//
// Written by Curtis Olson, started May 1997.
//
-// Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
+// Copyright (C) 1997 Curtis L. Olson - http://www.flightgear.org/~curt
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
+#ifdef HAVE_CONFIG_H
+# include "config.h"
+#endif
#include <stdio.h>
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/scene/model/placement.hxx>
+#include <simgear/scene/material/mat.hxx>
#include <simgear/timing/timestamp.hxx>
#include <Scenery/scenery.hxx>
-#include <FDM/LaRCsim/ls_interface.h>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
+#include <FDM/groundcache.hxx>
#include "flight.hxx"
}
// Constructor
-FGInterface::FGInterface() {
+FGInterface::FGInterface()
+ : remainder(0)
+{
_setup();
}
-FGInterface::FGInterface( double dt ) {
+FGInterface::FGInterface( double dt )
+ : remainder(0)
+{
_setup();
-// delta_t = dt;
-// remainder = elapsed = multi_loop = 0;
- remainder = 0;
}
// Destructor
dt += remainder;
remainder = 0;
double ml = dt * hz;
- int multiloop = int(floor(ml));
+ // Avoid roundoff problems by adding the roundoff itself.
+ // ... ok, two times the roundoff to have enough room.
+ int multiloop = int(floor(ml * (1.0 + 2.0*DBL_EPSILON)));
remainder = (ml - multiloop) / hz;
+
+ // If we artificially inflate ml above by a tiny amount to get the
+ // closest integer, then subtract the integer from the original
+ // slightly smaller value, we can get a negative remainder.
+ // Logically this should never happen, and we definitely don't want
+ // to carry a negative remainder over to the next iteration, so
+ // never let the remainder go below zero.
+ //
+ // Note: this fixes a problem where we run 1, 3, 1, 3, 1, 3... loops
+ // of the FDM when in fact we want to run 2, 2, 2, 2, 2...
+ if ( remainder < 0 ) { remainder = 0; }
+
return (multiloop * speedup);
}
// Set initial position
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
- set_Longitude( fgGetDouble("/position/longitude-deg")
- * SGD_DEGREES_TO_RADIANS );
- set_Latitude( fgGetDouble("/position/latitude-deg")
- * SGD_DEGREES_TO_RADIANS );
- double ground_elev_m = globals->get_scenery()->get_cur_elev();
+ double lon = fgGetDouble("/sim/presets/longitude-deg")
+ * SGD_DEGREES_TO_RADIANS;
+ double lat = fgGetDouble("/sim/presets/latitude-deg")
+ * SGD_DEGREES_TO_RADIANS;
+ double alt_ft = fgGetDouble("/sim/presets/altitude-ft");
+ double alt_m = alt_ft * SG_FEET_TO_METER;
+ set_Longitude( lon );
+ set_Latitude( lat );
+ SG_LOG( SG_FLIGHT, SG_INFO, "Checking for lon = "
+ << lon*SGD_RADIANS_TO_DEGREES << "deg, lat = "
+ << lat*SGD_RADIANS_TO_DEGREES << "deg, alt = "
+ << alt_ft << "ft");
+
+ double ground_elev_m = get_groundlevel_m(lat, lon, alt_m);
double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
- if ( fgGetBool("/sim/startup/onground")
- || fgGetDouble("/position/altitude-ft") < ground_elev_ft ) {
- fgSetDouble("/position/altitude-ft", ground_elev_ft);
+ _set_Runway_altitude ( ground_elev_ft );
+ if ( fgGetBool("/sim/presets/onground") || alt_ft < ground_elev_ft ) {
+ fgSetDouble("/position/altitude-ft", ground_elev_ft + 0.1);
+ set_Altitude( ground_elev_ft + 0.1);
+ } else {
+ set_Altitude( alt_ft );
}
- set_Altitude( fgGetDouble("/position/altitude-ft") );
// Set ground elevation
SG_LOG( SG_FLIGHT, SG_INFO,
// Set sea-level radius
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
- << fgGetDouble("/position/latitude-deg")
