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, const SGGeod & position ) :
104 _position( position ),
105 _prevPosition( position ) {
108 inline ~TrackComputer() {
109 if( _prevPosition == _position ) return;
110 _track = SGGeodesy::courseDeg( _prevPosition, _position );
114 const SGGeod & _position;
115 const SGGeod _prevPosition;
118 // This is based heavily on LaRCsim/ls_generic.h
119 class FGInterface : public SGSubsystem {
123 // Has the init() method been called. This is used to delay
124 // initialization until scenery can be loaded and we know the true
128 // Have we bound to the property system
133 // periodic update management variable. This is a scheme to run
134 // the fdm with a fixed delta-t. We control how many iteration of
135 // the fdm to run with the fixed dt based on the elapsed time from
136 // the last update. This allows us to maintain sync with the real
137 // time clock, even though each frame could take a random amount
138 // of time. Since "dt" is unlikely to divide evenly into the
139 // elapse time, we keep track of the remainder and add it into the
140 // next elapsed time. This yields a small amount of temporal
141 // jitter ( < dt ) but in practice seems to work well.
144 * encapsulate primary flight state. This is packaged so it can be
145 * (unfortunately) sent directly over the wire by the 'native' FDM
150 // CG position w.r.t. ref. point
151 SGVec3d d_cg_rp_body_v;
154 SGVec3d v_dot_local_v;
155 SGVec3d v_dot_body_v;
157 SGVec3d a_pilot_body_v;
159 SGVec3d omega_dot_body_v;
163 SGVec3d v_local_rel_ground_v; // V rel w.r.t. earth surface
164 SGVec3d v_local_airmass_v; // velocity of airmass (steady winds)
165 SGVec3d v_body_v; // ECEF velocities in body axis
167 SGVec3d omega_body_v; // Angular B rates
168 SGVec3d euler_rates_v;
169 SGVec3d geocentric_rates_v; // Geocentric linear velocities
172 SGGeod geodetic_position_v;
173 SGVec3d cartesian_position_v;
174 SGGeoc geocentric_position_v;
175 SGVec3d euler_angles_v;
177 // Normal Load Factor
181 double v_rel_wind, v_true_kts;
182 double v_ground_speed, v_equiv_kts;
183 double v_calibrated_kts;
185 // Miscellaneious Quantities
186 double alpha, beta; // in radians
187 double gamma_vert_rad; // Flight path angles
188 double density, mach_number;
189 double static_pressure, total_pressure;
190 double dynamic_pressure;
191 double static_temperature, total_temperature;
192 double sea_level_radius, earth_position_angle;
193 double runway_altitude;
194 double climb_rate; // in feet per second
201 simgear::TiedPropertyList _tiedProperties;
203 // the ground cache object itself.
204 FGGroundCache ground_cache;
206 void set_A_X_pilot(double x)
207 { _set_Accels_Pilot_Body(x, _state.a_pilot_body_v[1], _state.a_pilot_body_v[2]); }
209 void set_A_Y_pilot(double y)
210 { _set_Accels_Pilot_Body(_state.a_pilot_body_v[0], y, _state.a_pilot_body_v[2]); }
212 void set_A_Z_pilot(double z)
213 { _set_Accels_Pilot_Body(_state.a_pilot_body_v[0], _state.a_pilot_body_v[1], z); }
218 int _calc_multiloop (double dt);
222 // deliberately not virtual so that
223 // FGInterface constructor will call
228 void _updatePositionM(const SGVec3d& cartPos);
229 void _updatePositionFt(const SGVec3d& cartPos) {
230 _updatePositionM(SG_FEET_TO_METER*cartPos);
232 void _updatePosition(const SGGeod& geod);
233 void _updatePosition(const SGGeoc& geoc);
235 void _updateGeodeticPosition( double lat, double lon, double alt );
