//
// 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.
//
// $Id$
`FGInterface::get_Psi ()'
`FGInterface::get_V_equiv_kts ()'
- `FGInterface::get_Mass ()'
- `FGInterface::get_I_xx ()'
- `FGInterface::get_I_yy ()'
- `FGInterface::get_I_zz ()'
- `FGInterface::get_I_xz ()'
-
`FGInterface::get_V_north ()'
`FGInterface::get_V_east ()'
`FGInterface::get_V_down ()'
`FGInterface::get_Dy_cg ()'
`FGInterface::get_Dz_cg ()'
- `FGInterface::get_T_local_to_body_11 ()' ... `FGInterface::get_T_local_to_body_33 ()'
-
`FGInterface::get_Radius_to_vehicle ()'
*/
#include <simgear/compiler.h>
#include <simgear/constants.h>
#include <simgear/structure/subsystem_mgr.hxx>
-
-SG_USING_STD(list);
-SG_USING_STD(vector);
-SG_USING_STD(string);
-
-class FGAircraftModel;
-
-
-typedef double FG_VECTOR_3[3];
+#include <FDM/groundcache.hxx>
+
+using std::list;
+using std::vector;
+using std::string;
+
+/**
+ * A little helper class to update the track if
+ * the position has changed. In the constructor,
+ * create a copy of the current position and store
+ * references to the position object and the track
+ * variable to update.
+ * The destructor, called at TrackComputer's end of
+ * life/visibility, computes the track if the
+ * position has changed.
+ */
+class TrackComputer {
+public:
+ inline TrackComputer( double & track, const SGGeod & position ) :
+ _track( track ),
+ _position( position ),
+ _prevPosition( position ) {
+ }
+
+ inline ~TrackComputer() {
+ if( _prevPosition == _position ) return;
+ _track = SGGeodesy::courseDeg( _prevPosition, _position );
+ }
+private:
+ double & _track;
+ const SGGeod & _position;
+ const SGGeod _prevPosition;
+};
// This is based heavily on LaRCsim/ls_generic.h
class FGInterface : public SGSubsystem {
// 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
- 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;
-
// CG position w.r.t. ref. point
- FG_VECTOR_3 d_cg_rp_body_v;
-
- // Forces
- FG_VECTOR_3 f_body_total_v;
- FG_VECTOR_3 f_local_total_v;
- FG_VECTOR_3 f_aero_v;
- FG_VECTOR_3 f_engine_v;
- FG_VECTOR_3 f_gear_v;
-
- // Moments
- FG_VECTOR_3 m_total_rp_v;
- FG_VECTOR_3 m_total_cg_v;
- FG_VECTOR_3 m_aero_v;
- FG_VECTOR_3 m_engine_v;
- FG_VECTOR_3 m_gear_v;
+ SGVec3d d_cg_rp_body_v;
// Accelerations
- FG_VECTOR_3 v_dot_local_v;
- FG_VECTOR_3 v_dot_body_v;
- FG_VECTOR_3 a_cg_body_v;
- FG_VECTOR_3 a_pilot_body_v;
- FG_VECTOR_3 n_cg_body_v;
- FG_VECTOR_3 n_pilot_body_v;
- FG_VECTOR_3 omega_dot_body_v;
+ SGVec3d v_dot_local_v;
+ SGVec3d v_dot_body_v;
+ SGVec3d a_cg_body_v;
+ SGVec3d a_pilot_body_v;
+ SGVec3d n_cg_body_v;
+ SGVec3d omega_dot_body_v;
// Velocities
- FG_VECTOR_3 v_local_v;
- FG_VECTOR_3 v_local_rel_ground_v; // V rel w.r.t. earth surface
- FG_VECTOR_3 v_local_airmass_v; // velocity of airmass (steady winds)
- FG_VECTOR_3 v_local_rel_airmass_v; // velocity of veh. relative to airmass
- FG_VECTOR_3 v_local_gust_v; // linear turbulence components, L frame
- FG_VECTOR_3 v_wind_body_v; // Wind-relative velocities in body axis
-
- FG_VECTOR_3 omega_body_v; // Angular B rates
- FG_VECTOR_3 omega_local_v; // Angular L rates
- FG_VECTOR_3 omega_total_v; // Diff btw B & L
- FG_VECTOR_3 euler_rates_v;
- FG_VECTOR_3 geocentric_rates_v; // Geocentric linear velocities
-
- // Positions
- FG_VECTOR_3 geocentric_position_v;
- FG_VECTOR_3 geodetic_position_v;
- FG_VECTOR_3 euler_angles_v;
+ SGVec3d v_local_v;
+ SGVec3d v_local_rel_ground_v; // V rel w.r.t. earth surface
+ SGVec3d v_local_airmass_v; // velocity of airmass (steady winds)
+ SGVec3d v_wind_body_v; // Wind-relative velocities in body axis
- // Miscellaneous Quantities
- FG_VECTOR_3 d_cg_rwy_local_v; // CG rel. to rwy in local coords
- FG_VECTOR_3 d_cg_rwy_rwy_v; // CG relative to rwy, in rwy coordinates
- FG_VECTOR_3 d_pilot_rwy_local_v; // pilot rel. to rwy in local coords
- FG_VECTOR_3 d_pilot_rwy_rwy_v; // pilot rel. to rwy, in rwy coords.