- << " alt = " << fgGetDouble("/position/altitude-ft") );
+ << fgGetDouble("/sim/presets/latitude-deg")
+ << " alt = " << get_Altitude() );
double sea_level_radius_meters;
double lat_geoc;
- sgGeodToGeoc( fgGetDouble("/position/latitude-deg")
+ sgGeodToGeoc( fgGetDouble("/sim/presets/latitude-deg")
* SGD_DEGREES_TO_RADIANS,
- fgGetDouble("/position/altitude-ft") * SG_FEET_TO_METER,
+ get_Altitude() * SG_FEET_TO_METER,
&sea_level_radius_meters, &lat_geoc );
_set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
// Set initial velocities
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
- if ( !fgHasNode("/sim/startup/speed-set") ) {
+ if ( !fgHasNode("/sim/presets/speed-set") ) {
set_V_calibrated_kts(0.0);
} else {
- const string speedset = fgGetString("/sim/startup/speed-set");
+ const string speedset = fgGetString("/sim/presets/speed-set");
if ( speedset == "knots" || speedset == "KNOTS" ) {
- set_V_calibrated_kts( fgGetDouble("/velocities/airspeed-kt") );
+ set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") );
} else if ( speedset == "mach" || speedset == "MACH" ) {
- set_Mach_number( fgGetDouble("/velocities/mach") );
+ set_Mach_number( fgGetDouble("/sim/presets/mach") );
} else if ( speedset == "UVW" || speedset == "uvw" ) {
set_Velocities_Wind_Body(
- fgGetDouble("/velocities/uBody-fps"),
- fgGetDouble("/velocities/vBody-fps"),
- fgGetDouble("/velocities/wBody-fps") );
+ fgGetDouble("/sim/presets/uBody-fps"),
+ fgGetDouble("/sim/presets/vBody-fps"),
+ fgGetDouble("/sim/presets/wBody-fps") );
} else if ( speedset == "NED" || speedset == "ned" ) {
set_Velocities_Local(
- fgGetDouble("/velocities/speed-north-fps"),
- fgGetDouble("/velocities/speed-east-fps"),
- fgGetDouble("/velocities/speed-down-fps") );
+ fgGetDouble("/sim/presets/speed-north-fps"),
+ fgGetDouble("/sim/presets/speed-east-fps"),
+ fgGetDouble("/sim/presets/speed-down-fps") );
} else {
SG_LOG( SG_FLIGHT, SG_ALERT,
- "Unrecognized value for /sim/startup/speed-set: "
+ "Unrecognized value for /sim/presets/speed-set: "
<< speedset);
set_V_calibrated_kts( 0.0 );
}
// Set initial Euler angles
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
- set_Euler_Angles( fgGetDouble("/orientation/roll-deg")
+ set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
* SGD_DEGREES_TO_RADIANS,
- fgGetDouble("/orientation/pitch-deg")
+ fgGetDouble("/sim/presets/pitch-deg")
* SGD_DEGREES_TO_RADIANS,
- fgGetDouble("/orientation/heading-deg")
+ fgGetDouble("/sim/presets/heading-deg")
* SGD_DEGREES_TO_RADIANS );
SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
fgSetArchivable("/position/altitude-ft");
fgTie("/position/altitude-agl-ft", this,
&FGInterface::get_Altitude_AGL); // read-only
+ fgSetArchivable("/position/ground-elev-ft");
+ fgTie("/position/ground-elev-ft", this,
+ &FGInterface::get_Runway_altitude); // read-only
+ fgSetArchivable("/position/ground-elev-m");
+ fgTie("/position/ground-elev-m", this,
+ &FGInterface::get_Runway_altitude_m); // read-only
+ fgTie("/environment/ground-elevation-m", this,
+ &FGInterface::get_Runway_altitude_m); // read-only
+ fgSetArchivable("/position/sea-level-radius-ft");
+ fgTie("/position/sea-level-radius-ft", this,
+ &FGInterface::get_Sea_level_radius); // read-only
// Orientation
fgTie("/orientation/roll-deg", this,
&FGInterface::set_Psi_deg);
fgSetArchivable("/orientation/heading-deg");
+ // Body-axis "euler rates" (rotation speed, but in a funny
+ // representation).
