//
// 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
//
// 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.
//
// $Id$
*/
-#include <simgear/compiler.h>
-
#include <math.h>
#include <list>
#include <vector>
#include <string>
+#include <simgear/compiler.h>
#include <simgear/constants.h>
-#include <simgear/timing/timestamp.hxx>
-
-#include <Main/fgfs.hxx>
-
-FG_USING_STD(list);
-FG_USING_STD(vector);
-FG_USING_STD(string);
+#include <simgear/structure/subsystem_mgr.hxx>
+#include <FDM/groundcache.hxx>
+SG_USING_STD(list);
+SG_USING_STD(vector);
+SG_USING_STD(string);
typedef double FG_VECTOR_3[3];
-
-class FGEngInterface {
-
-private:
-
- // inputs
- double Throttle;
- double Mixture;
- double Prop_Advance;
-
- // outputs
- double RPM;
- double Manifold_Pressure;
- double MaxHP;
- double Percentage_Power;
- double EGT;
- double CHT;
- double prop_thrust;
-
- /* others...
- double PercentN1,N1; //GE,CFM
- double PercentN2,N2;
- double EPR; //P&W, RR?
- double FuelFlow;
- bool AfterBurner;
- double InletAngles[3];
- double InletPosition[3];
- double ThrustVector[3];
- */
-
-public:
- FGEngInterface(void);
- ~FGEngInterface(void);
-
- inline double get_Throttle() const { return Throttle; }
- inline double get_Mixture() const { return Mixture; }
- inline double get_Prop_Advance() const { return Prop_Advance; }
- inline double get_RPM() const { return RPM; }
- inline double get_Manifold_Pressure() const { return Manifold_Pressure; }
- inline double get_MaxHP() const { return MaxHP; }
- inline double get_Percentage_Power() const { return Percentage_Power; }
- inline double get_EGT() const { return EGT; }
- inline double get_CHT() const { return CHT; }
- inline double get_prop_thrust() const { return prop_thrust; }
-
- inline void set_Throttle( double t ) { Throttle = t; }
- inline void set_Mixture( double m ) { Mixture = m; }
- inline void set_Prop_Advance( double p ) { Prop_Advance = p; }
- inline void set_RPM( double r ) { RPM = r; }
- inline void set_Manifold_Pressure( double mp ) { Manifold_Pressure = mp; }
- inline void set_MaxHP( double hp ) { MaxHP = hp; }
- inline void set_Percentage_Power( double p ) { Percentage_Power = p; }
- inline void set_EGT( double e ) { EGT = e; }
- inline void set_CHT( double c ) { CHT = c; }
- inline void set_prop_thrust( double t ) { prop_thrust = t; }
-
-};
-
-typedef vector < FGEngInterface > engine_list;
-
-
// This is based heavily on LaRCsim/ls_generic.h
-class FGInterface : public FGSubsystem {
+class FGInterface : public SGSubsystem {
private:
+ // Has the init() method been called. This is used to delay
+ // initialization until scenery can be loaded and we know the true
+ // ground elevation.
+ bool inited;
+
+ // Have we bound to the property system
+ bool bound;
+
// periodic update management variable. This is a scheme to run
// the fdm with a fixed delta-t. We control how many iteration of
// the fdm to run with the fixed dt based on the elapsed time from
// next elapsed time. This yields a small amount of temporal
// jitter ( < dt ) but in practice seems to work well.
- double delta_t; // delta "t"
- SGTimeStamp time_stamp; // time stamp of last run
- long elapsed; // time elapsed since last run
- long remainder; // remainder time from last run
- int multi_loop; // number of iterations of "delta_t" to run
+// double delta_t; // delta "t"
+// SGTimeStamp time_stamp; // time stamp of last run
+// long elapsed; // time elapsed since last run
+ double remainder; // remainder time from last run
+// int multi_loop; // number of iterations of "delta_t" to run
// Pilot location rel to ref pt
FG_VECTOR_3 d_pilot_rp_body_v;
double sin_longitude, cos_longitude;
double sin_latitude, cos_latitude;
double altitude_agl;
-
- // Engine list
- engine_list engines;
+
+ double daux[16]; // auxilliary doubles
+ float faux[16]; // auxilliary floats
+ int iaux[16]; // auxilliary ints
// SGTimeStamp valid_stamp; // time this record is valid
// SGTimeStamp next_stamp; // time this record is valid
+ // the ground cache object itself.
