#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/SGMath.hxx>
-#include <simgear/scene/material/mat.hxx>
#include <simgear/timing/timestamp.hxx>
#include <Scenery/scenery.hxx>
ptr[2] = vec[2];
}
-// base_fdm_state is the internal state that is updated in integer
-// multiples of "dt". This leads to "jitter" with respect to the real
-// world time, so we introduce cur_fdm_state which is extrapolated by
-// the difference between sim time and real world time
-
-FGInterface *cur_fdm_state = 0;
-FGInterface base_fdm_state;
-
// Constructor
FGInterface::FGInterface()
- : remainder(0)
{
_setup();
}
FGInterface::FGInterface( double dt )
- : remainder(0)
{
_setup();
}
// unbind(); // FIXME: should be called explicitly
}
-
int
FGInterface::_calc_multiloop (double dt)
{
+ // Since some time the simulation time increments we get here are
+ // already a multiple of the basic update freqency.
+ // So, there is no need to do our own multiloop rounding with all bad
+ // roundoff problems when we already have nearly accurate values.
+ // Only the speedup thing must be still handled here
int hz = fgGetInt("/sim/model-hz");
+ int multiloop = SGMiscd::roundToInt(dt*hz);
int speedup = fgGetInt("/sim/speed-up");
-
- dt += remainder;
- remainder = 0;
- double ml = dt * hz;
- // 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);
+ return multiloop * speedup;
}
runway_altitude=0;
climb_rate=0;
altitude_agl=0;
+ track=0;
}
void
set_inited( true );
-// stamp();
-// set_remainder( 0 );
+ ground_cache.set_cache_time_offset(globals->get_sim_time_sec());
// Set initial position
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
double slr = SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v);
_set_Sea_level_radius( slr * SG_METER_TO_FEET );
+ // Set initial Euler angles
+ SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
+ set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
+ * SGD_DEGREES_TO_RADIANS,
+ fgGetDouble("/sim/presets/pitch-deg")
+ * SGD_DEGREES_TO_RADIANS,
+ fgGetDouble("/sim/presets/heading-deg")
+ * SGD_DEGREES_TO_RADIANS );
+
// Set initial velocities
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
if ( !fgHasNode("/sim/presets/speed-set") ) {
}
}
- // Set initial Euler angles
- SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
- set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
- * SGD_DEGREES_TO_RADIANS,
- fgGetDouble("/sim/presets/pitch-deg")
- * SGD_DEGREES_TO_RADIANS,
- fgGetDouble("/sim/presets/heading-deg")
- * SGD_DEGREES_TO_RADIANS );
+ if ( fgHasNode("/sim/presets/glideslope-deg") )
+ set_Gamma_vert_rad( fgGetDouble("/sim/presets/glideslope-deg")
+ * SGD_DEGREES_TO_RADIANS );
+ else if ( fgHasNode( "/velocities/vertical-speed-fps") )
+ set_Climb_Rate( fgGetDouble("/velocities/vertical-speed-fps") );
SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
}
{
bound = true;
- // Time management (read-only)
-// fgTie("/fdm/time/delta_t", this,
-// &FGInterface::get_delta_t); // read-only
-// fgTie("/fdm/time/elapsed", this,
-// &FGInterface::get_elapsed); // read-only
-// fgTie("/fdm/time/remainder", this,
-// &FGInterface::get_remainder); // read-only
-// fgTie("/fdm/time/multi_loop", this,
-// &FGInterface::get_multi_loop); // read-only
-
// Aircraft position
fgTie("/position/latitude-deg", this,
&FGInterface::get_Latitude_deg,
false);
fgSetArchivable("/position/altitude-ft");
fgTie("/position/altitude-agl-ft", this,
- &FGInterface::get_Altitude_AGL); // read-only
+ &FGInterface::get_Altitude_AGL, &FGInterface::set_AltitudeAGL, false);
fgSetArchivable("/position/ground-elev-ft");
fgTie("/position/ground-elev-ft", this,
&FGInterface::get_Runway_altitude); // read-only
&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
+ &FGInterface::get_Sea_level_radius,
+ &FGInterface::_set_Sea_level_radius, false);
// Orientation
fgTie("/orientation/roll-deg", this,
&FGInterface::get_Phi_deg,
- &FGInterface::set_Phi_deg);
+ &FGInterface::set_Phi_deg, false);
fgSetArchivable("/orientation/roll-deg");
fgTie("/orientation/pitch-deg", this,
&FGInterface::get_Theta_deg,
- &FGInterface::set_Theta_deg);
+ &FGInterface::set_Theta_deg, false);
fgSetArchivable("/orientation/pitch-deg");
fgTie("/orientation/heading-deg", this,
&FGInterface::get_Psi_deg,
- &FGInterface::set_Psi_deg);
+ &FGInterface::set_Psi_deg, false);
fgSetArchivable("/orientation/heading-deg");
+ fgTie("/orientation/track-deg", this,
+ &FGInterface::get_Track); // read-only
// Body-axis "euler rates" (rotation speed, but in a funny
// representation).