+ fgTie("/orientation/roll-rate-degps", this,
+ &FGInterface::get_Phi_dot_degps);
+ fgTie("/orientation/pitch-rate-degps", this,
+ &FGInterface::get_Theta_dot_degps);
+ fgTie("/orientation/yaw-rate-degps", this,
+ &FGInterface::get_Psi_dot_degps);
+
+ // Ground speed knots
+ fgTie("/velocities/groundspeed-kt", this,
+ &FGInterface::get_V_ground_speed_kt);
+
// Calibrated airspeed
fgTie("/velocities/airspeed-kt", this,
&FGInterface::get_V_calibrated_kts,
&FGInterface::set_V_calibrated_kts,
+ false);
+
+ // Mach number
+ fgTie("/velocities/mach", this,
+ &FGInterface::get_Mach_number,
+ &FGInterface::set_Mach_number,
false);
// Local velocities
fgTie("/velocities/glideslope", this,
&FGInterface::get_Gamma_vert_rad,
&FGInterface::set_Gamma_vert_rad );
- fgTie("/velocities/side-slip-rad", this,
+ fgTie("/orientation/side-slip-rad", this,
&FGInterface::get_Beta); // read-only
- fgTie("/velocities/side-slip-deg", this,
+ fgTie("/orientation/side-slip-deg", this,
&FGInterface::get_Beta_deg); // read-only
- fgTie("/velocities/alpha-deg", this,
+ fgTie("/orientation/alpha-deg", this,
&FGInterface::get_Alpha_deg); // read-only
fgTie("/accelerations/nlf", this,
&FGInterface::get_Nlf); // read-only
+
+ // NED accelerations
+ fgTie("/accelerations/ned/north-accel-fps_sec",
+ this, &FGInterface::get_V_dot_north);
+ fgTie("/accelerations/ned/east-accel-fps_sec",
+ this, &FGInterface::get_V_dot_east);
+ fgTie("/accelerations/ned/down-accel-fps_sec",
+ this, &FGInterface::get_V_dot_down);
+
+ // Pilot accelerations
+ fgTie("/accelerations/pilot/x-accel-fps_sec",
+ this, &FGInterface::get_A_X_pilot);
+ fgTie("/accelerations/pilot/y-accel-fps_sec",
+ this, &FGInterface::get_A_Y_pilot);
+ fgTie("/accelerations/pilot/z-accel-fps_sec",
+ this, &FGInterface::get_A_Z_pilot);
+
}
{
bound = false;
- fgUntie("/fdm/time/delta_t");
- fgUntie("/fdm/time/elapsed");
- fgUntie("/fdm/time/remainder");
- fgUntie("/fdm/time/multi_loop");
+ // fgUntie("/fdm/time/delta_t");
+ // fgUntie("/fdm/time/elapsed");
+ // fgUntie("/fdm/time/remainder");
+ // fgUntie("/fdm/time/multi_loop");
fgUntie("/position/latitude-deg");
fgUntie("/position/longitude-deg");
fgUntie("/position/altitude-ft");
fgUntie("/position/altitude-agl-ft");
- fgUntie("/orientation/heading-deg");
- fgUntie("/orientation/pitch-deg");
+ fgUntie("/position/ground-elev-ft");
+ fgUntie("/position/ground-elev-m");
+ fgUntie("/environment/ground-elevation-m");
+ fgUntie("/position/sea-level-radius-ft");
fgUntie("/orientation/roll-deg");
+ fgUntie("/orientation/pitch-deg");
+ fgUntie("/orientation/heading-deg");
+ fgUntie("/orientation/roll-rate-degps");
+ fgUntie("/orientation/pitch-rate-degps");
+ fgUntie("/orientation/yaw-rate-degps");
+ fgUntie("/orientation/side-slip-rad");
+ fgUntie("/orientation/side-slip-deg");
+ fgUntie("/orientation/alpha-deg");
fgUntie("/velocities/airspeed-kt");
+ fgUntie("/velocities/groundspeed-kt");
+ fgUntie("/velocities/mach");
fgUntie("/velocities/speed-north-fps");
fgUntie("/velocities/speed-east-fps");
fgUntie("/velocities/speed-down-fps");
fgUntie("/velocities/wBody-fps");
fgUntie("/velocities/vertical-speed-fps");
fgUntie("/velocities/glideslope");
- fgUntie("/velocities/side-slip-rad");
- fgUntie("/velocities/side-slip-deg");
- fgUntie("/velocities/alpha-deg");
fgUntie("/accelerations/nlf");
-
+ fgUntie("/accelerations/pilot/x-accel-fps_sec");
+ fgUntie("/accelerations/pilot/y-accel-fps_sec");
+ fgUntie("/accelerations/pilot/z-accel-fps_sec");
+ fgUntie("/accelerations/ned/north-accel-fps_sec");
+ fgUntie("/accelerations/ned/east-accel-fps_sec");
+ fgUntie("/accelerations/ned/down-accel-fps_sec");
}
/**
_set_Geodetic_Position( lat, lon, alt );