+ FGGroundCache ground_cache;
+
protected:
+
+ int _calc_multiloop (double dt);
+
+public:
+
+ // deliberately not virtual so that
+ // FGInterface constructor will call
+ // the right version
+ void _setup();
+
void _busdump(void);
- void _updatePosition( double lat_geoc, double lon, double alt );
+ void _updateGeodeticPosition( double lat, double lon, double alt );
+ void _updateGeocentricPosition( double lat_geoc, double lon, double alt );
+ void _update_ground_elev_at_pos( void );
void _updateWeather( void );
inline void _set_Inertias( double m, double xx, double yy,
inline void _set_Density( double d ) { density = d; }
inline void _set_Mach_number( double m ) { mach_number = m; }
inline void _set_Static_pressure( double sp ) { static_pressure = sp; }
- inline void _set_Static_temperature( double t ) { static_temperature = t; }
+ inline void _set_Static_temperature( double t ) { static_temperature = t; }
+ inline void _set_Total_temperature( double tat ) { total_temperature = tat; } //JW
inline void _set_Sea_level_radius( double r ) { sea_level_radius = r; }
- inline void _set_Earth_position_angle(double a) {
- earth_position_angle = a;
- }
+ inline void _set_Earth_position_angle(double a) { earth_position_angle = a; }
inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; }
inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
inline void _set_sin_lat_geocentric(double parm) {
cos_latitude = cos(parm);
}
+ inline void _set_daux( int n, double value ) { daux[n] = value; }
+ inline void _set_faux( int n, float value ) { faux[n] = value; }
+ inline void _set_iaux( int n, int value ) { iaux[n] = value; }
+
public:
FGInterface();
virtual void init ();
virtual void bind ();
virtual void unbind ();
- virtual void update ();
- virtual bool update( int multi_loop );
+ virtual void update(double dt);
+ virtual bool ToggleDataLogging(bool state) { return false; }
+ virtual bool ToggleDataLogging(void) { return false; }
// Define the various supported flight models (many not yet implemented)
enum {
FG_EXTERNAL = 10
};
+ // initialization
+ inline bool get_inited() const { return inited; }
+ inline void set_inited( bool value ) { inited = value; }
+
+ inline bool get_bound() const { return bound; }
+
+ //perform initializion that is common to all FDM's
+ void common_init();
+
// time and update management values
- inline double get_delta_t() const { return delta_t; }
- inline void set_delta_t( double dt ) { delta_t = dt; }
- inline SGTimeStamp get_time_stamp() const { return time_stamp; }
- inline void set_time_stamp( SGTimeStamp s ) { time_stamp = s; }
- inline void stamp() { time_stamp.stamp(); }
- inline long get_elapsed() const { return elapsed; }
- inline void set_elapsed( long e ) { elapsed = e; }
- inline long get_remainder() const { return remainder; }
- inline void set_remainder( long r ) { remainder = r; }
- inline int get_multi_loop() const { return multi_loop; }
- inline void set_multi_loop( int ml ) { multi_loop = ml; }
+// inline double get_delta_t() const { return delta_t; }
+// inline void set_delta_t( double dt ) { delta_t = dt; }
+// inline SGTimeStamp get_time_stamp() const { return time_stamp; }
+// inline void set_time_stamp( SGTimeStamp s ) { time_stamp = s; }
+// inline void stamp() { time_stamp.stamp(); }
+// inline long get_elapsed() const { return elapsed; }
+// inline void set_elapsed( long e ) { elapsed = e; }
+// inline long get_remainder() const { return remainder; }
+// inline void set_remainder( long r ) { remainder = r; }
+// inline int get_multi_loop() const { return multi_loop; }
+// inline void set_multi_loop( int ml ) { multi_loop = ml; }
// Positions
virtual void set_Latitude(double lat); // geocentric
virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
virtual void set_AltitudeAGL(double altagl); // and vice-versa
virtual void set_Latitude_deg (double lat) {
- set_Latitude(lat * DEG_TO_RAD);
+ set_Latitude(lat * SGD_DEGREES_TO_RADIANS);
}
virtual void set_Longitude_deg (double lon) {
- set_Longitude(lon * DEG_TO_RAD);
+ set_Longitude(lon * SGD_DEGREES_TO_RADIANS);
}
// Speeds -- setting any of these will trigger a re-calc of the rest
virtual void set_V_calibrated_kts(double vc);