fgTie("/orientation/roll-rate-degps", this,
- &FGInterface::get_Phi_dot_degps);
+ &FGInterface::get_Phi_dot_degps,
+ &FGInterface::set_Phi_dot_degps, false);
fgTie("/orientation/pitch-rate-degps", this,
- &FGInterface::get_Theta_dot_degps);
+ &FGInterface::get_Theta_dot_degps,
+ &FGInterface::set_Theta_dot_degps, false);
fgTie("/orientation/yaw-rate-degps", this,
- &FGInterface::get_Psi_dot_degps);
+ &FGInterface::get_Psi_dot_degps,
+ &FGInterface::set_Psi_dot_degps, false);
+ fgTie("/orientation/p-body", this, &FGInterface::get_P_body); // read-only
+ fgTie("/orientation/q-body", this, &FGInterface::get_Q_body); // read-only
+ fgTie("/orientation/r-body", this, &FGInterface::get_R_body); // read-only
+
// Ground speed knots
fgTie("/velocities/groundspeed-kt", this,
- &FGInterface::get_V_ground_speed_kt);
+ &FGInterface::get_V_ground_speed_kt); // read-only
// Calibrated airspeed
fgTie("/velocities/airspeed-kt", this,
&FGInterface::set_V_calibrated_kts,
false);
+ fgTie("/velocities/equivalent-kt", this,
+ &FGInterface::get_V_equiv_kts); // read-only
+
// Mach number
fgTie("/velocities/mach", this,
&FGInterface::get_Mach_number,
// LaRCSim are fixed (LaRCSim adds the
// earth's rotation to the east velocity).
fgTie("/velocities/speed-north-fps", this,
- &FGInterface::get_V_north);
+ &FGInterface::get_V_north, &FGInterface::set_V_north, false);
fgTie("/velocities/speed-east-fps", this,
- &FGInterface::get_V_east);
+ &FGInterface::get_V_east, &FGInterface::set_V_east, false);
fgTie("/velocities/speed-down-fps", this,
- &FGInterface::get_V_down);
+ &FGInterface::get_V_down, &FGInterface::set_V_down, false);
+
+ fgTie("/velocities/north-relground-fps", this,
+ &FGInterface::get_V_north_rel_ground); // read-only
+ fgTie("/velocities/east-relground-fps", this,
+ &FGInterface::get_V_east_rel_ground); // read-only
+ fgTie("/velocities/down-relground-fps", this,
+ &FGInterface::get_V_down_rel_ground); // read-only
+
// Relative wind
// FIXME: temporarily archivable, until
// Climb and slip (read-only)
fgTie("/velocities/vertical-speed-fps", this,
&FGInterface::get_Climb_Rate,
- &FGInterface::set_Climb_Rate );
+ &FGInterface::set_Climb_Rate, false );
fgTie("/velocities/glideslope", this,
&FGInterface::get_Gamma_vert_rad,
- &FGInterface::set_Gamma_vert_rad );
+ &FGInterface::set_Gamma_vert_rad, false );
fgTie("/orientation/side-slip-rad", this,
- &FGInterface::get_Beta); // read-only
+ &FGInterface::get_Beta, &FGInterface::_set_Beta, false);
fgTie("/orientation/side-slip-deg", this,
&FGInterface::get_Beta_deg); // read-only
fgTie("/orientation/alpha-deg", this,
- &FGInterface::get_Alpha_deg); // read-only
+ &FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg, false);
fgTie("/accelerations/nlf", this,
&FGInterface::get_Nlf); // read-only
// NED accelerations
fgTie("/accelerations/ned/north-accel-fps_sec",
- this, &FGInterface::get_V_dot_north);
+ this, &FGInterface::get_V_dot_north); // read-only
fgTie("/accelerations/ned/east-accel-fps_sec",
- this, &FGInterface::get_V_dot_east);
+ this, &FGInterface::get_V_dot_east); // read-only
fgTie("/accelerations/ned/down-accel-fps_sec",
