#include <math.h>
-#include <list>
-#include <vector>
-#include <string>
-
#include <simgear/compiler.h>
#include <simgear/constants.h>
#include <simgear/structure/subsystem_mgr.hxx>
#include <simgear/props/tiedpropertylist.hxx>
#include <FDM/groundcache.hxx>
-using std::list;
-using std::vector;
-using std::string;
+namespace simgear {
+class BVHMaterial;
+}
-class SGMaterial;
+class SGIOChannel;
/**
* A little helper class to update the track if
// Have we bound to the property system
bool bound;
+ double delta_loops;
+
// 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.
- // CG position w.r.t. ref. point
- SGVec3d d_cg_rp_body_v;
-
- // Accelerations
- 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
- 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
-
- SGVec3d omega_body_v; // Angular B rates
- SGVec3d euler_rates_v;
- SGVec3d geocentric_rates_v; // Geocentric linear velocities
-
- // 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;
- double v_ground_speed, v_equiv_kts;
- double v_calibrated_kts;
-
- // Miscellaneious Quantities
- 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;
- double climb_rate; // in feet per second
- double altitude_agl;
- double track;
-
+ /**
+ * encapsulate primary flight state. This is packaged so it can be
+ * (unfortunately) sent directly over the wire by the 'native' FDM
+ * protocol.
+ */
+ struct FlightState
+ {
+ // CG position w.r.t. ref. point
+ SGVec3d d_cg_rp_body_v;
+
+ // Accelerations
+ 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
+ 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_body_v; // ECEF velocities in body axis
+
+ SGVec3d omega_body_v; // Angular B rates
+ SGVec3d euler_rates_v;
+ SGVec3d geocentric_rates_v; // Geocentric linear velocities
+
+ // 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;
+ double v_ground_speed, v_equiv_kts;
+ double v_calibrated_kts;
+
+ // Miscellaneious Quantities
+ 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;
+ double climb_rate; // in feet per second
+ double altitude_agl;
+ double track;
+ };
+
+ FlightState _state;
+
simgear::TiedPropertyList _tiedProperties;
// 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]); }
+ { _set_Accels_Pilot_Body(x, _state.a_pilot_body_v[1], _state.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]); }
+ { _set_Accels_Pilot_Body(_state.a_pilot_body_v[0], y, _state.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); }
+ { _set_Accels_Pilot_Body(_state.a_pilot_body_v[0], _state.a_pilot_body_v[1], z); }
+
protected:
int _calc_multiloop (double dt);
void _update_ground_elev_at_pos( void );
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;
- d_cg_rp_body_v[2] = dz;
+ _state.d_cg_rp_body_v[0] = dx;
+ _state.d_cg_rp_body_v[1] = dy;
+ _state.d_cg_rp_body_v[2] = dz;
}
inline void _set_Accels_Local( double north, double east, double down ) {
- v_dot_local_v[0] = north;
- v_dot_local_v[1] = east;
- v_dot_local_v[2] = down;
+ _state.v_dot_local_v[0] = north;
+ _state.v_dot_local_v[1] = east;
+ _state.v_dot_local_v[2] = down;
}
inline void _set_Accels_Body( double u, double v, double w ) {
- v_dot_body_v[0] = u;
- v_dot_body_v[1] = v;
- v_dot_body_v[2] = w;
+ _state.v_dot_body_v[0] = u;
+ _state.v_dot_body_v[1] = v;
+ _state.v_dot_body_v[2] = w;
}
inline void _set_Accels_CG_Body( double x, double y, double z ) {
- a_cg_body_v[0] = x;
- a_cg_body_v[1] = y;
- a_cg_body_v[2] = z;
+ _state.a_cg_body_v[0] = x;
+ _state.a_cg_body_v[1] = y;
+ _state.a_cg_body_v[2] = z;
}
inline void _set_Accels_Pilot_Body( double x, double y, double z ) {
- a_pilot_body_v[0] = x;
- a_pilot_body_v[1] = y;
- a_pilot_body_v[2] = z;
+ _state.a_pilot_body_v[0] = x;
+ _state.a_pilot_body_v[1] = y;
+ _state.a_pilot_body_v[2] = z;
}
inline void _set_Accels_CG_Body_N( double x, double y, double z ) {
- n_cg_body_v[0] = x;
- n_cg_body_v[1] = y;
- n_cg_body_v[2] = z;
+ _state.n_cg_body_v[0] = x;
+ _state.n_cg_body_v[1] = y;
+ _state.n_cg_body_v[2] = z;
}
- void _set_Nlf(double n) { nlf=n; }
+ void _set_Nlf(double n) { _state.nlf=n; }
inline void _set_Velocities_Local( double north, double east, double down ){
- v_local_v[0] = north;
- v_local_v[1] = east;
- v_local_v[2] = down;
+ _state.v_local_v[0] = north;
+ _state.v_local_v[1] = east;
+ _state.v_local_v[2] = down;
}