236 void _updateGeocentricPosition( double lat_geoc, double lon, double alt );
237 void _update_ground_elev_at_pos( void );
239 inline void _set_CG_Position( double dx, double dy, double dz ) {
240 _state.d_cg_rp_body_v[0] = dx;
241 _state.d_cg_rp_body_v[1] = dy;
242 _state.d_cg_rp_body_v[2] = dz;
244 inline void _set_Accels_Local( double north, double east, double down ) {
245 _state.v_dot_local_v[0] = north;
246 _state.v_dot_local_v[1] = east;
247 _state.v_dot_local_v[2] = down;
249 inline void _set_Accels_Body( double u, double v, double w ) {
250 _state.v_dot_body_v[0] = u;
251 _state.v_dot_body_v[1] = v;
252 _state.v_dot_body_v[2] = w;
254 inline void _set_Accels_CG_Body( double x, double y, double z ) {
255 _state.a_cg_body_v[0] = x;
256 _state.a_cg_body_v[1] = y;
257 _state.a_cg_body_v[2] = z;
259 inline void _set_Accels_Pilot_Body( double x, double y, double z ) {
260 _state.a_pilot_body_v[0] = x;
261 _state.a_pilot_body_v[1] = y;
262 _state.a_pilot_body_v[2] = z;
264 inline void _set_Accels_CG_Body_N( double x, double y, double z ) {
265 _state.n_cg_body_v[0] = x;
266 _state.n_cg_body_v[1] = y;
267 _state.n_cg_body_v[2] = z;
269 void _set_Nlf(double n) { _state.nlf=n; }
270 inline void _set_Velocities_Local( double north, double east, double down ){
271 _state.v_local_v[0] = north;
272 _state.v_local_v[1] = east;
273 _state.v_local_v[2] = down;
275 inline void _set_Velocities_Ground(double north, double east, double down) {
276 _state.v_local_rel_ground_v[0] = north;
277 _state.v_local_rel_ground_v[1] = east;
278 _state.v_local_rel_ground_v[2] = down;
280 inline void _set_Velocities_Local_Airmass( double north, double east,
283 _state.v_local_airmass_v[0] = north;
284 _state.v_local_airmass_v[1] = east;
285 _state.v_local_airmass_v[2] = down;
287 inline void _set_Velocities_Body( double u, double v, double w) {
288 _state.v_body_v[0] = u;
289 _state.v_body_v[1] = v;
290 _state.v_body_v[2] = w;
292 inline void _set_V_rel_wind(double vt) { _state.v_rel_wind = vt; }
293 inline void _set_V_ground_speed( double v) { _state.v_ground_speed = v; }
294 inline void _set_V_equiv_kts( double kts ) { _state.v_equiv_kts = kts; }
295 inline void _set_V_calibrated_kts( double kts ) { _state.v_calibrated_kts = kts; }
296 inline void _set_Omega_Body( double p, double q, double r ) {
297 _state.omega_body_v[0] = p;
298 _state.omega_body_v[1] = q;
299 _state.omega_body_v[2] = r;
301 inline void _set_Euler_Rates( double phi, double theta, double psi ) {
302 _state.euler_rates_v[0] = phi;
303 _state.euler_rates_v[1] = theta;
304 _state.euler_rates_v[2] = psi;
307 void set_Phi_dot_degps(double x)
309 _state.euler_rates_v[0] = x * SG_DEGREES_TO_RADIANS;
312 void set_Theta_dot_degps(double x)
314 _state.euler_rates_v[1] = x * SG_DEGREES_TO_RADIANS;
317 void set_Psi_dot_degps(double x)
319 _state.euler_rates_v[2] = x * SG_DEGREES_TO_RADIANS;
322 inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
323 _state.geocentric_rates_v[0] = lat;
324 _state.geocentric_rates_v[1] = lon;
325 _state.geocentric_rates_v[2] = rad;
327 inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
328 _state.geocentric_position_v.setLatitudeRad(lat);
329 _state.geocentric_position_v.setLongitudeRad(lon);
330 _state.geocentric_position_v.setRadiusFt(rad);
332 /* Don't call _set_L[at|ong]itude() directly, use _set_Geodetic_Position() instead.
