# include "config.h"
#endif
-#include <stdio.h>
-
-#include <plib/sg.h>
+#include "flight.hxx"
#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/math/SGMath.hxx>
#include <simgear/timing/timestamp.hxx>
#include <Scenery/scenery.hxx>
#include <Main/fg_props.hxx>
#include <FDM/groundcache.hxx>
-#include "flight.hxx"
-
-
-// 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;
-inline void init_vec(FG_VECTOR_3 vec) {
- vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0;
+static inline void assign(double* ptr, const SGVec3d& vec)
+{
+ ptr[0] = vec[0];
+ ptr[1] = vec[1];
+ ptr[2] = vec[2];
}
// 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;
}
inited = false;
bound = false;
- init_vec( d_pilot_rp_body_v );
- init_vec( d_cg_rp_body_v );
- init_vec( f_body_total_v );
- init_vec( f_local_total_v );
- init_vec( f_aero_v );
- init_vec( f_engine_v );
- init_vec( f_gear_v );
- init_vec( m_total_rp_v );
- init_vec( m_total_cg_v );
- init_vec( m_aero_v );
- init_vec( m_engine_v );
- init_vec( m_gear_v );
- init_vec( v_dot_local_v );
- init_vec( v_dot_body_v );
- init_vec( a_cg_body_v );
- init_vec( a_pilot_body_v );
- init_vec( n_cg_body_v );
- init_vec( n_pilot_body_v );
- init_vec( omega_dot_body_v );
- init_vec( v_local_v );
- init_vec( v_local_rel_ground_v );
- init_vec( v_local_airmass_v );
- init_vec( v_local_rel_airmass_v );
- init_vec( v_local_gust_v );
- init_vec( v_wind_body_v );
- init_vec( omega_body_v );
- init_vec( omega_local_v );
- init_vec( omega_total_v );
- init_vec( euler_rates_v );
- init_vec( geocentric_rates_v );
- init_vec( geocentric_position_v );
- init_vec( geodetic_position_v );
- init_vec( euler_angles_v );
- init_vec( d_cg_rwy_local_v );
- init_vec( d_cg_rwy_rwy_v );
- init_vec( d_pilot_rwy_local_v );
- init_vec( d_pilot_rwy_rwy_v );
- init_vec( t_local_to_body_m[0] );
- init_vec( t_local_to_body_m[1] );
- init_vec( t_local_to_body_m[2] );
-
- mass=i_xx=i_yy=i_zz=i_xz=0;
+ d_cg_rp_body_v = SGVec3d::zeros();
+ v_dot_local_v = SGVec3d::zeros();
+ v_dot_body_v = SGVec3d::zeros();
+ a_cg_body_v = SGVec3d::zeros();
+ a_pilot_body_v = SGVec3d::zeros();
+ n_cg_body_v = SGVec3d::zeros();
+ v_local_v = SGVec3d::zeros();
+ v_local_rel_ground_v = SGVec3d::zeros();
+ v_local_airmass_v = SGVec3d::zeros();
+ v_wind_body_v = SGVec3d::zeros();
+ omega_body_v = SGVec3d::zeros();
+ euler_rates_v = SGVec3d::zeros();
+ geocentric_rates_v = SGVec3d::zeros();
+ geodetic_position_v = SGGeod::fromRadM(0, 0, 0);
+ cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v);
+ geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
+ euler_angles_v = SGVec3d::zeros();
+
nlf=0;
- v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
- v_ground_speed=v_equiv=v_equiv_kts=0;
- v_calibrated=v_calibrated_kts=0;
- gravity=0;
- centrifugal_relief=0;
- alpha=beta=alpha_dot=beta_dot=0;
- cos_alpha=sin_alpha=cos_beta=sin_beta=0;
- cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
- gamma_vert_rad=gamma_horiz_rad=0;
- sigma=density=v_sound=mach_number=0;
- static_pressure=total_pressure=impact_pressure=0;
+ v_rel_wind=v_true_kts=0;
+ v_ground_speed=v_equiv_kts=0;
+ v_calibrated_kts=0;
+ alpha=beta=0;
+ gamma_vert_rad=0;
+ density=mach_number=0;
+ static_pressure=total_pressure=0;
dynamic_pressure=0;
static_temperature=total_temperature=0;
sea_level_radius=earth_position_angle=0;
- runway_altitude=runway_latitude=runway_longitude=0;
- runway_heading=0;
- radius_to_rwy=0;
+ runway_altitude=0;
climb_rate=0;