virtual void set_Mach_number(double mach);
virtual void set_Velocities_Local( double north, double east, double down );
- inline void set_V_north (double north) { v_local_v[0] = north; }
- inline void set_V_east (double east) { v_local_v[1] = east; }
- inline void set_V_down (double down) { v_local_v[2] = down; }
+ inline void set_V_north (double north) {
+ set_Velocities_Local(north, v_local_v[1], v_local_v[2]);
+ }
+ inline void set_V_east (double east) {
+ set_Velocities_Local(v_local_v[0], east, v_local_v[2]);
+ }
+ inline void set_V_down (double down) {
+ set_Velocities_Local(v_local_v[0], v_local_v[1], down);
+ }
virtual void set_Velocities_Wind_Body( double u, double v, double w);
- virtual void set_uBody (double uBody) { v_wind_body_v[0] = uBody; }
- virtual void set_vBody (double vBody) { v_wind_body_v[1] = vBody; }
- virtual void set_wBody (double wBody) { v_wind_body_v[2] = wBody; }
+ virtual void set_uBody (double uBody) {
+ set_Velocities_Wind_Body(uBody, v_wind_body_v[1], v_wind_body_v[2]);
+ }
+ virtual void set_vBody (double vBody) {
+ set_Velocities_Wind_Body(v_wind_body_v[0], vBody, v_wind_body_v[2]);
+ }
+ virtual void set_wBody (double wBody) {
+ set_Velocities_Wind_Body(v_wind_body_v[0], v_wind_body_v[1], wBody);
+ }
// Euler angles
virtual void set_Euler_Angles( double phi, double theta, double psi );
virtual void set_Psi (double psi) {
set_Euler_Angles(get_Phi(), get_Theta(), psi);
}
- virtual void set_Phi_deg (double phi) { set_Phi(phi * DEG_TO_RAD); }
+ virtual void set_Phi_deg (double phi) {
+ set_Phi(phi * SGD_DEGREES_TO_RADIANS);
+ }
virtual void set_Theta_deg (double theta) {
- set_Theta(theta * DEG_TO_RAD);
+ set_Theta(theta * SGD_DEGREES_TO_RADIANS);
+ }
+ virtual void set_Psi_deg (double psi) {
+ set_Psi(psi * SGD_DEGREES_TO_RADIANS);
}
- virtual void set_Psi_deg (double psi) { set_Psi(psi * DEG_TO_RAD); }
// Flight Path
virtual void set_Climb_Rate( double roc);
virtual void set_Gamma_vert_rad( double gamma);
// Earth
- virtual void set_Sea_level_radius(double slr);
- virtual void set_Runway_altitude(double ralt);
virtual void set_Static_pressure(double p);
virtual void set_Static_temperature(double T);
virtual void set_Velocities_Local_Airmass (double wnorth,
double weast,
double wdown );
-
-
+
// ========== Mass properties and geometry values ==========
// Inertias
// n_pilot_body_v[2] = z;
// }
- inline double get_Nlf(void) { return nlf; }
+ inline double get_Nlf(void) const { return nlf; }
// inline double * get_Omega_dot_body_v() { return omega_dot_body_v; }
// inline double get_P_dot_body() const { return omega_dot_body_v[0]; }
inline double get_vBody () const { return v_wind_body_v[1]; }
inline double get_wBody () const { return v_wind_body_v[2]; }
- // inline double * get_V_local_rel_ground_v() {
- // return v_local_rel_ground_v;
- // }
- // inline double get_V_north_rel_ground() const {
- // return v_local_rel_ground_v[0];
- // }
- // inline double get_V_east_rel_ground() const {
- // return v_local_rel_ground_v[1];
- // }
- // inline double get_V_down_rel_ground() const {
- // return v_local_rel_ground_v[2];
- // }
+ // Please dont comment these out. fdm=ada uses these (see
+ // cockpit.cxx) --->
+ inline double * get_V_local_rel_ground_v() {
+ return v_local_rel_ground_v;
+ }
+ inline double get_V_north_rel_ground() const {
+ return v_local_rel_ground_v[0];
+ }
+ inline double get_V_east_rel_ground() const {
+ return v_local_rel_ground_v[1];
+ }
+ inline double get_V_down_rel_ground() const {
+ return v_local_rel_ground_v[2];
+ }
+ // <--- fdm=ada uses these (see cockpit.cxx)
// inline double * get_V_local_airmass_v() { return v_local_airmass_v; }
inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
inline double get_V_rel_wind() const { return v_rel_wind; }
// inline void set_V_rel_wind(double wind) { v_rel_wind = wind; }
- // inline double get_V_true_kts() const { return v_true_kts; }
+ inline double get_V_true_kts() const { return v_true_kts; }
// inline void set_V_true_kts(double kts) { v_true_kts = kts; }
// inline double get_V_rel_ground() const { return v_rel_ground; }
inline double get_Phi_dot() const { return euler_rates_v[0]; }
inline double get_Theta_dot() const { return euler_rates_v[1]; }
