//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
+#ifdef HAVE_CONFIG_H
+# 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/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;
- 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..." );
double alt_m = alt_ft * SG_FEET_TO_METER;
set_Longitude( lon );
set_Latitude( lat );
+ SG_LOG( SG_FLIGHT, SG_INFO, "Checking for lon = "
+ << lon*SGD_RADIANS_TO_DEGREES << "deg, lat = "
+ << lat*SGD_RADIANS_TO_DEGREES << "deg, alt = "
+ << alt_ft << "ft");
double ground_elev_m = get_groundlevel_m(lat, lon, alt_m);
double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
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 velocities
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
{
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,
false);
fgSetArchivable("/position/altitude-ft");
fgTie("/position/altitude-agl-ft", this,
- &FGInterface::get_Altitude_AGL); // read-only
+ &FGInterface::get_Altitude_AGL, &FGInterface::set_AltitudeAGL);
fgSetArchivable("/position/ground-elev-ft");
fgTie("/position/ground-elev-ft", this,
&FGInterface::get_Runway_altitude); // read-only
&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
+ &FGInterface::get_Sea_level_radius,
+ &FGInterface::_set_Sea_level_radius);
// Orientation
fgTie("/orientation/roll-deg", this,
&FGInterface::get_Phi_deg,
- &FGInterface::set_Phi_deg);
+ &FGInterface::set_Phi_deg, false);
fgSetArchivable("/orientation/roll-deg");
fgTie("/orientation/pitch-deg", this,
&FGInterface::get_Theta_deg,
- &FGInterface::set_Theta_deg);
+ &FGInterface::set_Theta_deg, false);
fgSetArchivable("/orientation/pitch-deg");
fgTie("/orientation/heading-deg", this,
&FGInterface::get_Psi_deg,
- &FGInterface::set_Psi_deg);
+ &FGInterface::set_Psi_deg, false);
fgSetArchivable("/orientation/heading-deg");
+ fgTie("/orientation/track-deg", this,
+ &FGInterface::get_Track);
// Body-axis "euler rates" (rotation speed, but in a funny
// representation).
fgTie("/orientation/roll-rate-degps", this,
- &FGInterface::get_Phi_dot_degps);
+ &FGInterface::get_Phi_dot_degps, &FGInterface::set_Phi_dot_degps);
fgTie("/orientation/pitch-rate-degps", this,
- &FGInterface::get_Theta_dot_degps);
+ &FGInterface::get_Theta_dot_degps, &FGInterface::set_Theta_dot_degps);
fgTie("/orientation/yaw-rate-degps", this,
- &FGInterface::get_Psi_dot_degps);
+ &FGInterface::get_Psi_dot_degps, &FGInterface::set_Psi_dot_degps);
+
+ fgTie("/orientation/p-body", this, &FGInterface::get_P_body);
+ fgTie("/orientation/q-body", this, &FGInterface::get_Q_body);
+ fgTie("/orientation/r-body", this, &FGInterface::get_R_body);
+
+ // Ground speed knots
+ fgTie("/velocities/groundspeed-kt", this,
+ &FGInterface::get_V_ground_speed_kt);
// Calibrated airspeed
fgTie("/velocities/airspeed-kt", this,
&FGInterface::set_V_calibrated_kts,
false);
+ fgTie("/velocities/equivalent-kt", this,
+ &FGInterface::get_V_equiv_kts);
+
// Mach number
fgTie("/velocities/mach", this,
&FGInterface::get_Mach_number,
// LaRCSim are fixed (LaRCSim adds the
// earth's rotation to the east velocity).
fgTie("/velocities/speed-north-fps", this,
- &FGInterface::get_V_north);
+ &FGInterface::get_V_north, &FGInterface::set_V_north, false);
fgTie("/velocities/speed-east-fps", this,
- &FGInterface::get_V_east);
+ &FGInterface::get_V_east, &FGInterface::set_V_east, false);
fgTie("/velocities/speed-down-fps", this,
- &FGInterface::get_V_down);
+ &FGInterface::get_V_down, &FGInterface::set_V_down, false);
+
+ fgTie("/velocities/north-relground-fps", this,
+ &FGInterface::get_V_north_rel_ground);
+ fgTie("/velocities/east-relground-fps", this,
+ &FGInterface::get_V_east_rel_ground);
+ fgTie("/velocities/down-relground-fps", this,
+ &FGInterface::get_V_down_rel_ground);
+
// Relative wind
// FIXME: temporarily archivable, until
&FGInterface::get_Gamma_vert_rad,
&FGInterface::set_Gamma_vert_rad );
fgTie("/orientation/side-slip-rad", this,
- &FGInterface::get_Beta); // read-only
+ &FGInterface::get_Beta, &FGInterface::_set_Beta);
fgTie("/orientation/side-slip-deg", this,
&FGInterface::get_Beta_deg); // read-only
fgTie("/orientation/alpha-deg", this,
- &FGInterface::get_Alpha_deg); // read-only
+ &FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg); // read-only
fgTie("/accelerations/nlf", this,
&FGInterface::get_Nlf); // read-only
// Pilot accelerations
fgTie("/accelerations/pilot/x-accel-fps_sec",
- this, &FGInterface::get_A_X_pilot);
+ this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot);
fgTie("/accelerations/pilot/y-accel-fps_sec",
- this, &FGInterface::get_A_Y_pilot);
+ this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot);
fgTie("/accelerations/pilot/z-accel-fps_sec",
- this, &FGInterface::get_A_Z_pilot);
+ this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot);
+
+ fgTie("/accelerations/n-z-cg-fps_sec", this, &FGInterface::get_N_Z_cg);
}
void
FGInterface::unbind ()
{
+ if (!bound) {
+ return;
+ }
+
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("/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/p-body");
+ fgUntie("/orientation/q-body");
+ fgUntie("/orientation/r-body");
fgUntie("/orientation/side-slip-rad");
fgUntie("/orientation/side-slip-deg");
fgUntie("/orientation/alpha-deg");
fgUntie("/velocities/airspeed-kt");
+ fgUntie("/velocities/groundspeed-kt");
+ fgUntie("/velocities/equivalent-kt");
fgUntie("/velocities/mach");
fgUntie("/velocities/speed-north-fps");
fgUntie("/velocities/speed-east-fps");
fgUntie("/velocities/speed-down-fps");
+ fgUntie("/velocities/north-relground-fps");
+ fgUntie("/velocities/east-relground-fps");
+ fgUntie("/velocities/down-relground-fps");
fgUntie("/velocities/uBody-fps");
fgUntie("/velocities/vBody-fps");
fgUntie("/velocities/wBody-fps");
fgUntie("/accelerations/ned/north-accel-fps_sec");
fgUntie("/accelerations/ned/east-accel-fps_sec");
fgUntie("/accelerations/ned/down-accel-fps_sec");
+ fgUntie("/accelerations/n-z-cg-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::_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 );
+ 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, 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.