+ SGVec3d omega_body_v; // Angular B rates
+ SGVec3d euler_rates_v;
+ SGVec3d geocentric_rates_v; // Geocentric linear velocities
- // Inertias
- double mass, i_xx, i_yy, i_zz, i_xz;
+ // Positions
+ SGGeod geodetic_position_v;
+ SGVec3d cartesian_position_v;
+ SGGeoc geocentric_position_v;
+ SGVec3d euler_angles_v;
// Normal Load Factor
double nlf;
// Velocities
- double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
- double v_ground_speed, v_equiv, v_equiv_kts;
- double v_calibrated, v_calibrated_kts;
+ double v_rel_wind, v_true_kts;
+ double v_ground_speed, v_equiv_kts;
+ double v_calibrated_kts;
// Miscellaneious Quantities
- double t_local_to_body_m[3][3]; // Transformation matrix L to B
- double gravity; // Local acceleration due to G
- double centrifugal_relief; // load factor reduction due to speed
- double alpha, beta, alpha_dot, beta_dot; // in radians
- double cos_alpha, sin_alpha, cos_beta, sin_beta;
- double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
- double gamma_vert_rad, gamma_horiz_rad; // Flight path angles
- double sigma, density, v_sound, mach_number;
- double static_pressure, total_pressure, impact_pressure;
+ double alpha, beta; // in radians
+ double gamma_vert_rad; // Flight path angles
+ double density, mach_number;
+ double static_pressure, total_pressure;
double dynamic_pressure;
double static_temperature, total_temperature;
double sea_level_radius, earth_position_angle;
- double runway_altitude, runway_latitude, runway_longitude;
- double runway_heading;
- double radius_to_rwy;
+ double runway_altitude;
double climb_rate; // in feet per second
- double sin_lat_geocentric, cos_lat_geocentric;
- double sin_longitude, cos_longitude;
- double sin_latitude, cos_latitude;
double altitude_agl;
+ double track;
- 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;
+ void set_A_X_pilot(double x)
+ { _set_Accels_Pilot_Body(x, a_pilot_body_v[1], a_pilot_body_v[2]); }
+
+ void set_A_Y_pilot(double y)
+ { _set_Accels_Pilot_Body(a_pilot_body_v[0], y, a_pilot_body_v[2]); }
+
+ void set_A_Z_pilot(double z)
+ { _set_Accels_Pilot_Body(a_pilot_body_v[0], a_pilot_body_v[1], z); }
+
protected:
int _calc_multiloop (double dt);
void _setup();
void _busdump(void);
+ void _updatePositionM(const SGVec3d& cartPos);
+ void _updatePositionFt(const SGVec3d& cartPos) {
+ _updatePositionM(SG_FEET_TO_METER*cartPos);
+ }
+ void _updatePosition(const SGGeod& geod);
+ void _updatePosition(const SGGeoc& geoc);
+
void _updateGeodeticPosition( double lat, double lon, double alt );
void _updateGeocentricPosition( double lat_geoc, double lon, double alt );
- void _updateWeather( void );
+ void _update_ground_elev_at_pos( void );
- inline void _set_Inertias( double m, double xx, double yy,
- double zz, double xz)
- {
- mass = m;
- i_xx = xx;
- i_yy = yy;
- i_zz = zz;
- i_xz = xz;
- }
inline void _set_CG_Position( double dx, double dy, double dz ) {
d_cg_rp_body_v[0] = dx;
d_cg_rp_body_v[1] = dy;
euler_rates_v[1] = theta;
euler_rates_v[2] = psi;
}
+
+ void set_Phi_dot_degps(double x)
+ {
+ euler_rates_v[0] = x * SG_DEGREES_TO_RADIANS;
+ }
+
+ void set_Theta_dot_degps(double x)
+ {
+ euler_rates_v[1] = x * SG_DEGREES_TO_RADIANS;
+ }
+
+ void set_Psi_dot_degps(double x)
+ {
+ euler_rates_v[2] = x * SG_DEGREES_TO_RADIANS;
+ }
+
inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
geocentric_rates_v[0] = lat;
geocentric_rates_v[1] = lon;
geocentric_rates_v[2] = rad;
}
-#if 0
- inline void _set_Radius_to_vehicle(double radius) {
- geocentric_position_v[2] = radius;
- }
-#endif
inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
- geocentric_position_v[0] = lat;
- geocentric_position_v[1] = lon;
- geocentric_position_v[2] = rad;
+ geocentric_position_v.setLatitudeRad(lat);
+ geocentric_position_v.setLongitudeRad(lon);
+ geocentric_position_v.setRadiusFt(rad);
+ }
+/* Don't call _set_L[at|ong]itude() directly, use _set_Geodetic_Position() instead.