inline void _set_Velocities_Ground(double north, double east, double down) {
- v_local_rel_ground_v[0] = north;
- v_local_rel_ground_v[1] = east;
- v_local_rel_ground_v[2] = down;
+ _state.v_local_rel_ground_v[0] = north;
+ _state.v_local_rel_ground_v[1] = east;
+ _state.v_local_rel_ground_v[2] = down;
}
inline void _set_Velocities_Local_Airmass( double north, double east,
double down)
{
- v_local_airmass_v[0] = north;
- v_local_airmass_v[1] = east;
- v_local_airmass_v[2] = down;
- }
- inline void _set_Velocities_Wind_Body( double u, double v, double w) {
- v_wind_body_v[0] = u;
- v_wind_body_v[1] = v;
- v_wind_body_v[2] = w;
- }
- inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; }
- inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
- inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
- inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
+ _state.v_local_airmass_v[0] = north;
+ _state.v_local_airmass_v[1] = east;
+ _state.v_local_airmass_v[2] = down;
+ }
+ inline void _set_Velocities_Body( double u, double v, double w) {
+ _state.v_body_v[0] = u;
+ _state.v_body_v[1] = v;
+ _state.v_body_v[2] = w;
+ }
+ inline void _set_V_rel_wind(double vt) { _state.v_rel_wind = vt; }
+ inline void _set_V_ground_speed( double v) { _state.v_ground_speed = v; }
+ inline void _set_V_equiv_kts( double kts ) { _state.v_equiv_kts = kts; }
+ inline void _set_V_calibrated_kts( double kts ) { _state.v_calibrated_kts = kts; }
inline void _set_Omega_Body( double p, double q, double r ) {
- omega_body_v[0] = p;
- omega_body_v[1] = q;
- omega_body_v[2] = r;
+ _state.omega_body_v[0] = p;
+ _state.omega_body_v[1] = q;
+ _state.omega_body_v[2] = r;
}
inline void _set_Euler_Rates( double phi, double theta, double psi ) {
- euler_rates_v[0] = phi;
- euler_rates_v[1] = theta;
- euler_rates_v[2] = psi;
+ _state.euler_rates_v[0] = phi;
+ _state.euler_rates_v[1] = theta;
+ _state.euler_rates_v[2] = psi;
}
void set_Phi_dot_degps(double x)
{
- euler_rates_v[0] = x * SG_DEGREES_TO_RADIANS;
+ _state.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;
+ _state.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;
+ _state.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;
+ _state.geocentric_rates_v[0] = lat;
+ _state.geocentric_rates_v[1] = lon;
+ _state.geocentric_rates_v[2] = rad;
}
inline void _set_Geocentric_Position( double lat, double lon, double rad ) {
- geocentric_position_v.setLatitudeRad(lat);
- geocentric_position_v.setLongitudeRad(lon);
- geocentric_position_v.setRadiusFt(rad);
+ _state.geocentric_position_v.setLatitudeRad(lat);
+ _state.geocentric_position_v.setLongitudeRad(lon);
+ _state.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_Altitude(double altitude) {
- geodetic_position_v.setElevationFt(altitude);
+ _state.geodetic_position_v.setElevationFt(altitude);
}
inline void _set_Altitude_AGL(double agl) {
- altitude_agl = agl;
+ _state.altitude_agl = agl;
}
inline void _set_Geodetic_Position( double lat, double lon ) {
- _set_Geodetic_Position( lat, lon, geodetic_position_v.getElevationFt());
+ _set_Geodetic_Position( lat, lon, _state.geodetic_position_v.getElevationFt());
}
inline void _set_Geodetic_Position( double lat, double lon, double alt ) {
- TrackComputer tracker( track, geodetic_position_v );
- geodetic_position_v.setLatitudeRad(lat);
- geodetic_position_v.setLongitudeRad(lon);
- geodetic_position_v.setElevationFt(alt);
+ TrackComputer tracker( _state.track, _state.geodetic_position_v );
+ _state.geodetic_position_v.setLatitudeRad(lat);
+ _state.geodetic_position_v.setLongitudeRad(lon);
+ _state.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;
+ _state.euler_angles_v[0] = phi;
+ _state.euler_angles_v[1] = theta;
+ _state.euler_angles_v[2] = psi;
}
// 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_Alpha( double a ) { _state.alpha = a; }
+ inline void _set_Beta( double b ) { _state.beta = b; }
- inline void set_Alpha_deg( double a ) { alpha = a * SG_DEGREES_TO_RADIANS; }
+ inline void set_Alpha_deg( double a ) { _state.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_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_Runway_altitude( double alt ) { runway_altitude = alt; }
- inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
+ inline void _set_Gamma_vert_rad( double gv ) { _state.gamma_vert_rad = gv; }
