FGPUIDialog: fix reading from already free'd memory.

[flightgear.git] / src / FDM / YASim / Gear.cpp

diff --git a/src/FDM/YASim/Gear.cpp b/src/FDM/YASim/Gear.cpp
index 3d34a7ed0111417854411f181e4181adc5c3f3ca..6276c4448174601cd90529a23535abad6271a50f 100644 (file)
--- a/src/FDM/YASim/Gear.cpp
+++ b/src/FDM/YASim/Gear.cpp
@@ -1,8 +1,14 @@
+
+#ifdef HAVE_CONFIG_H
+#  include "config.h"
+#endif
+
 #include "Math.hpp"
 #include "BodyEnvironment.hpp"
 #include "RigidBody.hpp"
 
-#include <simgear/scene/material/mat.hxx>
+#include <cfloat>
+#include <simgear/bvh/BVHMaterial.hxx>
 #include <FDM/flight.hxx>
 #include "Gear.hpp"
 namespace yasim {
@@ -25,7 +31,6 @@ Gear::Gear()
     _extension = 1;
     _castering = false;
     _frac = 0;
-    _ground_type = 0;
     _ground_frictionFactor = 1;
     _ground_rollingFriction = 0.02;
     _ground_loadCapacity = 1e30;
@@ -142,7 +147,7 @@ void Gear::setInitialLoad(float l)
 
 void Gear::setGlobalGround(double *global_ground, float* global_vel,
                            double globalX, double globalY,
-                           int type, const SGMaterial *material)
+                           const simgear::BVHMaterial *material)
 {
     int i;
     double frictionFactor,rollingFriction,loadCapacity,loadResistance,bumpiness;
@@ -152,37 +157,21 @@ void Gear::setGlobalGround(double *global_ground, float* global_vel,
     for(i=0; i<3; i++) _global_vel[i] = global_vel[i];
 
     if (material) {
-        loadCapacity = (*material).get_load_resistence();
+        loadCapacity = (*material).get_load_resistance();
         frictionFactor =(*material).get_friction_factor();
         rollingFriction = (*material).get_rolling_friction();
-        loadResistance = (*material).get_load_resistence();
+        loadResistance = (*material).get_load_resistance();
         bumpiness = (*material).get_bumpiness();
         isSolid = (*material).get_solid();
     } else {
-        if (type == FGInterface::Solid) {
-            loadCapacity = DBL_MAX;
-            frictionFactor = 1.0;
-            rollingFriction = 0.02;
-            loadResistance = DBL_MAX;
-            bumpiness = 0.0;
-            isSolid = true;
-        } else if (type == FGInterface::Water) {
-            loadCapacity = DBL_MAX;
-            frictionFactor = 1.0;
-            rollingFriction = 2;
-            loadResistance = DBL_MAX;
-            bumpiness = 0.8;
-            isSolid = false;
-        } else {
-            loadCapacity = DBL_MAX;
-            frictionFactor = 0.9;
-            rollingFriction = 0.1;
-            loadResistance = DBL_MAX;
-            bumpiness = 0.2;
-            isSolid = true;
-        }
+        // no material, assume solid
+        loadCapacity = DBL_MAX;
+        frictionFactor = 1.0;
+        rollingFriction = 0.02;
+        loadResistance = DBL_MAX;
+        bumpiness = 0.0;
+        isSolid = true;
     }
-    _ground_type = type;
     _ground_frictionFactor = frictionFactor;
     _ground_rollingFriction = rollingFriction;
     _ground_loadCapacity = loadCapacity;
@@ -301,16 +290,20 @@ void Gear::calcForce(RigidBody* body, State *s, float* v, float* rot)
 
     // Don't bother if it's not down
     if(_extension < 1)
-       return;
+    {
+        _wow = 0;
+        _frac = 0;
+        return;
+    }
 
     // Dont bother if we are in the "wrong" ground
     if (!((_onWater&&!_ground_isSolid)||(_onSolid&&_ground_isSolid)))  {
-       _wow = 0;
-       _frac = 0;
+         _wow = 0;
+         _frac = 0;
         _compressDist = 0;
         _rollSpeed = 0;
         _casterAngle = 0;
-       return;
+        return;
     }
 
     // The ground plane transformed to the local frame.
@@ -349,8 +342,10 @@ void Gear::calcForce(RigidBody* body, State *s, float* v, float* rot)
     float b = ground[3] - Math::dot3(tmp, ground)+BumpAltitude;
 
     // Calculate the point of ground _contact.
-    _frac = a/(a-b);
-    if(b < 0) _frac = 1;
+    if(b < 0)
+        _frac = 1;
+    else
+        _frac = a/(a-b);
     for(i=0; i<3; i++)
        _contact[i] = _pos[i] + _frac*_cmpr[i];