//
// 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.
//
// $Id$
+#ifdef HAVE_CONFIG_H
+# include "config.h"
+#endif
#include <float.h>
#include <plib/sg.h>
+#include <simgear/sg_inlines.h>
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/scene/material/mat.hxx>
+#include <simgear/scene/material/matlib.hxx>
#include <Main/globals.hxx>
#include <Scenery/scenery.hxx>
#include "flight.hxx"
#include "groundcache.hxx"
+// Specialized version of sgMultMat4 needed because of mixed matrix
+// types
+static inline void fgMultMat4(sgdMat4 dst, sgdMat4 m1, sgMat4 m2) {
+ for ( int j = 0 ; j < 4 ; j++ ) {
+ dst[0][j] = m2[0][0] * m1[0][j] +
+ m2[0][1] * m1[1][j] +
+ m2[0][2] * m1[2][j] +
+ m2[0][3] * m1[3][j] ;
+
+ dst[1][j] = m2[1][0] * m1[0][j] +
+ m2[1][1] * m1[1][j] +
+ m2[1][2] * m1[2][j] +
+ m2[1][3] * m1[3][j] ;
+
+ dst[2][j] = m2[2][0] * m1[0][j] +
+ m2[2][1] * m1[1][j] +
+ m2[2][2] * m1[2][j] +
+ m2[2][3] * m1[3][j] ;
+
+ dst[3][j] = m2[3][0] * m1[0][j] +
+ m2[3][1] * m1[1][j] +
+ m2[3][2] * m1[2][j] +
+ m2[3][3] * m1[3][j] ;
+ }
+}
+
+static inline bool fgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
+{
+ sgdVec3 dif;
+
+ // Some tolerance in meters we accept a point to be outside of the triangle
+ // and still return that it is inside.
+ SGDfloat eps = 1e-2;
+ SGDfloat min, max;
+ // punt if outside bouding cube
+ SG_MIN_MAX3 ( min, max, tri[0][0], tri[1][0], tri[2][0] );
+ if( (point[0] < min - eps) || (point[0] > max + eps) )
+ return false;
+ dif[0] = max - min;
+
+ SG_MIN_MAX3 ( min, max, tri[0][1], tri[1][1], tri[2][1] );
+ if( (point[1] < min - eps) || (point[1] > max + eps) )
+ return false;
+ dif[1] = max - min;
+
+ SG_MIN_MAX3 ( min, max, tri[0][2], tri[1][2], tri[2][2] );
+ if( (point[2] < min - eps) || (point[2] > max + eps) )
+ return false;
+ dif[2] = max - min;
+
+ // drop the smallest dimension so we only have to work in 2d.
+ SGDfloat min_dim = SG_MIN3 (dif[0], dif[1], dif[2]);
+ SGDfloat x1, y1, x2, y2, x3, y3, rx, ry;
+ if ( fabs(min_dim-dif[0]) <= DBL_EPSILON ) {
+ // x is the smallest dimension
+ x1 = point[1];
+ y1 = point[2];
+ x2 = tri[0][1];
+ y2 = tri[0][2];
+ x3 = tri[1][1];
+ y3 = tri[1][2];
+ rx = tri[2][1];
+ ry = tri[2][2];
+ } else if ( fabs(min_dim-dif[1]) <= DBL_EPSILON ) {
+ // y is the smallest dimension
+ x1 = point[0];
+ y1 = point[2];
+ x2 = tri[0][0];
+ y2 = tri[0][2];
+ x3 = tri[1][0];
+ y3 = tri[1][2];
+ rx = tri[2][0];
+ ry = tri[2][2];
+ } else if ( fabs(min_dim-dif[2]) <= DBL_EPSILON ) {
+ // z is the smallest dimension
+ x1 = point[0];
+ y1 = point[1];
+ x2 = tri[0][0];
+ y2 = tri[0][1];
+ x3 = tri[1][0];
+ y3 = tri[1][1];
+ rx = tri[2][0];
+ ry = tri[2][1];
+ } else {
+ // all dimensions are really small so lets call it close
+ // enough and return a successful match
+ return true;
+ }
+
+ // check if intersection point is on the same side of p1 <-> p2 as p3
+ SGDfloat tmp = (y2 - y3);
+ SGDfloat tmpn = (x2 - x3);
+ int side1 = SG_SIGN (tmp * (rx - x3) + (y3 - ry) * tmpn);
+ int side2 = SG_SIGN (tmp * (x1 - x3) + (y3 - y1) * tmpn
+ + side1 * eps * fabs(tmpn));
+ if ( side1 != side2 ) {
+ // printf("failed side 1 check\n");
+ return false;
+ }
+
+ // check if intersection point is on correct side of p2 <-> p3 as p1
+ tmp = (y3 - ry);
+ tmpn = (x3 - rx);
+ side1 = SG_SIGN (tmp * (x2 - rx) + (ry - y2) * tmpn);
+ side2 = SG_SIGN (tmp * (x1 - rx) + (ry - y1) * tmpn
+ + side1 * eps * fabs(tmpn));
+ if ( side1 != side2 ) {
+ // printf("failed side 2 check\n");
+ return false;
+ }
+
+ // check if intersection point is on correct side of p1 <-> p3 as p2
+ tmp = (y2 - ry);
+ tmpn = (x2 - rx);
+ side1 = SG_SIGN (tmp * (x3 - rx) + (ry - y3) * tmpn);
+ side2 = SG_SIGN (tmp * (x1 - rx) + (ry - y1) * tmpn
+ + side1 * eps * fabs(tmpn));
+ if ( side1 != side2 ) {
+ // printf("failed side 3 check\n");
+ return false;
+ }
+
+ return true;
+}
+
+// Test if the line given by the point on the line pt_on_line and the
+// line direction dir intersects the sphere sp.
