//
// 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 <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>
{
// 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.
}
// 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();
-
- 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;
Wire wire;
sgdCopyVec3(wire.ends[0], ends[0]);
sgdCopyVec3(wire.ends[1], ends[1]);
- sgdSetVec3(wire.velocity, gp.vel);
+ 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);
Catapult cat;
sgdCopyVec3(cat.start, ends[0]);
sgdCopyVec3(cat.end, ends[1]);
- sgdSetVec3(cat.velocity, gp.vel);
+ sgdCopyVec3(cat.velocity, gp.vel);
+ sgdCopyVec3(cat.rotation, gp.rot);
+ sgdSubVec3(cat.rotation_pivot, gp.pivot, cache_center);
catapults.push_back(cat);
}
for (int i = 0; i < nt; ++i) {
Triangle t;
t.sphere.empty();
+ t.material = gp.material;
short v[3];
l->getTriangle(i, &v[0], &v[1], &v[2]);
for (int k = 0; k < 3; ++k) {
// 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(&t.sphere)) {
- sgdSetVec3(t.velocity, gp.vel);
+ 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);
}
sgdVec3 isectpoint;
if ( sgdIsectInfLinePlane( isectpoint, tmp, down, t.plane ) &&
fgdPointInTriangle( isectpoint, t.vertices ) ) {
- found_ground = true;
- sgdAddVec3(isectpoint, cache_center);
- double this_radius = sgdLengthVec3(isectpoint);
- if (ground_radius < this_radius)
- ground_radius = this_radius;
+ // 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;
+ }
}
}
}
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) {
- sgdAddScaledVec3(dst.vertices[0], src.velocity, dt);
- sgdAddScaledVec3(dst.vertices[1], src.velocity, dt);
- sgdAddScaledVec3(dst.vertices[2], src.velocity, dt);
+ 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);
+ }
- dst.plane[3] += dt*sgdScalarProductVec3(dst.plane, src.velocity);
+ // 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);
sgdAddScaledVec3(dst.sphere.center, src.velocity, dt);
}
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 );
// 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);
// 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 unaccaptable far away.
+ // 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
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 ...)
cache_fill(terrain, xform, &acSphere, down, &wireSphere);
// some stats
- SG_LOG(SG_FLIGHT,SG_INFO, "prepare_ground_cache(): ac radius = " << rad
+ SG_LOG(SG_FLIGHT,SG_DEBUG, "prepare_ground_cache(): ac radius = " << rad
<< ", # triangles = " << triangles.size()
<< ", # wires = " << wires.size()
<< ", # catapults = " << catapults.size()
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, catapults[i].velocity, t);
- sgdAddScaledVec3(ls.b, catapults[i].velocity, t);
+ sgdAddScaledVec3(ls.a, rvel[0], t);
+ sgdAddScaledVec3(ls.b, rvel[1], t);
double this_dist = sgdDistSquaredToLineSegmentVec3( ls, dpt );
if (this_dist < dist) {
// The carrier code takes care of that ordering.
sgdCopyVec3( end[0], ls.a );
sgdCopyVec3( end[1], ls.b );
- sgdCopyVec3( vel[0], catapults[i].velocity );
- sgdCopyVec3( vel[1], catapults[i].velocity );
+ 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 );
// The search direction
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;
size_t sz = triangles.size();
for (size_t i = 0; i < sz; ++i) {
sgdVec3 isecpoint;
if ( sgdIsectInfLinePlane( isecpoint, pt, dir, triangle.plane ) &&
sgdPointInTriangle( isecpoint, triangle.vertices ) ) {
-
- // Check for the closest intersection point.
- // FIXME: is this the right one?
- SGDfloat newSqdist = sgdDistanceSquaredVec3( isecpoint, pt );
- if ( newSqdist < sqdist ) {
- sqdist = newSqdist;
- ret = true;
- // Save the new potential intersection point.
- sgdCopyVec3( contact, isecpoint );
- sgdAddVec3( contact, cache_center );
- // The first three values in the vector are the plane normal.
- sgdCopyVec3( normal, triangle.plane );
- // The velocity wrt earth.
- /// FIXME: only true for non rotating objects!!!!
- sgdCopyVec3( vel, triangle.velocity );
- // Save the ground type.
- *type = triangle.type;
- // FIXME: figure out how to get that sign ...
-// *agl = sqrt(sqdist);
- *agl = sgdLengthVec3( dpt ) - sgdLengthVec3( contact );
-// *loadCapacity = DBL_MAX;
-// *frictionFactor = 1.0;
+ // 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.
+ sgdCopyVec3( contact, isecpoint );
+ // The first three values in the vector are the plane normal.
+ sgdCopyVec3( normal, triangle.plane );
+ // The velocity wrt earth.
+ sgdVec3 pivotoff;
+ sgdSubVec3(pivotoff, pt, triangle.rotation_pivot);
+ sgdVectorProductVec3(vel, triangle.rotation, pivotoff);
+ sgdAddVec3(vel, triangle.velocity);
+ // Save the ground type.
+ *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;
}
sgdCopyVec3( tri[1][2], pt[3] );
// Intersect the wire lines with each of these triangles.
- // You have cautght a wire if they intersect.
+ // You have caught a wire if they intersect.
for (size_t i = 0; i < sz; ++i) {
sgdVec3 le[2];
- sgdCopyVec3(le[0], wires[i].ends[0]);
- sgdCopyVec3(le[1], wires[i].ends[1]);
-
- sgdAddVec3(le[0], cache_center);
- sgdAddVec3(le[1], cache_center);
-
- sgdAddScaledVec3(le[0], wires[i].velocity, t);
- sgdAddScaledVec3(le[1], wires[i].velocity, t);
+ 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);
+ }
for (int k=0; k<2; ++k) {
sgdVec3 isecpoint;
size_t sz = wires.size();
for (size_t i = 0; i < sz; ++i) {
if (wires[i].wire_id == wire_id) {
- sgdCopyVec3(end[0], wires[i].ends[0]);
- sgdCopyVec3(end[1], wires[i].ends[1]);
-
- sgdAddVec3(end[0], cache_center);
- sgdAddVec3(end[1], cache_center);
-
- sgdAddScaledVec3(end[0], wires[i].velocity, t);
- sgdAddScaledVec3(end[1], wires[i].velocity, t);
-
- sgdCopyVec3(vel[0], wires[i].velocity);
- sgdCopyVec3(vel[1], wires[i].velocity);
+ 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;
}
}
projects / flightgear.git / blobdiff