inline double get_Psi_dot() const { return euler_rates_v[2]; }
+ inline double get_Phi_dot_degps() const { return euler_rates_v[0] * SGD_RADIANS_TO_DEGREES; }
+ inline double get_Theta_dot_degps() const { return euler_rates_v[1] * SGD_RADIANS_TO_DEGREES; }
+ inline double get_Psi_dot_degps() const { return euler_rates_v[2] * SGD_RADIANS_TO_DEGREES; }
// inline double * get_Geocentric_rates_v() { return geocentric_rates_v; }
inline double get_Latitude_dot() const { return geocentric_rates_v[0]; }
inline double get_Altitude_AGL(void) const { return altitude_agl; }
inline double get_Latitude_deg () const {
- return get_Latitude() * RAD_TO_DEG;
+ return get_Latitude() * SGD_RADIANS_TO_DEGREES;
}
inline double get_Longitude_deg () const {
- return get_Longitude() * RAD_TO_DEG;
+ return get_Longitude() * SGD_RADIANS_TO_DEGREES;
}
// inline double * get_Euler_angles_v() { return euler_angles_v; }
inline double get_Phi() const { return euler_angles_v[0]; }
inline double get_Theta() const { return euler_angles_v[1]; }
inline double get_Psi() const { return euler_angles_v[2]; }
- inline double get_Phi_deg () const { return get_Phi() * RAD_TO_DEG; }
- inline double get_Theta_deg () const { return get_Theta() * RAD_TO_DEG; }
- inline double get_Psi_deg () const { return get_Psi() * RAD_TO_DEG; }
+ inline double get_Phi_deg () const { return get_Phi() * SGD_RADIANS_TO_DEGREES; }
+ inline double get_Theta_deg () const { return get_Theta() * SGD_RADIANS_TO_DEGREES; }
+ inline double get_Psi_deg () const { return get_Psi() * SGD_RADIANS_TO_DEGREES; }
// ========== Miscellaneous quantities ==========
// }
inline double get_Alpha() const { return alpha; }
+ inline double get_Alpha_deg() const { return alpha * SGD_RADIANS_TO_DEGREES; }
inline double get_Beta() const { return beta; }
- // inline double get_Alpha_dot() const { return alpha_dot; }
+ inline double get_Beta_deg() const { return beta * SGD_RADIANS_TO_DEGREES; }
+ inline double get_Alpha_dot() const { return alpha_dot; }
// inline void set_Alpha_dot( double ad ) { alpha_dot = ad; }
- // inline double get_Beta_dot() const { return beta_dot; }
+ inline double get_Beta_dot() const { return beta_dot; }
// inline void set_Beta_dot( double bd ) { beta_dot = bd; }
// inline double get_Cos_alpha() const { return cos_alpha; }
inline double get_Mach_number() const { return mach_number; }
inline double get_Static_pressure() const { return static_pressure; }
- // inline double get_Total_pressure() const { return total_pressure; }
+ inline double get_Total_pressure() const { return total_pressure; }
// inline void set_Total_pressure( double tp ) { total_pressure = tp; }
// inline double get_Impact_pressure() const { return impact_pressure; }
// inline void set_Impact_pressure( double ip ) { impact_pressure = ip; }
- // inline double get_Dynamic_pressure() const { return dynamic_pressure; }
+ inline double get_Dynamic_pressure() const { return dynamic_pressure; }
// inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; }
inline double get_Static_temperature() const { return static_temperature; }
- // inline double get_Total_temperature() const { return total_temperature; }
+ inline double get_Total_temperature() const { return total_temperature; }
// inline void set_Total_temperature( double t ) { total_temperature = t; }
inline double get_Sea_level_radius() const { return sea_level_radius; }
}
inline double get_Runway_altitude() const { return runway_altitude; }
+ inline double get_Runway_altitude_m() const { return SG_FEET_TO_METER * runway_altitude; }
// inline double get_Runway_latitude() const { return runway_latitude; }
// inline void set_Runway_latitude( double lat ) { runway_latitude = lat; }
// inline double get_Runway_longitude() const { return runway_longitude; }
return cos_latitude;
}
- // engines
- inline double get_num_engines() const {
- return engines.size();
- }
+ // Auxilliary variables
+ inline double get_daux( int n ) const { return daux[n]; }
+ inline float get_faux( int n ) const { return faux[n]; }
+ inline int get_iaux( int n ) const { return iaux[n]; }
- inline FGEngInterface* get_engine( int i ) {
- return &engines[i];
- }
+ // Note that currently this is the "same" value runway altitude...