+// Adapted from plib.
+static inline bool
+fgdIsectSphereInfLine(const sgdSphere& sp,
+ const sgdVec3 pt_on_line, const sgdVec3 dir)
+{
+ sgdVec3 r;
+ sgdSubVec3( r, sp.getCenter(), pt_on_line ) ;
+
+ SGDfloat projectedDistance = sgdScalarProductVec3(r, dir);
+
+ SGDfloat dist = sgdScalarProductVec3 ( r, r ) -
+ projectedDistance * projectedDistance;
+
+ SGDfloat radius = sp.getRadius();
+ return dist < radius*radius;
+}
+
FGGroundCache::FGGroundCache()
{
sgdSetVec3(cache_center, 0.0, 0.0, 0.0);
FGGroundCache::~FGGroundCache()
{
- cache_root.removeAllKids();
}
-FGGroundCache::GroundProperty*
+FGGroundCache::GroundProperty
FGGroundCache::extractGroundProperty( ssgLeaf* l )
{
// FIXME: Do more ...
// Idea: have a get_globals() function which knows about that stuff.
- // Or most propably read that from a configuration file,
+ // Or most probably read that from a configuration file,
// from property tree or whatever ...
// Get ground dependent data.
- GroundProperty *gp = new GroundProperty;
- gp->wire_id = -1;
+ GroundProperty gp;
+ gp.wire_id = -1;
FGAICarrierHardware *ud =
dynamic_cast<FGAICarrierHardware*>(l->getUserData());
if (ud) {
switch (ud->type) {
case FGAICarrierHardware::Wire:
- gp->type = FGInterface::Wire;
- gp->wire_id = ud->id;
+ gp.type = FGInterface::Wire;
+ gp.wire_id = ud->id;
break;
case FGAICarrierHardware::Catapult:
- gp->type = FGInterface::Catapult;
+ gp.type = FGInterface::Catapult;
break;
default:
- gp->type = FGInterface::Solid;
+ gp.type = FGInterface::Solid;
break;
}
// Copy the velocity from the carrier class.
- ud->carrier->getVelocityWrtEarth( gp->vel );
+ ud->carrier->getVelocityWrtEarth( gp.vel, gp.rot, gp.pivot );
}
else {
-
// Initialize velocity field.
- sgSetVec3( gp->vel, 0.0, 0.0, 0.0 );
- }
-
- // Get the texture name and decide what ground type we have.
- ssgState *st = l->getState();
- if (st != NULL && st->isAKindOf(ssgTypeSimpleState())) {
- ssgSimpleState *ss = (ssgSimpleState*)st;
- SGPath fullPath( ss->getTextureFilename() ? ss->getTextureFilename(): "" );
- string file = fullPath.file();
- SGPath dirPath(fullPath.dir());
- string category = dirPath.file();
-
- SG_LOG(SG_FLIGHT,SG_INFO,
- "New triangle in cache: " << category << " " << file );
-
- if (category == "Runway")
- gp->type = FGInterface::Solid;
- else {
- if (file == "asphault.rgb" || file == "airport.rgb")
- gp->type = FGInterface::Solid;
- else if (file == "water.rgb" || file == "water-lake.rgb")
- gp->type = FGInterface::Water;
- else if (file == "forest.rgb" || file == "cropwood.rgb")
- gp->type = FGInterface::Forest;
- }
+ sgdSetVec3( gp.vel, 0.0, 0.0, 0.0 );
+ sgdSetVec3( gp.rot, 0.0, 0.0, 0.0 );
+ sgdSetVec3( gp.pivot, 0.0, 0.0, 0.0 );
+
+ // get some material information for use in the gear model
+ gp.material = globals->get_matlib()->findMaterial(l);
+ if (gp.material)
+ gp.type = gp.material->get_solid() ? FGInterface::Solid : FGInterface::Water;
}
return gp;
}
-// Test if the line given by the point on the line pt_on_line and the
-// line direction dir intersects the sphere sp.
-// Adapted from plib.
-static bool
-sgIsectSphereInfLine(const sgSphere *sp,
- const sgVec3 pt_on_line, const sgVec3 dir)
-{
- sgVec3 r ;
- sgSubVec3 ( r, sp->getCenter(), pt_on_line ) ;
-
- SGfloat projectedDistance = sgScalarProductVec3(r, dir);
-
- SGfloat dist = sgScalarProductVec3 ( r, r ) -
- projectedDistance * projectedDistance;
-
- SGfloat radius = sp->getRadius();
- return dist < radius*radius;
-}
-
void
-FGGroundCache::addAndFlattenLeaf(GLenum ty, ssgLeaf *l, ssgIndexArray *ia,
- const sgMat4 xform)
-{
- // Extract data from the leaf which is just copied.
- ssgVertexArray *va = ((ssgVtxTable *)l)->getVertices();
- ssgNormalArray *na = ((ssgVtxTable *)l)->getNormals();
- // Create a new leaf.
- ssgVtxArray *vtxa = new ssgVtxArray( ty, va, na, 0, 0, ia );
- // Clones data ...
- vtxa->removeUnusedVertices();
- // Apply transform. We won't store transforms in our cache.
- vtxa->transform( xform );
- // Check for magic texture names object names and such ...
- vtxa->setUserData( extractGroundProperty( l ) );
- vtxa->setCullFace( l->getCullFace() );
- // Finally append to cache.
