//
// 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.
//
// $Id$
#ifndef _GROUNDCACHE_HXX
#define _GROUNDCACHE_HXX
-#include <plib/sg.h>
-#include <plib/ssg.h>
+#include <osg/Node>
+
+namespace osgUtil
+{
+class PolytopeIntersector;
+}
+
#include <simgear/compiler.h>
#include <simgear/constants.h>
+#include <simgear/math/SGMath.hxx>
+#include <simgear/math/SGGeometry.hxx>
+
+class SGMaterial;
+class WireIntersector;
class FGGroundCache {
public:
+ FGGroundCache();
+ ~FGGroundCache();
+
//////////////////////////////////////////////////////////////////////////
// Ground handling routines
//////////////////////////////////////////////////////////////////////////
// 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 double pt[3],
+ bool prepare_ground_cache(double ref_time, 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, double pt[3], double *rad);
-
+ bool is_valid(double& ref_time, SGVec3d& pt, double& rad);
// Return the nearest catapult to the given point
// pt in wgs84 coordinates.
- double get_cat(double t, const double pt[3],
- double end[2][3], double vel[2][3]);
+ double get_cat(double t, const SGVec3d& pt,
+ SGVec3d end[2], SGVec3d vel[2]);
// Return the altitude above ground below the wgs84 point pt
- // Search for the nearest triangle to pt.
+ // Search for highest triangle not higher than pt + max_altoff.
// 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(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(double t, const SGVec3d& pt, double max_altoff,
+ SGVec3d& contact, SGVec3d& normal, SGVec3d& vel,
+ int *type, const SGMaterial** material, double *agl);
// 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.
// If the wire is caught, the cache will trace this wires endpoints until
// the FDM calls release_wire().
- bool caught_wire(double t, const double pt[4][3]);
+ bool caught_wire(double t, const SGVec3d pt[4]);
// Return the location and speed of the wire endpoints.
- bool get_wire_ends(double t, double end[2][3], double vel[2][3]);
+ bool get_wire_ends(double t, SGVec3d end[2], SGVec3d vel[2]);
// Tell the cache code that it does no longer need to care for
// the wire end position.
void release_wire(void);
private:
- // Holds the private ground triangle cache ...
- // The surface cache itself.
- ssgRoot cache_root;
- // The center of the cache.
- sgdVec3 cache_center;
+ friend class GroundCacheFillVisitor;
+
+
+ // Helper class to hold some properties of the ground triangle.
+ struct GroundProperty {
+ GroundProperty() : type(0), wire_id(0), material(0) {}
+ int type;
+ int wire_id;
+ // The linear and angular velocity.
+ SGVec3d vel;
+ SGVec3d rot;
+ SGVec3d pivot;
+ // the simgear material reference, contains friction coeficients ...
+ const SGMaterial* material;
+ };
+
+ struct Triangle {
+ GroundProperty gp;
+ // The triangle we represent
+ SGTriangled triangle;
+ SGSphered sphere;
+ };
+ struct Catapult {
+ GroundProperty gp;
+ SGVec3d start;
+ SGVec3d end;
+ };
+ struct Wire {
+ GroundProperty gp;
+ SGVec3d ends[2];
+ };
+
+
// Approximate ground radius.
// In case the aircraft is too high above ground.
double ground_radius;
+ // 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 wire identifier to track.
int wire_id;
+ // Containers which hold all the essential information about this cache.
+ std::vector<Triangle> triangles;
+ std::vector<Catapult> catapults;
+ std::vector<Wire> wires;
+
// The point and radius where the cache is built around.
// That are the arguments that were given to prepare_ground_cache.
- sgdVec3 reference_wgs84_point;
+ SGVec3d reference_wgs84_point;
double reference_vehicle_radius;
+ SGVec3d down;
bool found_ground;
-
- // Fills the environment cache with everything inside the sphere sp.
- void cache_fill(ssgBranch *branch, sgMat4 xform,
- sgSphere* sp, sgVec3 down, sgSphere* wsp);
-
- // Helper class to hold some properties of the ground triangle.
- class GroundProperty
- : public ssgBase {
- public:
- GroundProperty() : type(0) {}
- int type;
- int wire_id;
- sgVec3 vel;
- // not yet implemented ...
-// double loadCapacity;
- };
-
- // compute the ground property of this leaf.
- static GroundProperty *extractGroundProperty( ssgLeaf* leaf );
-
-
- // compute the ground property of this leaf.
- void putSurfaceLeafIntoCache(const sgSphere *sp, const sgMat4 xform,
- bool sphIsec, sgVec3 down, ssgLeaf *l);
-
- void putLineLeafIntoCache(const sgSphere *wsp, const sgMat4 xform,
- ssgLeaf *l);
-
- void addAndFlattenLeaf(GLenum ty, ssgLeaf *l, ssgIndexArray *ia,
- const sgMat4 xform);
-
-
- void extractCacheRelativeVertex(double t, ssgVtxArray *va,
- GroundProperty *gp,
- short i, sgVec3 rel_pos,
- sgdVec3 wgs84_vel);
-
- void extractWgs84Vertex(double t, ssgVtxArray *va,
- GroundProperty *gp, short i,
- sgdVec3 wgs84_pos, sgdVec3 wgs84_vel);
+ void getGroundProperty(osg::Drawable* drawable,
+ const osg::NodePath& nodePath,
+ GroundProperty& gp, bool& backfaceCulling);
+ static void velocityTransformTriangle(double dt, SGTriangled& dst,
+ SGSphered& sdst, const Triangle& src);
+ void getTriIntersectorResults(osgUtil::PolytopeIntersector* triInt);
+ void getWireIntersectorResults(WireIntersector* wireInt,
+ double wireCacheRadius);
};
#endif
projects / flightgear.git / blobdiff