- 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);
+ SGVec3d pt_ft = SG_FEET_TO_METER*SGVec3d(pt);
+ return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
+ 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);
+ SGVec3d _pt;
+ bool valid = ground_cache.is_valid(*ref_time, _pt, *rad);
+ assign(pt, _pt);
+ return valid;
}
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);
+ SGVec3d _pt;
+ bool found_ground = ground_cache.is_valid(*ref_time, _pt, *rad);
+ assign(pt, SG_METER_TO_FEET*_pt);
*rad *= SG_METER_TO_FEET;
return found_ground;
}
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);
+ SGVec3d _end[2], _vel[2];
+ double dist = ground_cache.get_cat(t, SGVec3d(pt), _end, _vel);
+ for (int k=0; k<2; ++k) {
+ assign( end[k], _end[k] );
+ assign( vel[k], _vel[k] );
+ }
+ return dist;
}
double
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);
+ SGVec3d pt_m = SG_FEET_TO_METER*SGVec3d(pt);
+ 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], SG_METER_TO_FEET );
- sgdScaleVec3( vel[k], 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;
}
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])
{
- return ground_cache.get_agl(t, pt, 2.0, contact, normal, vel, type,
- loadCapacity, frictionFactor, agl);
-}
+ SGMatrixd _bodyToWorld;
+ SGVec3d _linearVel, _angularVel;
+ if (!ground_cache.get_body(t, _bodyToWorld, _linearVel, _angularVel, id))
+ return false;
-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;
+ 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 vel[3],
- int *type, double *loadCapacity,
- double *frictionFactor, double *agl)
+ double contact[3], double normal[3],
+ double linearVel[3], double angularVel[3],
+ SGMaterial const*& material, simgear::BVHNode::Id& id)
{
- return ground_cache.get_agl(t, pt, max_altoff, contact, normal, vel, type,
- loadCapacity, frictionFactor, agl);
+ 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;
}
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)
+ 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.
- 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);
+ 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);
+
// 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.
+ 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_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, _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_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)
+{
+ 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)
{
- // 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);
+ 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(geod);
// FIXME: how to handle t - ref_time differences ???
- double ref_time, radius;
+ SGVec3d cpos;
+ double ref_time = 0, 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);
+ if (!is_valid_m(&ref_time, cpos.data(), &radius)) {
+ 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::fromGeodM(geod, 10000));
+ /// If there is still no ground, return sea level radius
+ 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(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::fromGeodM(geod, 10000));
+ /// If there is still no ground, return sea level radius
+ if (!prepare_ground_cache_m(startTime, endTime, pos.data(), radius))
+ return 0;
+ }
+ }
- 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;
+ 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, angvel,
+ material, id);
+ return SGGeod::fromCart(SGVec3d(contact)).getElevationM();
}
bool
FGInterface::caught_wire_m(double t, const double pt[4][3])
{
- return ground_cache.caught_wire(t, pt);
+ SGVec3d pt_m[4];
+ for (int i=0; i<4; ++i)
+ pt_m[i] = SGVec3d(pt[i]);
+
+ return ground_cache.caught_wire(t, pt_m);
}
bool
FGInterface::caught_wire_ft(double t, const double pt[4][3])
{
// Convert units and do the real work.
- double pt_m[4][3];
+ SGVec3d pt_m[4];
for (int i=0; i<4; ++i)
- sgdScaleVec3(pt_m[i], pt[i], SG_FEET_TO_METER);
+ pt_m[i] = SG_FEET_TO_METER*SGVec3d(pt[i]);
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);
+ SGVec3d _end[2], _vel[2];
+ bool ret = ground_cache.get_wire_ends(t, _end, _vel);
+ for (int k=0; k<2; ++k) {
+ assign( end[k], _end[k] );
+ assign( vel[k], _vel[k] );
+ }
+ return ret;
}
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);
+ 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], SG_METER_TO_FEET );
- sgdScaleVec3( vel[k], 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