//
// 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/location.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 <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 );
double ground_elev_m = globals->get_scenery()->get_cur_elev();
double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
- _acmodel->get3DModel()->getFGLocation()->set_cur_elev_m( ground_elev_m );
+ 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("/sim/presets/altitude-ft", ground_elev_ft);
fgSetDouble("/position/altitude-ft", ground_elev_ft);
+ set_Altitude( ground_elev_ft );
+ } else {
+ set_Altitude( fgGetDouble("/sim/presets/altitude-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 );
_set_Geodetic_Position( lat, lon, alt );
_set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
- if ( getACModel() != NULL ) {
- _set_Runway_altitude( getACModel()->get3DModel()->getFGLocation()->get_cur_elev_m() * SG_METER_TO_FEET );
- }
+ _set_Runway_altitude( fgGetDouble("/position/ground-elev-m") * SG_METER_TO_FEET );
_set_sin_lat_geocentric( lat_geoc );
_set_cos_lat_geocentric( lat_geoc );
_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 );
+ _set_Runway_altitude( fgGetDouble("/position/ground-elev-m") * SG_METER_TO_FEET );
_set_sin_lat_geocentric( lat_geoc );
_set_cos_lat_geocentric( lat_geoc );
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, 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, 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::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();