333 These methods can't update the track.
335 inline void _set_Latitude(double lat) {
336 geodetic_position_v.setLatitudeRad(lat);
338 inline void _set_Longitude(double lon) {
339 geodetic_position_v.setLongitudeRad(lon);
342 inline void _set_Altitude(double altitude) {
343 _state.geodetic_position_v.setElevationFt(altitude);
345 inline void _set_Altitude_AGL(double agl) {
346 _state.altitude_agl = agl;
348 inline void _set_Geodetic_Position( double lat, double lon ) {
349 _set_Geodetic_Position( lat, lon, _state.geodetic_position_v.getElevationFt());
351 inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
352 TrackComputer tracker( _state.track, _state.geodetic_position_v );
353 _state.geodetic_position_v.setLatitudeRad(lat);
354 _state.geodetic_position_v.setLongitudeRad(lon);
355 _state.geodetic_position_v.setElevationFt(alt);
357 inline void _set_Euler_Angles( double phi, double theta, double psi ) {
358 _state.euler_angles_v[0] = phi;
359 _state.euler_angles_v[1] = theta;
360 _state.euler_angles_v[2] = psi;
362 // FIXME, for compatibility with JSBSim
363 inline void _set_T_Local_to_Body( int i, int j, double value) { }
364 inline void _set_Alpha( double a ) { _state.alpha = a; }
365 inline void _set_Beta( double b ) { _state.beta = b; }
367 inline void set_Alpha_deg( double a ) { _state.alpha = a * SG_DEGREES_TO_RADIANS; }
369 inline void _set_Gamma_vert_rad( double gv ) { _state.gamma_vert_rad = gv; }
370 inline void _set_Density( double d ) { _state.density = d; }
371 inline void _set_Mach_number( double m ) { _state.mach_number = m; }
372 inline void _set_Static_pressure( double sp ) { _state.static_pressure = sp; }
373 inline void _set_Static_temperature( double t ) { _state.static_temperature = t; }
374 inline void _set_Total_temperature( double tat ) { _state.total_temperature = tat; } //JW
375 inline void _set_Sea_level_radius( double r ) { _state.sea_level_radius = r; }
376 inline void _set_Earth_position_angle(double a) {_state.earth_position_angle = a; }
377 inline void _set_Runway_altitude( double alt ) { _state.runway_altitude = alt; }
378 inline void _set_Climb_Rate(double rate) { _state.climb_rate = rate; }
383 FGInterface( double dt );
384 virtual ~FGInterface();
386 virtual void init ();
387 virtual void bind ();
388 virtual void unbind ();
389 virtual void update(double dt);
390 virtual bool ToggleDataLogging(bool state) { return false; }
391 virtual bool ToggleDataLogging(void) { return false; }
393 bool readState(SGIOChannel* io);
394 bool writeState(SGIOChannel* io);
396 // Define the various supported flight models (many not yet implemented)
401 // The NASA LaRCsim (Navion) flight model
404 // Jon S. Berndt's new FDM written from the ground up in C++
407 // Christian's hot air balloon simulation
410 // Aeronautical DEvelopment AGEncy, Bangalore India
413 // The following aren't implemented but are here to spark
414 // thoughts and discussions, and maybe even action.
421 // Driven externally via a serial port, net, file, etc.
426 inline bool get_inited() const { return inited; }
427 inline void set_inited( bool value ) { inited = value; }
429 inline bool get_bound() const { return bound; }
431 //perform initializion that is common to all FDM's
435 virtual void set_Latitude(double lat); // geocentric
436 virtual void set_Longitude(double lon);
437 virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
438 virtual void set_AltitudeAGL(double altagl); // and vice-versa
439 virtual void set_Latitude_deg (double lat) {
440 set_Latitude(lat * SGD_DEGREES_TO_RADIANS);
442 virtual void set_Longitude_deg (double lon) {
443 set_Longitude(lon * SGD_DEGREES_TO_RADIANS);
446 // Speeds -- setting any of these will trigger a re-calc of the rest
447 virtual void set_V_calibrated_kts(double vc);
448 virtual void set_Mach_number(double mach);
449 virtual void set_Velocities_Local( double north, double east, double down );
450 inline void set_V_north (double north) {
451 set_Velocities_Local(north, _state.v_local_v[1], _state.v_local_v[2]);
453 inline void set_V_east (double east) {
454 set_Velocities_Local(_state.v_local_v[0], east, _state.v_local_v[2]);
456 inline void set_V_down (double down) {
457 set_Velocities_Local(_state.v_local_v[0], _state.v_local_v[1], down);
459 virtual void set_Velocities_Body( double u, double v, double w);
460 virtual void set_uBody (double uBody) {
461 set_Velocities_Body(uBody, _state.v_body_v[1], _state.v_body_v[2]);
