_m(double lat, double lon, double alt);
703 double get_groundlevel_m(const SGGeod& geod);
706 // Return the nearest point in any direction to the point pt with a maximum
707 // distance maxDist. The velocities are in the wgs84 frame at the query
709 bool get_nearest_m(double t, const double pt[3], double maxDist,
710 double contact[3], double normal[3], double linearVel[3],
711 double angularVel[3], SGMaterial const*& material,
712 simgear::BVHNode::Id& id);
713 bool get_nearest_ft(double t, const double pt[3], double maxDist,
714 double contact[3], double normal[3],double linearVel[3],
715 double angularVel[3], SGMaterial const*& material,
716 simgear::BVHNode::Id& id);
719 // Return 1 if the hook intersects with a wire.
720 // That test is done by checking if the quad spanned by the points pt*
721 // intersects with the line representing the wire.
722 // If the wire is caught, the cache will trace this wires endpoints until
723 // the FDM calls release_wire().
724 bool caught_wire_m(double t, const double pt[4][3]);
725 bool caught_wire_ft(double t, const double pt[4][3]);
727 // Return the location and speed of the wire endpoints.
728 bool get_wire_ends_m(double t, double end[2][3], double vel[2][3]);
729 bool get_wire_ends_ft(double t, double end[2][3], double vel[2][3]);
731 // Tell the cache code that it does no longer need to care for
732 // the wire end position.
733 void release_wire(void);
736 #endif // _FLIGHT_HXX