+ inline void _set_Density( double d ) { _state.density = d; }
+ inline void _set_Mach_number( double m ) { _state.mach_number = m; }
+ inline void _set_Static_pressure( double sp ) { _state.static_pressure = sp; }
+ inline void _set_Static_temperature( double t ) { _state.static_temperature = t; }
+ inline void _set_Total_temperature( double tat ) { _state.total_temperature = tat; } //JW
+ inline void _set_Sea_level_radius( double r ) { _state.sea_level_radius = r; }
+ inline void _set_Earth_position_angle(double a) {_state.earth_position_angle = a; }
+ inline void _set_Runway_altitude( double alt ) { _state.runway_altitude = alt; }
+ inline void _set_Climb_Rate(double rate) { _state.climb_rate = rate; }
public:
virtual bool ToggleDataLogging(bool state) { return false; }
virtual bool ToggleDataLogging(void) { return false; }
+ bool readState(SGIOChannel* io);
+ bool writeState(SGIOChannel* io);
+
// Define the various supported flight models (many not yet implemented)
enum {
// Magic Carpet mode
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) {
- set_Velocities_Local(north, v_local_v[1], v_local_v[2]);
+ set_Velocities_Local(north, _state.v_local_v[1], _state.v_local_v[2]);
}
inline void set_V_east (double east) {
- set_Velocities_Local(v_local_v[0], east, v_local_v[2]);
+ set_Velocities_Local(_state.v_local_v[0], east, _state.v_local_v[2]);
}
inline void set_V_down (double down) {
- set_Velocities_Local(v_local_v[0], v_local_v[1], down);
+ set_Velocities_Local(_state.v_local_v[0], _state.v_local_v[1], down);
}
- virtual void set_Velocities_Wind_Body( double u, double v, double w);
+ virtual void set_Velocities_Body( double u, double v, double w);
virtual void set_uBody (double uBody) {
- set_Velocities_Wind_Body(uBody, v_wind_body_v[1], v_wind_body_v[2]);
+ set_Velocities_Body(uBody, _state.v_body_v[1], _state.v_body_v[2]);
}
virtual void set_vBody (double vBody) {
- set_Velocities_Wind_Body(v_wind_body_v[0], vBody, v_wind_body_v[2]);
+ set_Velocities_Body(_state.v_body_v[0], vBody, _state.v_body_v[2]);
}
virtual void set_wBody (double wBody) {
- set_Velocities_Wind_Body(v_wind_body_v[0], v_wind_body_v[1], wBody);
+ set_Velocities_Body(_state.v_body_v[0], _state.v_body_v[1], wBody);
}
// Euler angles
// ========== Mass properties and geometry values ==========
// 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]; }
- inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; }
+ inline double get_Dx_cg() const { return _state.d_cg_rp_body_v[0]; }
+ inline double get_Dy_cg() const { return _state.d_cg_rp_body_v[1]; }
+ inline double get_Dz_cg() const { return _state.d_cg_rp_body_v[2]; }
// ========== Accelerations ==========
- 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_north() const { return _state.v_dot_local_v[0]; }
+ inline double get_V_dot_east() const { return _state.v_dot_local_v[1]; }
+ inline double get_V_dot_down() const { return _state.v_dot_local_v[2]; }
- 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_U_dot_body() const { return _state.v_dot_body_v[0]; }
+ inline double get_V_dot_body() const { return _state.v_dot_body_v[1]; }
+ inline double get_W_dot_body() const { return _state.v_dot_body_v[2]; }
- 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_X_cg() const { return _state.a_cg_body_v[0]; }
+ inline double get_A_Y_cg() const { return _state.a_cg_body_v[1]; }
+ inline double get_A_Z_cg() const { return _state.a_cg_body_v[2]; }
- 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_A_X_pilot() const { return _state.a_pilot_body_v[0]; }
+ inline double get_A_Y_pilot() const { return _state.a_pilot_body_v[1]; }
+ inline double get_A_Z_pilot() const { return _state.a_pilot_body_v[2]; }
- 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_X_cg() const { return _state.n_cg_body_v[0]; }
+ inline double get_N_Y_cg() const { return _state.n_cg_body_v[1]; }
+ inline double get_N_Z_cg() const { return _state.n_cg_body_v[2]; }
- inline double get_Nlf(void) const { return nlf; }
+ inline double get_Nlf(void) const { return _state.nlf; }
// ========== Velocities ==========
- 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]; }
- inline double get_uBody () const { return v_wind_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_north() const { return _state.v_local_v[0]; }