- cache_root.addKid((ssgEntity*)vtxa);
-}
-
-void
-FGGroundCache::putLineLeafIntoCache(const sgSphere *wsp, const sgMat4 xform,
+FGGroundCache::putLineLeafIntoCache(const sgdSphere *wsp, const sgdMat4 xform,
ssgLeaf *l)
{
- ssgIndexArray *ia = 0;
-
+ GroundProperty gp = extractGroundProperty(l);
+
// Lines must have special meanings.
// Wires and catapults are done with lines.
int nl = l->getNumLines();
for (int i = 0; i < nl; ++i) {
- sgSphere tmp;
+ sgdSphere sphere;
+ sphere.empty();
+ sgdVec3 ends[2];
short v[2];
l->getLine(i, v, v+1 );
- for (int k=0; k<2; ++k)
- tmp.extend( l->getVertex( v[k] ) );
- tmp.orthoXform(xform);
-
- if (wsp->intersects( &tmp )) {
- if (ia == 0)
- ia = new ssgIndexArray();
-
- ia->add( v[0] );
- ia->add( v[1] );
+ for (int k=0; k<2; ++k) {
+ sgdSetVec3(ends[k], l->getVertex(v[k]));
+ sgdXformPnt3(ends[k], xform);
+ sphere.extend(ends[k]);
+ }
+
+ if (wsp->intersects( &sphere )) {
+ if (gp.type == FGInterface::Wire) {
+ Wire wire;
+ sgdCopyVec3(wire.ends[0], ends[0]);
+ sgdCopyVec3(wire.ends[1], ends[1]);
+ sgdCopyVec3(wire.velocity, gp.vel);
+ sgdCopyVec3(wire.rotation, gp.rot);
+ sgdSubVec3(wire.rotation_pivot, gp.pivot, cache_center);
+ wire.wire_id = gp.wire_id;
+
+ wires.push_back(wire);
+ }
+ if (gp.type == FGInterface::Catapult) {
+ Catapult cat;
+ sgdCopyVec3(cat.start, ends[0]);
+ sgdCopyVec3(cat.end, ends[1]);
+ sgdCopyVec3(cat.velocity, gp.vel);
+ sgdCopyVec3(cat.rotation, gp.rot);
+ sgdSubVec3(cat.rotation_pivot, gp.pivot, cache_center);
+
+ catapults.push_back(cat);
+ }
}
}
- if (!ia)
- return;
-
- addAndFlattenLeaf(GL_LINES, l, ia, xform);
}
void
-FGGroundCache::putSurfaceLeafIntoCache(const sgSphere *sp, const sgMat4 xform,
- bool sphIsec, sgVec3 down, ssgLeaf *l)
+FGGroundCache::putSurfaceLeafIntoCache(const sgdSphere *sp,
+ const sgdMat4 xform, bool sphIsec,
+ sgdVec3 down, ssgLeaf *l)
{
- ssgIndexArray *ia = 0;
-
+ GroundProperty gp = extractGroundProperty(l);
+
int nt = l->getNumTriangles();
for (int i = 0; i < nt; ++i) {
- // Build up a sphere around that particular triangle-
- sgSphere tmp;
+ Triangle t;
+ t.sphere.empty();
+ t.material = gp.material;
short v[3];
- l->getTriangle(i, v, v+1, v+2 );
- for (int k=0; k<3; ++k)
- tmp.extend( l->getVertex( v[k] ) );
- tmp.orthoXform(xform);
+ l->getTriangle(i, &v[0], &v[1], &v[2]);
+ for (int k = 0; k < 3; ++k) {
+ sgdSetVec3(t.vertices[k], l->getVertex(v[k]));
+ sgdXformPnt3(t.vertices[k], xform);
+ t.sphere.extend(t.vertices[k]);
+ }
+
+ sgdMakePlane(t.plane, t.vertices[0], t.vertices[1], t.vertices[2]);
+ SGDfloat dot = sgdScalarProductVec3(down, t.plane);
+ if (dot > 0) {
+ if (!l->getCullFace()) {
+ // Surface points downwards, ignore for altitude computations.
+ continue;
+ } else
+ sgdScaleVec4( t.plane, -1 );
+ }
// Check if the sphere around the vehicle intersects the sphere
// around that triangle. If so, put that triangle into the cache.
- if (sphIsec && sp->intersects( &tmp )) {
- if (ia == 0)
- ia = new ssgIndexArray();
-
- ia->add( v[0] );
- ia->add( v[1] );
- ia->add( v[2] );
+ if (sphIsec && sp->intersects(&t.sphere)) {
+ sgdCopyVec3(t.velocity, gp.vel);
+ sgdCopyVec3(t.rotation, gp.rot);
+ sgdSubVec3(t.rotation_pivot, gp.pivot, cache_center);
+ t.type = gp.type;
+ triangles.push_back(t);
}
// In case the cache is empty, we still provide agl computations.
// But then we use the old way of having a fixed elevation value for
// the whole lifetime of this cache.