- this, &FGInterface::get_V_dot_down);
+ this, &FGInterface::get_V_dot_down); // read-only
// Pilot accelerations
fgTie("/accelerations/pilot/x-accel-fps_sec",
- this, &FGInterface::get_A_X_pilot);
+ this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot, false);
fgTie("/accelerations/pilot/y-accel-fps_sec",
- this, &FGInterface::get_A_Y_pilot);
+ this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot, false);
fgTie("/accelerations/pilot/z-accel-fps_sec",
- this, &FGInterface::get_A_Z_pilot);
+ this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot, false);
+
+ fgTie("/accelerations/n-z-cg-fps_sec",
+ this, &FGInterface::get_N_Z_cg); // read-only
}
void
FGInterface::unbind ()
{
+ if (!bound) {
+ return;
+ }
+
bound = false;
- // 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("/orientation/roll-deg");
fgUntie("/orientation/pitch-deg");
fgUntie("/orientation/heading-deg");
+ fgUntie("/orientation/track-deg");
fgUntie("/orientation/roll-rate-degps");
fgUntie("/orientation/pitch-rate-degps");
fgUntie("/orientation/yaw-rate-degps");
+ fgUntie("/orientation/p-body");
+ fgUntie("/orientation/q-body");
+ fgUntie("/orientation/r-body");
fgUntie("/orientation/side-slip-rad");
fgUntie("/orientation/side-slip-deg");
fgUntie("/orientation/alpha-deg");
fgUntie("/velocities/airspeed-kt");
fgUntie("/velocities/groundspeed-kt");
+ fgUntie("/velocities/equivalent-kt");
fgUntie("/velocities/mach");
fgUntie("/velocities/speed-north-fps");
fgUntie("/velocities/speed-east-fps");
fgUntie("/velocities/speed-down-fps");
+ fgUntie("/velocities/north-relground-fps");
+ fgUntie("/velocities/east-relground-fps");
+ fgUntie("/velocities/down-relground-fps");
fgUntie("/velocities/uBody-fps");
fgUntie("/velocities/vBody-fps");
fgUntie("/velocities/wBody-fps");
fgUntie("/accelerations/ned/north-accel-fps_sec");
fgUntie("/accelerations/ned/east-accel-fps_sec");
fgUntie("/accelerations/ned/down-accel-fps_sec");
+ fgUntie("/accelerations/n-z-cg-fps_sec");
}
/**
void FGInterface::_updatePositionM(const SGVec3d& cartPos)
{
+ TrackComputer tracker( track, geodetic_position_v );
cartesian_position_v = cartPos;
geodetic_position_v = SGGeod::fromCart(cartesian_position_v);
geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
void FGInterface::_updatePosition(const SGGeod& geod)
{
+ TrackComputer tracker( track, geodetic_position_v );
geodetic_position_v = geod;
cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v);
geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
void FGInterface::_updatePosition(const SGGeoc& geoc)
{
+ TrackComputer tracker( track, geodetic_position_v );
geocentric_position_v = geoc;
cartesian_position_v = SGVec3d::fromGeoc(geocentric_position_v);
geodetic_position_v = SGGeod::fromCart(cartesian_position_v);
}
bool
-FGInterface::prepare_ground_cache_m(double ref_time, const double pt[3],
- double rad)
+FGInterface::prepare_ground_cache_m(double startSimTime, double endSimTime,
+ const double pt[3], double rad)
{
- return ground_cache.prepare_ground_cache(ref_time, SGVec3d(pt), rad);
+ return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