463 virtual void set_vBody (double vBody) {
464 set_Velocities_Body(_state.v_body_v[0], vBody, _state.v_body_v[2]);
466 virtual void set_wBody (double wBody) {
467 set_Velocities_Body(_state.v_body_v[0], _state.v_body_v[1], wBody);
471 virtual void set_Euler_Angles( double phi, double theta, double psi );
472 virtual void set_Phi (double phi) {
473 set_Euler_Angles(phi, get_Theta(), get_Psi());
475 virtual void set_Theta (double theta) {
476 set_Euler_Angles(get_Phi(), theta, get_Psi());
478 virtual void set_Psi (double psi) {
479 set_Euler_Angles(get_Phi(), get_Theta(), psi);
481 virtual void set_Phi_deg (double phi) {
482 set_Phi(phi * SGD_DEGREES_TO_RADIANS);
484 virtual void set_Theta_deg (double theta) {
485 set_Theta(theta * SGD_DEGREES_TO_RADIANS);
487 virtual void set_Psi_deg (double psi) {
488 set_Psi(psi * SGD_DEGREES_TO_RADIANS);
492 virtual void set_Climb_Rate( double roc);
493 virtual void set_Gamma_vert_rad( double gamma);
497 virtual void set_Static_pressure(double p);
498 virtual void set_Static_temperature(double T);
499 virtual void set_Density(double rho);
501 virtual void set_Velocities_Local_Airmass (double wnorth,
505 // ========== Mass properties and geometry values ==========
507 // CG position w.r.t. ref. point
508 inline double get_Dx_cg() const { return _state.d_cg_rp_body_v[0]; }
509 inline double get_Dy_cg() const { return _state.d_cg_rp_body_v[1]; }
510 inline double get_Dz_cg() const { return _state.d_cg_rp_body_v[2]; }
512 // ========== Accelerations ==========
514 inline double get_V_dot_north() const { return _state.v_dot_local_v[0]; }
515 inline double get_V_dot_east() const { return _state.v_dot_local_v[1]; }
516 inline double get_V_dot_down() const { return _state.v_dot_local_v[2]; }
518 inline double get_U_dot_body() const { return _state.v_dot_body_v[0]; }
519 inline double get_V_dot_body() const { return _state.v_dot_body_v[1]; }
520 inline double get_W_dot_body() const { return _state.v_dot_body_v[2]; }
522 inline double get_A_X_cg() const { return _state.a_cg_body_v[0]; }
523 inline double get_A_Y_cg() const { return _state.a_cg_body_v[1]; }
524 inline double get_A_Z_cg() const { return _state.a_cg_body_v[2]; }
526 inline double get_A_X_pilot() const { return _state.a_pilot_body_v[0]; }
527 inline double get_A_Y_pilot() const { return _state.a_pilot_body_v[1]; }
528 inline double get_A_Z_pilot() const { return _state.a_pilot_body_v[2]; }
530 inline double get_N_X_cg() const { return _state.n_cg_body_v[0]; }
531 inline double get_N_Y_cg() const { return _state.n_cg_body_v[1]; }
532 inline double get_N_Z_cg() const { return _state.n_cg_body_v[2]; }
534 inline double get_Nlf(void) const { return _state.nlf; }
536 // ========== Velocities ==========
538 inline double get_V_north() const { return _state.v_local_v[0]; }
539 inline double get_V_east() const { return _state.v_local_v[1]; }
540 inline double get_V_down() const { return _state.v_local_v[2]; }
541 inline double get_uBody () const { return _state.v_body_v[0]; }
542 inline double get_vBody () const { return _state.v_body_v[1]; }
543 inline double get_wBody () const { return _state.v_body_v[2]; }
545 // Please dont comment these out. fdm=ada uses these (see
547 inline double get_V_north_rel_ground() const {
548 return _state.v_local_rel_ground_v[0];
550 inline double get_V_east_rel_ground() const {
551 return _state.v_local_rel_ground_v[1];
553 inline double get_V_down_rel_ground() const {
554 return _state.v_local_rel_ground_v[2];
556 // <--- fdm=ada uses these (see cockpit.cxx)
558 inline double get_V_north_airmass() const { return _state.v_local_airmass_v[0]; }
559 inline double get_V_east_airmass() const { return _state.v_local_airmass_v[1]; }
560 inline double get_V_down_airmass() const { return _state.v_local_airmass_v[2]; }
562 inline double get_U_body() const { return _state.v_body_v[0]; }
563 inline double get_V_body() const { return _state.v_body_v[1]; }
564 inline double get_W_body() const { return _state.v_body_v[2]; }
566 inline double get_V_rel_wind() const { return _state.v_rel_wind; }
568 inline double get_V_true_kts() const { return _state.v_true_kts; }
570 inline double get_V_ground_speed() const { return _state.v_ground_speed; }
571 inline double get_V_ground_speed_kt() const { return _state.v_ground_speed * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM; }