- if ( sgIsectSphereInfLine(&tmp, sp->getCenter(), down) ) {
- sgVec3 tri[3];
- for (int k=0; k<3; ++k) {
- sgCopyVec3( tri[k], l->getVertex( v[k] ) );
- sgXformPnt3( tri[k], xform );
- }
-
- sgVec4 plane;
- sgMakePlane( plane, tri[0], tri[1], tri[2] );
- sgVec3 ac_cent;
- sgCopyVec3(ac_cent, sp->getCenter());
- sgVec3 dst;
- sgIsectInfLinePlane( dst, ac_cent, down, plane );
- if ( sgPointInTriangle ( dst, tri ) ) {
- found_ground = true;
- sgdVec3 ddst;
- sgdSetVec3(ddst, dst);
- sgdAddVec3(ddst, cache_center);
- double this_radius = sgdLengthVec3(ddst);
- if (ground_radius < this_radius)
- ground_radius = this_radius;
+ if ( fgdIsectSphereInfLine(t.sphere, sp->getCenter(), down) ) {
+ sgdVec3 tmp;
+ sgdSetVec3(tmp, sp->center[0], sp->center[1], sp->center[2]);
+ sgdVec3 isectpoint;
+ if ( sgdIsectInfLinePlane( isectpoint, tmp, down, t.plane ) &&
+ fgdPointInTriangle( isectpoint, t.vertices ) ) {
+ // Compute the offset to the ground cache midpoint
+ sgdVec3 off;
+ sgdSubVec3(off, isectpoint, tmp);
+ // Only accept the altitude if the intersection point is below the
+ // ground cache midpoint
+ if (0 < sgdScalarProductVec3( off, down )) {
+ found_ground = true;
+ sgdAddVec3(isectpoint, cache_center);
+ double this_radius = sgdLengthVec3(isectpoint);
+ if (ground_radius < this_radius)
+ ground_radius = this_radius;
+ }
}
}
}
- if (!ia)
- return;
-
- addAndFlattenLeaf(GL_TRIANGLES, l, ia, xform);
}
-// Here is the point where rotation should be handled
-void
-FGGroundCache::extractCacheRelativeVertex(double t, ssgVtxArray *va,
- GroundProperty *gp,
- short i, sgVec3 rel_pos,
- sgdVec3 wgs84_vel)
+inline void
+FGGroundCache::velocityTransformTriangle(double dt,
+ FGGroundCache::Triangle& dst,
+ const FGGroundCache::Triangle& src)
{
- sgCopyVec3( rel_pos, va->getVertex( i ) );
- sgAddScaledVec3( rel_pos, gp->vel, t );
+ sgdCopyVec3(dst.vertices[0], src.vertices[0]);
+ sgdCopyVec3(dst.vertices[1], src.vertices[1]);
+ sgdCopyVec3(dst.vertices[2], src.vertices[2]);
- // Set velocity.
- sgdSetVec3( wgs84_vel, gp->vel );
-}
+ sgdCopyVec4(dst.plane, src.plane);
+
+ sgdCopyVec3(dst.sphere.center, src.sphere.center);
+ dst.sphere.radius = src.sphere.radius;
+
+ sgdCopyVec3(dst.velocity, src.velocity);
+ sgdCopyVec3(dst.rotation, src.rotation);
+ sgdCopyVec3(dst.rotation_pivot, src.rotation_pivot);
+
+ dst.type = src.type;
+ dst.material = src.material;
+
+ if (dt*sgdLengthSquaredVec3(src.velocity) != 0) {
+ sgdVec3 pivotoff, vel;
+ for (int i = 0; i < 3; ++i) {
+ sgdSubVec3(pivotoff, src.vertices[i], src.rotation_pivot);
+ sgdVectorProductVec3(vel, src.rotation, pivotoff);
+ sgdAddVec3(vel, src.velocity);
+ sgdAddScaledVec3(dst.vertices[i], vel, dt);
+ }
+
+ // Transform the plane equation
+ sgdSubVec3(pivotoff, dst.plane, src.rotation_pivot);
+ sgdVectorProductVec3(vel, src.rotation, pivotoff);
+ sgdAddVec3(vel, src.velocity);
+ dst.plane[3] += dt*sgdScalarProductVec3(dst.plane, vel);
-void
-FGGroundCache::extractWgs84Vertex(double t, ssgVtxArray *va,
- GroundProperty *gp, short i,
- sgdVec3 wgs84_pos, sgdVec3 wgs84_vel)
-{
- sgVec3 rel_pos;
- extractCacheRelativeVertex(t, va, gp, i, rel_pos, wgs84_vel);
- sgdSetVec3( wgs84_pos, rel_pos );
- sgdAddVec3( wgs84_pos, cache_center );
+ sgdAddScaledVec3(dst.sphere.center, src.velocity, dt);
+ }
}
-
void
-FGGroundCache::cache_fill(ssgBranch *branch, sgMat4 xform,
- sgSphere* sp, sgVec3 down, sgSphere* wsp)
+FGGroundCache::cache_fill(ssgBranch *branch, sgdMat4 xform,
+ sgdSphere* sp, sgdVec3 down, sgdSphere* wsp)
{
// Travel through all kids.
ssgEntity *e;
for ( e = branch->getKid(0); e != NULL ; e = branch->getNextKid() ) {
- if ( !( e->getTraversalMask() & SSGTRAV_HOT) )
+ if ( !(e->getTraversalMask() & SSGTRAV_HOT) )
continue;
if ( e->getBSphere()->isEmpty() )
continue;
- // Wee need to check further if either the sphere around the branch
+ // We need to check further if either the sphere around the branch
// intersects the sphere around the aircraft or the line downwards from
// the aircraft intersects the branchs sphere.
