// Set initial position
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
- set_Longitude( fgGetDouble("/sim/presets/longitude-deg")
- * SGD_DEGREES_TO_RADIANS );
- set_Latitude( fgGetDouble("/sim/presets/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 );
+
+ double ground_elev_m = get_groundlevel_m(lat, lon, alt_m);
double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
- fgSetDouble("/position/ground-elev-m", ground_elev_m);
_set_Runway_altitude ( ground_elev_ft );
- if ( fgGetBool("/sim/presets/onground")
- || fgGetDouble("/sim/presets/altitude-ft") < ground_elev_ft ) {
- fgSetDouble("/position/altitude-ft", ground_elev_ft);
- set_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( fgGetDouble("/sim/presets/altitude-ft") );
+ set_Altitude( alt_ft );
}
// Set ground elevation
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,
fgUntie("/position/longitude-deg");
fgUntie("/position/altitude-ft");
fgUntie("/position/altitude-agl-ft");
+ 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");
_set_Geodetic_Position( lat, lon, alt );
_set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
- _set_Runway_altitude( fgGetDouble("/position/ground-elev-m") * 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( fgGetDouble("/position/ground-elev-m") * 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 ) {
int *type, double *loadCapacity,
double *frictionFactor, double *agl)
{
- return ground_cache.get_agl(t, pt, contact, normal, vel, type,
+ return ground_cache.get_agl(t, pt, 2.0, contact, normal, vel, type,
loadCapacity, frictionFactor, 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, contact, normal, vel,
+ bool ret = ground_cache.get_agl(t, pt_m, 2.0, contact, normal, vel,
+ type, loadCapacity, frictionFactor, agl);
+ // Convert units back ...
+ sgdScaleVec3( contact, SG_METER_TO_FEET );
+ sgdScaleVec3( vel, SG_METER_TO_FEET );
+ *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;
+}
+
+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)
+{
+ return ground_cache.get_agl(t, pt, max_altoff, contact, normal, vel, type,
+ loadCapacity, frictionFactor, agl);
+}
+
+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)
+{
+ // 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, SG_FEET_TO_METER * max_altoff,
+ contact, normal, vel,
type, loadCapacity, frictionFactor, agl);
// Convert units back ...
sgdScaleVec3( contact, SG_METER_TO_FEET );
return ret;
}
+
+double
+FGInterface::get_groundlevel_m(double lat, double lon, double alt)
+{
+ // First compute the sea level radius,
+ sgdVec3 pos, cpos;
+ sgGeodToCart(lat, lon, 0, pos);
+ double slr = sgdLengthVec3(pos);
+ // .. then the cartesian position of the given lat/lon/alt.
+ sgGeodToCart(lat, lon, alt, pos);
+
+ // FIXME: how to handle t - ref_time differences ???
+ double ref_time, radius;
+ // Prepare the ground cache for that position.
+ if (!is_valid_m(&ref_time, cpos, &radius))
+ prepare_ground_cache_m(ref_time, pos, 10);
+ else if (radius*radius <= sgdDistanceSquaredVec3(pos, cpos))
+ prepare_ground_cache_m(ref_time, pos, radius);
+
+ double contact[3], normal[3], vel[3], lc, ff, agl;
+ int type;
+ get_agl_m(ref_time, pos, 2.0, contact, normal, vel, &type, &lc, &ff, &agl);
+
+ return sgdLengthVec3(contact) - slr;
+}
+
bool
FGInterface::caught_wire_m(double t, const double pt[4][3])
{
projects / flightgear.git / blobdiff