- sin_lat_geocentric=cos_lat_geocentric=0;
- sin_latitude=cos_latitude=0;
- sin_longitude=cos_longitude=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..." );
SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
<< fgGetDouble("/sim/presets/latitude-deg")
<< " alt = " << get_Altitude() );
- double sea_level_radius_meters;
- double lat_geoc;
- sgGeodToGeoc( fgGetDouble("/sim/presets/latitude-deg")
- * SGD_DEGREES_TO_RADIANS,
- get_Altitude() * SG_FEET_TO_METER,
- &sea_level_radius_meters, &lat_geoc );
- _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
+ 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..." );
}
}
- // 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,
- &FGInterface::set_Latitude_deg,
- false);
+ _tiedProperties.setRoot(globals->get_props());
+ // Aircraft position
+ _tiedProperties.Tie("/position/latitude-deg", this,
+ &FGInterface::get_Latitude_deg,
+ &FGInterface::set_Latitude_deg,
+ false);
fgSetArchivable("/position/latitude-deg");
- fgTie("/position/longitude-deg", this,
- &FGInterface::get_Longitude_deg,
- &FGInterface::set_Longitude_deg,
- false);
+ _tiedProperties.Tie("/position/longitude-deg", this,
+ &FGInterface::get_Longitude_deg,
+ &FGInterface::set_Longitude_deg,
+ false);
fgSetArchivable("/position/longitude-deg");
- fgTie("/position/altitude-ft", this,
- &FGInterface::get_Altitude,
- &FGInterface::set_Altitude,
- false);
+ _tiedProperties.Tie("/position/altitude-ft", this,
+ &FGInterface::get_Altitude,
+ &FGInterface::set_Altitude,
+ false);
fgSetArchivable("/position/altitude-ft");
- fgTie("/position/altitude-agl-ft", this,
- &FGInterface::get_Altitude_AGL); // read-only
+ _tiedProperties.Tie("/position/altitude-agl-ft", this,
+ &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
+ _tiedProperties.Tie("/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
+ _tiedProperties.Tie("/position/ground-elev-m", this,
+ &FGInterface::get_Runway_altitude_m); // read-only
+ _tiedProperties.Tie("/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::get_Phi_deg,
- &FGInterface::set_Phi_deg);
+ _tiedProperties.Tie("/position/sea-level-radius-ft", this,
+ &FGInterface::get_Sea_level_radius,
+ &FGInterface::_set_Sea_level_radius, false);
+
+ // Orientation
+ _tiedProperties.Tie("/orientation/roll-deg", this,
+ &FGInterface::get_Phi_deg,
+ &FGInterface::set_Phi_deg, false);
fgSetArchivable("/orientation/roll-deg");
- fgTie("/orientation/pitch-deg", this,
- &FGInterface::get_Theta_deg,
- &FGInterface::set_Theta_deg);
+ _tiedProperties.Tie("/orientation/pitch-deg", this,
+ &FGInterface::get_Theta_deg,
+ &FGInterface::set_Theta_deg, false);
fgSetArchivable("/orientation/pitch-deg");
- fgTie("/orientation/heading-deg", this,
- &FGInterface::get_Psi_deg,
- &FGInterface::set_Psi_deg);
+ _tiedProperties.Tie("/orientation/heading-deg", this,
+ &FGInterface::get_Psi_deg,
+ &FGInterface::set_Psi_deg, false);
fgSetArchivable("/orientation/heading-deg");
+ _tiedProperties.Tie("/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);
- fgTie("/orientation/pitch-rate-degps", this,
- &FGInterface::get_Theta_dot_degps);
- fgTie("/orientation/yaw-rate-degps", this,
- &FGInterface::get_Psi_dot_degps);
-
- // 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/speed-north-fps", this,
-// &FGInterface::get_V_north,
-// &FGInterface::set_V_north);
+ _tiedProperties.Tie("/orientation/roll-rate-degps", this,
+ &FGInterface::get_Phi_dot_degps,
+ &FGInterface::set_Phi_dot_degps, false);