- sgSphere esphere = *(e->getBSphere());
+ sgdSphere esphere;
+ sgdSetVec3(esphere.center, e->getBSphere()->center);
+ esphere.radius = e->getBSphere()->radius;
esphere.orthoXform(xform);
bool wspIsec = wsp->intersects(&esphere);
- bool downIsec = sgIsectSphereInfLine(&esphere, sp->getCenter(), down);
+ bool downIsec = fgdIsectSphereInfLine(esphere, sp->getCenter(), down);
if (!wspIsec && !downIsec)
continue;
-
+
// For branches collect up the transforms to reach that branch and
// call cache_fill recursively.
if ( e->isAKindOf( ssgTypeBranch() ) ) {
ssgBranch *b = (ssgBranch *)e;
if ( b->isAKindOf( ssgTypeTransform() ) ) {
- // Collect up the transfors required to reach that part of
+ // Collect up the transforms required to reach that part of
// the branch.
sgMat4 xform2;
sgMakeIdentMat4( xform2 );
ssgTransform *t = (ssgTransform*)b;
t->getTransform( xform2 );
- sgPostMultMat4( xform2, xform );
- cache_fill( b, xform2, sp, down, wsp );
+ sgdMat4 xform3;
+ fgMultMat4(xform3, xform, xform2);
+ cache_fill( b, xform3, sp, down, wsp );
} else
cache_fill( b, xform, sp, down, wsp );
}
// This will minimize the number of vertices/triangles in the cache.
else if (e->isAKindOf(ssgTypeLeaf())) {
// Since we reach that leaf if we have an intersection with the
- // most propably bigger wire/catapult cache sphere, we need to check
+ // most probably bigger wire/catapult cache sphere, we need to check
// that here, if the smaller cache for the surface has a chance for hits.
- // Also, if the spheres do not intersect compute a croase agl value
+ // Also, if the spheres do not intersect compute a coarse agl value
// by following the line downwards originating at the aircraft.
bool spIsec = sp->intersects(&esphere);
putSurfaceLeafIntoCache(sp, xform, spIsec, down, (ssgLeaf *)e);
bool
FGGroundCache::prepare_ground_cache(double ref_time, const double pt[3],
- double rad)
+ double rad)
{
// Empty cache.
- cache_root.removeAllKids();
ground_radius = 0.0;
found_ground = false;
+ triangles.resize(0);
+ catapults.resize(0);
+ wires.resize(0);
// Store the parameters we used to build up that cache.
sgdCopyVec3(reference_wgs84_point, pt);
// Store the time reference used to compute movements of moving triangles.
cache_ref_time = ref_time;
+ // Decide where we put the scenery center.
+ Point3D old_cntr = globals->get_scenery()->get_center();
+ Point3D cntr(pt[0], pt[1], pt[2]);
+ // Only move the cache center if it is unacceptable far away.
+ if (40*40 < old_cntr.distance3Dsquared(cntr))
+ globals->get_scenery()->set_center(cntr);
+ else
+ cntr = old_cntr;
+
// The center of the cache.
- Point3D psc = globals->get_tile_mgr()->get_current_center();
- sgdSetVec3(cache_center, psc[0], psc[1], psc[2]);
+ sgdSetVec3(cache_center, cntr[0], cntr[1], cntr[2]);
+ sgdVec3 ptoff;
+ sgdSubVec3(ptoff, pt, cache_center);
// Prepare sphere around the aircraft.
- sgSphere acSphere;
+ sgdSphere acSphere;
acSphere.setRadius(rad);
-
- // Compute the postion of the aircraft relative to the scenery center.
- sgdVec3 doffset;
- sgdSubVec3( doffset, pt, cache_center );
- sgVec3 offset;
- sgSetVec3( offset, doffset[0], doffset[1], doffset[2] );
- acSphere.setCenter( offset );
+ acSphere.setCenter(ptoff);
// Prepare bigger sphere around the aircraft.
// This one is required for reliably finding wires we have caught but
// have already left the hopefully smaller sphere for the ground reactions.
const double max_wire_dist = 300.0;
- sgSphere wireSphere;
- wireSphere.setRadius( max_wire_dist < rad ? rad : max_wire_dist );
- wireSphere.setCenter( offset );
+ sgdSphere wireSphere;
+ wireSphere.setRadius(max_wire_dist < rad ? rad : max_wire_dist);
+ wireSphere.setCenter(ptoff);
// Down vector. Is used for croase agl computations when we are far enough
// from ground that we have an empty cache.
- sgVec3 down;
- sgSetVec3(down, -pt[0], -pt[1], -pt[2]);
- sgNormalizeVec3(down);
+ sgdVec3 down;
+ sgdSetVec3(down, -pt[0], -pt[1], -pt[2]);
+ sgdNormalizeVec3(down);
- // We collaps all transforms we need to reach a particular leaf.
+ // We collapse all transforms we need to reach a particular leaf.
// The leafs itself will be then transformed later.
// So our cache is just flat.
// For leafs which are moving (carriers surface, etc ...)
// we will later store a speed in the GroundType class. We can then apply
// some translations to that nodes according to the time which has passed
// compared to that snapshot.
- sgMat4 xform;
- sgMakeIdentMat4(xform);
+ sgdMat4 xform;
+ sgdMakeIdentMat4( xform );
- // Walk the terrain branch for now.
+
+ // Walk the scene graph and extract solid ground triangles and carrier data.
ssgBranch *terrain = globals->get_scenery()->get_scene_graph();
cache_fill(terrain, xform, &acSphere, down, &wireSphere);
// some stats
- SG_LOG(SG_FLIGHT,SG_INFO, "prepare_ground_cache(): ac radius = " << rad
- << ", # leafs = " << cache_root.getNumKids()
+ SG_LOG(SG_FLIGHT,SG_DEBUG, "prepare_ground_cache(): ac radius = " << rad
+ << ", # triangles = " << triangles.size()
+ << ", # wires = " << wires.size()
+ << ", # catapults = " << catapults.size()
<< ", ground_radius = " << ground_radius );
// If the ground radius is still below 5e6 meters, then we do not yet have
SG_LOG(SG_FLIGHT, SG_WARN, "prepare_ground_cache(): trying to build cache "
"without any scenery below the aircraft" );
+ if (cntr != old_cntr)
+ globals->get_scenery()->set_center(old_cntr);
+
return found_ground;
}
double
FGGroundCache::get_cat(double t, const double dpt[3],
- double end[2][3], double vel[2][3])
+ double end[2][3], double vel[2][3])
{
// start with a distance of 1e10 meters...
double dist = 1e10;
// Time difference to the reference time.
t -= cache_ref_time;
- // We know that we have a flat cache ...
