//
// 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
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/scene/model/placement.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 <Main/location.hxx>
-#include <Model/model.hxx>
-#include <Model/acmodel.hxx>
+#include <FDM/groundcache.hxx>
#include "flight.hxx"
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;
return (multiloop * speedup);
}
sin_latitude=cos_latitude=0;
sin_longitude=cos_longitude=0;
altitude_agl=0;
- _acmodel = 0;
}
void
// stamp();
// set_remainder( 0 );
- // linking in FGAircraft instance...
- // FIXME: when using multiple instances, then there will be more than
- // one model so get_aircraft_model will have to be indexed to the correct
- // model.
- _acmodel = globals->get_aircraft_model();
-
// 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;
- _acmodel->get3DModel()->getFGLocation()->set_cur_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("/sim/presets/altitude-ft", ground_elev_ft);
- fgSetDouble("/position/altitude-ft", 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("/sim/presets/altitude-ft") );
// Set ground elevation
SG_LOG( SG_FLIGHT, SG_INFO,
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
<< fgGetDouble("/sim/presets/latitude-deg")
- << " alt = " << fgGetDouble("/sim/presets/altitude-ft") );
+ << " alt = " << get_Altitude() );
double sea_level_radius_meters;
double lat_geoc;
sgGeodToGeoc( fgGetDouble("/sim/presets/latitude-deg")
* SGD_DEGREES_TO_RADIANS,
- fgGetDouble("/sim/presets/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 );
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,
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-ft_sec2",
+ fgTie("/accelerations/pilot/x-accel-fps_sec",
this, &FGInterface::get_A_X_pilot);
- fgTie("/accelerations/pilot/y-accel-ft_sec2",
+ fgTie("/accelerations/pilot/y-accel-fps_sec",
this, &FGInterface::get_A_Y_pilot);
- fgTie("/accelerations/pilot/z-accel-ft_sec2",
+ 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("/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/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( getACModel()->get3DModel()->getFGLocation()->get_cur_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( getACModel()->get3DModel()->getFGLocation()->get_cur_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 ) {
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, 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 );
+ 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);
+}
+
+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);
+ *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])
+{
+ return ground_cache.get_cat(t, pt, end, vel);
+}
+
+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.
+ sgdVec3 pt_m;
+ sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER );
+ 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 );
+ }
+ return dist*SG_METER_TO_FEET;
+}
+
+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);
+}
+
+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.
+ 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);
+ // 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 );
+ 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;
+}
+
+
+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])
+{
+ return ground_cache.caught_wire(t, pt);
+}
+
+bool
+FGInterface::caught_wire_ft(double t, const double pt[4][3])
+{
+ // Convert units and do the real work.
+ double pt_m[4][3];
+ for (int i=0; i<4; ++i)
+ sgdScaleVec3(pt_m[i], 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);
+}
+
+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);
+ for (int k=0; k<2; ++k) {
+ sgdScaleVec3( end[k], SG_METER_TO_FEET );
+ sgdScaleVec3( vel[k], 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