#ifndef _GROUNDCACHE_HXX
#define _GROUNDCACHE_HXX
-#include <plib/sg.h>
-#include <plib/ssg.h>
#include <simgear/compiler.h>
#include <simgear/constants.h>
+#include <simgear/math/SGMath.hxx>
+#include <simgear/math/SGGeometry.hxx>
+#include <simgear/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
+
+namespace simgear {
+class BVHLineGeometry;
+class BVHMaterial;
+}
class FGGroundCache {
public:
// 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],
- 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, double pt[3], double *rad);
-
+ 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 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 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 double pt[3], double max_altoff,
- double contact[3], double normal[3], double vel[3],
- int *type, double *loadCapacity,
- double *frictionFactor, 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 simgear::BVHMaterial*& material);
+
+ bool get_nearest(double t, const SGVec3d& pt, double maxDist,
+ SGVec3d& contact, SGVec3d& linearVel, SGVec3d& angularVel,
+ simgear::BVHNode::Id& id,
+ const simgear::BVHMaterial*& material);
// 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:
- struct Triangle {
- // The edge vertices.
- sgdVec3 vertices[3];
- // The surface normal.
- sgdVec4 plane;
- // The bounding shpere.
- sgdSphere sphere;
- // The linear and angular velocity.
- sgdVec3 velocity;
- sgdVec3 rotation;
- sgdVec3 rotation_pivot;
- // Ground type
- int type;
- };
- struct Catapult {
- sgdVec3 start;
- sgdVec3 end;
- sgdVec3 velocity;
- sgdVec3 rotation;
- sgdVec3 rotation_pivot;
- };
- struct Wire {
- sgdVec3 ends[2];
- sgdVec3 velocity;
- sgdVec3 rotation;
- sgdVec3 rotation_pivot;
- int wire_id;
- };
-
-
- // The center of the cache.
- sgdVec3 cache_center;
+ class CacheFill;
+ class BodyFinder;
+ class CatapultFinder;
+ class WireIntersector;
+ class WireFinder;
+
// Approximate ground radius.
// In case the aircraft is too high above ground.
- double ground_radius;
+ double _altitude;
+ // the simgear material reference, contains friction coeficients ...
+ const simgear::BVHMaterial* _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 time the cache was initialized.
+ double cache_time_offset;
+ // The wire to track.
+ const simgear::BVHLineGeometry* _wire;
// 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;
+ SGSharedPtr<simgear::BVHNode> _localBvhTree;
- // Fills the environment cache with everything inside the sphere sp.
- void cache_fill(ssgBranch *branch, sgdMat4 xform,
- sgdSphere* sp, sgdVec3 down, sgdSphere* wsp);
-
- // compute the ground property of this leaf.
- void putSurfaceLeafIntoCache(const sgdSphere *sp, const sgdMat4 xform,
- bool sphIsec, sgdVec3 down, ssgLeaf *l);
-
- void putLineLeafIntoCache(const sgdSphere *wsp, const sgdMat4 xform,
- ssgLeaf *l);
-
- // Helper class to hold some properties of the ground triangle.
- struct GroundProperty {
- GroundProperty() : type(0) {}
- int type;
- int wire_id;
- sgdVec3 vel;
- sgdVec3 rot;
- sgdVec3 pivot;
- // not yet implemented ...
-// double loadCapacity;
- };
+#ifdef GROUNDCACHE_DEBUG
+ SGTimeStamp _lookupTime;
+ unsigned _lookupCount;
+ SGTimeStamp _buildTime;
+ unsigned _buildCount;
- // compute the ground property of this leaf.
- static GroundProperty extractGroundProperty( ssgLeaf* leaf );
-
-
- static void velocityTransformTriangle(double dt, Triangle& dst,
- const Triangle& src);
+ osg::ref_ptr<osg::Group> _group;
+#endif
};
#endif
projects / flightgear.git / blobdiff