- ssgEntity *e;
- for ( e = cache_root.getKid(0); e != NULL ; e = cache_root.getNextKid() ) {
- // We just know that, because we build that ourselfs ...
- ssgVtxArray *va = (ssgVtxArray *)e;
- // Only lines are interresting ...
- if (va->getPrimitiveType() != GL_LINES)
- continue;
- GroundProperty *gp = dynamic_cast<GroundProperty*>(va->getUserData());
- // Assertation???
- if ( !gp )
- continue;
- // Check if we have a catapult ...
- if ( gp->type != FGInterface::Catapult )
- continue;
-
- int nl = va->getNumLines();
- for (int i=0; i < nl; ++i) {
- sgdLineSegment3 ls;
- sgdVec3 lsVel[2];
- short vi[2];
- va->getLine(i, vi, vi+1 );
- extractWgs84Vertex(t, va, gp, vi[0], ls.a, lsVel[0]);
- extractWgs84Vertex(t, va, gp, vi[1], ls.b, lsVel[1]);
-
- double this_dist = sgdDistSquaredToLineSegmentVec3( ls, dpt );
- if (this_dist < dist) {
- dist = this_dist;
+ size_t sz = catapults.size();
+ for (size_t i = 0; i < sz; ++i) {
+ sgdVec3 pivotoff, rvel[2];
+ sgdLineSegment3 ls;
+ sgdCopyVec3(ls.a, catapults[i].start);
+ sgdCopyVec3(ls.b, catapults[i].end);
+
+ sgdSubVec3(pivotoff, ls.a, catapults[i].rotation_pivot);
+ sgdVectorProductVec3(rvel[0], catapults[i].rotation, pivotoff);
+ sgdAddVec3(rvel[0], catapults[i].velocity);
+ sgdSubVec3(pivotoff, ls.b, catapults[i].rotation_pivot);
+ sgdVectorProductVec3(rvel[1], catapults[i].rotation, pivotoff);
+ sgdAddVec3(rvel[1], catapults[i].velocity);
+
+ sgdAddVec3(ls.a, cache_center);
+ sgdAddVec3(ls.b, cache_center);
+
+ sgdAddScaledVec3(ls.a, rvel[0], t);
+ sgdAddScaledVec3(ls.b, rvel[1], t);
+
+ double this_dist = sgdDistSquaredToLineSegmentVec3( ls, dpt );
+ if (this_dist < dist) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "Found catapult "
+ << this_dist << " meters away");
+ dist = this_dist;
- // end[0] is the end where the cat starts.
- // end[1] is the end where the cat ends.
- // The carrier code takes care of that ordering.
- sgdCopyVec3( end[0], ls.a );
- sgdCopyVec3( end[1], ls.b );
- sgdCopyVec3( vel[0], lsVel[0] );
- sgdCopyVec3( vel[1], lsVel[1] );
- }
+ // The carrier code takes care of that ordering.
+ sgdCopyVec3( end[0], ls.a );
+ sgdCopyVec3( end[1], ls.b );
+ sgdCopyVec3( vel[0], rvel[0] );
+ sgdCopyVec3( vel[1], rvel[1] );
}
}
}
bool
-FGGroundCache::get_agl(double t, const double dpt[3],
- double contact[3], double normal[3], double vel[3],
- int *type, double *loadCapacity,
- double *frictionFactor, double *agl)
+FGGroundCache::get_agl(double t, const double dpt[3], double max_altoff,
+ double contact[3], double normal[3], double vel[3],
+ int *type, const SGMaterial** material, double *agl)
{
bool ret = false;
*type = FGInterface::Unknown;
// *agl = 0.0;
- *loadCapacity = DBL_MAX;
- *frictionFactor = 1.0;
+ if (material)
+ *material = 0;
sgdSetVec3( vel, 0.0, 0.0, 0.0 );
sgdSetVec3( contact, 0.0, 0.0, 0.0 );
sgdSetVec3( normal, 0.0, 0.0, 0.0 );
t -= cache_ref_time;
// The double valued point we start to search for intersection.
- sgdVec3 tmp;
- sgdSubVec3( tmp, dpt, cache_center );
- sgVec3 pt;
- sgSetVec3( pt, tmp );
+ sgdVec3 pt;
+ sgdSubVec3( pt, dpt, cache_center );
// The search direction
- sgVec3 dir;
- sgSetVec3( dir, -dpt[0], -dpt[1], -dpt[2] );
+ sgdVec3 dir;
+ sgdSetVec3( dir, -dpt[0], -dpt[1], -dpt[2] );
+ sgdNormaliseVec3( dir );
// Initialize to something sensible
- double sqdist = DBL_MAX;
+ double current_radius = 0.0;
- // We know that we have a flat cache ...
- // We just know that, because we build that ourselfs ...
- ssgEntity *e;
- for ( e = cache_root.getKid(0) ; e != NULL ; e = cache_root.getNextKid() ) {
- // We just know that, because we build that ourselfs ...
- ssgVtxArray *va = (ssgVtxArray *)e;
- // AGL computations are done with triangle/surface leafs.
