X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2FJSBSim.cxx;h=9267f757ec9a253e6ad7e71825ec167a4845095b;hb=db2d4a7a68bde08a2b80496d9842e78b7df55fe6;hp=44c99315b0d1b0e1cea15582604885659a126de5;hpb=6849328feafd2618923830ee1ed2e269bb5bf2c2;p=flightgear.git diff --git a/src/FDM/JSBSim/JSBSim.cxx b/src/FDM/JSBSim/JSBSim.cxx index 44c99315b..9267f757e 100644 --- a/src/FDM/JSBSim/JSBSim.cxx +++ b/src/FDM/JSBSim/JSBSim.cxx @@ -27,12 +27,8 @@ #include -#include // size_t -#ifdef SG_MATH_EXCEPTION_CLASH -# include -#endif - -#include STL_STRING +#include // size_t +#include #include #include @@ -58,6 +54,7 @@ #include #include #include +#include #include #include #include @@ -85,7 +82,7 @@ FMAX (double a, double b) class FGFSGroundCallback : public FGGroundCallback { public: - FGFSGroundCallback(FGInterface* ifc) : mInterface(ifc) {} + FGFSGroundCallback(FGJSBsim* ifc) : mInterface(ifc) {} virtual ~FGFSGroundCallback() {} /** Get the altitude above sea level depenent on the location. */ @@ -103,23 +100,22 @@ public: FGLocation& cont, FGColumnVector3& n, FGColumnVector3& v) const { double loc_cart[3] = { l(eX), l(eY), l(eZ) }; - double contact[3], normal[3], vel[3], lc, ff, agl; - int groundtype; - mInterface->get_agl_ft(t, loc_cart, contact, normal, vel, - &groundtype, &lc, &ff, &agl); + double contact[3], normal[3], vel[3], agl = 0; + mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal, + vel, &agl); n = l.GetTec2l()*FGColumnVector3( normal[0], normal[1], normal[2] ); v = l.GetTec2l()*FGColumnVector3( vel[0], vel[1], vel[2] ); cont = FGColumnVector3( contact[0], contact[1], contact[2] ); return agl; } private: - FGInterface* mInterface; + FGJSBsim* mInterface; }; /******************************************************************************/ FGJSBsim::FGJSBsim( double dt ) - : FGInterface(dt) + : FGInterface(dt), got_wire(false) { bool result; // Set up the debugging level @@ -160,6 +156,7 @@ FGJSBsim::FGJSBsim( double dt ) Aircraft = fdmex->GetAircraft(); Propagate = fdmex->GetPropagate(); Auxiliary = fdmex->GetAuxiliary(); + Inertial = fdmex->GetInertial(); Aerodynamics = fdmex->GetAerodynamics(); GroundReactions = fdmex->GetGroundReactions(); @@ -170,10 +167,15 @@ FGJSBsim::FGJSBsim( double dt ) SGPath engine_path( fgGetString("/sim/aircraft-dir") ); engine_path.append( "Engine" ); + + SGPath systems_path( fgGetString("/sim/aircraft-dir") ); + systems_path.append( "Systems" ); + State->Setdt( dt ); result = fdmex->LoadModel( aircraft_path.str(), engine_path.str(), + systems_path.str(), fgGetString("/sim/aero"), false ); if (result) { @@ -208,9 +210,11 @@ FGJSBsim::FGJSBsim( double dt ) if (node->getChild("level-gal_us", 0, false) != 0) { Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6); } else { - node->setDoubleValue("level-lb", Propulsion->GetTank(i)->GetContents()); + node->setDoubleValue("level-lbs", Propulsion->GetTank(i)->GetContents()); node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6); } + node->setDoubleValue("capacity-gal_us", + Propulsion->GetTank(i)->GetCapacity() / 6.6); } Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue()); @@ -243,6 +247,8 @@ FGJSBsim::FGJSBsim( double dt ) speedbrake_pos_pct =fgGetNode("/surface-positions/speedbrake-pos-norm",true); spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true); + tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true); + wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-pos-norm",true); elevator_pos_pct->setDoubleValue(0); left_aileron_pos_pct->setDoubleValue(0); @@ -262,11 +268,24 @@ FGJSBsim::FGJSBsim( double dt ) wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true); wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true); + slaved = fgGetNode("/sim/slaved/enabled", true); + for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) { SGPropertyNode * node = fgGetNode("engines/engine", i, true); Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") / Propulsion->GetEngine(i)->GetThruster()->GetGearRatio()); } + + hook_root_struct = FGColumnVector3( + fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196), + fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0), + fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16)); + + // Untie the write-state-file property to avoid creating an initfile.xml + // file on each reset. + fgGetNode("/fdm/jsbsim/simulation/write-state-file")->untie(); + + crashed = false; } /******************************************************************************/ @@ -295,20 +314,17 @@ void FGJSBsim::init() 9.0/5.0*(temperature->getDoubleValue()+273.15) ); Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566); Atmosphere->SetExDensity(density->getDoubleValue()); - - tmp = turbulence_gain->getDoubleValue(); - Atmosphere->SetTurbGain(tmp * tmp * 100.0); - - tmp = turbulence_rate->getDoubleValue(); - Atmosphere->SetTurbRate(tmp); + Atmosphere->SetTurbType(FGAtmosphere::ttCulp); + Atmosphere->SetTurbGain(turbulence_gain->getDoubleValue()); + Atmosphere->SetTurbRate(turbulence_rate->getDoubleValue()); } else { Atmosphere->UseInternal(); } - fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() ); - fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() ); - fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() ); + fgic->SetVNorthFpsIC( wind_from_north->getDoubleValue() ); + fgic->SetVEastFpsIC( wind_from_east->getDoubleValue() ); + fgic->SetVDownFpsIC( wind_from_down->getDoubleValue() ); //Atmosphere->SetExTemperature(get_Static_temperature()); //Atmosphere->SetExPressure(get_Static_pressure()); @@ -325,6 +341,8 @@ void FGJSBsim::init() } } + FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() ); + common_init(); copy_to_JSBsim(); @@ -387,6 +405,12 @@ void FGJSBsim::init() void FGJSBsim::update( double dt ) { + if(crashed) { + if(!fgGetBool("/sim/crashed")) + fgSetBool("/sim/crashed", true); + return; + } + if (is_suspended()) return; @@ -418,15 +442,20 @@ void FGJSBsim::update( double dt ) cart = FGLocation(lon, lat, alt+slr); } double cart_pos[3] = { cart(1), cart(2), cart(3) }; - bool cache_ok = prepare_ground_cache_ft( State->Getsim_time(), cart_pos, + double t0 = State->Getsim_time(); + bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos, groundCacheRadius ); if (!cache_ok) { SG_LOG(SG_FLIGHT, SG_WARN, "FGInterface is being called without scenery below the aircraft!"); - cout << "altitude = " << alt << endl; - cout << "sea level radius = " << slr << endl; - cout << "latitude = " << lat << endl; - cout << "longitude = " << lon << endl; + SG_LOG(SG_FLIGHT, SG_WARN, + "altitude = " << alt); + SG_LOG(SG_FLIGHT, SG_WARN, + "sea level radius = " << slr); + SG_LOG(SG_FLIGHT, SG_WARN, + "latitude = " << lat); + SG_LOG(SG_FLIGHT, SG_WARN, + "longitude = " << lon); //return; } @@ -436,10 +465,9 @@ void FGJSBsim::update( double dt ) if ( needTrim ) { if ( startup_trim->getBoolValue() ) { - double contact[3], dummy[3], lc, ff, agl; - int groundtype; - get_agl_ft(State->Getsim_time(), cart_pos, contact, - dummy, dummy, &groundtype, &lc, &ff, &agl); + double contact[3], d[3], agl; + get_agl_ft(State->Getsim_time(), cart_pos, SG_METER_TO_FEET*2, contact, + d, d, &agl); double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1] + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC(); @@ -457,13 +485,16 @@ void FGJSBsim::update( double dt ) for ( i=0; i < multiloop; i++ ) { fdmex->Run(); + update_external_forces(State->Getsim_time() + i * State->Getdt()); } FGJSBBase::Message* msg; - while (fdmex->ReadMessage()) { + while (fdmex->SomeMessages()) { msg = fdmex->ProcessMessage(); switch (msg->type) { case FGJSBBase::Message::eText: + if (msg->text == "Crash Detected: Simulation FREEZE.") + crashed = true; SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text ); break; case FGJSBBase::Message::eBool: @@ -503,8 +534,6 @@ bool FGJSBsim::copy_to_JSBsim() FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() ); FCS->SetDrCmd( -globals->get_controls()->get_rudder() ); FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() ); - // FIXME: make that get_steering work -// FCS->SetDsCmd( globals->get_controls()->get_steering()/80.0 ); FCS->SetDsCmd( globals->get_controls()->get_rudder() ); FCS->SetDfCmd( globals->get_controls()->get_flaps() ); FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() ); @@ -539,7 +568,7 @@ bool FGJSBsim::copy_to_JSBsim() FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i); eng->SetAugmentation( globals->get_controls()->get_augmentation(i) ); eng->SetReverse( globals->get_controls()->get_reverser(i) ); - eng->SetInjection( globals->get_controls()->get_water_injection(i) ); + //eng->SetInjection( globals->get_controls()->get_water_injection(i) ); eng->SetCutoff( globals->get_controls()->get_cutoff(i) ); eng->SetIgnition( globals->get_controls()->get_ignition(i) ); break; @@ -556,8 +585,8 @@ bool