_set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
- _set_Runway_altitude( globals->get_scenery()->get_cur_elev()
- * SG_METER_TO_FEET );
+ _update_ground_elev_at_pos();
_set_sin_lat_geocentric( lat_geoc );
_set_cos_lat_geocentric( lat_geoc );
_set_sin_cos_longitude( lon );
_set_sin_cos_latitude( lat );
-
- /* Norman's code for slope of the terrain */
- /* needs to be tested -- get it on the HUD and taxi around */
- /* double *tnorm = scenery.cur_normal;
-
- double sy = sin ( -get_Psi() ) ;
- double cy = cos ( -get_Psi() ) ;
-
- double phitb, thetatb, psitb;
- if ( tnorm[1] != 0.0 ) {
- psitb = -atan2 ( tnorm[0], tnorm[1] );
- }
- if ( tnorm[2] != 0.0 ) {
- thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
- phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
- }
-
- _set_terrain_slope(phitb, thetatb, psitb)
- */
}
_set_Geodetic_Position( lat_geod, lon, alt );
_set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
- _set_Runway_altitude( globals->get_scenery()->get_cur_elev()
- * SG_METER_TO_FEET );
+ _update_ground_elev_at_pos();
_set_sin_lat_geocentric( lat_geoc );
_set_cos_lat_geocentric( lat_geoc );
_set_sin_cos_longitude( lon );
_set_sin_cos_latitude( lat_geod );
-
- /* Norman's code for slope of the terrain */
- /* needs to be tested -- get it on the HUD and taxi around */
- /* double *tnorm = scenery.cur_normal;
-
- double sy = sin ( -get_Psi() ) ;
- double cy = cos ( -get_Psi() ) ;
-
- double phitb, thetatb, psitb;
- if ( tnorm[1] != 0.0 ) {
- psitb = -atan2 ( tnorm[0], tnorm[1] );
- }
- if ( tnorm[2] != 0.0 ) {
- thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
- phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
- }
-
- _set_terrain_slope(phitb, thetatb, psitb)
- */
}
+void FGInterface::_update_ground_elev_at_pos( void ) {
+ double lat = get_Latitude();
+ double lon = get_Longitude();
+ double alt_m = get_Altitude()*SG_FEET_TO_METER;
+ double groundlevel_m = get_groundlevel_m(lat, lon, alt_m);
+ _set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET );
+}
// Extrapolate fdm based on time_offset (in usec)
void FGInterface::extrapolate( int time_offset ) {
SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
}
+bool
+FGInterface::prepare_ground_cache_m(double ref_time, const double pt[3],
+ double rad)
+{
+ return ground_cache.prepare_ground_cache(ref_time, SGVec3d(pt), rad);
+}
+
+bool FGInterface::prepare_ground_cache_ft(double ref_time, const double pt[3],
+ double rad)
+{
+ // Convert units and do the real work.
+ SGVec3d pt_ft = SG_FEET_TO_METER*SGVec3d(pt);
+ return ground_cache.prepare_ground_cache(ref_time, pt_ft, rad*SG_FEET_TO_METER);
+}
+
+bool
+FGInterface::is_valid_m(double *ref_time, double pt[3], double *rad)
+{
+ SGVec3d _pt;
+ bool valid = ground_cache.is_valid(*ref_time, _pt, *rad);
+ sgdCopyVec3(pt, _pt.data());
+ return valid;
+}
+
+bool FGInterface::is_valid_ft(double *ref_time, double pt[3], double *rad)
+{
+ // Convert units and do the real work.
+ SGVec3d _pt;
+ bool found_ground = ground_cache.is_valid(*ref_time, _pt, *rad);
+ sgdScaleVec3(pt, _pt.data(), SG_METER_TO_FEET);
+ *rad *= SG_METER_TO_FEET;
+ return found_ground;
+}
+
+double
+FGInterface::get_cat_m(double t, const double pt[3],
+ double end[2][3], double vel[2][3])
+{
+ SGVec3d _end[2], _vel[2];
+ double dist = ground_cache.get_cat(t, SGVec3d(pt), _end, _vel);
+ for (int k=0; k<2; ++k) {
+ sgdCopyVec3( end[k], _end[k].data() );
+ sgdCopyVec3( vel[k], _vel[k].data() );
+ }
+ return dist;
+}
+
+double
+FGInterface::get_cat_ft(double t, const double pt[3],
+ double end[2][3], double vel[2][3])
+{
+ // Convert units and do the real work.