- if (va->getPrimitiveType() != GL_TRIANGLES)
- continue;
- GroundProperty *gp = dynamic_cast<GroundProperty*>(va->getUserData());
- // Assertation???
- if ( !gp )
+ size_t sz = triangles.size();
+ for (size_t i = 0; i < sz; ++i) {
+ Triangle triangle;
+ velocityTransformTriangle(t, triangle, triangles[i]);
+ if (!fgdIsectSphereInfLine(triangle.sphere, pt, dir))
continue;
- int nt = va->getNumTriangles();
- for (int i=0; i < nt; ++i) {
- short vi[3];
- va->getTriangle( i, vi, vi+1, vi+2 );
-
- sgVec3 tri[3];
- sgdVec3 dvel[3];
- for (int k=0; k<3; ++k)
- extractCacheRelativeVertex(t, va, gp, vi[k], tri[k], dvel[k]);
- sgVec4 plane;
- sgMakePlane( plane, tri[0], tri[1], tri[2] );
-
- // Check for intersection.
- sgVec3 isecpoint;
- if ( sgIsectInfLinePlane( isecpoint, pt, dir, plane ) &&
- sgPointInTriangle3( isecpoint, tri ) ) {
- // Only accept surfaces with the normal pointing upwards.
- // For double sided surfaces flip the normal in this case.
- float dirDot = sgScalarProductVec3(plane, dir);
- if ( dirDot >= 0 && va->getCullFace() == 1 ) {
- sgScaleVec4( plane, -1 );
- dirDot = -dirDot;
- }
-
- // Check for the closest intersection point.
- // FIXME: is this the right one?
- double newSqdist = sgDistanceSquaredVec3( isecpoint, pt );
- if ( newSqdist < sqdist && dirDot < 0 ) {
- sqdist = newSqdist;
+ // Check for intersection.
+ sgdVec3 isecpoint;
+ if ( sgdIsectInfLinePlane( isecpoint, pt, dir, triangle.plane ) &&
+ sgdPointInTriangle( isecpoint, triangle.vertices ) ) {
+ // Compute the vector from pt to the intersection point ...
+ sgdVec3 off;
+ sgdSubVec3(off, isecpoint, pt);
+ // ... and check if it is too high or not
+ if (-max_altoff < sgdScalarProductVec3( off, dir )) {
+ // Transform to the wgs system
+ sgdAddVec3( isecpoint, cache_center );
+ // compute the radius, good enough approximation to take the geocentric radius
+ SGDfloat radius = sgdLengthSquaredVec3(isecpoint);
+ if (current_radius < radius) {
+ current_radius = radius;
ret = true;
// Save the new potential intersection point.
- sgdSetVec3( contact, isecpoint );
- sgdAddVec3( contact, cache_center );
+ sgdCopyVec3( contact, isecpoint );
// The first three values in the vector are the plane normal.
- sgdSetVec3( normal, plane );
+ sgdCopyVec3( normal, triangle.plane );
// The velocity wrt earth.
- /// FIXME: only true for non rotating objects!!!!
- sgdCopyVec3( vel, dvel[0] );
+ sgdVec3 pivotoff;
+ sgdSubVec3(pivotoff, pt, triangle.rotation_pivot);
+ sgdVectorProductVec3(vel, triangle.rotation, pivotoff);
+ sgdAddVec3(vel, triangle.velocity);
// Save the ground type.
- *type = gp->type;
- // FIXME: figure out how to get that sign ...
-// *agl = sqrt(sqdist);
- *agl = sgdLengthVec3( dpt ) - sgdLengthVec3( contact );
-// *loadCapacity = DBL_MAX;
-// *frictionFactor = 1.0;
+ *type = triangle.type;
+ sgdVec3 dstToContact;
+ sgdSubVec3(dstToContact, contact, dpt);
+ *agl = sgdScalarProductVec3(dir, dstToContact);
+ if (material)
+ *material = triangle.material;
}
}
}
// The altitude is the distance of the requested point from the
// contact point.
- *agl = sgdLengthVec3( dpt ) - sgdLengthVec3( contact );
+ sgdVec3 dstToContact;
+ sgdSubVec3(dstToContact, contact, dpt);
+ *agl = sgdScalarProductVec3(dir, dstToContact);
*type = FGInterface::Unknown;
- *loadCapacity = DBL_MAX;
- *frictionFactor = 1.0;
return ret;
}
-bool FGGroundCache::caught_wire(double t, const double cpt[4][3])
+bool FGGroundCache::caught_wire(double t, const double pt[4][3])
{
- bool ret = false;
+ size_t sz = wires.size();
+ if (sz == 0)
+ return false;
// Time difference to the reference time.
t -= cache_ref_time;
- bool firsttime = true;
- sgVec4 plane[2];
- sgVec3 tri[2][3];
-
- // We know that we have a flat cache ...
- ssgEntity *e;
- for ( e = cache_root.getKid(0); e != NULL ; e = cache_root.getNextKid() ) {
- // We just know that, because we build that ourselfs ...
- ssgVtxArray *va = (ssgVtxArray *)e;
- // Only lines are interresting ...
- if (va->getPrimitiveType() != GL_LINES)
- continue;
- GroundProperty *gp = dynamic_cast<GroundProperty*>(va->getUserData());
- // Assertation???
- if ( !gp )
- continue;
- // Check if we have a catapult ...
- if ( gp->type != FGInterface::Wire )
- continue;
-
- // Lazy compute the values required for intersectiion tests.
- // Since we normally do not have wires in the cache this is a
- // huge benefit.