+ These methods can't update the track.
+ *
+ inline void _set_Latitude(double lat) {
+ geodetic_position_v.setLatitudeRad(lat);
+ }
+ inline void _set_Longitude(double lon) {
+ geodetic_position_v.setLongitudeRad(lon);
}
- inline void _set_Latitude(double lat) { geodetic_position_v[0] = lat; }
- inline void _set_Longitude(double lon) { geodetic_position_v[1] = lon; }
+*/
inline void _set_Altitude(double altitude) {
- geodetic_position_v[2] = altitude;
+ geodetic_position_v.setElevationFt(altitude);
}
inline void _set_Altitude_AGL(double agl) {
altitude_agl = agl;
}
+ inline void _set_Geodetic_Position( double lat, double lon ) {
+ _set_Geodetic_Position( lat, lon, geodetic_position_v.getElevationFt());
+ }
inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
- geodetic_position_v[0] = lat;
- geodetic_position_v[1] = lon;
- geodetic_position_v[2] = alt;
+ TrackComputer tracker( track, geodetic_position_v );
+ geodetic_position_v.setLatitudeRad(lat);
+ geodetic_position_v.setLongitudeRad(lon);
+ geodetic_position_v.setElevationFt(alt);
}
inline void _set_Euler_Angles( double phi, double theta, double psi ) {
euler_angles_v[0] = phi;
euler_angles_v[1] = theta;
euler_angles_v[2] = psi;
}
- inline void _set_T_Local_to_Body( int i, int j, double value) {
- t_local_to_body_m[i-1][j-1] = value;
- }
- inline void _set_T_Local_to_Body( double m[3][3] ) {
- int i, j;
- for ( i = 0; i < 3; i++ ) {
- for ( j = 0; j < 3; j++ ) {
- t_local_to_body_m[i][j] = m[i][j];
- }
- }
- }
+ // FIXME, for compatibility with JSBSim
+ inline void _set_T_Local_to_Body( int i, int j, double value) { }
inline void _set_Alpha( double a ) { alpha = a; }
inline void _set_Beta( double b ) { beta = b; }
- inline void _set_Cos_phi( double cp ) { cos_phi = cp; }
- inline void _set_Cos_theta( double ct ) { cos_theta = ct; }
+
+ inline void set_Alpha_deg( double a ) { alpha = a * SG_DEGREES_TO_RADIANS; }
+
inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
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) {
- sin_lat_geocentric = sin(parm);
- }
- inline void _set_cos_lat_geocentric(double parm) {
- cos_lat_geocentric = cos(parm);
- }
- inline void _set_sin_cos_longitude(double parm) {
- sin_longitude = sin(parm);
- cos_longitude = cos(parm);
- }
- inline void _set_sin_cos_latitude(double parm) {
- sin_latitude = sin(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:
//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; }
-
// Positions
virtual void set_Latitude(double lat); // geocentric
virtual void set_Longitude(double lon);
// ========== Mass properties and geometry values ==========
- // Inertias
- inline double get_Mass() const { return mass; }
- inline double get_I_xx() const { return i_xx; }
- inline double get_I_yy() const { return i_yy; }
- inline double get_I_zz() const { return i_zz; }
- inline double get_I_xz() const { return i_xz; }
-
- // Pilot location rel to ref pt
- // inline double * get_D_pilot_rp_body_v() {
- // return d_pilot_rp_body_v;
- // }
- // inline double get_Dx_pilot() const { return d_pilot_rp_body_v[0]; }
- // inline double get_Dy_pilot() const { return d_pilot_rp_body_v[1]; }
- // inline double get_Dz_pilot() const { return d_pilot_rp_body_v[2]; }
- /* inline void set_Pilot_Location( double dx, double dy, double dz ) {
- d_pilot_rp_body_v[0] = dx;
- d_pilot_rp_body_v[1] = dy;
- d_pilot_rp_body_v[2] = dz;
- } */
-
// CG position w.r.t. ref. point
- // inline double * get_D_cg_rp_body_v() { return d_cg_rp_body_v; }
inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; }
inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; }
inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
- // ========== Forces ==========
-
- // inline double * get_F_body_total_v() { return f_body_total_v; }
- // inline double get_F_X() const { return f_body_total_v[0]; }
- // inline double get_F_Y() const { return f_body_total_v[1]; }
- // inline double get_F_Z() const { return f_body_total_v[2]; }
- /* inline void set_Forces_Body_Total( double x, double y, double z ) {
- f_body_total_v[0] = x;
- f_body_total_v[1] = y;
- f_body_total_v[2] = z;
