+
+#ifdef HAVE_CONFIG_H
+# include "config.h"
+#endif
+
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/misc/sg_path.hxx>
-#include <simgear/scene/model/location.hxx>
#include <simgear/scene/model/placement.hxx>
#include <simgear/xml/easyxml.hxx>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
-#include <Model/acmodel.hxx>
#include "FGFDM.hpp"
#include "Atmosphere.hpp"
#include "Integrator.hpp"
#include "Glue.hpp"
#include "Gear.hpp"
+#include "Hook.hpp"
+#include "Launchbar.hpp"
+#include "FGGround.hpp"
#include "PropEngine.hpp"
#include "PistonEngine.hpp"
static const float INHG2PA = 3386.389;
static const float SLUG2KG = 14.59390;
-YASim::YASim(double dt)
+YASim::YASim(double dt) :
+ _simTime(0)
{
// set_delta_t(dt);
_fdm = new FGFDM();
_dt = dt;
+ _fdm->getAirplane()->getModel()->setGroundCallback( new FGGround(this) );
_fdm->getAirplane()->getModel()->getIntegrator()->setInterval(_dt);
}
+YASim::~YASim()
+{
+ delete _fdm;
+}
+
void YASim::report()
{
Airplane* a = _fdm->getAirplane();
char buf[256];
for(int i=0; i<_fdm->getAirplane()->getModel()->numThrusters(); i++) {
- sprintf(buf, "/engines/engine[%d]/fuel-flow-gph", i); fgUntie(buf);
- sprintf(buf, "/engines/engine[%d]/rpm", i); fgUntie(buf);
- sprintf(buf, "/engines/engine[%d]/mp-osi", i); fgUntie(buf);
- sprintf(buf, "/engines/engine[%d]/egt-degf", i); fgUntie(buf);
+ sprintf(buf, "/engines/engine[%d]/fuel-flow-gph", i); fgUntie(buf);
+ sprintf(buf, "/engines/engine[%d]/rpm", i); fgUntie(buf);
+ sprintf(buf, "/engines/engine[%d]/mp-osi", i); fgUntie(buf);
+ sprintf(buf, "/engines/engine[%d]/egt-degf", i); fgUntie(buf);
+ sprintf(buf, "/engines/engine[%d]/oil-temperature-degf", i); fgUntie(buf);
}
}
SGPropertyNode * node = fgGetNode("gear/gear", i, true);
float pos[3];
g->getPosition(pos);
- node->setDoubleValue("xoffset-in", pos[0]);
- node->setDoubleValue("yoffset-in", pos[1]);
- node->setDoubleValue("zoffset-in", pos[2]);
+ node->setDoubleValue("xoffset-in", pos[0] * M2FT * 12);
+ node->setDoubleValue("yoffset-in", pos[1] * M2FT * 12);
+ node->setDoubleValue("zoffset-in", pos[2] * M2FT * 12);
}
-// for(i=0; i<m->numThrusters(); i++) {
-// // Sanify the initial input conditions
-// char buf[64];
-// sprintf(buf, "/controls/engines/engine[%d]/throttle", i); fgSetFloat(buf, 0);
-// sprintf(buf, "/controls/engines/engine[%d]/mixture", i); fgSetFloat(buf, 1);
-// sprintf(buf, "/controls/engines/engine[%d]/propeller-pitch", i); fgSetFloat(buf, 1);
-// sprintf(buf, "/controls/engines/engine[%d]/augmentation", i); fgSetFloat(buf, 0);
-// }
-
-// fgSetFloat("/controls/flight/slats", 0);
-// fgSetFloat("/controls/flight/spoilers", 0);
// Are we at ground level? If so, lift the plane up so the gear
// clear the ground.
fgSetBool("/controls/gear/gear-down", true);
}
- // The pilot's eyepoint
- float pilot[3];
- a->getPilotPos(pilot);
-// fgSetFloat("/sim/view/pilot/x-offset-m", -pilot[0]);
-// fgSetFloat("/sim/view/pilot/y-offset-m", -pilot[1]);
-// fgSetFloat("/sim/view/pilot/z-offset-m", pilot[2]);
-
// Blank the state, and copy in ours
State s;
m->setState(&s);
return;
}
+ // ground. Calculate a cartesian coordinate for the ground under
+ // us, find the (geodetic) up vector normal to the ground, then
+ // use that to find the final (radius) term of the plane equation.
+ float v[3] = { get_uBody(), get_vBody(), get_wBody() };
+ float lat = get_Latitude(); float lon = get_Longitude();
+ float alt = get_Altitude() * FT2M; double xyz[3];
+ sgGeodToCart(lat, lon, alt, xyz);
+ // build the environment cache.
+ float vr = _fdm->getVehicleRadius();
+ vr += 2.0*FT2M*dt*Math::mag3(v);
+ prepare_ground_cache_m( _simTime, _simTime + dt, xyz, vr );
+
+ // Track time increments.