FGJSBsim::copy_to_JSBsim() eng->SetCutoff( globals->get_controls()->get_cutoff(i) ); eng->SetIgnition( globals->get_controls()->get_ignition(i) ); - eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) ); - eng->SetCondition( globals->get_controls()->get_condition(i) ); + eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) ); + eng->SetCondition( globals->get_controls()->get_condition(i) ); break; } // end FGTurboProp code block } @@ -579,10 +608,10 @@ bool FGJSBsim::copy_to_JSBsim() Atmosphere->SetExDensity(density->getDoubleValue()); tmp = turbulence_gain->getDoubleValue(); - Atmosphere->SetTurbGain(tmp * tmp * 100.0); + //Atmosphere->SetTurbGain(tmp * tmp * 100.0); tmp = turbulence_rate->getDoubleValue(); - Atmosphere->SetTurbRate(tmp); + //Atmosphere->SetTurbRate(tmp); Atmosphere->SetWindNED( wind_from_north->getDoubleValue(), wind_from_east->getDoubleValue(), @@ -596,11 +625,11 @@ bool FGJSBsim::copy_to_JSBsim() SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true); FGTank * tank = Propulsion->GetTank(i); tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6); -// tank->SetContents(node->getDoubleValue("level-lb")); +// tank->SetContents(node->getDoubleValue("level-lbs")); } - SGPropertyNode* node = fgGetNode("/systems/refuel", true); - Propulsion->SetRefuel(node->getDoubleValue("contact")); + Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue()); + fdmex->SetSlave(slaved->getBoolValue()); return true; } @@ -679,9 +708,8 @@ bool FGJSBsim::copy_from_JSBsim() { double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) }; double contact[3], d[3], sd, t; - int id; is_valid_m(&t, d, &sd); - get_agl_ft(t, loc_cart, contact, d, d, &id, &sd, &sd, &sd); + get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, &sd); double rwrad = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude(); _set_Runway_altitude( rwrad - get_Sea_level_radius() ); @@ -697,7 +725,7 @@ bool FGJSBsim::copy_from_JSBsim() _set_Gamma_vert_rad( Auxiliary->GetGamma() ); - _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() ); + _set_Earth_position_angle( Inertial->GetEarthPositionAngle() ); _set_Climb_Rate( Propagate->Gethdot() ); @@ -724,6 +752,10 @@ bool FGJSBsim::copy_from_JSBsim() node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF()); node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi()); node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg()); + // NOTE: mp-osi is not in ounces per square inch. + // This error is left for reasons of backwards compatibility with + // existing FlightGear sound and instrument configurations. + node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg()); node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF()); node->setDoubleValue("rpm", eng->getRPM()); } // end FGPiston code block @@ -832,7 +864,7 @@ bool FGJSBsim::copy_from_JSBsim() double contents = tank->GetContents(); double temp = tank->GetTemperature_degC(); node->setDoubleValue("level-gal_us", contents/6.6); - node->setDoubleValue("level-lb", contents); + node->setDoubleValue("level-lbs", contents); if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp); } } @@ -848,12 +880,13 @@ bool FGJSBsim::copy_from_JSBsim() flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) ); speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) ); spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) ); + tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() ); + wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() ); - // force a sim reset if crashed (altitude AGL < 0) + // force a sim crashed if crashed (altitude AGL < 0) if (get_Altitude_AGL() < -100.0) { - fgSetBool("/sim/crashed", true); - SGPropertyNode* node = fgGetNode("/sim/presets", true); - globals->get_commands()->execute("old-reinit-dialog", node); + State->SuspendIntegration(); + crashed = true; } return true; @@ -883,7 +916,7 @@ bool FGJSBsim::ToggleDataLogging(bool state) //Positions void FGJSBsim::set_Latitude(double lat) { - static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft"); + static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft"); double alt; double sea_level_radius_meters, lat_geoc; @@ -923,7 +956,7 @@ void FGJSBsim::set_Longitude(double lon) void FGJSBsim::set_Altitude(double alt) { - static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg"); + static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg"); double sea_level_radius_meters,lat_geoc; @@ -978,9 +1011,9 @@ void FGJSBsim::set_Velocities_Local( double north, double east, double down ) FGInterface::set_Velocities_Local(north, east, down); update_ic(); - fgic->SetVnorthFpsIC(north); - fgic->SetVeastFpsIC(east); - fgic->SetVdownFpsIC(down); + fgic->SetVNorthFpsIC(north); + fgic->SetVEastFpsIC(east); + fgic->SetVDownFpsIC(down); needTrim=true; } @@ -1056,9 +1089,10 @@ void FGJSBsim::init_gear(void ) node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3)); node->setBoolValue("wow", gear->GetWOW()); node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0); - node->setDoubleValue("position-norm", FCS->GetGearPos()); + node->setDoubleValue("position-norm", gear->GetGearUnitPos()); node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure()); node->setDoubleValue("compression-norm", gear->GetCompLen()); + node->setDoubleValue("compression-ft", gear->GetCompLen()); if ( gear->GetSteerable() ) node->setDoubleValue("steering-norm", gear->GetSteerNorm()); } @@ -1072,9 +1106,10 @@ void FGJSBsim::update_gear(void) FGLGear *gear = gr->GetGearUnit(i); SGPropertyNode * node = fgGetNode("gear/gear", i, true); node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW()); - node->getChild("position-norm", 0, true)->setDoubleValue(FCS->GetGearPos()); + node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos()); gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm")); node->setDoubleValue("compression-norm", gear->GetCompLen()); + node->setDoubleValue("compression-ft", gear->GetCompLen()); if ( gear->GetSteerable() ) node->setDoubleValue("steering-norm", gear->GetSteerNorm()); } @@ -1086,7 +1121,6 @@ void FGJSBsim::do_trim(void) if ( fgGetBool("/sim/presets/onground") ) { - fgic->SetVcalibratedKtsIC(0.0); fgtrim = new FGTrim(fdmex,tGround); } else { fgtrim = new FGTrim(fdmex,tLongitudinal); @@ -1098,8 +1132,8 @@ void FGJSBsim::do_trim(void) } else { trimmed->setBoolValue(true); } - if (FGJSBBase::debug_lvl > 0) - State->ReportState(); +// if (FGJSBBase::debug_lvl > 0) +// State->ReportState(); delete fgtrim; @@ -1133,3 +1167,205 @@ void FGJSBsim::update_ic(void) } } +bool +FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off, + double contact[3], double normal[3], double vel[3], + double *agl) +{ + double angularVel[3]; + const SGMaterial* material; + simgear::BVHNode::Id id; + if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel, + angularVel, material, id)) + return false; + SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt)); + SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt); + *agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt)); + return true; +} + +inline static double dot3(const FGColumnVector3& a, const FGColumnVector3& b) +{ + return a(1) * b(1) + a(2) * b(2) + a(3) * b(3); +} + +inline static double sqr(double x) +{ + return x * x; +} + +static double angle_diff(double a, double b) +{ + double diff = fabs(a - b); + if (diff > 180) diff = 360 - diff; + + return diff; +} + +static void check_hook_solution(const FGColumnVector3& ground_normal_body, double E, double hook_length, double sin_fi_guess, double cos_fi_guess, double* sin_fis, double* cos_fis, double* fis, int* points) +{ + FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess); + double dist = dot3(tip, ground_normal_body); + if (fabs(dist + E) < 0.0001) { + sin_fis[*points] = sin_fi_guess; + cos_fis[*points] = cos_fi_guess; + fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES; + (*points)++; + } +} + + +static void check_hook_solution(const FGColumnVector3& ground_normal_body, double E, double hook_length, double sin_fi_guess, double* sin_fis, double* cos_fis, double* fis, int* points) +{ + if (sin_fi_guess >= -1 && sin_fi_guess <= 1) { + double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess)); + check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points); + if (fabs(cos_fi_guess) > SG_EPSILON) { + check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points); + } + } +} + +void FGJSBsim::update_external_forces(double t_off) +{ + const FGMatrix33& Tb2l = Propagate->GetTb2l(); + const FGMatrix33& Tl2b = Propagate->GetTl2b(); + const FGLocation& Location = Propagate->GetLocation(); + const FGMatrix33& Tec2l = Location.GetTec2l(); + + double hook_area[4][3]; + + FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct); + FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l * hook_root_body); + hook_area[1][0] = hook_root(1); + hook_area[1][1] = hook_root(2); + hook_area[1][2] = hook_root(3); + + hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75); + double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18); + double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30); + double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min; + double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS); + double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS); + + FGColumnVector3 