#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>
// ... 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);
}
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,
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");
FGInterface::prepare_ground_cache_m(double ref_time, const double pt[3],
double rad)
{
- return ground_cache.prepare_ground_cache(ref_time, pt, 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.
- sgdVec3 pt_ft;
- sgdScaleVec3( pt_ft, pt, SG_FEET_TO_METER );
+ 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)
{
- return ground_cache.is_valid(ref_time, pt, 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.
- bool found_ground = ground_cache.is_valid(ref_time, pt, rad);
- sgdScaleVec3(pt, SG_METER_TO_FEET);
+ 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;
}
FGInterface::get_cat_m(double t, const double pt[3],
double end[2][3], double vel[2][3])
{
- return ground_cache.get_cat(t, pt, end, vel);
+ 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
double end[2][3], double vel[2][3])
{
// Convert units and do the real work.
- sgdVec3 pt_m;
- sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER );
- double dist = ground_cache.get_cat(t, pt_m, end, vel);
+ 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], SG_METER_TO_FEET );
- sgdScaleVec3( vel[k], SG_METER_TO_FEET );
+ 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)
{
- return ground_cache.get_agl(t, pt, 2.0, contact, normal, vel, type,
- loadCapacity, frictionFactor, 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],
double *frictionFactor, double *agl)
{
// Convert units and do the real work.
- sgdVec3 pt_m;
- sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER );
- bool ret = ground_cache.get_agl(t, pt_m, 2.0, contact, normal, vel,
- type, loadCapacity, frictionFactor, agl);
+ 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, SG_METER_TO_FEET );
- sgdScaleVec3( vel, SG_METER_TO_FEET );
+ 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;
- // FIXME: scale the load limit to something in the english unit system.
- // Be careful with the DBL_MAX which is returned by default.
+
+ // 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, double *loadCapacity,
- double *frictionFactor, double *agl)
+ int *type, const SGMaterial** material, double *agl)
{
- return ground_cache.get_agl(t, pt, max_altoff, contact, normal, vel, type,
- loadCapacity, frictionFactor, 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, double *loadCapacity,
- double *frictionFactor, double *agl)
+ int *type, const SGMaterial** material, double *agl)
{
// Convert units and do the real work.
- sgdVec3 pt_m;
- sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER );
+ 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, loadCapacity, frictionFactor, agl);
+ _contact, _normal, _vel,
+ type, material, agl);
// Convert units back ...
- sgdScaleVec3( contact, SG_METER_TO_FEET );
- sgdScaleVec3( vel, SG_METER_TO_FEET );
+ 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;
- // FIXME: scale the load limit to something in the english unit system.
- // Be careful with the DBL_MAX which is returned by default.
return ret;
}
double
FGInterface::get_groundlevel_m(double lat, double lon, double alt)
{
- sgdVec3 pos, cpos;
// Compute the cartesian position of the given lat/lon/alt.
- sgGeodToCart(lat, lon, alt, pos);
+ 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, &radius)) {
- bool ok = prepare_ground_cache_m(ref_time, pos, 10);
+ 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) {
- sgGeodToCart(lat, lon, 10000, pos);
+ 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, 10))
+ if (!prepare_ground_cache_m(ref_time, pos.data(), 10))
return 0;
}
- } else if (radius*radius <= sgdDistanceSquaredVec3(pos, cpos)) {
+ } 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, radius);
+ 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) {
- sgGeodToCart(lat, lon, 10000, pos);
+ 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, radius))
+ if (!prepare_ground_cache_m(ref_time, pos.data(), radius))
return 0;
}
}
- double contact[3], normal[3], vel[3], lc, ff, agl;
+ 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, 2.0, contact, normal, vel, &type, &lc, &ff, &agl);
- Point3D geodPos = sgCartToGeod(Point3D(contact[0], contact[1], contact[2]));
- return geodPos.elev();
+ 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])
{
- return ground_cache.caught_wire(t, pt);
+ 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.
- double pt_m[4][3];
+ SGVec3d pt_m[4];
for (int i=0; i<4; ++i)
- sgdScaleVec3(pt_m[i], pt[i], SG_FEET_TO_METER);
+ 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])
{
- return ground_cache.get_wire_ends(t, end, vel);
+ 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.
- bool ret = ground_cache.get_wire_ends(t, end, vel);
+ 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], SG_METER_TO_FEET );
- sgdScaleVec3( vel[k], SG_METER_TO_FEET );
+ sgdScaleVec3( end[k], _end[k].data(), SG_METER_TO_FEET );
+ sgdScaleVec3( vel[k], _vel[k].data(), SG_METER_TO_FEET );
}
return ret;
}
projects / flightgear.git / blobdiff