572 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); }
574 inline double get_V_equiv_kts() const { return _state.v_equiv_kts; }
576 inline double get_V_calibrated_kts() const { return _state.v_calibrated_kts; }
578 inline double get_P_body() const { return _state.omega_body_v[0]; }
579 inline double get_Q_body() const { return _state.omega_body_v[1]; }
580 inline double get_R_body() const { return _state.omega_body_v[2]; }
582 inline double get_Phi_dot() const { return _state.euler_rates_v[0]; }
583 inline double get_Theta_dot() const { return _state.euler_rates_v[1]; }
584 inline double get_Psi_dot() const { return _state.euler_rates_v[2]; }
585 inline double get_Phi_dot_degps() const { return _state.euler_rates_v[0] * SGD_RADIANS_TO_DEGREES; }
586 inline double get_Theta_dot_degps() const { return _state.euler_rates_v[1] * SGD_RADIANS_TO_DEGREES; }
587 inline double get_Psi_dot_degps() const { return _state.euler_rates_v[2] * SGD_RADIANS_TO_DEGREES; }
589 inline double get_Latitude_dot() const { return _state.geocentric_rates_v[0]; }
590 inline double get_Longitude_dot() const { return _state.geocentric_rates_v[1]; }
591 inline double get_Radius_dot() const { return _state.geocentric_rates_v[2]; }
593 // ========== Positions ==========
595 inline double get_Lat_geocentric() const {
596 return _state.geocentric_position_v.getLatitudeRad();
598 inline double get_Lon_geocentric() const {
599 return _state.geocentric_position_v.getLongitudeRad();
601 inline double get_Radius_to_vehicle() const {
602 return _state.geocentric_position_v.getRadiusFt();
605 const SGGeod& getPosition() const { return _state.geodetic_position_v; }
606 const SGGeoc& getGeocPosition() const { return _state.geocentric_position_v; }
607 const SGVec3d& getCartPosition() const { return _state.cartesian_position_v; }
609 inline double get_Latitude() const {
610 return _state.geodetic_position_v.getLatitudeRad();
612 inline double get_Longitude() const {
613 return _state.geodetic_position_v.getLongitudeRad();
615 inline double get_Altitude() const {
616 return _state.geodetic_position_v.getElevationFt();
618 inline double get_Altitude_AGL(void) const { return _state.altitude_agl; }
619 inline double get_Track(void) const { return _state.track; }
621 inline double get_Latitude_deg () const {
622 return _state.geodetic_position_v.getLatitudeDeg();
624 inline double get_Longitude_deg () const {
625 return _state.geodetic_position_v.getLongitudeDeg();
628 inline double get_Phi() const { return _state.euler_angles_v[0]; }
629 inline double get_Theta() const { return _state.euler_angles_v[1]; }
630 inline double get_Psi() const { return _state.euler_angles_v[2]; }
631 inline double get_Phi_deg () const { return get_Phi() * SGD_RADIANS_TO_DEGREES; }
632 inline double get_Theta_deg () const { return get_Theta() * SGD_RADIANS_TO_DEGREES; }
633 inline double get_Psi_deg () const { return get_Psi() * SGD_RADIANS_TO_DEGREES; }
636 // ========== Miscellaneous quantities ==========
638 inline double get_Alpha() const { return _state.alpha; }
639 inline double get_Alpha_deg() const { return _state.alpha * SGD_RADIANS_TO_DEGREES; }
640 inline double get_Beta() const { return _state.beta; }
641 inline double get_Beta_deg() const { return _state.beta * SGD_RADIANS_TO_DEGREES; }
642 inline double get_Gamma_vert_rad() const { return _state.gamma_vert_rad; }
644 inline double get_Density() const { return _state.density; }
645 inline double get_Mach_number() const { return _state.mach_number; }
647 inline double get_Static_pressure() const { return _state.static_pressure; }
648 inline double get_Total_pressure() const { return _state.total_pressure; }
649 inline double get_Dynamic_pressure() const { return _state.dynamic_pressure; }
651 inline double get_Static_temperature() const { return _state.static_temperature; }
652 inline double get_Total_temperature() const { return _state.total_temperature; }
654 inline double get_Sea_level_radius() const { return _state.sea_level_radius; }
655 inline double get_Earth_position_angle() const {
656 return _state.earth_position_angle;
659 inline double get_Runway_altitude() const { return _state.runway_altitude; }
660 inline double get_Runway_altitude_m() const { return SG_FEET_TO_METER * _state.runway_altitude; }
662 inline double get_Climb_Rate() const { return _state.climb_rate; }
664 // Note that currently this is the "same" value runway altitude...
