//
// 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 <simgear/compiler.h>
#include <simgear/constants.h>
+#include <simgear/math/SGMath.hxx>
+
+class SGMaterial;
+class GroundCacheFillVisitor;
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],
+ 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:
+ friend class GroundCacheFillVisitor;
+
struct Triangle {
+ Triangle() : material(0) {}
// The edge vertices.
- sgdVec3 vertices[3];
+ SGVec3d vertices[3];
// The surface normal.
- sgdVec4 plane;
+ SGVec4d plane;
// The bounding shpere.
- sgdSphere sphere;
- // The linear velocity.
- sgdVec3 velocity;
+ SGVec3d boundCenter;
+ double boundRadius;
+ // The linear and angular velocity.
+ SGVec3d velocity;
+ SGVec3d rotation;
+ SGVec3d rotation_pivot;
// Ground type
int type;
+ // the simgear material reference, contains friction coeficients ...
+ const SGMaterial* material;
};
struct Catapult {
- sgdVec3 start;
- sgdVec3 end;
- sgdVec3 velocity;
+ SGVec3d start;
+ SGVec3d end;
+ SGVec3d velocity;
+ SGVec3d rotation;
+ SGVec3d rotation_pivot;
};
struct Wire {
- sgdVec3 ends[2];
- sgdVec3 velocity;
+ SGVec3d ends[2];
+ SGVec3d velocity;
+ SGVec3d rotation;
+ SGVec3d rotation_pivot;
int wire_id;
};
// The center of the cache.
- sgdVec3 cache_center;
+ SGVec3d cache_center;
// 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 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, 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) {}
+ GroundProperty() : type(0), material(0) {}
int type;
int wire_id;
- sgVec3 vel;
- // not yet implemented ...
-// double loadCapacity;
+ SGVec3d vel;
+ SGVec3d rot;
+ SGVec3d pivot;
+ const SGMaterial* material;
};
- // compute the ground property of this leaf.
- static GroundProperty extractGroundProperty( ssgLeaf* leaf );
-
-
static void velocityTransformTriangle(double dt, Triangle& dst,
const Triangle& src);
};
projects / flightgear.git / blobdiff