+ SGVec3d pt_m = SG_FEET_TO_METER*SGVec3d(pt);
+ SGVec3d _end[2], _vel[2];
+ double dist = ground_cache.get_cat(t, pt_m, _end, _vel);
+ for (int k=0; k<2; ++k) {
+ sgdScaleVec3( end[k], _end[k].data(), SG_METER_TO_FEET );
+ sgdScaleVec3( vel[k], _vel[k].data(), SG_METER_TO_FEET );
+ }
+ return dist*SG_METER_TO_FEET;
+}
+
+// Legacy interface just kept because of JSBSim
+bool
+FGInterface::get_agl_m(double t, const double pt[3],
+ double contact[3], double normal[3], double vel[3],
+ int *type, double *loadCapacity,
+ double *frictionFactor, double *agl)
+{
+ const SGMaterial* material;
+ SGVec3d _contact, _normal, _vel;
+ bool ret = ground_cache.get_agl(t, SGVec3d(pt), 2.0, _contact, _normal,
+ _vel, type, &material, agl);
+ sgdCopyVec3(contact, _contact.data());
+ sgdCopyVec3(normal, _normal.data());
+ sgdCopyVec3(vel, _vel.data());
+ if (material) {
+ *loadCapacity = material->get_load_resistance();
+ *frictionFactor = material->get_friction_factor();
+
+ } else {
+ *loadCapacity = DBL_MAX;
+ *frictionFactor = 1.0;
+ }
+ return ret;
+}
+
+bool
+FGInterface::get_agl_m(double t, const double pt[3],
+ double contact[3], double normal[3], double vel[3],
+ int *type, const SGMaterial **material, double *agl)
+{
+ SGVec3d _contact, _normal, _vel;
+ bool ret = ground_cache.get_agl(t, SGVec3d(pt), 2.0, _contact, _normal,
+ _vel, type, material, agl);
+ sgdCopyVec3(contact, _contact.data());
+ sgdCopyVec3(normal, _normal.data());
+ sgdCopyVec3(vel, _vel.data());
+ return ret;
+}
+
+// Legacy interface just kept because of JSBSim
+bool
+FGInterface::get_agl_ft(double t, const double pt[3],
+ double contact[3], double normal[3], double vel[3],
+ int *type, double *loadCapacity,
+ double *frictionFactor, double *agl)
+{
+ // Convert units and do the real work.
+ SGVec3d pt_m = SG_FEET_TO_METER*SGVec3d(pt);
+
+ const SGMaterial* material;
+ SGVec3d _contact, _normal, _vel;
+ bool ret = ground_cache.get_agl(t, pt_m, 2.0, _contact, _normal, _vel,
+ type, &material, agl);
+ // Convert units back ...
+ sgdScaleVec3( contact, _contact.data(), SG_METER_TO_FEET );
+ sgdScaleVec3( vel, _vel.data(), SG_METER_TO_FEET );
+ sgdCopyVec3( normal, _normal.data() );
+ *agl *= SG_METER_TO_FEET;
+
+ // return material properties if available
+ if (material) {
+ // FIXME: convert units?? now pascal to lbf/ft^2
+ *loadCapacity = 0.020885434*material->get_load_resistance();
+ *frictionFactor = material->get_friction_factor();
+ } else {
+ *loadCapacity = DBL_MAX;
+ *frictionFactor = 1.0;
+ }
+ return ret;
+}
+
+bool
+FGInterface::get_agl_m(double t, const double pt[3], double max_altoff,
+ double contact[3], double normal[3], double vel[3],
+ int *type, const SGMaterial** material, double *agl)
+{
+ SGVec3d _contact, _normal, _vel;
+ bool found = ground_cache.get_agl(t, SGVec3d(pt), max_altoff, _contact,
+ _normal, _vel, type, material, agl);
+ sgdCopyVec3(contact, _contact.data());
+ sgdCopyVec3(normal, _normal.data());
+ sgdCopyVec3(vel, _vel.data());
+ return found;
+}
+
+bool
+FGInterface::get_agl_ft(double t, const double pt[3], double max_altoff,
+ double contact[3], double normal[3], double vel[3],
+ int *type, const SGMaterial** material, double *agl)
+{
+ // Convert units and do the real work.
+ SGVec3d pt_m = SG_FEET_TO_METER*SGVec3d(pt);
+ SGVec3d _contact, _normal, _vel;
+ bool ret = ground_cache.get_agl(t, pt_m, SG_FEET_TO_METER * max_altoff,
+ _contact, _normal, _vel,
+ type, material, agl);
+ // Convert units back ...
