#ifndef _GROUNDCACHE_HXX
#define _GROUNDCACHE_HXX
-#include <osg/Group>
-#include <osg/ref_ptr>
-
#include <simgear/compiler.h>
#include <simgear/constants.h>
#include <simgear/math/SGMath.hxx>
#include <simgear/scene/bvh/BVHNode.hxx>
#include <simgear/structure/SGSharedPtr.hxx>
+// #define GROUNDCACHE_DEBUG
+#ifdef GROUNDCACHE_DEBUG
+#include <osg/Group>
+#include <osg/ref_ptr>
+#include <simgear/timing/timestamp.hxx>
+#endif
+
class SGMaterial;
namespace simgear {
class BVHLineGeometry;
// 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(double ref_time, const SGVec3d& pt,
- double rad);
+ bool prepare_ground_cache(double startSimTime, double endSimTime,
+ const SGVec3d& pt, double rad);
// 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(double& ref_time, SGVec3d& pt, double& rad);
+ // Returns the unit down vector at the ground cache
+ const SGVec3d& get_down() const
+ { return down; }
+
+ // The time offset that originates from a simtime different than zero
+ // at initialization time of the fdm.
+ double get_cache_time_offset() const
+ { return cache_time_offset; }
+ void set_cache_time_offset(double time_offset)
+ { cache_time_offset = time_offset; }
+
+ bool get_body(double t, SGMatrixd& bodyToWorld, SGVec3d& linearVel,
+ SGVec3d& angularVel, simgear::BVHNode::Id id);
+
// Return the nearest catapult to the given point
// pt in wgs84 coordinates.
double get_cat(double t, const SGVec3d& pt,
// Return the altitude above ground below the wgs84 point pt
// Search for highest triangle not higher than pt + max_altoff.
- // Return ground properties like the ground type, the maximum load
+ // Return ground properties like 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(double t, const SGVec3d& pt, double max_altoff,
- SGVec3d& contact, SGVec3d& normal, SGVec3d& vel,
- int *type, const SGMaterial** material, double *agl);
+ // 0 and 1 which can be used to model lower friction with wet runways.
+ bool get_agl(double t, const SGVec3d& pt, SGVec3d& contact,
+ SGVec3d& normal, SGVec3d& linearVel, SGVec3d& angularVel,
+ simgear::BVHNode::Id& id, const SGMaterial*& material);
+
+ bool get_nearest(double t, const SGVec3d& pt, double maxDist,
+ SGVec3d& contact, SGVec3d& linearVel, SGVec3d& angularVel,
+ simgear::BVHNode::Id& id, const SGMaterial*& material);
// Return 1 if the hook intersects with a wire.
// That test is done by checking if the quad spanned by the points pt*
private:
class CacheFill;
+ class BodyFinder;
class CatapultFinder;
class WireIntersector;
class WireFinder;
// Approximate ground radius.
// In case the aircraft is too high above ground.
double _altitude;
- // Ground type
- int _type;
// the simgear material reference, contains friction coeficients ...
const SGMaterial* _material;
// The time reference for later call to intersection test routines.
// Is required since we will have moving triangles in carriers.
double cache_ref_time;
+ // The time the cache was initialized.
+ double cache_time_offset;
// The wire to track.
const simgear::BVHLineGeometry* _wire;
bool found_ground;
SGSharedPtr<simgear::BVHNode> _localBvhTree;
+
+#ifdef GROUNDCACHE_DEBUG
+ SGTimeStamp _lookupTime;
+ unsigned _lookupCount;
+ SGTimeStamp _buildTime;
+ unsigned _buildCount;
+
+ osg::ref_ptr<osg::Group> _group;
+#endif
};
#endif