+ SGVec3d(pt), rad);
}
-bool FGInterface::prepare_ground_cache_ft(double ref_time, const double pt[3],
- double rad)
+bool
+FGInterface::prepare_ground_cache_ft(double startSimTime, double endSimTime,
+ 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);
+ return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
+ pt_ft, rad*SG_FEET_TO_METER);
}
bool
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)
+FGInterface::get_body_m(double t, simgear::BVHNode::Id id,
+ double bodyToWorld[16], double linearVel[3],
+ double angularVel[3])
{
- const SGMaterial* material;
- SGVec3d _contact, _normal, _vel;
- bool ret = ground_cache.get_agl(t, SGVec3d(pt), 2.0, _contact, _normal,
- _vel, type, &material, agl);
- assign(contact, _contact);
- assign(normal, _normal);
- assign(vel, _vel);
- if (material) {
- *loadCapacity = material->get_load_resistance();
- *frictionFactor = material->get_friction_factor();
-
- } else {
- *loadCapacity = DBL_MAX;
- *frictionFactor = 1.0;
- }
- return ret;
+ SGMatrixd _bodyToWorld;
+ SGVec3d _linearVel, _angularVel;
+ if (!ground_cache.get_body(t, _bodyToWorld, _linearVel, _angularVel, id))
+ return false;
+
+ assign(linearVel, _linearVel);
+ assign(angularVel, _angularVel);
+ for (unsigned i = 0; i < 16; ++i)
+ bodyToWorld[i] = _bodyToWorld.data()[i];
+
+ return true;
}
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);
+FGInterface::get_agl_m(double t, const double pt[3], double max_altoff,
+ double contact[3], double normal[3],
+ double linearVel[3], double angularVel[3],
+ SGMaterial const*& material, simgear::BVHNode::Id& id)
+{
+ SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
+ SGVec3d _contact, _normal, _linearVel, _angularVel;
+ material = 0;
+ bool ret = ground_cache.get_agl(t, pt_m, _contact, _normal, _linearVel,
+ _angularVel, id, material);
+ // correct the linear velocity, since the line intersector delivers
+ // values for the start point and the get_agl function should
+ // traditionally deliver for the contact point
+ _linearVel += cross(_angularVel, _contact - pt_m);
+
assign(contact, _contact);
assign(normal, _normal);
- assign(vel, _vel);
+ assign(linearVel, _linearVel);
+ assign(angularVel, _angularVel);
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)
+FGInterface::get_agl_ft(double t, const double pt[3], double max_altoff,
+ double contact[3], double normal[3],
+ double linearVel[3], double angularVel[3],
+ SGMaterial const*& material, simgear::BVHNode::Id& id)
{
// Convert units and do the real work.
- SGVec3d pt_m = SG_FEET_TO_METER*SGVec3d(pt);
+ SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
+ pt_m *= SG_FEET_TO_METER;
+ SGVec3d _contact, _normal, _linearVel, _angularVel;
+ material = 0;
+ bool ret = ground_cache.get_agl(t, pt_m, _contact, _normal, _linearVel,
+ _angularVel, id, material);
+ // correct the linear velocity, since the line intersector delivers
+ // values for the start point and the get_agl function should
+ // traditionally deliver for the contact point
+ _linearVel += cross(_angularVel, _contact - pt_m);
- 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 ...
