# 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/scene/material/mat.hxx>
#include <simgear/timing/timestamp.hxx>
#include <Main/fg_props.hxx>
#include <FDM/groundcache.hxx>
-#include "flight.hxx"
+static inline void assign(double* ptr, const SGVec3d& vec)
+{
+ ptr[0] = vec[0];
+ ptr[1] = vec[1];
+ ptr[2] = vec[2];
+}
// base_fdm_state is the internal state that is updated in integer
// multiples of "dt". This leads to "jitter" with respect to the real
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;
-}
-
// Constructor
FGInterface::FGInterface()
: remainder(0)
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;
}
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..." );
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,
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");
}
-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 );
+ 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;
+ 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)
+{
+ 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 );
- _set_sin_cos_longitude( lon );
+void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
+{
+ _updatePosition(SGGeod::fromRadFt(lon, lat, alt));
+}
+
- _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 );
}
FGInterface::prepare_ground_cache_m(double ref_time, const double pt[3],
double rad)
{
- return ground_cache.prepare_ground_cache(ref_time, pt, rad);
+ return ground_cache.prepare_ground_cache(ref_time, SGVec3d(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 );
+ SGVec3d pt_ft = SG_FEET_TO_METER*SGVec3d(pt);
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);
+ 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;
}
double *frictionFactor, double *agl)
{
const SGMaterial* material;
- bool ret = ground_cache.get_agl(t, pt, 2.0, contact, normal, vel, type,
- &material, agl);
+ SGVec3d _contact, _normal, _vel;
+ bool ret = ground_cache.get_agl(t, SGVec3d(pt), 2.0, _contact, _normal,
+ _vel, type, &material, agl);
+ assign(contact, _contact);
+ assign(normal, _normal);
+ assign(vel, _vel);
if (material) {
- *loadCapacity = material->get_load_resistence();
+ *loadCapacity = material->get_load_resistance();
*frictionFactor = material->get_friction_factor();
} else {
return ret;
}
+bool
+FGInterface::get_agl_m(double t, const double pt[3],
+ double contact[3], double normal[3], double vel[3],
+ int *type, const SGMaterial **material, double *agl)
+{
+ SGVec3d _contact, _normal, _vel;
+ bool ret = ground_cache.get_agl(t, SGVec3d(pt), 2.0, _contact, _normal,
+ _vel, type, material, agl);
+ assign(contact, _contact);
+ assign(normal, _normal);
+ assign(vel, _vel);
+ return ret;
+}
+
// Legacy interface just kept because of JSBSim
bool
FGInterface::get_agl_ft(double t, const double pt[3],
double *frictionFactor, double *agl)
{
// Convert units and do the real work.
- sgdVec3 pt_m;
- sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER );
+ SGVec3d pt_m = SG_FEET_TO_METER*SGVec3d(pt);
const SGMaterial* material;
- bool ret = ground_cache.get_agl(t, pt_m, 2.0, contact, normal, vel,
+ 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, SG_METER_TO_FEET );
- sgdScaleVec3( vel, SG_METER_TO_FEET );
+ assign( contact, SG_METER_TO_FEET*_contact );
+ assign( vel, SG_METER_TO_FEET*_vel );
+ assign( normal, _normal );
*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();
+ *loadCapacity = 0.020885434*material->get_load_resistance();
*frictionFactor = material->get_friction_factor();
} else {
*loadCapacity = DBL_MAX;
double contact[3], double normal[3], double vel[3],
int *type, const SGMaterial** material, double *agl)
{
- return ground_cache.get_agl(t, pt, max_altoff, contact, normal, vel, type,
- material, agl);
+ SGVec3d _contact, _normal, _vel;
+ bool found = ground_cache.get_agl(t, SGVec3d(pt), max_altoff, _contact,
+ _normal, _vel, type, material, agl);
+ assign(contact, _contact);
+ assign(normal, _normal);
+ assign(vel, _vel);
+ return found;
}
bool
int *type, const SGMaterial** material, double *agl)
{
// Convert units and do the real work.
- sgdVec3 pt_m;
- sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER );
+ 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,
+ _contact, _normal, _vel,
type, material, agl);
// Convert units back ...
- sgdScaleVec3( contact, SG_METER_TO_FEET );
- sgdScaleVec3( vel, SG_METER_TO_FEET );
+ assign( contact, SG_METER_TO_FEET*_contact );
+ assign( vel, SG_METER_TO_FEET*_vel );
+ assign( normal, _normal );
*agl *= SG_METER_TO_FEET;
return ret;
}
-
double
FGInterface::get_groundlevel_m(double lat, double lon, double alt)
{
- sgdVec3 pos, cpos;
+ 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.
- sgGeodToCart(lat, lon, alt, pos);
+ SGVec3d pos = SGVec3d::fromGeod(geod);
// FIXME: how to handle t - ref_time differences ???
+ SGVec3d cpos;
double ref_time, radius;
// Prepare the ground cache for that position.
- if (!is_valid_m(&ref_time, cpos, &radius)) {
- bool ok = prepare_ground_cache_m(ref_time, pos, 10);
+ if (!is_valid_m(&ref_time, cpos.data(), &radius)) {
+ bool ok = prepare_ground_cache_m(ref_time, 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) {
- sgGeodToCart(lat, lon, 10000, pos);
+ pos = SGVec3d::fromGeod(SGGeod::fromRadM(geod.getLongitudeRad(), geod.getLatitudeRad(), 10000));
/// If there is still no ground, return sea level radius
- if (!prepare_ground_cache_m(ref_time, pos, 10))
+ if (!prepare_ground_cache_m(ref_time, pos.data(), 10))
return 0;
}
- } else if (radius*radius <= sgdDistanceSquaredVec3(pos, cpos)) {
+ } else if (radius*radius <= distSqr(pos, cpos)) {
/// 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, radius);
+ bool ok = prepare_ground_cache_m(ref_time, 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) {
- sgGeodToCart(lat, lon, 10000, pos);
+ pos = SGVec3d::fromGeod(SGGeod::fromRadM(geod.getLongitudeRad(), geod.getLatitudeRad(), 10000));
/// If there is still no ground, return sea level radius
- if (!prepare_ground_cache_m(ref_time, pos, radius))
+ if (!prepare_ground_cache_m(ref_time, pos.data(), radius))
return 0;
}
}
// 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, 2.0, contact, normal, vel, &type, 0, &agl);
- Point3D geodPos = sgCartToGeod(Point3D(contact[0], contact[1], contact[2]));
- return geodPos.elev();
+ get_agl_m(ref_time, pos.data(), 2.0, contact, normal, vel, &type, 0, &agl);
+ 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;
}