+ inline double get_ground_elev_ft() const { return runway_altitude; }
- inline void add_engine( FGEngInterface e ) {
- engines.push_back( e );
- }
-};
+ //////////////////////////////////////////////////////////////////////////
+ // Ground handling routines
+ //////////////////////////////////////////////////////////////////////////
-typedef list < FGInterface > fdm_state_list;
-typedef fdm_state_list::iterator fdm_state_list_iterator;
-typedef fdm_state_list::const_iterator const_fdm_state_list_iterator;
-
+ enum GroundType {
+ Unknown = 0, //??
+ Solid, // Whatever we will roll on with infinite load factor.
+ Water, // For the beaver ...
+ Catapult, // Carrier cats.
+ Wire // Carrier wires.
+ };
-extern FGInterface * cur_fdm_state;
+ // Prepare the ground cache for the wgs84 position pt_*.
+ // That is take all vertices in the ball with radius rad around the
+ // position given by the pt_* and store them in a local scene graph.
+ bool prepare_ground_cache_m(double ref_time, const double pt[3],
+ double rad);
+ bool prepare_ground_cache_ft(double ref_time, const double pt[3],
+ double rad);
+
+
+ // Returns true if the cache is valid.
+ // Also the reference time, point and radius values where the cache
+ // is valid for are returned.
+ bool is_valid_m(double *ref_time, double pt[3], double *rad);
+ bool is_valid_ft(double *ref_time, double pt[3], double *rad);
+
+ // Return the nearest catapult to the given point
+ // pt in wgs84 coordinates.
+ double get_cat_m(double t, const double pt[3],
+ double end[2][3], double vel[2][3]);
+ double get_cat_ft(double t, const double pt[3],
+ double end[2][3], double vel[2][3]);
+
+ // Return the altitude above ground below the wgs84 point pt
+ // Search for the nearest triangle to pt.
+ // Return ground properties like the ground type, the maximum load
+ // this kind kind of ground can carry, the friction factor between
+ // 0 and 1 which can be used to model lower friction with wet runways
+ // and finally the altitude above ground.
+ bool 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);
+ bool 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);
+
+ // Return the altitude above ground below the wgs84 point pt
+ // Search for the nearest triangle to pt.
+ // Return ground properties like the ground type, a pointer to the
+ // material and finally the altitude above ground.
+ bool get_agl_m(double t, const double pt[3], double max_altoff,
+ double contact[3], double normal[3], double vel[3],
+ int *type, const SGMaterial** material, double *agl);
+ bool get_agl_ft(double t, const double pt[3], double max_altoff,
+ double contact[3], double normal[3], double vel[3],
+ int *type, const SGMaterial** material, double *agl);
+ double get_groundlevel_m(double lat, double lon, double alt);
+
+
+ // Return 1 if the hook intersects with a wire.
+ // That test is done by checking if the quad spanned by the points pt*
+ // intersects with the line representing the wire.
+ // If the wire is caught, the cache will trace this wires endpoints until
+ // the FDM calls release_wire().
+ bool caught_wire_m(double t, const double pt[4][3]);
+ bool caught_wire_ft(double t, const double pt[4][3]);
+
+ // Return the location and speed of the wire endpoints.
+ bool get_wire_ends_m(double t, double end[2][3], double vel[2][3]);
+ bool get_wire_ends_ft(double t, double end[2][3], double vel[2][3]);
-// General interface to the flight model routines
+ // Tell the cache code that it does no longer need to care for
+ // the wire end position.
+ void release_wire(void);
+};
-// Set the altitude (force)
-void fgFDMForceAltitude(const string &model, double alt_meters);
+extern FGInterface * cur_fdm_state;
-// Set the local ground elevation
-void fgFDMSetGroundElevation(const string &model, double alt_meters);
+// Toggle data logging on/off
+void fgToggleFDMdataLogging(void);
#endif // _FLIGHT_HXX
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