assign( contact, SG_METER_TO_FEET*_contact );
- assign( vel, SG_METER_TO_FEET*_vel );
assign( normal, _normal );
- *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;
- }
+ assign( linearVel, SG_METER_TO_FEET*_linearVel );
+ assign( angularVel, _angularVel );
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)
+FGInterface::get_nearest_m(double t, const double pt[3], double maxDist,
+ double contact[3], double normal[3],
+ double linearVel[3], double angularVel[3],
+ SGMaterial const*& material,
+ simgear::BVHNode::Id& id)
{
- SGVec3d _contact, _normal, _vel;
- bool found = ground_cache.get_agl(t, SGVec3d(pt), max_altoff, _contact,
- _normal, _vel, type, material, agl);
+ SGVec3d _contact, _linearVel, _angularVel;
+ if (!ground_cache.get_nearest(t, SGVec3d(pt), maxDist, _contact, _linearVel,
+ _angularVel, id, material))
+ return false;
+
assign(contact, _contact);
- assign(normal, _normal);
- assign(vel, _vel);
- return found;
+ assign(linearVel, _linearVel);
+ assign(angularVel, _angularVel);
+ return true;
}
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)
+FGInterface::get_nearest_ft(double t, const double pt[3], double maxDist,
+ double contact[3], double normal[3],
+ double linearVel[3], double angularVel[3],
+ SGMaterial const*& material,
+ simgear::BVHNode::Id& id)
{
- // 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 ...
- assign( contact, SG_METER_TO_FEET*_contact );
- assign( vel, SG_METER_TO_FEET*_vel );
- assign( normal, _normal );
- *agl *= SG_METER_TO_FEET;
- return ret;
+ SGVec3d _contact, _linearVel, _angularVel;
+ if (!ground_cache.get_nearest(t, SG_FEET_TO_METER*SGVec3d(pt),
+ SG_FEET_TO_METER*maxDist, _contact, _linearVel,
+ _angularVel, id, material))
+ return false;
+
+ assign(contact, SG_METER_TO_FEET*_contact);
+ assign(linearVel, SG_METER_TO_FEET*_linearVel);
+ assign(angularVel, _angularVel);
+ return true;
}
double
// FIXME: how to handle t - ref_time differences ???
SGVec3d cpos;
- double ref_time, radius;
+ double ref_time = 0, 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);
+ double startTime = ref_time;
+ double endTime = startTime + 1;
+ bool ok = prepare_ground_cache_m(startTime, endTime, 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(geod.getLongitudeRad(), geod.getLatitudeRad(), 10000));
+ pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000));
/// If there is still no ground, return sea level radius
- if (!prepare_ground_cache_m(ref_time, pos.data(), 10))
+ if (!prepare_ground_cache_m(startTime, endTime, pos.data(), 10))
return 0;
}
} else if (radius*radius <= distSqr(pos, cpos)) {
+ double startTime = ref_time;
+ double endTime = startTime + 1;
+
/// 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);
+ bool ok = prepare_ground_cache_m(startTime, endTime, 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(geod.getLongitudeRad(), geod.getLatitudeRad(), 10000));
+ pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000));
/// If there is still no ground, return sea level radius
- if (!prepare_ground_cache_m(ref_time, pos.data(), radius))
+ if (!prepare_ground_cache_m(startTime, endTime, pos.data(), radius))
return 0;
}
}
- double contact[3], normal[3], vel[3], agl;
- int type;
+ double contact[3], normal[3], vel[3], angvel[3];
+ const SGMaterial* material;
+ simgear::BVHNode::Id id;
// 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);
+ get_agl_m(ref_time, pos.data(), 2.0, contact, normal, vel, angvel,
+ material, id);
return SGGeod::fromCart(SGVec3d(contact)).getElevationM();
}
ground_cache.release_wire();
}
-void fgToggleFDMdataLogging(void) {
- cur_fdm_state->ToggleDataLogging();
-}
projects / flightgear.git / blobdiff