hook_tip_body = hook_root_body; + hook_tip_body(1) -= hook_length * cos_fi; + hook_tip_body(3) += hook_length * sin_fi; + bool hook_tip_valid = true; + + double contact[3]; + double ground_normal[3]; + double ground_vel[3]; + double root_agl_ft; + + if (!got_wire) { + bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal, ground_vel, &root_agl_ft); + if (got && root_agl_ft > 0 && root_agl_ft < hook_length) { + FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2])); + FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2])); + double D = -dot3(contact_body, ground_normal_body); + + // check hook tip agl against same ground plane + double hook_tip_agl_ft = dot3(hook_tip_body, ground_normal_body) + D; + if (hook_tip_agl_ft < 0) { + + // hook tip: hx - l cos, hy, hz + l sin + // on ground: - n0 l cos + n2 l sin + E = 0 + + double E = D + dot3(hook_root_body, ground_normal_body); + + // substitue x = sin fi, cos fi = sqrt(1 - x * x) + // and rearrange to get a quadratic with coeffs: + double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3))); + double b = 2 * E * ground_normal_body(3) * hook_length; + double c = sqr(E) - sqr(ground_normal_body(1) * hook_length); + + double disc = sqr(b) - 4 * a * c; + if (disc >= 0) { + double delta = sqrt(disc) / (2 * a); + + // allow 4 solutions for safety, should never happen + double sin_fis[4]; + double cos_fis[4]; + double fis[4]; + int points = 0; + + double sin_fi_guess = -b / (2 * a) - delta; + check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points); + check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points); + + if (points == 2) { + double diff1 = angle_diff(fi, fis[0]); + double diff2 = angle_diff(fi, fis[1]); + int point = diff1 < diff2 ? 0 : 1; + fi = fis[point]; + sin_fi = sin_fis[point]; + cos_fi = cos_fis[point]; + hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi; + hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi; + } + } + } + } + } else { + FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() * hook_root_body)); + double wire_ends_ec[2][3]; + double wire_vel_ec[2][3]; + get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec); + FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]); + FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]); + FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2; + if (rel_vel.Magnitude() < 3) { + got_wire = false; + release_wire(); + fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0); + } else { + FGColumnVector3 wire_end1_body = Tl2b * Location.LocationToLocal(FGColumnVector3(wire_ends_ec[0][0], wire_ends_ec[0][1], wire_ends_ec[0][2])) - hook_root_body; + FGColumnVector3 wire_end2_body = Tl2b * Location.LocationToLocal(FGColumnVector3(wire_ends_ec[1][0], wire_ends_ec[1][1], wire_ends_ec[1][2])) - hook_root_body; + FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body; + force_plane_normal.Normalize(); + cos_fi = dot3(force_plane_normal, FGColumnVector3(0, 0, 1)); + if (cos_fi < 0) cos_fi = -cos_fi; + sin_fi = sqrt(1 - sqr(cos_fi)); + fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES; + + fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi); + fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0); + fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi); + fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force")); + } + } + + FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body); + + hook_area[0][0] = hook_tip(1); + hook_area[0][1] = hook_tip(2); + hook_area[0][2] = hook_tip(3); + + if (!got_wire) { + // The previous positions. + hook_area[2][0] = last_hook_root[0]; + hook_area[2][1] = last_hook_root[1]; + hook_area[2][2] = last_hook_root[2]; + hook_area[3][0] = last_hook_tip[0]; + hook_area[3][1] = last_hook_tip[1]; + hook_area[3][2] = last_hook_tip[2]; + + // Check if we caught a wire. + // Returns true if we caught one. + if (caught_wire_ft(t_off, hook_area)) { + got_wire = true; + } + } + + // save actual position as old position ... + last_hook_tip[0] = hook_area[0][0]; + last_hook_tip[1] = hook_area[0][1]; + last_hook_tip[2] = hook_area[0][2]; + last_hook_root[0] = hook_area[1][0]; + last_hook_root[1] = hook_area[1][1]; + last_hook_root[2] = hook_area[1][2]; + + fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi); +} +