- } */
-
- // inline double * get_F_local_total_v() { return f_local_total_v; }
- // inline double get_F_north() const { return f_local_total_v[0]; }
- // inline double get_F_east() const { return f_local_total_v[1]; }
- // inline double get_F_down() const { return f_local_total_v[2]; }
- /* inline void set_Forces_Local_Total( double x, double y, double z ) {
- f_local_total_v[0] = x;
- f_local_total_v[1] = y;
- f_local_total_v[2] = z;
- } */
-
- // inline double * get_F_aero_v() { return f_aero_v; }
- // inline double get_F_X_aero() const { return f_aero_v[0]; }
- // inline double get_F_Y_aero() const { return f_aero_v[1]; }
- // inline double get_F_Z_aero() const { return f_aero_v[2]; }
- /* inline void set_Forces_Aero( double x, double y, double z ) {
- f_aero_v[0] = x;
- f_aero_v[1] = y;
- f_aero_v[2] = z;
- } */
-
- // inline double * get_F_engine_v() { return f_engine_v; }
- // inline double get_F_X_engine() const { return f_engine_v[0]; }
- // inline double get_F_Y_engine() const { return f_engine_v[1]; }
- // inline double get_F_Z_engine() const { return f_engine_v[2]; }
- /* inline void set_Forces_Engine( double x, double y, double z ) {
- f_engine_v[0] = x;
- f_engine_v[1] = y;
- f_engine_v[2] = z;
- } */
-
- // inline double * get_F_gear_v() { return f_gear_v; }
- // inline double get_F_X_gear() const { return f_gear_v[0]; }
- // inline double get_F_Y_gear() const { return f_gear_v[1]; }
- // inline double get_F_Z_gear() const { return f_gear_v[2]; }
- /* inline void set_Forces_Gear( double x, double y, double z ) {
- f_gear_v[0] = x;
- f_gear_v[1] = y;
- f_gear_v[2] = z;
- } */
-
- // ========== Moments ==========
-
- // inline double * get_M_total_rp_v() { return m_total_rp_v; }
- // inline double get_M_l_rp() const { return m_total_rp_v[0]; }
- // inline double get_M_m_rp() const { return m_total_rp_v[1]; }
- // inline double get_M_n_rp() const { return m_total_rp_v[2]; }
- /* inline void set_Moments_Total_RP( double l, double m, double n ) {
- m_total_rp_v[0] = l;
- m_total_rp_v[1] = m;
- m_total_rp_v[2] = n;
- } */
-
- // inline double * get_M_total_cg_v() { return m_total_cg_v; }
- // inline double get_M_l_cg() const { return m_total_cg_v[0]; }
- // inline double get_M_m_cg() const { return m_total_cg_v[1]; }
- // inline double get_M_n_cg() const { return m_total_cg_v[2]; }
- /* inline void set_Moments_Total_CG( double l, double m, double n ) {
- m_total_cg_v[0] = l;
- m_total_cg_v[1] = m;
- m_total_cg_v[2] = n;
- } */
-
- // inline double * get_M_aero_v() { return m_aero_v; }
- // inline double get_M_l_aero() const { return m_aero_v[0]; }
- // inline double get_M_m_aero() const { return m_aero_v[1]; }
- // inline double get_M_n_aero() const { return m_aero_v[2]; }
- /* inline void set_Moments_Aero( double l, double m, double n ) {
- m_aero_v[0] = l;
- m_aero_v[1] = m;
- m_aero_v[2] = n;
- } */
-
- // inline double * get_M_engine_v() { return m_engine_v; }
- // inline double get_M_l_engine() const { return m_engine_v[0]; }
- // inline double get_M_m_engine() const { return m_engine_v[1]; }
- // inline double get_M_n_engine() const { return m_engine_v[2]; }
- /* inline void set_Moments_Engine( double l, double m, double n ) {
- m_engine_v[0] = l;
- m_engine_v[1] = m;
- m_engine_v[2] = n;
- } */
-
- // inline double * get_M_gear_v() { return m_gear_v; }
- // inline double get_M_l_gear() const { return m_gear_v[0]; }
- // inline double get_M_m_gear() const { return m_gear_v[1]; }
- // inline double get_M_n_gear() const { return m_gear_v[2]; }
- /* inline void set_Moments_Gear( double l, double m, double n ) {
- m_gear_v[0] = l;
- m_gear_v[1] = m;
- m_gear_v[2] = n;
- } */
-
// ========== Accelerations ==========
- // inline double * get_V_dot_local_v() { return v_dot_local_v; }
inline double get_V_dot_north() const { return v_dot_local_v[0]; }
inline double get_V_dot_east() const { return v_dot_local_v[1]; }
inline double get_V_dot_down() const { return v_dot_local_v[2]; }
- // inline double * get_V_dot_body_v() { return v_dot_body_v; }
inline double get_U_dot_body() const { return v_dot_body_v[0]; }