- if (firsttime) {
- firsttime = false;
- sgVec3 pt[4];
- for (int k=0; k<4; ++k) {
- sgdVec3 tmp;
- sgdSubVec3( tmp, cpt[k], cache_center );
- sgSetVec3( pt[k], tmp );
- }
- sgMakePlane( plane[0], pt[0], pt[1], pt[2] );
- sgCopyVec3( tri[0][0], pt[0] );
- sgCopyVec3( tri[0][1], pt[1] );
- sgCopyVec3( tri[0][2], pt[2] );
- sgMakePlane( plane[1], pt[0], pt[2], pt[3] );
- sgCopyVec3( tri[1][0], pt[0] );
- sgCopyVec3( tri[1][1], pt[2] );
- sgCopyVec3( tri[1][2], pt[3] );
+ // Build the two triangles spanning the area where the hook has moved
+ // during the past step.
+ sgdVec4 plane[2];
+ sgdVec3 tri[2][3];
+ sgdMakePlane( plane[0], pt[0], pt[1], pt[2] );
+ sgdCopyVec3( tri[0][0], pt[0] );
+ sgdCopyVec3( tri[0][1], pt[1] );
+ sgdCopyVec3( tri[0][2], pt[2] );
+ sgdMakePlane( plane[1], pt[0], pt[2], pt[3] );
+ sgdCopyVec3( tri[1][0], pt[0] );
+ sgdCopyVec3( tri[1][1], pt[2] );
+ sgdCopyVec3( tri[1][2], pt[3] );
+
+ // Intersect the wire lines with each of these triangles.
+ // You have caught a wire if they intersect.
+ for (size_t i = 0; i < sz; ++i) {
+ sgdVec3 le[2];
+ for (int k = 0; k < 2; ++k) {
+ sgdVec3 pivotoff, vel;
+ sgdCopyVec3(le[k], wires[i].ends[k]);
+ sgdSubVec3(pivotoff, le[k], wires[i].rotation_pivot);
+ sgdVectorProductVec3(vel, wires[i].rotation, pivotoff);
+ sgdAddVec3(vel, wires[i].velocity);
+ sgdAddScaledVec3(le[k], vel, t);
+ sgdAddVec3(le[k], cache_center);
}
- int nl = va->getNumLines();
- for (int i=0; i < nl; ++i) {
- short vi[2];
- va->getLine(i, vi, vi+1 );
- sgVec3 le[2];
- sgdVec3 dummy;
- extractCacheRelativeVertex(t, va, gp, vi[0], le[0], dummy);
- extractCacheRelativeVertex(t, va, gp, vi[1], le[1], dummy);
-
- for (int k=0; k<2; ++k) {
- sgVec3 isecpoint;
- float isecval = sgIsectLinesegPlane( isecpoint, le[0], le[1], plane[k] );
-
- if ( 0.0 <= isecval && isecval <= 1.0 &&
- sgPointInTriangle( isecpoint, tri[k] ) ) {
- // Store the wire id.
- wire_id = gp->wire_id;
- ret = true;
- }
+ for (int k=0; k<2; ++k) {
+ sgdVec3 isecpoint;
+ double isecval = sgdIsectLinesegPlane(isecpoint, le[0], le[1], plane[k]);
+ if ( 0.0 <= isecval && isecval <= 1.0 &&
+ sgdPointInTriangle( isecpoint, tri[k] ) ) {
+ SG_LOG(SG_FLIGHT,SG_INFO, "Caught wire");
+ // Store the wire id.
+ wire_id = wires[i].wire_id;
+ return true;
}
}
}
- return ret;
+ return false;
}
bool FGGroundCache::get_wire_ends(double t, double end[2][3], double vel[2][3])
if (wire_id < 0)
return false;
- bool ret = false;
-
- // Time difference to th reference time.
+ // Time difference to the reference time.
t -= cache_ref_time;
- // We know that we have a flat cache ...
- ssgEntity *e;
- for ( e = cache_root.getKid(0); e != NULL ; e = cache_root.getNextKid() ) {
- // We just know that, because we build that ourselfs ...
- ssgVtxArray *va = (ssgVtxArray *)e;
- // Only lines are interresting ...
- if (va->getPrimitiveType() != GL_LINES)
- continue;
- GroundProperty *gp = dynamic_cast<GroundProperty*>(va->getUserData());
- // Assertation???
- if ( !gp )
- continue;
- // Check if we have a catapult ...
- if ( gp->type != FGInterface::Wire )
- continue;
- if ( gp->wire_id != wire_id )
- continue;
-
- // Get the line ends, that are the wire endpoints.
- short vi[2];
- va->getLine(0, vi, vi+1 );
- extractWgs84Vertex(t, va, gp, vi[0], end[0], vel[0]);
- extractWgs84Vertex(t, va, gp, vi[1], end[1], vel[1]);
-
- ret = true;
+ // Search for the wire with the matching wire id.
+ size_t sz = wires.size();
+ for (size_t i = 0; i < sz; ++i) {
+ if (wires[i].wire_id == wire_id) {
+ for (size_t k = 0; k < 2; ++k) {
+ sgdVec3 pivotoff;
+ sgdCopyVec3(end[k], wires[i].ends[k]);
+ sgdSubVec3(pivotoff, end[k], wires[i].rotation_pivot);
+ sgdVectorProductVec3(vel[k], wires[i].rotation, pivotoff);
+ sgdAddVec3(vel[k], wires[i].velocity);
+ sgdAddScaledVec3(end[k], vel[k], t);
+ sgdAddVec3(end[k], cache_center);
+ }
+ return true;
+ }
}
- return ret;
+ return false;
}
void FGGroundCache::release_wire(void)
projects / flightgear.git / blobdiff