+ _tiedProperties.Tie("/orientation/pitch-rate-degps", this,
+ &FGInterface::get_Theta_dot_degps,
+ &FGInterface::set_Theta_dot_degps, false);
+ _tiedProperties.Tie("/orientation/yaw-rate-degps", this,
+ &FGInterface::get_Psi_dot_degps,
+ &FGInterface::set_Psi_dot_degps, false);
+
+ _tiedProperties.Tie("/orientation/p-body", this, &FGInterface::get_P_body); // read-only
+ _tiedProperties.Tie("/orientation/q-body", this, &FGInterface::get_Q_body); // read-only
+ _tiedProperties.Tie("/orientation/r-body", this, &FGInterface::get_R_body); // read-only
+
+ // Ground speed knots
+ _tiedProperties.Tie("/velocities/groundspeed-kt", this,
+ &FGInterface::get_V_ground_speed_kt,
+ &FGInterface::set_V_ground_speed_kt); // read-only
+
+ // Calibrated airspeed
+ _tiedProperties.Tie("/velocities/airspeed-kt", this,
+ &FGInterface::get_V_calibrated_kts,
+ &FGInterface::set_V_calibrated_kts,
+ false);
+
+ _tiedProperties.Tie("/velocities/equivalent-kt", this,
+ &FGInterface::get_V_equiv_kts); // read-only
+
+ // Mach number
+ _tiedProperties.Tie("/velocities/mach", this,
+ &FGInterface::get_Mach_number,
+ &FGInterface::set_Mach_number,
+ false);
+
+ // Local velocities
+// _tiedProperties.Tie("/velocities/speed-north-fps", this,
+// &FGInterface::get_V_north,
+// &FGInterface::set_V_north);
// fgSetArchivable("/velocities/speed-north-fps");
-// fgTie("/velocities/speed-east-fps", this,
-// &FGInterface::get_V_east,
-// &FGInterface::set_V_east);
+// _tiedProperties.Tie("/velocities/speed-east-fps", this,
+// &FGInterface::get_V_east,
+// &FGInterface::set_V_east);
// fgSetArchivable("/velocities/speed-east-fps");
-// fgTie("/velocities/speed-down-fps", this,
-// &FGInterface::get_V_down,
-// &FGInterface::set_V_down);
+// _tiedProperties.Tie("/velocities/speed-down-fps", this,
+// &FGInterface::get_V_down,
+// &FGInterface::set_V_down);
// fgSetArchivable("/velocities/speed-down-fps");
- // FIXME: Temporarily read-only, until the
- // incompatibilities between JSBSim and
- // LaRCSim are fixed (LaRCSim adds the
- // earth's rotation to the east velocity).
- fgTie("/velocities/speed-north-fps", this,
- &FGInterface::get_V_north);
- fgTie("/velocities/speed-east-fps", this,
- &FGInterface::get_V_east);
- fgTie("/velocities/speed-down-fps", this,
- &FGInterface::get_V_down);
-
- // Relative wind
- // FIXME: temporarily archivable, until
- // the NED problem is fixed.
- fgTie("/velocities/uBody-fps", this,
- &FGInterface::get_uBody,
- &FGInterface::set_uBody,
- false);
+
+ // FIXME: Temporarily read-only, until the
+ // incompatibilities between JSBSim and
+ // LaRCSim are fixed (LaRCSim adds the
+ // earth's rotation to the east velocity).
+ _tiedProperties.Tie("/velocities/speed-north-fps", this,
+ &FGInterface::get_V_north, &FGInterface::set_V_north, false);
+ _tiedProperties.Tie("/velocities/speed-east-fps", this,
+ &FGInterface::get_V_east, &FGInterface::set_V_east, false);
+ _tiedProperties.Tie("/velocities/speed-down-fps", this,
+ &FGInterface::get_V_down, &FGInterface::set_V_down, false);
+
+ _tiedProperties.Tie("/velocities/north-relground-fps", this,
+ &FGInterface::get_V_north_rel_ground); // read-only
+ _tiedProperties.Tie("/velocities/east-relground-fps", this,
+ &FGInterface::get_V_east_rel_ground); // read-only
+ _tiedProperties.Tie("/velocities/down-relground-fps", this,
+ &FGInterface::get_V_down_rel_ground); // read-only
+
+ // Relative wind
+ // FIXME: temporarily archivable, until the NED problem is fixed.