665 inline double get_ground_elev_ft() const { return _state.runway_altitude; }
668 //////////////////////////////////////////////////////////////////////////
669 // Ground handling routines
670 //////////////////////////////////////////////////////////////////////////
672 // Prepare the ground cache for the wgs84 position pt_*.
673 // That is take all vertices in the ball with radius rad around the
674 // position given by the pt_* and store them in a local scene graph.
675 bool prepare_ground_cache_m(double startSimTime, double endSimTime,
676 const double pt[3], double rad);
677 bool prepare_ground_cache_ft(double startSimTime, double endSimTime,
678 const double pt[3], double rad);
681 // Returns true if the cache is valid.
682 // Also the reference time, point and radius values where the cache
683 // is valid for are returned.
684 bool is_valid_m(double *ref_time, double pt[3], double *rad);
685 bool is_valid_ft(double *ref_time, double pt[3], double *rad);
687 // Return the nearest catapult to the given point
688 // pt in wgs84 coordinates.
689 double get_cat_m(double t, const double pt[3],
690 double end[2][3], double vel[2][3]);
691 double get_cat_ft(double t, const double pt[3],
692 double end[2][3], double vel[2][3]);
695 // Return the orientation and position matrix and the linear and angular
696 // velocity of that local coordinate systems origin for a given time and
697 // body id. The velocities are in the wgs84 frame at the bodys origin.
698 bool get_body_m(double t, simgear::BVHNode::Id id, double bodyToWorld[16],
699 double linearVel[3], double angularVel[3]);
702 // Return the altitude above ground below the wgs84 point pt
703 // Search for the nearest triangle to pt in downward direction.
704 // Return ground properties. The velocities are in the wgs84 frame at the
706 bool get_agl_m(double t, const double pt[3], double max_altoff,
707 double contact[3], double normal[3], double linearVel[3],
708 double angularVel[3], simgear::BVHMaterial const*& material,
709 simgear::BVHNode::Id& id);
710 bool get_agl_ft(double t, const double pt[3], double max_altoff,
711 double contact[3], double normal[3], double linearVel[3],
712 double angularVel[3], simgear::BVHMaterial const*& material,
713 simgear::BVHNode::Id& id);
714 double get_groundlevel_m(double lat, double lon, double alt);
715 double get_groundlevel_m(const SGGeod& geod);
718 // Return the nearest point in any direction to the point pt with a maximum
719 // distance maxDist. The velocities are in the wgs84 frame at the query
721 bool get_nearest_m(double t, const double pt[3], double maxDist,
722 double contact[3], double normal[3], double linearVel[3],
723 double angularVel[3], simgear::BVHMaterial const*& material,
724 simgear::BVHNode::Id& id);
725 bool get_nearest_ft(double t, const double pt[3], double maxDist,
726 double contact[3], double normal[3],double linearVel[3],
727 double angularVel[3], simgear::BVHMaterial const*& material,
728 simgear::BVHNode::Id& id);
731 // Return 1 if the hook intersects with a wire.
732 // That test is done by checking if the quad spanned by the points pt*
733 // intersects with the line representing the wire.
734 // If the wire is caught, the cache will trace this wires endpoints until
735 // the FDM calls release_wire().
736 bool caught_wire_m(double t, const double pt[4][3]);
737 bool caught_wire_ft(double t, const double pt[4][3]);
739 // Return the location and speed of the wire endpoints.
740 bool get_wire_ends_m(double t, double end[2][3], double vel[2][3]);
741 bool get_wire_ends_ft(double t, double end[2][3], double vel[2][3]);
743 // Tell the cache code that it does no longer need to care for
744 // the wire end position.
745 void release_wire(void);
748 #endif // _FLIGHT_HXX