inline double get_V_dot_body() const { return v_dot_body_v[1]; }
inline double get_W_dot_body() const { return v_dot_body_v[2]; }
- // inline double * get_A_cg_body_v() { return a_cg_body_v; }
inline double get_A_X_cg() const { return a_cg_body_v[0]; }
inline double get_A_Y_cg() const { return a_cg_body_v[1]; }
inline double get_A_Z_cg() const { return a_cg_body_v[2]; }
- // inline double * get_A_pilot_body_v() { return a_pilot_body_v; }
inline double get_A_X_pilot() const { return a_pilot_body_v[0]; }
inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; }
inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; }
- // inline double * get_N_cg_body_v() { return n_cg_body_v; }
inline double get_N_X_cg() const { return n_cg_body_v[0]; }
inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
- // inline double * get_N_pilot_body_v() { return n_pilot_body_v; }
- // inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
- // inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; }
- // inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; }
- // inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
- // n_pilot_body_v[0] = x;
- // n_pilot_body_v[1] = y;
- // n_pilot_body_v[2] = z;
- // }
-
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_Q_dot_body() const { return omega_dot_body_v[1]; }
- // inline double get_R_dot_body() const { return omega_dot_body_v[2]; }
- /* inline void set_Accels_Omega( double p, double q, double r ) {
- omega_dot_body_v[0] = p;
- omega_dot_body_v[1] = q;
- omega_dot_body_v[2] = r;
- } */
-
-
// ========== Velocities ==========
- // inline double * get_V_local_v() { return v_local_v; }
inline double get_V_north() const { return v_local_v[0]; }
inline double get_V_east() const { return v_local_v[1]; }
inline double get_V_down() const { return v_local_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];
}
}
// <--- 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_east_airmass() const { return v_local_airmass_v[1]; }
inline double get_V_down_airmass() const { return v_local_airmass_v[2]; }
- // airmass
- // inline double * get_V_local_rel_airmass_v() {
- // return v_local_rel_airmass_v;
- // }
- // inline double get_V_north_rel_airmass() const {
- // return v_local_rel_airmass_v[0];
- // }
- // inline double get_V_east_rel_airmass() const {
- // return v_local_rel_airmass_v[1];
- // }
- // inline double get_V_down_rel_airmass() const {
- // return v_local_rel_airmass_v[2];
- // }
- /* inline void set_Velocities_Local_Rel_Airmass( double north, double east,
- double down)
- {
- v_local_rel_airmass_v[0] = north;
- v_local_rel_airmass_v[1] = east;
- v_local_rel_airmass_v[2] = down;
- } */
-
- // inline double * get_V_local_gust_v() { return v_local_gust_v; }
- // inline double get_U_gust() const { return v_local_gust_v[0]; }
- // inline double get_V_gust() const { return v_local_gust_v[1]; }
- // inline double get_W_gust() const { return v_local_gust_v[2]; }
- /* inline void set_Velocities_Gust( double u, double v, double w)
- {
- v_local_gust_v[0] = u;
- v_local_gust_v[1] = v;
- v_local_gust_v[2] = w;
- } */
-
- // inline double * get_V_wind_body_v() { return v_wind_body_v; }
inline double get_U_body() const { return v_wind_body_v[0]; }
inline double get_V_body() const { return v_wind_body_v[1]; }
inline double get_W_body() const { return v_wind_body_v[2]; }
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 void set_V_true_kts(double kts) { v_true_kts = kts; }
-
- // inline double get_V_rel_ground() const { return v_rel_ground; }
- // inline void set_V_rel_ground( double v ) { v_rel_ground = v; }
-
- // inline double get_V_inertial() const { return v_inertial; }
- // inline void set_V_inertial(double v) { v_inertial = v; }
inline double get_V_ground_speed() const { return v_ground_speed; }
-
- // inline double get_V_equiv() const { return v_equiv; }
- // inline void set_V_equiv( double v ) { v_equiv = v; }
+ inline double get_V_ground_speed_kt() const { return v_ground_speed * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM; }
+ inline void set_V_ground_speed_kt(double ground_speed) { v_ground_speed = ground_speed / ( SG_FEET_TO_METER * 3600 * SG_METER_TO_NM); }