+ inline double get_V_east() const { return _state.v_local_v[1]; }
+ inline double get_V_down() const { return _state.v_local_v[2]; }
+ inline double get_uBody () const { return _state.v_body_v[0]; }
+ inline double get_vBody () const { return _state.v_body_v[1]; }
+ inline double get_wBody () const { return _state.v_body_v[2]; }
// Please dont comment these out. fdm=ada uses these (see
// cockpit.cxx) --->
inline double get_V_north_rel_ground() const {
- return v_local_rel_ground_v[0];
+ return _state.v_local_rel_ground_v[0];
}
inline double get_V_east_rel_ground() const {
- return v_local_rel_ground_v[1];
+ return _state.v_local_rel_ground_v[1];
}
inline double get_V_down_rel_ground() const {
- return v_local_rel_ground_v[2];
+ return _state.v_local_rel_ground_v[2];
}
// <--- fdm=ada uses these (see cockpit.cxx)
- 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]; }
+ inline double get_V_north_airmass() const { return _state.v_local_airmass_v[0]; }
+ inline double get_V_east_airmass() const { return _state.v_local_airmass_v[1]; }
+ inline double get_V_down_airmass() const { return _state.v_local_airmass_v[2]; }
- 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_U_body() const { return _state.v_body_v[0]; }
+ inline double get_V_body() const { return _state.v_body_v[1]; }
+ inline double get_W_body() const { return _state.v_body_v[2]; }
- inline double get_V_rel_wind() const { return v_rel_wind; }
+ inline double get_V_rel_wind() const { return _state.v_rel_wind; }
- inline double get_V_true_kts() const { return v_true_kts; }
+ inline double get_V_true_kts() const { return _state.v_true_kts; }
- inline double get_V_ground_speed() const { return v_ground_speed; }
- 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_ground_speed() const { return _state.v_ground_speed; }
+ inline double get_V_ground_speed_kt() const { return _state.v_ground_speed * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM; }
+ inline void set_V_ground_speed_kt(double ground_speed) { _state.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_equiv_kts() const { return _state.v_equiv_kts; }
- inline double get_V_calibrated_kts() const { return v_calibrated_kts; }
+ inline double get_V_calibrated_kts() const { return _state.v_calibrated_kts; }
- 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_P_body() const { return _state.omega_body_v[0]; }
+ inline double get_Q_body() const { return _state.omega_body_v[1]; }
+ inline double get_R_body() const { return _state.omega_body_v[2]; }
- 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_Phi_dot() const { return _state.euler_rates_v[0]; }
+ inline double get_Theta_dot() const { return _state.euler_rates_v[1]; }
+ inline double get_Psi_dot() const { return _state.euler_rates_v[2]; }
+ inline double get_Phi_dot_degps() const { return _state.euler_rates_v[0] * SGD_RADIANS_TO_DEGREES; }
+ inline double get_Theta_dot_degps() const { return _state.euler_rates_v[1] * SGD_RADIANS_TO_DEGREES; }
+ inline double get_Psi_dot_degps() const { return _state.euler_rates_v[2] * SGD_RADIANS_TO_DEGREES; }
- 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]; }
+ inline double get_Latitude_dot() const { return _state.geocentric_rates_v[0]; }
+ inline double get_Longitude_dot() const { return _state.geocentric_rates_v[1]; }
+ inline double get_Radius_dot() const { return _state.geocentric_rates_v[2]; }
// ========== Positions ==========
inline double get_Lat_geocentric() const {
- return geocentric_position_v.getLatitudeRad();
+ return _state.geocentric_position_v.getLatitudeRad();
}
inline double get_Lon_geocentric() const {
- return geocentric_position_v.getLongitudeRad();
+ return _state.geocentric_position_v.getLongitudeRad();
}
inline double get_Radius_to_vehicle() const {
- return geocentric_position_v.getRadiusFt();
+ return _state.geocentric_position_v.getRadiusFt();
}
- const SGGeod& getPosition() const { return geodetic_position_v; }
- const SGGeoc& getGeocPosition() const { return geocentric_position_v; }
- const SGVec3d& getCartPosition() const { return cartesian_position_v; }
+ const SGGeod& getPosition() const { return _state.geodetic_position_v; }
+ const SGGeoc& getGeocPosition() const { return _state.geocentric_position_v; }