+ FGGround* gr
+ = (FGGround*)_fdm->getAirplane()->getModel()->getGroundCallback();
+
int i;
for(i=0; i<iterations; i++) {
+ gr->setTimeOffset(_simTime + i*_dt);
copyToYASim(false);
_fdm->iterate(_dt);
copyFromYASim();
}
+
+ // Increment the local sim time
+ _simTime += dt;
+ gr->setTimeOffset(_simTime);
}
void YASim::copyToYASim(bool copyState)
{
// Physical state
- float lat = get_Latitude();
- float lon = get_Longitude();
+ double lat = get_Latitude();
+ double lon = get_Longitude();
float alt = get_Altitude() * FT2M;
float roll = get_Phi();
float pitch = get_Theta();
wind[1] = get_V_east_airmass() * FT2M * -1.0;
wind[2] = get_V_down_airmass() * FT2M * -1.0;
- // Get ground elevation from the FGinterface's FGlocation data
- double ground = getACModel()->get3DModel()->getSGLocation()->get_cur_elev_m();
- // cout << "YASIM: ground = " << ground << endl;
-
float pressure = fgGetFloat("/environment/pressure-inhg") * INHG2PA;
float temp = fgGetFloat("/environment/temperature-degc") + 273.15;
float dens = fgGetFloat("/environment/density-slugft3")
Math::tmul33(xyz2ned, wind, wind);
model->setWind(wind);
- // ground. Calculate a cartesian coordinate for the ground under
- // us, find the (geodetic) up vector normal to the ground, then
- // use that to find the final (radius) term of the plane equation.
- double xyz[3], gplane[3]; float up[3];
- sgGeodToCart(lat, lon, ground, xyz);
- Glue::geodUp(lat, lon, up); // FIXME, needless reverse computation...
- int i;
- for(i=0; i<3; i++) gplane[i] = up[i];
- double rad = gplane[0]*xyz[0] + gplane[1]*xyz[1] + gplane[2]*xyz[2];
- model->setGroundPlane(gplane, rad);
-
// air
model->setAir(pressure, temp, dens);
+
+ // Query a ground plane for each gear/hook/launchbar and
+ // write that value into the corresponding class.
+ _fdm->getAirplane()->getModel()->updateGround(&s);
+
+ Launchbar* l = model->getLaunchbar();
+ if (l)
+ l->setLaunchCmd(0.0<fgGetFloat("/controls/gear/catapult-launch-cmd"));
}
// All the settables:
double lat, lon, alt;
sgCartToGeod(s->pos, &lat, &lon, &alt);
_set_Geodetic_Position(lat, lon, alt*M2FT);
+ double groundlevel_m = get_groundlevel_m(lat, lon, alt);
+ _set_Runway_altitude(groundlevel_m*SG_METER_TO_FEET);
+ _set_Altitude_AGL((alt-groundlevel_m)*SG_METER_TO_FEET);
+
+ // the smallest agl of all gears
+ fgSetFloat("/position/gear-agl-m", model->getAGL());
+ fgSetFloat("/position/gear-agl-ft", model->getAGL()*M2FT);
// UNUSED
//_set_Geocentric_Position(Glue::geod2geocLat(lat), lon, alt*M2FT);
- _set_Altitude_AGL(model->getAGL() * M2FT);
-
// useful conversion matrix
float xyz2ned[9];
Glue::xyz2nedMat(lat, lon, xyz2ned);
_set_V_rel_wind(Math::mag3(v)*M2FT); // units?
float P = fgGetDouble("/environment/pressure-inhg") * INHG2PA;
- float T = fgGetDouble("/environment/temperature-degC") + 273.15;
+ float T = fgGetDouble("/environment/temperature-degc") + 273.15;
float D = fgGetFloat("/environment/density-slugft3")
*SLUG2KG * M2FT*M2FT*M2FT;
_set_V_equiv_kts(Atmosphere::calcVEAS(v[0], P, T, D)*MPS2KTS);
// orientation
float alpha, beta;
- Glue::calcAlphaBeta(s, &alpha, &beta);
+ Glue::calcAlphaBeta(s, wind, &alpha, &beta);
_set_Alpha(alpha);
_set_Beta(beta);
node->setBoolValue("has-brake", g->getBrake() != 0);
node->setBoolValue("wow", g->getCompressFraction() != 0);
node->setFloatValue("compression-norm", g->getCompressFraction());
+ node->setFloatValue("compression-m", g->getCompressDist());
+ node->setFloatValue("caster-angle-deg", g->getCasterAngle() * RAD2DEG);
+ node->setFloatValue("rollspeed-ms", g->getRollSpeed());
+ node->setBoolValue("ground-is-solid", g->getGroundIsSolid()!=0);
+ node->setFloatValue("ground-friction-factor", g->getGroundFrictionFactor());
}
- for(i=0; i<model->numThrusters(); i++) {
- SGPropertyNode * node = fgGetNode("engines/engine", i, true);
- Thruster* t = model->getThruster(i);
-
- node->setBoolValue("running", t->isRunning());
- node->setBoolValue("cranking", t->isCranking());
-
- float tmp[3];
- t->getThrust(tmp);
- node->setDoubleValue("prop-thrust", Math::mag3(tmp) * KG2LBS / 9.8);
-
- PropEngine* pe = t->getPropEngine();
- if(pe) {
- node->setDoubleValue("rpm", pe->getOmega() * RAD2RPM);
-
- pe->getTorque(tmp);
- float power = Math::mag3(tmp) * pe->getOmega();
- float maxPower = pe->getPistonEngine()->getMaxPower();
+ Hook* h = airplane->getHook();
+ if(h) {
+ SGPropertyNode * node = fgGetNode("gear/tailhook", 0, true);
+ node->setFloatValue("position-norm", h->getCompressFraction());
+ }
- node->setDoubleValue("max-hp", maxPower * W2HP);
- node->setDoubleValue("power-pct", 100 * power/maxPower);
- }
+ Launchbar* l = airplane->getLaunchbar();
+ if(l) {
+ SGPropertyNode * node = fgGetNode("gear/launchbar", 0, true);
+ node->setFloatValue("position-norm", l->getCompressFraction());
+ node->setFloatValue("holdback-position-norm", l->getHoldbackCompressFraction());
+ node->setStringValue("state", l->getState());
+ node->setBoolValue("strop", l->getStrop());
}
+
}
projects / flightgear.git / blobdiff