inline double get_V_equiv_kts() const { return v_equiv_kts; }
- //inline double get_V_calibrated() const { return v_calibrated; }
- //inline void set_V_calibrated( double v ) { v_calibrated = v; }
-
inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
- // inline double * get_Omega_body_v() { return omega_body_v; }
inline double get_P_body() const { return omega_body_v[0]; }
inline double get_Q_body() const { return omega_body_v[1]; }
inline double get_R_body() const { return omega_body_v[2]; }
- // inline double * get_Omega_local_v() { return omega_local_v; }
- // inline double get_P_local() const { return omega_local_v[0]; }
- // inline double get_Q_local() const { return omega_local_v[1]; }
- // inline double get_R_local() const { return omega_local_v[2]; }
- /* inline void set_Omega_Local( double p, double q, double r ) {
- omega_local_v[0] = p;
- omega_local_v[1] = q;
- omega_local_v[2] = r;
- } */
-
- // inline double * get_Omega_total_v() { return omega_total_v; }
- // inline double get_P_total() const { return omega_total_v[0]; }
- // inline double get_Q_total() const { return omega_total_v[1]; }
- // inline double get_R_total() const { return omega_total_v[2]; }
- /* inline void set_Omega_Total( double p, double q, double r ) {
- omega_total_v[0] = p;
- omega_total_v[1] = q;
- omega_total_v[2] = r;
- } */
-
- // inline double * get_Euler_rates_v() { return euler_rates_v; }
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_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_Longitude_dot() const { return geocentric_rates_v[1]; }
inline double get_Radius_dot() const { return geocentric_rates_v[2]; }
// ========== Positions ==========
- // inline double * get_Geocentric_position_v() {
- // return geocentric_position_v;
- // }
inline double get_Lat_geocentric() const {
- return geocentric_position_v[0];
+ return geocentric_position_v.getLatitudeRad();
}
inline double get_Lon_geocentric() const {
- return geocentric_position_v[1];
+ return geocentric_position_v.getLongitudeRad();
}
inline double get_Radius_to_vehicle() const {
- return geocentric_position_v[2];
+ return geocentric_position_v.getRadiusFt();
}
- // inline double * get_Geodetic_position_v() { return geodetic_position_v; }
- inline double get_Latitude() const { return geodetic_position_v[0]; }
- inline double get_Longitude() const { return geodetic_position_v[1]; }
- inline double get_Altitude() const { return geodetic_position_v[2]; }
+ const SGGeod& getPosition() const { return geodetic_position_v; }
+ const SGGeoc& getGeocPosition() const { return geocentric_position_v; }
+ const SGVec3d& getCartPosition() const { return cartesian_position_v; }
+
+ inline double get_Latitude() const {
+ return geodetic_position_v.getLatitudeRad();
+ }
+ inline double get_Longitude() const {
+ return geodetic_position_v.getLongitudeRad();
+ }
+ inline double get_Altitude() const {
+ return geodetic_position_v.getElevationFt();
+ }
inline double get_Altitude_AGL(void) const { return altitude_agl; }
+ inline double get_Track(void) const { return track; }
inline double get_Latitude_deg () const {
- return get_Latitude() * SGD_RADIANS_TO_DEGREES;
+ return geodetic_position_v.getLatitudeDeg();
}
inline double get_Longitude_deg () const {
- return get_Longitude() * SGD_RADIANS_TO_DEGREES;
+ return geodetic_position_v.getLongitudeDeg();
}
- // 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]; }
// ========== Miscellaneous quantities ==========
- // inline double * get_T_local_to_body_m() { return t_local_to_body_m; }
- inline double get_T_local_to_body_11() const {
- return t_local_to_body_m[0][0];
- }
- inline double get_T_local_to_body_12() const {
- return t_local_to_body_m[0][1];
- }
- inline double get_T_local_to_body_13() const {
- return t_local_to_body_m[0][2];
- }
- inline double get_T_local_to_body_21() const {
- return t_local_to_body_m[1][0];
- }
- inline double get_T_local_to_body_22() const {
- return t_local_to_body_m[1][1];
- }
- inline double get_T_local_to_body_23() const {
- return t_local_to_body_m[1][2];
- }
