#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
-#include <simgear/math/SGMath.hxx>
#include <simgear/timing/timestamp.hxx>
+#include <simgear/scene/material/mat.hxx>
#include <Scenery/scenery.hxx>
#include <Main/globals.hxx>
ptr[2] = vec[2];
}
-FGInterface *cur_fdm_state = 0;
-
// Constructor
FGInterface::FGInterface()
{
FGInterface::_calc_multiloop (double dt)
{
// Since some time the simulation time increments we get here are
- // already a multiple of the basic update freqency.
+ // already a multiple of the basic update frequency.
// 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
double ground_elev_m = get_groundlevel_m(lat, lon, alt_m);
double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
_set_Runway_altitude ( ground_elev_ft );
+
+ // Set aircraft altitude
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);
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("/sim/presets/speed-set") &&
+ fgHasNode( "/sim/presets/vertical-speed-fps") )
+ {
+ set_Climb_Rate( fgGetDouble("/sim/presets/vertical-speed-fps") );
+ }
SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
}
{
bound = true;
- // 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");
- fgTie("/orientation/track-deg", this,
- &FGInterface::get_Track);
+ _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);
-
- // Ground speed knots
- fgTie("/velocities/groundspeed-kt", this,
- &FGInterface::get_V_ground_speed_kt);
-
- // 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("/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/track-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/groundspeed-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::_updateGeocentricPosition( double lat, double lon,
- double alt )
+ double alt )
{
_updatePosition(SGGeoc::fromRadFt(lon, lat, get_Sea_level_radius() + alt));
}
}
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) {
-
+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);
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)
+ simgear::BVHMaterial const*& material, simgear::BVHNode::Id& id)
{
SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
SGVec3d _contact, _normal, _linearVel, _angularVel;
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)
+ simgear::BVHMaterial const*& material, simgear::BVHNode::Id& id)
{
// Convert units and do the real work.
SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
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::BVHMaterial const*& material,
simgear::BVHNode::Id& id)
{
SGVec3d _contact, _linearVel, _angularVel;
+ material = 0;
if (!ground_cache.get_nearest(t, SGVec3d(pt), maxDist, _contact, _linearVel,
_angularVel, id, material))
return false;
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::BVHMaterial const*& material,
simgear::BVHNode::Id& id)
{
SGVec3d _contact, _linearVel, _angularVel;
+ material = 0;
if (!ground_cache.get_nearest(t, SG_FEET_TO_METER*SGVec3d(pt),
SG_FEET_TO_METER*maxDist, _contact, _linearVel,
_angularVel, id, material))
}
double contact[3], normal[3], vel[3], angvel[3];
- const SGMaterial* material;
+ const simgear::BVHMaterial* 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
ground_cache.release_wire();
}
-void fgToggleFDMdataLogging(void) {
- cur_fdm_state->ToggleDataLogging();
-}
projects / flightgear.git / blobdiff