+ _tiedProperties.Tie("/velocities/uBody-fps", this,
+ &FGInterface::get_uBody,
+ &FGInterface::set_uBody,
+ false);
fgSetArchivable("/velocities/uBody-fps");
- fgTie("/velocities/vBody-fps", this,
- &FGInterface::get_vBody,
- &FGInterface::set_vBody,
- false);
+ _tiedProperties.Tie("/velocities/vBody-fps", this,
+ &FGInterface::get_vBody,
+ &FGInterface::set_vBody,
+ false);
fgSetArchivable("/velocities/vBody-fps");
- fgTie("/velocities/wBody-fps", this,
- &FGInterface::get_wBody,
- &FGInterface::set_wBody,
- false);
+ _tiedProperties.Tie("/velocities/wBody-fps", this,
+ &FGInterface::get_wBody,
+ &FGInterface::set_wBody,
+ false);
fgSetArchivable("/velocities/wBody-fps");
- // Climb and slip (read-only)
- fgTie("/velocities/vertical-speed-fps", this,
- &FGInterface::get_Climb_Rate,
- &FGInterface::set_Climb_Rate );
- fgTie("/velocities/glideslope", this,
- &FGInterface::get_Gamma_vert_rad,
- &FGInterface::set_Gamma_vert_rad );
- fgTie("/orientation/side-slip-rad", this,
- &FGInterface::get_Beta); // read-only
- fgTie("/orientation/side-slip-deg", this,
- &FGInterface::get_Beta_deg); // read-only
- 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);
-
+ // Climb and slip (read-only)
+ _tiedProperties.Tie("/velocities/vertical-speed-fps", this,
+ &FGInterface::get_Climb_Rate,
+ &FGInterface::set_Climb_Rate, false );
+ _tiedProperties.Tie("/velocities/glideslope", this,
+ &FGInterface::get_Gamma_vert_rad,
+ &FGInterface::set_Gamma_vert_rad, false );
+ _tiedProperties.Tie("/orientation/side-slip-rad", this,
+ &FGInterface::get_Beta, &FGInterface::_set_Beta, false);
+ _tiedProperties.Tie("/orientation/side-slip-deg", this,
+ &FGInterface::get_Beta_deg); // read-only
+ _tiedProperties.Tie("/orientation/alpha-deg", this,
+ &FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg, false);
+ _tiedProperties.Tie("/accelerations/nlf", this,
+ &FGInterface::get_Nlf); // read-only
+
+ // NED accelerations
+ _tiedProperties.Tie("/accelerations/ned/north-accel-fps_sec",
+ this, &FGInterface::get_V_dot_north); // read-only
+ _tiedProperties.Tie("/accelerations/ned/east-accel-fps_sec",
+ this, &FGInterface::get_V_dot_east); // read-only
+ _tiedProperties.Tie("/accelerations/ned/down-accel-fps_sec",
+ this, &FGInterface::get_V_dot_down); // read-only
+
+ // Pilot accelerations
+ _tiedProperties.Tie("/accelerations/pilot/x-accel-fps_sec",
+ this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot, false);
+ _tiedProperties.Tie("/accelerations/pilot/y-accel-fps_sec",
+ this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot, false);
+ _tiedProperties.Tie("/accelerations/pilot/z-accel-fps_sec",
+ this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot, false);
+
+ _tiedProperties.Tie("/accelerations/n-z-cg-fps_sec",
+ this, &FGInterface::get_N_Z_cg); // read-only
}
void
FGInterface::unbind ()
{
+ _tiedProperties.Untie();
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("/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/uBody-fps");
- fgUntie("/velocities/vBody-fps");
- fgUntie("/velocities/wBody-fps");
- fgUntie("/velocities/vertical-speed-fps");
- fgUntie("/velocities/glideslope");
- 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");
}
/**
}
-void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
+void FGInterface::_updatePositionM(const SGVec3d& cartPos)
{
- double lat_geoc, sl_radius;
-
- // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
-
- sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc );
-
- SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
- << " lat_geod = " << lat
- << " lat_geoc = " << lat_geoc
- << " alt = " << alt
- << " sl_radius = " << sl_radius * SG_METER_TO_FEET
- << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
-
- _set_Geocentric_Position( lat_geoc, lon,
- sl_radius * SG_METER_TO_FEET + alt );
-
- _set_Geodetic_Position( lat, lon, alt );
-
- _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
+ 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);
+ _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*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 );
}
-void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon,
- double alt )
+void FGInterface::_updatePosition(const SGGeod& geod)
{
- double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
-
- // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
+ 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);
- sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
- &lat_geod, &tmp_alt, &sl_radius1 );
- sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
+ _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
+ _update_ground_elev_at_pos();
+}
- SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
- << " lat_geod = " << lat_geod
- << " lat_geoc = " << lat_geoc
- << " alt = " << alt
- << " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
- << " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
- << " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
- << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
- _set_Geocentric_Position( lat_geoc, lon,
- sl_radius2 * SG_METER_TO_FEET + alt );
-
- _set_Geodetic_Position( lat_geod, lon, alt );
+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);
- _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
+ _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
_update_ground_elev_at_pos();
+}
+
- _set_sin_lat_geocentric( lat_geoc );
- _set_cos_lat_geocentric( lat_geoc );
+void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
+{
+ _updatePosition(SGGeod::fromRadFt(lon, lat, alt));
+}
- _set_sin_cos_longitude( lon );
- _set_sin_cos_latitude( lat_geod );
+void FGInterface::_updateGeocentricPosition( double lat, double lon,
+ double alt )
+{
+ _updatePosition(SGGeoc::fromRadFt(lon, lat, get_Sea_level_radius() + alt));
}
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);
+ double groundlevel_m = get_groundlevel_m(geodetic_position_v);
_set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET );
}
-// Extrapolate fdm based on time_offset (in usec)
-void FGInterface::extrapolate( int time_offset ) {
- double dt = time_offset / 1000000.0;
-
- // -dw- metrowerks complains about ambiguous access, not critical
- // to keep this ;)
-#ifndef __MWERKS__
- SG_LOG(SG_FLIGHT, SG_INFO, "extrapolating FDM by dt = " << dt);
-#endif
-
- double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
- double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
-
- double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
- double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
-
- double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
- double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
-
- geodetic_position_v[0] = lat;
- geocentric_position_v[0] = lat_geoc;
-
- geodetic_position_v[1] = lon;
- geocentric_position_v[1] = lon_geoc;
-
- geodetic_position_v[2] = alt;
- geocentric_position_v[2] = radius;
-}
-
// Positions
void FGInterface::set_Latitude(double lat) {
- geodetic_position_v[0] = lat;
+ geodetic_position_v.setLatitudeRad(lat);
}
void FGInterface::set_Longitude(double lon) {
- geodetic_position_v[1] = lon;
+ geodetic_position_v.setLongitudeRad(lon);
}
void FGInterface::set_Altitude(double alt) {
- geodetic_position_v[2] = alt;
+ geodetic_position_v.setElevationFt(alt);
}
void FGInterface::set_AltitudeAGL(double altagl) {
}
void FGInterface::set_Velocities_Local( double north,
- double east,
- double down ){
+ double east,
+ double down ){
v_local_v[0] = north;
v_local_v[1] = east;
v_local_v[2] = down;
}
void FGInterface::set_Velocities_Wind_Body( double u,
- double v,
- double w){
+ double v,
+ double w){
v_wind_body_v[0] = u;
v_wind_body_v[1] = v;
v_wind_body_v[2] = w;
// Euler angles
void FGInterface::set_Euler_Angles( double phi,
- double theta,
- double psi ) {
+ double theta,
+ double psi ) {
euler_angles_v[0] = phi;
euler_angles_v[1] = theta;
- euler_angles_v[2] = psi;
+ euler_angles_v[2] = psi;
}
// Flight Path
void FGInterface::set_Density(double rho) { density = rho; }
void FGInterface::set_Velocities_Local_Airmass (double wnorth,
- double weast,
- double wdown ) {
+ double weast,
+ double wdown ) {
v_local_airmass_v[0] = wnorth;
v_local_airmass_v[1] = weast;
v_local_airmass_v[2] = wdown;
}
-void FGInterface::_busdump(void) {
-
- SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rp_body_v[3]: " << d_pilot_rp_body_v[0] << ", " << d_pilot_rp_body_v[1] << ", " << d_pilot_rp_body_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v[3]: " << d_cg_rp_body_v[0] << ", " << d_cg_rp_body_v[1] << ", " << d_cg_rp_body_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"f_body_total_v[3]: " << f_body_total_v[0] << ", " << f_body_total_v[1] << ", " << f_body_total_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"f_local_total_v[3]: " << f_local_total_v[0] << ", " << f_local_total_v[1] << ", " << f_local_total_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"m_total_rp_v[3]: " << m_total_rp_v[0] << ", " << m_total_rp_v[1] << ", " << m_total_rp_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"m_total_cg_v[3]: " << m_total_cg_v[0] << ", " << m_total_cg_v[1] << ", " << m_total_cg_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v[3]: " << v_dot_local_v[0] << ", " << v_dot_local_v[1] << ", " << v_dot_local_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v[3]: " << v_dot_body_v[0] << ", " << v_dot_body_v[1] << ", " << v_dot_body_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v[3]: " << a_cg_body_v[0] << ", " << a_cg_body_v[1] << ", " << a_cg_body_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v[3]: " << a_pilot_body_v[0] << ", " << a_pilot_body_v[1] << ", " << a_pilot_body_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v[3]: " << n_cg_body_v[0] << ", " << n_cg_body_v[1] << ", " << n_cg_body_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"n_pilot_body_v[3]: " << n_pilot_body_v[0] << ", " << n_pilot_body_v[1] << ", " << n_pilot_body_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"omega_dot_body_v[3]: " << omega_dot_body_v[0] << ", " << omega_dot_body_v[1] << ", " << omega_dot_body_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v[3]: " << v_local_rel_ground_v[0] << ", " << v_local_rel_ground_v[1] << ", " << v_local_rel_ground_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v[3]: " << v_local_airmass_v[0] << ", " << v_local_airmass_v[1] << ", " << v_local_airmass_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_airmass_v[3]: " << v_local_rel_airmass_v[0] << ", " << v_local_rel_airmass_v[1] << ", " << v_local_rel_airmass_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"v_local_gust_v[3]: " << v_local_gust_v[0] << ", " << v_local_gust_v[1] << ", " << v_local_gust_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"v_wind_body_v[3]: " << v_wind_body_v[0] << ", " << v_wind_body_v[1] << ", " << v_wind_body_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rwy_local_v[3]: " << d_cg_rwy_local_v[0] << ", " << d_cg_rwy_local_v[1] << ", " << d_cg_rwy_local_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rwy_rwy_v[3]: " << d_cg_rwy_rwy_v[0] << ", " << d_cg_rwy_rwy_v[1] << ", " << d_cg_rwy_rwy_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rwy_local_v[3]: " << d_pilot_rwy_local_v[0] << ", " << d_pilot_rwy_local_v[1] << ", " << d_pilot_rwy_local_v[2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rwy_rwy_v[3]: " << d_pilot_rwy_rwy_v[0] << ", " << d_pilot_rwy_rwy_v[1] << ", " << d_pilot_rwy_rwy_v[2]);
-
- SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[0][3]: " << t_local_to_body_m[0][0] << ", " << t_local_to_body_m[0][1] << ", " << t_local_to_body_m[0][2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[1][3]: " << t_local_to_body_m[1][0] << ", " << t_local_to_body_m[1][1] << ", " << t_local_to_body_m[1][2]);
- SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[2][3]: " << t_local_to_body_m[2][0] << ", " << t_local_to_body_m[2][1] << ", " << t_local_to_body_m[2][2]);
-
- SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass );
- SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx );
- SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy );
- SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz );
- SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz );
+void FGInterface::_busdump(void)
+{
+ SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v: " << d_cg_rp_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v: " << v_dot_local_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v: " << v_dot_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v: " << a_cg_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v: " << a_pilot_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v: " << n_cg_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v: " << v_local_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v: " << v_local_rel_ground_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v: " << v_local_airmass_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_wind_body_v: " << v_wind_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v: " << omega_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v: " << euler_rates_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v: " << geocentric_rates_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v: " << geocentric_position_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v: " << geodetic_position_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v: " << euler_angles_v);
+
SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
- SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground );
- SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial );
SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
- SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv );
SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
- SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated );
SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
- SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity );
- SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief );
SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
- SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot );
- SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot );
- SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha );
- SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha );
- SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta );
- SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta );
- SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi );
- SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi );
- SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta );
- SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta );
- SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi );
- SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi );
SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
- SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
- SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma );
SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
- SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound );
SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
- SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure );
SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
- SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude );
- SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude );
- SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading );
- SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy );
SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
- SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
- SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
- SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude );
- SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude );
- SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
- SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
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)
+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
{
SGVec3d _pt;
bool valid = ground_cache.is_valid(*ref_time, _pt, *rad);
- sgdCopyVec3(pt, _pt.data());
+ assign(pt, _pt);
return valid;
}
// 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);
+ assign(pt, SG_METER_TO_FEET*_pt);
*rad *= SG_METER_TO_FEET;
return found_ground;
}
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() );
+ assign( end[k], _end[k] );
+ assign( vel[k], _vel[k] );
}
return dist;
}
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 );
+ assign( end[k], SG_METER_TO_FEET*_end[k] );
+ assign( vel[k], SG_METER_TO_FEET*_vel[k] );
}
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);
- sgdCopyVec3(contact, _contact.data());
- sgdCopyVec3(normal, _normal.data());
- sgdCopyVec3(vel, _vel.data());
- if (material) {
- *loadCapacity = material->get_load_resistence();
- *frictionFactor = material->get_friction_factor();
-
- } else {
- *loadCapacity = DBL_MAX;
- *frictionFactor = 1.0;
- }
+ 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 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(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 ...
- 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_resistence();
- *frictionFactor = material->get_friction_factor();
- } else {
- *loadCapacity = DBL_MAX;
- *frictionFactor = 1.0;
- }
+ assign( contact, SG_METER_TO_FEET*_contact );
+ assign( normal, _normal );
+ 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);
- sgdCopyVec3(contact, _contact.data());
- sgdCopyVec3(normal, _normal.data());
- sgdCopyVec3(vel, _vel.data());
- return found;
+ SGVec3d _contact, _linearVel, _angularVel;
+ if (!ground_cache.get_nearest(t, SGVec3d(pt), maxDist, _contact, _linearVel,
+ _angularVel, id, material))
+ return false;
+
+ assign(contact, _contact);
+ 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 ...
- 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;
-}
+ 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
FGInterface::get_groundlevel_m(double lat, double lon, double alt)
+{
+ return get_groundlevel_m(SGGeod::fromRadM(lon, lat, alt));
+}
+
+double
+FGInterface::get_groundlevel_m(const SGGeod& geod)
{
// Compute the cartesian position of the given lat/lon/alt.
- SGVec3d pos = SGVec3d::fromGeod(SGGeod::fromRadM(lon, lat, alt));
+ SGVec3d pos = SGVec3d::fromGeod(geod);
// 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(lon, lat, 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(lon, lat, 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);
- SGGeod geod = SGGeod::fromCart(SGVec3d(contact));
- return geod.getElevationM();
+ get_agl_m(ref_time, pos.data(), 2.0, contact, normal, vel, angvel,
+ material, id);
+ return SGGeod::fromCart(SGVec3d(contact)).getElevationM();
}
bool
{
SGVec3d pt_m[4];
for (int i=0; i<4; ++i)
- sgdCopyVec3(pt_m[i].data(), pt[i]);
+ pt_m[i] = SGVec3d(pt[i]);
return ground_cache.caught_wire(t, pt_m);
}
// 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);
+ pt_m[i] = SG_FEET_TO_METER*SGVec3d(pt[i]);
return ground_cache.caught_wire(t, pt_m);
}
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() );
+ assign( end[k], _end[k] );
+ assign( vel[k], _vel[k] );
}
return ret;
}
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 );
+ assign( end[k], SG_METER_TO_FEET*_end[k] );
+ assign( vel[k], SG_METER_TO_FEET*_vel[k] );
}
return ret;
}
ground_cache.release_wire();
}
-void fgToggleFDMdataLogging(void) {
- cur_fdm_state->ToggleDataLogging();
-}
projects / flightgear.git / blobdiff