- inline double get_T_local_to_body_31() const {
- return t_local_to_body_m[2][0];
- }
- inline double get_T_local_to_body_32() const {
- return t_local_to_body_m[2][1];
- }
- inline double get_T_local_to_body_33() const {
- return t_local_to_body_m[2][2];
- }
-
- // inline double get_Gravity() const { return gravity; }
- // inline void set_Gravity(double g) { gravity = g; }
-
- // inline double get_Centrifugal_relief() const {
- // return centrifugal_relief;
- // }
- // inline void set_Centrifugal_relief(double cr) {
- // centrifugal_relief = cr;
- // }
-
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_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 void set_Beta_dot( double bd ) { beta_dot = bd; }
-
- // inline double get_Cos_alpha() const { return cos_alpha; }
- // inline void set_Cos_alpha( double ca ) { cos_alpha = ca; }
- // inline double get_Sin_alpha() const { return sin_alpha; }
- // inline void set_Sin_alpha( double sa ) { sin_alpha = sa; }
- // inline double get_Cos_beta() const { return cos_beta; }
- // inline void set_Cos_beta( double cb ) { cos_beta = cb; }
- // inline double get_Sin_beta() const { return sin_beta; }
- // inline void set_Sin_beta( double sb ) { sin_beta = sb; }
-
- inline double get_Cos_phi() const { return cos_phi; }
- // inline double get_Sin_phi() const { return sin_phi; }
- // inline void set_Sin_phi( double sp ) { sin_phi = sp; }
- inline double get_Cos_theta() const { return cos_theta; }
- // inline double get_Sin_theta() const { return sin_theta; }
- // inline void set_Sin_theta( double st ) { sin_theta = st; }
- // inline double get_Cos_psi() const { return cos_psi; }
- // inline void set_Cos_psi( double cp ) { cos_psi = cp; }
- // inline double get_Sin_psi() const { return sin_psi; }
- // inline void set_Sin_psi( double sp ) { sin_psi = sp; }
-
inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
- // inline double get_Gamma_horiz_rad() const { return gamma_horiz_rad; }
- // inline void set_Gamma_horiz_rad( double gh ) { gamma_horiz_rad = gh; }
- // inline double get_Sigma() const { return sigma; }
- // inline void set_Sigma( double s ) { sigma = s; }
inline double get_Density() const { return density; }
- // inline double get_V_sound() const { return v_sound; }
- // inline void set_V_sound( double v ) { v_sound = v; }
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 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 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 void set_Total_temperature( double t ) { total_temperature = t; }
inline double get_Sea_level_radius() const { return sea_level_radius; }
inline double get_Earth_position_angle() const {
}
inline double get_Runway_altitude() const { return 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; }
- // inline void set_Runway_longitude( double lon ) {
- // runway_longitude = lon;
- // }
- // inline double get_Runway_heading() const { return runway_heading; }
- // inline void set_Runway_heading( double h ) { runway_heading = h; }
-
- // inline double get_Radius_to_rwy() const { return radius_to_rwy; }
- // inline void set_Radius_to_rwy( double r ) { radius_to_rwy = r; }
-
- // inline double * get_D_cg_rwy_local_v() { return d_cg_rwy_local_v; }
- // inline double get_D_cg_north_of_rwy() const {
- // return d_cg_rwy_local_v[0];
- // }
- // inline double get_D_cg_east_of_rwy() const {
- // return d_cg_rwy_local_v[1];
- // }
- // inline double get_D_cg_above_rwy() const { return d_cg_rwy_local_v[2]; }
- /* inline void set_CG_Rwy_Local( double north, double east, double above )
- {
- d_cg_rwy_local_v[0] = north;
- d_cg_rwy_local_v[1] = east;
- d_cg_rwy_local_v[2] = above;
- } */
-
- // inline double * get_D_cg_rwy_rwy_v() { return d_cg_rwy_rwy_v; }
- // inline double get_X_cg_rwy() const { return d_cg_rwy_rwy_v[0]; }
- // inline double get_Y_cg_rwy() const { return d_cg_rwy_rwy_v[1]; }
- // inline double get_H_cg_rwy() const { return d_cg_rwy_rwy_v[2]; }
- /* inline void set_CG_Rwy_Rwy( double x, double y, double h )
- {
- d_cg_rwy_rwy_v[0] = x;
- d_cg_rwy_rwy_v[1] = y;
- d_cg_rwy_rwy_v[2] = h;
- } */
-
