`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 ()'
#include <simgear/structure/subsystem_mgr.hxx>
#include <FDM/groundcache.hxx>
-SG_USING_STD(list);
-SG_USING_STD(vector);
-SG_USING_STD(string);
+using std::list;
+using std::vector;
+using std::string;
// 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 remainder; // remainder time from last run
-
// CG position w.r.t. ref. point
SGVec3d d_cg_rp_body_v;
SGGeoc geocentric_position_v;
SGVec3d euler_angles_v;
- // Inertias
- double mass, i_xx, i_yy, i_zz, i_xz;
-
// Normal Load Factor
double nlf;
void _updateGeocentricPosition( double lat_geoc, double lon, double alt );
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;
// ========== 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; }
-
// CG position w.r.t. ref. point
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]; }
// Ground handling routines
//////////////////////////////////////////////////////////////////////////
- enum GroundType {
- Unknown = 0, //??
- Solid, // Whatever we will roll on with infinite load factor.
- Water, // For the beaver ...
- Catapult, // Carrier cats.
- Wire // Carrier wires.
- };
-
// 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);
+ 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);
// Returns true if the cache is valid.
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_m(double t, const double pt[3],
- 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 contact[3], double normal[3], double vel[3],
- int *type, double *loadCapacity,
- double *frictionFactor, double *agl);
+ // 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.
- // Return ground properties like the ground type, a pointer to the
- // material and finally the altitude above ground.
+ // 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 vel[3],
- int *type, const SGMaterial** material, double *agl);
+ 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 vel[3],
- int *type, const SGMaterial** material, double *agl);
+ 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.
projects / flightgear.git / blobdiff