+ const SGVec3d& getCartPosition() const { return _state.cartesian_position_v; }
inline double get_Latitude() const {
- return geodetic_position_v.getLatitudeRad();
+ return _state.geodetic_position_v.getLatitudeRad();
}
inline double get_Longitude() const {
- return geodetic_position_v.getLongitudeRad();
+ return _state.geodetic_position_v.getLongitudeRad();
}
inline double get_Altitude() const {
- return geodetic_position_v.getElevationFt();
+ return _state.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_Altitude_AGL(void) const { return _state.altitude_agl; }
+ inline double get_Track(void) const { return _state.track; }
inline double get_Latitude_deg () const {
- return geodetic_position_v.getLatitudeDeg();
+ return _state.geodetic_position_v.getLatitudeDeg();
}
inline double get_Longitude_deg () const {
- return geodetic_position_v.getLongitudeDeg();
+ return _state.geodetic_position_v.getLongitudeDeg();
}
- 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() const { return _state.euler_angles_v[0]; }
+ inline double get_Theta() const { return _state.euler_angles_v[1]; }
+ inline double get_Psi() const { return _state.euler_angles_v[2]; }
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_Beta_deg() const { return beta * SGD_RADIANS_TO_DEGREES; }
- inline double get_Gamma_vert_rad() const { return gamma_vert_rad; }
+ inline double get_Alpha() const { return _state.alpha; }
+ inline double get_Alpha_deg() const { return _state.alpha * SGD_RADIANS_TO_DEGREES; }
+ inline double get_Beta() const { return _state.beta; }
+ inline double get_Beta_deg() const { return _state.beta * SGD_RADIANS_TO_DEGREES; }
+ inline double get_Gamma_vert_rad() const { return _state.gamma_vert_rad; }
- inline double get_Density() const { return density; }
- inline double get_Mach_number() const { return mach_number; }
+ inline double get_Density() const { return _state.density; }
+ inline double get_Mach_number() const { return _state.mach_number; }
- inline double get_Static_pressure() const { return static_pressure; }
- inline double get_Total_pressure() const { return total_pressure; }
- inline double get_Dynamic_pressure() const { return dynamic_pressure; }
+ inline double get_Static_pressure() const { return _state.static_pressure; }
+ inline double get_Total_pressure() const { return _state.total_pressure; }
+ inline double get_Dynamic_pressure() const { return _state.dynamic_pressure; }
- inline double get_Static_temperature() const { return static_temperature; }
- inline double get_Total_temperature() const { return total_temperature; }
+ inline double get_Static_temperature() const { return _state.static_temperature; }
+ inline double get_Total_temperature() const { return _state.total_temperature; }
- inline double get_Sea_level_radius() const { return sea_level_radius; }
+ inline double get_Sea_level_radius() const { return _state.sea_level_radius; }
inline double get_Earth_position_angle() const {
- return earth_position_angle;
+ return _state.earth_position_angle;
}
- 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_altitude() const { return _state.runway_altitude; }
+ inline double get_Runway_altitude_m() const { return SG_FEET_TO_METER * _state.runway_altitude; }
- inline double get_Climb_Rate() const { return climb_rate; }
+ inline double get_Climb_Rate() const { return _state.climb_rate; }
// Note that currently this is the "same" value runway altitude...
- inline double get_ground_elev_ft() const { return runway_altitude; }
+ inline double get_ground_elev_ft() const { return _state.runway_altitude; }
//////////////////////////////////////////////////////////////////////////
// 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,
+ double angularVel[3], simgear::BVHMaterial 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,
+ double angularVel[3], simgear::BVHMaterial const*& material,
simgear::BVHNode::Id& id);
double get_groundlevel_m(double lat, double lon, double alt);
double get_groundlevel_m(const SGGeod& geod);
// 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,
+ double angularVel[3], simgear::BVHMaterial 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,
+ double angularVel[3], simgear::BVHMaterial const*& material,
simgear::BVHNode::Id& id);
projects / flightgear.git / blobdiff