- // inline double * get_D_pilot_rwy_local_v() { return d_pilot_rwy_local_v; }
- // inline double get_D_pilot_north_of_rwy() const {
- // return d_pilot_rwy_local_v[0];
- // }
- // inline double get_D_pilot_east_of_rwy() const {
- // return d_pilot_rwy_local_v[1];
- // }
- // inline double get_D_pilot_above_rwy() const {
- // return d_pilot_rwy_local_v[2];
- // }
- /* inline void set_Pilot_Rwy_Local( double north, double east, double above )
- {
- d_pilot_rwy_local_v[0] = north;
- d_pilot_rwy_local_v[1] = east;
- d_pilot_rwy_local_v[2] = above;
- } */
-
- // inline double * get_D_pilot_rwy_rwy_v() { return d_pilot_rwy_rwy_v; }
- // inline double get_X_pilot_rwy() const { return d_pilot_rwy_rwy_v[0]; }
- // inline double get_Y_pilot_rwy() const { return d_pilot_rwy_rwy_v[1]; }
- // inline double get_H_pilot_rwy() const { return d_pilot_rwy_rwy_v[2]; }
- /* inline void set_Pilot_Rwy_Rwy( double x, double y, double h )
- {
- d_pilot_rwy_rwy_v[0] = x;
- d_pilot_rwy_rwy_v[1] = y;
- d_pilot_rwy_rwy_v[2] = h;
- } */
+ inline double get_Runway_altitude_m() const { return SG_FEET_TO_METER * runway_altitude; }
inline double get_Climb_Rate() const { return climb_rate; }
- // inline SGTimeStamp get_time_stamp() const { return valid_stamp; }
- // inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
-
- // Extrapolate FDM based on time_offset (in usec)
- void extrapolate( int time_offset );
-
- // sin/cos lat_geocentric
- inline double get_sin_lat_geocentric(void) const {
- return sin_lat_geocentric;
- }
- inline double get_cos_lat_geocentric(void) const {
- return cos_lat_geocentric;
- }
-
- inline double get_sin_longitude(void) const {
- return sin_longitude;
- }
- inline double get_cos_longitude(void) const {
- return cos_longitude;
- }
-
- inline double get_sin_latitude(void) const {
- return sin_latitude;
- }
- inline double get_cos_latitude(void) const {
- return cos_latitude;
- }
-
- // 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]; }
-
// Note that currently this is the "same" value runway altitude...
inline double get_ground_elev_ft() const { return runway_altitude; }
-};
-
-
-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;
+ //////////////////////////////////////////////////////////////////////////
+ // Ground handling routines
+ //////////////////////////////////////////////////////////////////////////
-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 startSimTime, double endSimTime,
+ const double pt[3], double rad);
+ bool prepare_ground_cache_ft(double startSimTime, double endSimTime,
+ const double pt[3], double rad);
-// General interface to the flight model routines
+ // 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]);
+
-// Toggle data logging on/off
-void fgToggleFDMdataLogging(void);
+ // Return the orientation and position matrix and the linear and angular
+ // velocity of that local coordinate systems origin for a given time and
+ // body id. The velocities are in the wgs84 frame at the bodys origin.
+ bool get_body_m(double t, simgear::BVHNode::Id id, double bodyToWorld[16],
+ double linearVel[3], double angularVel[3]);
+
+
+ // Return the altitude above ground below the wgs84 point pt
+ // Search for the nearest triangle to pt in downward direction.
+ // Return ground properties. The velocities are in the wgs84 frame at the
+ // contact point.
+ bool 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);
+ bool 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);
+ double get_groundlevel_m(double lat, double lon, double alt);
+ double get_groundlevel_m(const SGGeod& geod);
+
+
+ // Return the nearest point in any direction to the point pt with a maximum
+ // distance maxDist. The velocities are in the wgs84 frame at the query
+ // position pt.
+ bool 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);
+ bool 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);
+
+
+ // 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]);
+ // Tell the cache code that it does no longer need to care for
+ // the wire end position.
+ void release_wire(void);
+};
#endif // _FLIGHT_HXX
projects / flightgear.git / blobdiff