+ sgdScaleVec3( contact, _contact.data(), SG_METER_TO_FEET );
+ sgdScaleVec3( vel, _vel.data(), SG_METER_TO_FEET );
+ sgdCopyVec3( normal, _normal.data() );
+ *agl *= SG_METER_TO_FEET;
+ return ret;
+}
+
+
+double
+FGInterface::get_groundlevel_m(double lat, double lon, double alt)
+{
+ // Compute the cartesian position of the given lat/lon/alt.
+ SGVec3d pos = SGVec3d::fromGeod(SGGeod::fromRadM(lon, lat, alt));
+
+ // FIXME: how to handle t - ref_time differences ???
+ SGVec3d cpos;
+ double ref_time, radius;
+ // Prepare the ground cache for that position.
+ if (!is_valid_m(&ref_time, cpos.data(), &radius)) {
+ bool ok = prepare_ground_cache_m(ref_time, pos.data(), 10);
+ /// This is most likely the case when the given altitude is
+ /// too low, try with a new altitude of 10000m, that should be
+ /// sufficient to find a ground level below everywhere on our planet
+ if (!ok) {
+ pos = SGVec3d::fromGeod(SGGeod::fromRadM(lon, lat, 10000));
+ /// If there is still no ground, return sea level radius
+ if (!prepare_ground_cache_m(ref_time, pos.data(), 10))
+ return 0;
+ }
+ } else if (radius*radius <= distSqr(pos, cpos)) {
+ /// We reuse the old radius value, but only if it is at least 10 Meters ..
+ if (!(10 < radius)) // Well this strange compare is nan safe
+ radius = 10;
+
+ bool ok = prepare_ground_cache_m(ref_time, pos.data(), radius);
+ /// This is most likely the case when the given altitude is
+ /// too low, try with a new altitude of 10000m, that should be
+ /// sufficient to find a ground level below everywhere on our planet
+ if (!ok) {
+ pos = SGVec3d::fromGeod(SGGeod::fromRadM(lon, lat, 10000));
+ /// If there is still no ground, return sea level radius
+ if (!prepare_ground_cache_m(ref_time, pos.data(), radius))
+ return 0;
+ }
+ }
+
+ double contact[3], normal[3], vel[3], agl;
+ int type;
+ // Ignore the return value here, since it just tells us if
+ // the returns stem from the groundcache or from the coarse
+ // computations below the groundcache. The contact point is still something
+ // valid, the normals and the other returns just contain some defaults.
+ get_agl_m(ref_time, pos.data(), 2.0, contact, normal, vel, &type, 0, &agl);
+ SGGeod geod = SGGeod::fromCart(SGVec3d(contact));
+ return geod.getElevationM();
+}
+
+bool
+FGInterface::caught_wire_m(double t, const double pt[4][3])
+{
+ SGVec3d pt_m[4];
+ for (int i=0; i<4; ++i)
+ sgdCopyVec3(pt_m[i].data(), pt[i]);
+
+ return ground_cache.caught_wire(t, pt_m);
+}
+
+bool
+FGInterface::caught_wire_ft(double t, const double pt[4][3])
+{
+ // Convert units and do the real work.
+ SGVec3d pt_m[4];
+ for (int i=0; i<4; ++i)
+ sgdScaleVec3(pt_m[i].data(), pt[i], SG_FEET_TO_METER);
+
+ return ground_cache.caught_wire(t, pt_m);
+}
+
+bool
+FGInterface::get_wire_ends_m(double t, double end[2][3], double vel[2][3])
+{
+ SGVec3d _end[2], _vel[2];
+ bool ret = ground_cache.get_wire_ends(t, _end, _vel);
+ for (int k=0; k<2; ++k) {
+ sgdCopyVec3( end[k], _end[k].data() );
+ sgdCopyVec3( vel[k], _vel[k].data() );
+ }
+ return ret;
+}
+
+bool
+FGInterface::get_wire_ends_ft(double t, double end[2][3], double vel[2][3])
+{
+ // Convert units and do the real work.
+ SGVec3d _end[2], _vel[2];
+ bool ret = ground_cache.get_wire_ends(t, _end, _vel);
+ for (int k=0; k<2; ++k) {
+ sgdScaleVec3( end[k], _end[k].data(), SG_METER_TO_FEET );
+ sgdScaleVec3( vel[k], _vel[k].data(), SG_METER_TO_FEET );
+ }
+ return ret;
+}
+
+void
+FGInterface::release_wire(void)
+{
+ ground_cache.release_wire();
+}
void fgToggleFDMdataLogging(void) {
cur_fdm_state->ToggleDataLogging();
projects / flightgear.git / blobdiff