X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2Fflight.cxx;h=0e4ff912a3948a99ffce66c9a298993d110eae60;hb=a99ea1c7b5fb0ba69810bbad9b6aca8b4cdc116b;hp=5c065ca21b2215ad1ad4a5ae9e2bef0e022e1974;hpb=f2515f709e1842b3bd0ea3a58477f053f5ec6a8e;p=flightgear.git diff --git a/src/FDM/flight.cxx b/src/FDM/flight.cxx index 5c065ca21..0e4ff912a 100644 --- a/src/FDM/flight.cxx +++ b/src/FDM/flight.cxx @@ -2,7 +2,7 @@ // // Written by Curtis Olson, started May 1997. // -// Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com +// Copyright (C) 1997 Curtis L. Olson - http://www.flightgear.org/~curt // // This program is free software; you can redistribute it and/or // modify it under the terms of the GNU General Public License as @@ -16,77 +16,87 @@ // // 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. // // $Id$ +#ifdef HAVE_CONFIG_H +# include "config.h" +#endif -#include +#include "flight.hxx" #include #include -#include +#include #include #include -#include #include
#include
+#include -#include "External.hxx" -#include "flight.hxx" -#include "JSBSim.hxx" -#include "LaRCsim.hxx" -#include "Balloon.h" +static inline void assign(double* ptr, const SGVec3d& vec) +{ + ptr[0] = vec[0]; + ptr[1] = vec[1]; + ptr[2] = vec[2]; +} // base_fdm_state is the internal state that is updated in integer // multiples of "dt". This leads to "jitter" with respect to the real // world time, so we introduce cur_fdm_state which is extrapolated by // the difference between sim time and real world time -FGInterface *cur_fdm_state; +FGInterface *cur_fdm_state = 0; FGInterface base_fdm_state; -inline void init_vec(FG_VECTOR_3 vec) { - vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0; -} - -FGEngInterface::FGEngInterface() { - - // inputs - Throttle=0; - Mixture=0; - Prop_Advance=0; - - // outputs - RPM=0; - Manifold_Pressure=0; - MaxHP=0; - Percentage_Power=0; - EGT=0; - prop_thrust=0; -} - -FGEngInterface::~FGEngInterface(void) { -} - - // Constructor -FGInterface::FGInterface() { +FGInterface::FGInterface() + : remainder(0) +{ _setup(); -} +} -FGInterface::FGInterface( double dt ) { - +FGInterface::FGInterface( double dt ) + : remainder(0) +{ _setup(); - delta_t = dt; - remainder = elapsed = multi_loop = 0; } // Destructor FGInterface::~FGInterface() { -// unbind(); // FIXME: should be called explicitly + // unbind(); // FIXME: should be called explicitly +} + + +int +FGInterface::_calc_multiloop (double dt) +{ + int hz = fgGetInt("/sim/model-hz"); + int speedup = fgGetInt("/sim/speed-up"); + + dt += remainder; + remainder = 0; + double ml = dt * hz; + // Avoid roundoff problems by adding the roundoff itself. + // ... ok, two times the roundoff to have enough room. + int multiloop = int(floor(ml * (1.0 + 2.0*DBL_EPSILON))); + remainder = (ml - multiloop) / hz; + + // If we artificially inflate ml above by a tiny amount to get the + // closest integer, then subtract the integer from the original + // slightly smaller value, we can get a negative remainder. + // Logically this should never happen, and we definitely don't want + // to carry a negative remainder over to the next iteration, so + // never let the remainder go below zero. + // + // Note: this fixes a problem where we run 1, 3, 1, 3, 1, 3... loops + // of the FDM when in fact we want to run 2, 2, 2, 2, 2... + if ( remainder < 0 ) { remainder = 0; } + + return (multiloop * speedup); } @@ -98,148 +108,142 @@ FGInterface::~FGInterface() { void FGInterface::_setup () { - init_vec( d_pilot_rp_body_v ); - init_vec( d_cg_rp_body_v ); - init_vec( f_body_total_v ); - init_vec( f_local_total_v ); - init_vec( f_aero_v ); - init_vec( f_engine_v ); - init_vec( f_gear_v ); - init_vec( m_total_rp_v ); - init_vec( m_total_cg_v ); - init_vec( m_aero_v ); - init_vec( m_engine_v ); - init_vec( m_gear_v ); - init_vec( v_dot_local_v ); - init_vec( v_dot_body_v ); - init_vec( a_cg_body_v ); - init_vec( a_pilot_body_v ); - init_vec( n_cg_body_v ); - init_vec( n_pilot_body_v ); - init_vec( omega_dot_body_v ); - init_vec( v_local_v ); - init_vec( v_local_rel_ground_v ); - init_vec( v_local_airmass_v ); - init_vec( v_local_rel_airmass_v ); - init_vec( v_local_gust_v ); - init_vec( v_wind_body_v ); - init_vec( omega_body_v ); - init_vec( omega_local_v ); - init_vec( omega_total_v ); - init_vec( euler_rates_v ); - init_vec( geocentric_rates_v ); - init_vec( geocentric_position_v ); - init_vec( geodetic_position_v ); - init_vec( euler_angles_v ); - init_vec( d_cg_rwy_local_v ); - init_vec( d_cg_rwy_rwy_v ); - init_vec( d_pilot_rwy_local_v ); - init_vec( d_pilot_rwy_rwy_v ); - init_vec( t_local_to_body_m[0] ); - init_vec( t_local_to_body_m[1] ); - init_vec( t_local_to_body_m[2] ); + inited = false; + bound = false; + + d_cg_rp_body_v = SGVec3d::zeros(); + v_dot_local_v = SGVec3d::zeros(); + v_dot_body_v = SGVec3d::zeros(); + a_cg_body_v = SGVec3d::zeros(); + a_pilot_body_v = SGVec3d::zeros(); + n_cg_body_v = SGVec3d::zeros(); + v_local_v = SGVec3d::zeros(); + v_local_rel_ground_v = SGVec3d::zeros(); + v_local_airmass_v = SGVec3d::zeros(); + v_wind_body_v = SGVec3d::zeros(); + omega_body_v = SGVec3d::zeros(); + euler_rates_v = SGVec3d::zeros(); + geocentric_rates_v = SGVec3d::zeros(); + geodetic_position_v = SGGeod::fromRadM(0, 0, 0); + cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v); + geocentric_position_v = SGGeoc::fromCart(cartesian_position_v); + euler_angles_v = SGVec3d::zeros(); - mass=i_xx=i_yy=i_zz=i_xz=0; - nlf=0; - v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0; - v_ground_speed=v_equiv=v_equiv_kts=0; - v_calibrated=v_calibrated_kts=0; - gravity=0; - centrifugal_relief=0; - alpha=beta=alpha_dot=beta_dot=0; - cos_alpha=sin_alpha=cos_beta=sin_beta=0; - cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0; - gamma_vert_rad=gamma_horiz_rad=0; - sigma=density=v_sound=mach_number=0; - static_pressure=total_pressure=impact_pressure=0; + nlf=0; + v_rel_wind=v_true_kts=0; + v_ground_speed=v_equiv_kts=0; + v_calibrated_kts=0; + alpha=beta=0; + gamma_vert_rad=0; + density=mach_number=0; + static_pressure=total_pressure=0; dynamic_pressure=0; static_temperature=total_temperature=0; sea_level_radius=earth_position_angle=0; - runway_altitude=runway_latitude=runway_longitude=0; - runway_heading=0; - radius_to_rwy=0; - climb_rate=0; - sin_lat_geocentric=cos_lat_geocentric=0; - sin_latitude=cos_latitude=0; - sin_longitude=cos_longitude=0; + runway_altitude=0; + climb_rate=0; altitude_agl=0; } +void +FGInterface::init () {} /** * Initialize the state of the FDM. * * Subclasses of FGInterface may do their own, additional initialization, - * but normally they should invoke this method explicitly first as - * FGInterface::init() to make sure the basic structures are set up - * properly. + * but there is some that is common to all. Normally, they should call + * this before they begin their own init to make sure the basic structures + * are set up properly. */ void -FGInterface::init () -{ - SG_LOG(SG_FLIGHT, SG_INFO, "Start initializing FGInterface"); - - stamp(); - set_remainder(0); - - // Set initial position - SG_LOG(SG_FLIGHT, SG_INFO, "...initializing position..."); - set_Longitude(fgGetDouble("/position/longitude-deg") * SGD_DEGREES_TO_RADIANS); - set_Latitude(fgGetDouble("/position/latitude-deg") * SGD_DEGREES_TO_RADIANS); - double ground_elev_m = scenery.cur_elev + 1; - double ground_elev_ft = ground_elev_m * METERS_TO_FEET; - if (fgGetBool("/sim/startup/onground") || - fgGetDouble("/position/altitude-ft") < ground_elev_ft) - fgSetDouble("/position/altitude-ft", ground_elev_ft); - set_Altitude(fgGetDouble("/position/altitude-ft")); - - // Set ground elevation - SG_LOG(SG_FLIGHT, SG_INFO, - "...initializing ground elevation to " - << ground_elev_ft << "ft..."); - fgFDMSetGroundElevation("jsb", ground_elev_m); - - // Set sea-level radius - SG_LOG(SG_FLIGHT, SG_INFO, "...initializing sea-level radius..."); - double sea_level_radius_meters; - double lat_geoc; - sgGeodToGeoc(get_Latitude(), get_Altitude(), - &sea_level_radius_meters, &lat_geoc); - set_Sea_level_radius(sea_level_radius_meters * SG_METER_TO_FEET); - - // Set initial velocities - SG_LOG(SG_FLIGHT, SG_INFO, "...initializing velocities..."); - if (!fgHasNode("/sim/startup/speed-set")) { - set_V_calibrated_kts(0.0); - } else { - const string speedset = fgGetString("/sim/startup/speed-set"); - if (speedset == "knots" || speedset == "KNOTS") { - set_V_calibrated_kts(fgGetDouble("/velocities/airspeed-kt")); - } else if (speedset == "mach" || speedset == "MACH") { - set_Mach_number(fgGetDouble("/velocities/mach")); - } else if (speedset == "UVW" || speedset == "uvw") { - set_Velocities_Wind_Body(fgGetDouble("/velocities/uBody-fps"), - fgGetDouble("/velocities/vBody-fps"), - fgGetDouble("/velocities/wBody-fps")); - } else if (speedset == "NED" || speedset == "ned") { - set_Velocities_Local(fgGetDouble("/velocities/speed-north-fps"), - fgGetDouble("/velocities/speed-east-fps"), - fgGetDouble("/velocities/speed-down-fps")); +FGInterface::common_init () +{ + SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" ); + + set_inited( true ); + + ground_cache.set_cache_time_offset(globals->get_sim_time_sec()); + +// stamp(); +// set_remainder( 0 ); + + // Set initial position + SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." ); + double lon = fgGetDouble("/sim/presets/longitude-deg") + * SGD_DEGREES_TO_RADIANS; + double lat = fgGetDouble("/sim/presets/latitude-deg") + * SGD_DEGREES_TO_RADIANS; + double alt_ft = fgGetDouble("/sim/presets/altitude-ft"); + double alt_m = alt_ft * SG_FEET_TO_METER; + set_Longitude( lon ); + set_Latitude( lat ); + SG_LOG( SG_FLIGHT, SG_INFO, "Checking for lon = " + << lon*SGD_RADIANS_TO_DEGREES << "deg, lat = " + << lat*SGD_RADIANS_TO_DEGREES << "deg, alt = " + << alt_ft << "ft"); + + double ground_elev_m = get_groundlevel_m(lat, lon, alt_m); + double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET; + _set_Runway_altitude ( ground_elev_ft ); + if ( fgGetBool("/sim/presets/onground") || alt_ft < ground_elev_ft ) { + fgSetDouble("/position/altitude-ft", ground_elev_ft + 0.1); + set_Altitude( ground_elev_ft + 0.1); } else { - SG_LOG(SG_FLIGHT, SG_ALERT, - "Unrecognized value for /sim/startup/speed-set: " << speedset); - set_V_calibrated_kts(0.0); + set_Altitude( alt_ft ); + } + + // Set ground elevation + SG_LOG( SG_FLIGHT, SG_INFO, + "...initializing ground elevation to " << ground_elev_ft + << "ft..." ); + + // Set sea-level radius + SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." ); + SG_LOG( SG_FLIGHT, SG_INFO, " lat = " + << fgGetDouble("/sim/presets/latitude-deg") + << " alt = " << get_Altitude() ); + double slr = SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v); + _set_Sea_level_radius( slr * SG_METER_TO_FEET ); + + // Set initial velocities + SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." ); + if ( !fgHasNode("/sim/presets/speed-set") ) { + set_V_calibrated_kts(0.0); + } else { + const string speedset = fgGetString("/sim/presets/speed-set"); + if ( speedset == "knots" || speedset == "KNOTS" ) { + set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") ); + } else if ( speedset == "mach" || speedset == "MACH" ) { + set_Mach_number( fgGetDouble("/sim/presets/mach") ); + } else if ( speedset == "UVW" || speedset == "uvw" ) { + set_Velocities_Wind_Body( + fgGetDouble("/sim/presets/uBody-fps"), + fgGetDouble("/sim/presets/vBody-fps"), + fgGetDouble("/sim/presets/wBody-fps") ); + } else if ( speedset == "NED" || speedset == "ned" ) { + set_Velocities_Local( + fgGetDouble("/sim/presets/speed-north-fps"), + fgGetDouble("/sim/presets/speed-east-fps"), + fgGetDouble("/sim/presets/speed-down-fps") ); + } else { + SG_LOG( SG_FLIGHT, SG_ALERT, + "Unrecognized value for /sim/presets/speed-set: " + << speedset); + set_V_calibrated_kts( 0.0 ); + } } - } - // Set initial Euler angles - SG_LOG(SG_FLIGHT, SG_INFO, "...initializing Euler angles..."); - set_Euler_Angles - (fgGetDouble("/orientation/roll-deg") * SGD_DEGREES_TO_RADIANS, - fgGetDouble("/orientation/pitch-deg") * SGD_DEGREES_TO_RADIANS, - fgGetDouble("/orientation/heading-deg") * SGD_DEGREES_TO_RADIANS); + // Set initial Euler angles + SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." ); + set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg") + * SGD_DEGREES_TO_RADIANS, + fgGetDouble("/sim/presets/pitch-deg") + * SGD_DEGREES_TO_RADIANS, + fgGetDouble("/sim/presets/heading-deg") + * SGD_DEGREES_TO_RADIANS ); - SG_LOG(SG_FLIGHT, SG_INFO, "End initializing FGInterface"); + SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" ); } @@ -255,34 +259,47 @@ FGInterface::init () void FGInterface::bind () { + bound = true; + // Time management (read-only) - fgTie("/fdm/time/delta_t", this, - &FGInterface::get_delta_t); // read-only - fgTie("/fdm/time/elapsed", this, - &FGInterface::get_elapsed); // read-only - fgTie("/fdm/time/remainder", this, - &FGInterface::get_remainder); // read-only - fgTie("/fdm/time/multi_loop", this, - &FGInterface::get_multi_loop); // read-only +// fgTie("/fdm/time/delta_t", this, +// &FGInterface::get_delta_t); // read-only +// fgTie("/fdm/time/elapsed", this, +// &FGInterface::get_elapsed); // read-only +// fgTie("/fdm/time/remainder", this, +// &FGInterface::get_remainder); // read-only +// fgTie("/fdm/time/multi_loop", this, +// &FGInterface::get_multi_loop); // read-only // Aircraft position fgTie("/position/latitude-deg", this, - &FGInterface::get_Latitude_deg, - &FGInterface::set_Latitude_deg, - false); + &FGInterface::get_Latitude_deg, + &FGInterface::set_Latitude_deg, + false); fgSetArchivable("/position/latitude-deg"); fgTie("/position/longitude-deg", this, - &FGInterface::get_Longitude_deg, - &FGInterface::set_Longitude_deg, - false); + &FGInterface::get_Longitude_deg, + &FGInterface::set_Longitude_deg, + false); fgSetArchivable("/position/longitude-deg"); fgTie("/position/altitude-ft", this, - &FGInterface::get_Altitude, - &FGInterface::set_Altitude, - false); + &FGInterface::get_Altitude, + &FGInterface::set_Altitude, + false); fgSetArchivable("/position/altitude-ft"); fgTie("/position/altitude-agl-ft", this, - &FGInterface::get_Altitude_AGL); // read-only + &FGInterface::get_Altitude_AGL); // read-only + fgSetArchivable("/position/ground-elev-ft"); + fgTie("/position/ground-elev-ft", this, + &FGInterface::get_Runway_altitude); // read-only + fgSetArchivable("/position/ground-elev-m"); + fgTie("/position/ground-elev-m", this, + &FGInterface::get_Runway_altitude_m); // read-only + fgTie("/environment/ground-elevation-m", this, + &FGInterface::get_Runway_altitude_m); // read-only + fgSetArchivable("/position/sea-level-radius-ft"); + fgTie("/position/sea-level-radius-ft", this, + &FGInterface::get_Sea_level_radius); // read-only // Orientation fgTie("/orientation/roll-deg", this, @@ -298,10 +315,30 @@ FGInterface::bind () &FGInterface::set_Psi_deg); fgSetArchivable("/orientation/heading-deg"); + // Body-axis "euler rates" (rotation speed, but in a funny + // representation). + fgTie("/orientation/roll-rate-degps", this, + &FGInterface::get_Phi_dot_degps); + fgTie("/orientation/pitch-rate-degps", this, + &FGInterface::get_Theta_dot_degps); + fgTie("/orientation/yaw-rate-degps", this, + &FGInterface::get_Psi_dot_degps); + + // Ground speed knots + fgTie("/velocities/groundspeed-kt", this, + &FGInterface::get_V_ground_speed_kt); + // Calibrated airspeed fgTie("/velocities/airspeed-kt", this, &FGInterface::get_V_calibrated_kts, - &FGInterface::set_V_calibrated_kts); + &FGInterface::set_V_calibrated_kts, + false); + + // Mach number + fgTie("/velocities/mach", this, + &FGInterface::get_Mach_number, + &FGInterface::set_Mach_number, + false); // Local velocities // fgTie("/velocities/speed-north-fps", this, @@ -332,22 +369,52 @@ FGInterface::bind () // the NED problem is fixed. fgTie("/velocities/uBody-fps", this, &FGInterface::get_uBody, - &FGInterface::set_uBody); + &FGInterface::set_uBody, + false); fgSetArchivable("/velocities/uBody-fps"); fgTie("/velocities/vBody-fps", this, &FGInterface::get_vBody, - &FGInterface::set_vBody); + &FGInterface::set_vBody, + false); fgSetArchivable("/velocities/vBody-fps"); fgTie("/velocities/wBody-fps", this, &FGInterface::get_wBody, - &FGInterface::set_wBody); + &FGInterface::set_wBody, + false); fgSetArchivable("/velocities/wBody-fps"); // Climb and slip (read-only) fgTie("/velocities/vertical-speed-fps", this, - &FGInterface::get_Climb_Rate); // read-only - fgTie("/velocities/side-slip-rad", this, + &FGInterface::get_Climb_Rate, + &FGInterface::set_Climb_Rate ); + fgTie("/velocities/glideslope", this, + &FGInterface::get_Gamma_vert_rad, + &FGInterface::set_Gamma_vert_rad ); + fgTie("/orientation/side-slip-rad", this, &FGInterface::get_Beta); // read-only + fgTie("/orientation/side-slip-deg", this, + &FGInterface::get_Beta_deg); // read-only + fgTie("/orientation/alpha-deg", this, + &FGInterface::get_Alpha_deg); // read-only + fgTie("/accelerations/nlf", this, + &FGInterface::get_Nlf); // read-only + + // NED accelerations + fgTie("/accelerations/ned/north-accel-fps_sec", + this, &FGInterface::get_V_dot_north); + fgTie("/accelerations/ned/east-accel-fps_sec", + this, &FGInterface::get_V_dot_east); + fgTie("/accelerations/ned/down-accel-fps_sec", + this, &FGInterface::get_V_dot_down); + + // Pilot accelerations + fgTie("/accelerations/pilot/x-accel-fps_sec", + this, &FGInterface::get_A_X_pilot); + fgTie("/accelerations/pilot/y-accel-fps_sec", + this, &FGInterface::get_A_Y_pilot); + fgTie("/accelerations/pilot/z-accel-fps_sec", + this, &FGInterface::get_A_Z_pilot); + } @@ -360,17 +427,32 @@ FGInterface::bind () void FGInterface::unbind () { - fgUntie("/fdm/time/delta_t"); - fgUntie("/fdm/time/elapsed"); - fgUntie("/fdm/time/remainder"); - fgUntie("/fdm/time/multi_loop"); + bound = false; + + // fgUntie("/fdm/time/delta_t"); + // fgUntie("/fdm/time/elapsed"); + // fgUntie("/fdm/time/remainder"); + // fgUntie("/fdm/time/multi_loop"); fgUntie("/position/latitude-deg"); fgUntie("/position/longitude-deg"); fgUntie("/position/altitude-ft"); - fgUntie("/position/heading"); - fgUntie("/position/pitch"); - fgUntie("/position/roll"); + fgUntie("/position/altitude-agl-ft"); + fgUntie("/position/ground-elev-ft"); + fgUntie("/position/ground-elev-m"); + fgUntie("/environment/ground-elevation-m"); + fgUntie("/position/sea-level-radius-ft"); + fgUntie("/orientation/roll-deg"); + fgUntie("/orientation/pitch-deg"); + fgUntie("/orientation/heading-deg"); + fgUntie("/orientation/roll-rate-degps"); + fgUntie("/orientation/pitch-rate-degps"); + fgUntie("/orientation/yaw-rate-degps"); + fgUntie("/orientation/side-slip-rad"); + fgUntie("/orientation/side-slip-deg"); + fgUntie("/orientation/alpha-deg"); fgUntie("/velocities/airspeed-kt"); + fgUntie("/velocities/groundspeed-kt"); + fgUntie("/velocities/mach"); fgUntie("/velocities/speed-north-fps"); fgUntie("/velocities/speed-east-fps"); fgUntie("/velocities/speed-down-fps"); @@ -378,176 +460,108 @@ FGInterface::unbind () fgUntie("/velocities/vBody-fps"); fgUntie("/velocities/wBody-fps"); fgUntie("/velocities/vertical-speed-fps"); - fgUntie("/velocities/side-slip-rad"); + fgUntie("/velocities/glideslope"); + fgUntie("/accelerations/nlf"); + fgUntie("/accelerations/pilot/x-accel-fps_sec"); + fgUntie("/accelerations/pilot/y-accel-fps_sec"); + fgUntie("/accelerations/pilot/z-accel-fps_sec"); + fgUntie("/accelerations/ned/north-accel-fps_sec"); + fgUntie("/accelerations/ned/east-accel-fps_sec"); + fgUntie("/accelerations/ned/down-accel-fps_sec"); } - /** * Update the state of the FDM (i.e. run the equations of motion). */ void -FGInterface::update () +FGInterface::update (double dt) { - update(1); + SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!"); } -bool FGInterface::update( int multi_loop ) { - cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl; - return false; +void FGInterface::_updatePositionM(const SGVec3d& cartPos) +{ + cartesian_position_v = cartPos; + geodetic_position_v = SGGeod::fromCart(cartesian_position_v); + geocentric_position_v = SGGeoc::fromCart(cartesian_position_v); + _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET ); + _update_ground_elev_at_pos(); } - -void FGInterface::_updatePosition( double lat_geoc, double lon, double alt ) { - double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc; - - sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER, - &lat_geod, &tmp_alt, &sl_radius1 ); - sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc ); - - SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon - << " lat_geod = " << lat_geod - << " lat_geoc = " << lat_geoc - << " alt = " << alt - << " tmp_alt = " << tmp_alt * SG_METER_TO_FEET - << " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET - << " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET - << " Equator = " << SG_EQUATORIAL_RADIUS_FT ); - - _set_Geocentric_Position( lat_geoc, lon, - sl_radius2 * SG_METER_TO_FEET + alt ); - - _set_Geodetic_Position( lat_geod, lon, alt ); - - _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET ); - _set_Runway_altitude( scenery.cur_elev*METERS_TO_FEET ); - - _set_sin_lat_geocentric( lat_geoc ); - _set_cos_lat_geocentric( lat_geoc ); - - _set_sin_cos_longitude( lon ); - - _set_sin_cos_latitude( lat_geod ); - - /* Norman's code for slope of the terrain */ - /* needs to be tested -- get it on the HUD and taxi around */ - /* double *tnorm = scenery.cur_normal; - - double sy = sin ( -get_Psi() ) ; - double cy = cos ( -get_Psi() ) ; - - double phitb, thetatb, psitb; - if(tnorm[1] != 0.0) { - psitb = -atan2 ( tnorm[0], tnorm[1] ); - } - if(tnorm[2] != 0.0) { - thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] ); - phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] ); - } - - _set_terrain_slope(phitb, thetatb, psitb) - */ -} - - -// Extrapolate fdm based on time_offset (in usec) -void FGInterface::extrapolate( int time_offset ) { - double dt = time_offset / 1000000.0; - - // -dw- metrowerks complains about ambiguous access, not critical - // to keep this ;) -#ifndef __MWERKS__ - cout << "extrapolating FDM by dt = " << dt << endl; -#endif - double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt; - double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt; - - double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt; - double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt; +void FGInterface::_updatePosition(const SGGeod& geod) +{ + geodetic_position_v = geod; + cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v); + geocentric_position_v = SGGeoc::fromCart(cartesian_position_v); - double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt; - double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt; + _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET ); + _update_ground_elev_at_pos(); +} - geodetic_position_v[0] = lat; - geocentric_position_v[0] = lat_geoc; - geodetic_position_v[1] = lon; - geocentric_position_v[1] = lon_geoc; +void FGInterface::_updatePosition(const SGGeoc& geoc) +{ + geocentric_position_v = geoc; + cartesian_position_v = SGVec3d::fromGeoc(geocentric_position_v); + geodetic_position_v = SGGeod::fromCart(cartesian_position_v); - geodetic_position_v[2] = alt; - geocentric_position_v[2] = radius; + _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET ); + _update_ground_elev_at_pos(); } -// Set the altitude (force) -void fgFDMForceAltitude(const string &model, double alt_meters) { - SG_LOG(SG_FLIGHT,SG_INFO, "fgFDMForceAltitude: " << alt_meters ); - - double sea_level_radius_meters; - double lat_geoc; - - // Set the FG variables first - sgGeodToGeoc( base_fdm_state.get_Latitude(), alt_meters, - &sea_level_radius_meters, &lat_geoc); - - base_fdm_state.set_Altitude( alt_meters * SG_METER_TO_FEET ); - base_fdm_state.set_Sea_level_radius( sea_level_radius_meters * - SG_METER_TO_FEET ); - - cur_fdm_state->set_Altitude( alt_meters * SG_METER_TO_FEET ); - cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters * - SG_METER_TO_FEET ); - - // additional work needed for some flight models - if ( model == "larcsim" ) { - ls_ForceAltitude( base_fdm_state.get_Altitude() ); - } +void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt ) +{ + _updatePosition(SGGeod::fromRadFt(lon, lat, alt)); } -// Set the local ground elevation -void fgFDMSetGroundElevation(const string &model, double ground_meters) { - SG_LOG( SG_FLIGHT,SG_INFO, "fgFDMSetGroundElevation: " - << ground_meters*SG_METER_TO_FEET ); - base_fdm_state.set_Runway_altitude( ground_meters * SG_METER_TO_FEET ); - cur_fdm_state->set_Runway_altitude( ground_meters * SG_METER_TO_FEET ); +void FGInterface::_updateGeocentricPosition( double lat, double lon, + double alt ) +{ + _updatePosition(SGGeoc::fromRadFt(lon, lat, get_Sea_level_radius() + alt)); } +void FGInterface::_update_ground_elev_at_pos( void ) { + double groundlevel_m = get_groundlevel_m(geodetic_position_v); + _set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET ); +} // Positions -void FGInterface::set_Latitude(double lat) { - geodetic_position_v[0] = lat; -} +void FGInterface::set_Latitude(double lat) { + geodetic_position_v.setLatitudeRad(lat); +} void FGInterface::set_Longitude(double lon) { - geodetic_position_v[1] = lon; -} + geodetic_position_v.setLongitudeRad(lon); +} void FGInterface::set_Altitude(double alt) { - geodetic_position_v[2] = alt; -} + geodetic_position_v.setElevationFt(alt); +} void FGInterface::set_AltitudeAGL(double altagl) { altitude_agl=altagl; -} +} // Velocities void FGInterface::set_V_calibrated_kts(double vc) { v_calibrated_kts = vc; -} +} void FGInterface::set_Mach_number(double mach) { mach_number = mach; -} +} void FGInterface::set_Velocities_Local( double north, double east, double down ){ v_local_v[0] = north; v_local_v[1] = east; - v_local_v[2] = down; -} + v_local_v[2] = down; +} void FGInterface::set_Velocities_Wind_Body( double u, double v, @@ -555,7 +569,7 @@ void FGInterface::set_Velocities_Wind_Body( double u, v_wind_body_v[0] = u; v_wind_body_v[1] = v; v_wind_body_v[2] = w; -} +} // Euler angles void FGInterface::set_Euler_Angles( double phi, @@ -569,20 +583,11 @@ void FGInterface::set_Euler_Angles( double phi, // Flight Path void FGInterface::set_Climb_Rate( double roc) { climb_rate = roc; -} +} void FGInterface::set_Gamma_vert_rad( double gamma) { gamma_vert_rad = gamma; -} - -// Earth -void FGInterface::set_Sea_level_radius(double slr) { - sea_level_radius = slr; -} - -void FGInterface::set_Runway_altitude(double ralt) { - runway_altitude = ralt; -} +} void FGInterface::set_Static_pressure(double p) { static_pressure = p; } void FGInterface::set_Static_temperature(double T) { static_temperature = T; } @@ -594,115 +599,333 @@ void FGInterface::set_Velocities_Local_Airmass (double wnorth, v_local_airmass_v[0] = wnorth; v_local_airmass_v[1] = weast; v_local_airmass_v[2] = wdown; -} +} void FGInterface::_busdump(void) { - SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rp_body_v[3]: " << d_pilot_rp_body_v[0] << ", " << d_pilot_rp_body_v[1] << ", " << d_pilot_rp_body_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v[3]: " << d_cg_rp_body_v[0] << ", " << d_cg_rp_body_v[1] << ", " << d_cg_rp_body_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"f_body_total_v[3]: " << f_body_total_v[0] << ", " << f_body_total_v[1] << ", " << f_body_total_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"f_local_total_v[3]: " << f_local_total_v[0] << ", " << f_local_total_v[1] << ", " << f_local_total_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"m_total_rp_v[3]: " << m_total_rp_v[0] << ", " << m_total_rp_v[1] << ", " << m_total_rp_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"m_total_cg_v[3]: " << m_total_cg_v[0] << ", " << m_total_cg_v[1] << ", " << m_total_cg_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v[3]: " << v_dot_local_v[0] << ", " << v_dot_local_v[1] << ", " << v_dot_local_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v[3]: " << v_dot_body_v[0] << ", " << v_dot_body_v[1] << ", " << v_dot_body_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v[3]: " << a_cg_body_v[0] << ", " << a_cg_body_v[1] << ", " << a_cg_body_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v[3]: " << a_pilot_body_v[0] << ", " << a_pilot_body_v[1] << ", " << a_pilot_body_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v[3]: " << n_cg_body_v[0] << ", " << n_cg_body_v[1] << ", " << n_cg_body_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"n_pilot_body_v[3]: " << n_pilot_body_v[0] << ", " << n_pilot_body_v[1] << ", " << n_pilot_body_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"omega_dot_body_v[3]: " << omega_dot_body_v[0] << ", " << omega_dot_body_v[1] << ", " << omega_dot_body_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v[3]: " << v_local_rel_ground_v[0] << ", " << v_local_rel_ground_v[1] << ", " << v_local_rel_ground_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v[3]: " << v_local_airmass_v[0] << ", " << v_local_airmass_v[1] << ", " << v_local_airmass_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_airmass_v[3]: " << v_local_rel_airmass_v[0] << ", " << v_local_rel_airmass_v[1] << ", " << v_local_rel_airmass_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"v_local_gust_v[3]: " << v_local_gust_v[0] << ", " << v_local_gust_v[1] << ", " << v_local_gust_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"v_wind_body_v[3]: " << v_wind_body_v[0] << ", " << v_wind_body_v[1] << ", " << v_wind_body_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rwy_local_v[3]: " << d_cg_rwy_local_v[0] << ", " << d_cg_rwy_local_v[1] << ", " << d_cg_rwy_local_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rwy_rwy_v[3]: " << d_cg_rwy_rwy_v[0] << ", " << d_cg_rwy_rwy_v[1] << ", " << d_cg_rwy_rwy_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rwy_local_v[3]: " << d_pilot_rwy_local_v[0] << ", " << d_pilot_rwy_local_v[1] << ", " << d_pilot_rwy_local_v[2]); - SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rwy_rwy_v[3]: " << d_pilot_rwy_rwy_v[0] << ", " << d_pilot_rwy_rwy_v[1] << ", " << d_pilot_rwy_rwy_v[2]); - - SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[0][3]: " << t_local_to_body_m[0][0] << ", " << t_local_to_body_m[0][1] << ", " << t_local_to_body_m[0][2]); - SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[1][3]: " << t_local_to_body_m[1][0] << ", " << t_local_to_body_m[1][1] << ", " << t_local_to_body_m[1][2]); - SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[2][3]: " << t_local_to_body_m[2][0] << ", " << t_local_to_body_m[2][1] << ", " << t_local_to_body_m[2][2]); - - SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass ); - SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx ); - SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy ); - SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz ); - SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz ); + SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v: " << d_cg_rp_body_v); + SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v: " << v_dot_local_v); + SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v: " << v_dot_body_v); + SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v: " << a_cg_body_v); + SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v: " << a_pilot_body_v); + SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v: " << n_cg_body_v); + SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v: " << v_local_v); + SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v: " << v_local_rel_ground_v); + SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v: " << v_local_airmass_v); + SG_LOG(SG_FLIGHT,SG_INFO,"v_wind_body_v: " << v_wind_body_v); + SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v: " << omega_body_v); + SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v: " << euler_rates_v); + SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v: " << geocentric_rates_v); + SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v: " << geocentric_position_v); + SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v: " << geodetic_position_v); + SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v: " << euler_angles_v); + SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf ); SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind ); SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts ); - SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground ); - SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial ); SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed ); - SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv ); SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts ); - SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated ); SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts ); - SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity ); - SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief ); SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha ); SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta ); - SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot ); - SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot ); - SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha ); - SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha ); - SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta ); - SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta ); - SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi ); - SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi ); - SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta ); - SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta ); - SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi ); - SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi ); SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad ); - SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad ); - SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma ); SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density ); - SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound ); SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number ); SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure ); SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure ); - SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure ); SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure ); SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature ); SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature ); SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius ); SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle ); SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude ); - SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude ); - SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude ); - SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading ); - SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy ); SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate ); - SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric ); - SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric ); - SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude ); - SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude ); - SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude ); - SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude ); SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl ); -} +} + +bool +FGInterface::prepare_ground_cache_m(double startSimTime, double endSimTime, + const double pt[3], double rad) +{ + return ground_cache.prepare_ground_cache(startSimTime, endSimTime, + SGVec3d(pt), rad); +} + +bool +FGInterface::prepare_ground_cache_ft(double startSimTime, double endSimTime, + const double pt[3], double rad) +{ + // Convert units and do the real work. + SGVec3d pt_ft = SG_FEET_TO_METER*SGVec3d(pt); + return ground_cache.prepare_ground_cache(startSimTime, endSimTime, + pt_ft, rad*SG_FEET_TO_METER); +} + +bool +FGInterface::is_valid_m(double *ref_time, double pt[3], double *rad) +{ + SGVec3d _pt; + bool valid = ground_cache.is_valid(*ref_time, _pt, *rad); + assign(pt, _pt); + return valid; +} + +bool FGInterface::is_valid_ft(double *ref_time, double pt[3], double *rad) +{ + // Convert units and do the real work. + SGVec3d _pt; + bool found_ground = ground_cache.is_valid(*ref_time, _pt, *rad); + assign(pt, SG_METER_TO_FEET*_pt); + *rad *= SG_METER_TO_FEET; + return found_ground; +} +double +FGInterface::get_cat_m(double t, const double pt[3], + double end[2][3], double vel[2][3]) +{ + SGVec3d _end[2], _vel[2]; + double dist = ground_cache.get_cat(t, SGVec3d(pt), _end, _vel); + for (int k=0; k<2; ++k) { + assign( end[k], _end[k] ); + assign( vel[k], _vel[k] ); + } + return dist; +} + +double +FGInterface::get_cat_ft(double t, const double pt[3], + double end[2][3], double vel[2][3]) +{ + // Convert units and do the real work. + SGVec3d pt_m = SG_FEET_TO_METER*SGVec3d(pt); + SGVec3d _end[2], _vel[2]; + double dist = ground_cache.get_cat(t, pt_m, _end, _vel); + for (int k=0; k<2; ++k) { + assign( end[k], SG_METER_TO_FEET*_end[k] ); + assign( vel[k], SG_METER_TO_FEET*_vel[k] ); + } + return dist*SG_METER_TO_FEET; +} + +bool +FGInterface::get_body_m(double t, simgear::BVHNode::Id id, + double bodyToWorld[16], double linearVel[3], + double angularVel[3]) +{ + SGMatrixd _bodyToWorld; + SGVec3d _linearVel, _angularVel; + if (!ground_cache.get_body(t, _bodyToWorld, _linearVel, _angularVel, id)) + return false; + + assign(linearVel, _linearVel); + assign(angularVel, _angularVel); + for (unsigned i = 0; i < 16; ++i) + bodyToWorld[i] = _bodyToWorld.data()[i]; + + return true; +} + +bool +FGInterface::get_agl_m(double t, const double pt[3], double max_altoff, + double contact[3], double normal[3], + double linearVel[3], double angularVel[3], + SGMaterial const*& material, simgear::BVHNode::Id& id) +{ + SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down(); + SGVec3d _contact, _normal, _linearVel, _angularVel; + material = 0; + bool ret = ground_cache.get_agl(t, pt_m, _contact, _normal, _linearVel, + _angularVel, id, material); + // correct the linear velocity, since the line intersector delivers + // values for the start point and the get_agl function should + // traditionally deliver for the contact point + _linearVel += cross(_angularVel, _contact - pt_m); + + assign(contact, _contact); + assign(normal, _normal); + assign(linearVel, _linearVel); + assign(angularVel, _angularVel); + return ret; +} + +bool +FGInterface::get_agl_ft(double t, const double pt[3], double max_altoff, + double contact[3], double normal[3], + double linearVel[3], double angularVel[3], + SGMaterial const*& material, simgear::BVHNode::Id& id) +{ + // Convert units and do the real work. + SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down(); + pt_m *= SG_FEET_TO_METER; + SGVec3d _contact, _normal, _linearVel, _angularVel; + material = 0; + bool ret = ground_cache.get_agl(t, pt_m, _contact, _normal, _linearVel, + _angularVel, id, material); + // correct the linear velocity, since the line intersector delivers + // values for the start point and the get_agl function should + // traditionally deliver for the contact point + _linearVel += cross(_angularVel, _contact - pt_m); + + // Convert units back ... + assign( contact, SG_METER_TO_FEET*_contact ); + assign( normal, _normal ); + assign( linearVel, SG_METER_TO_FEET*_linearVel ); + assign( angularVel, _angularVel ); + return ret; +} + +bool +FGInterface::get_nearest_m(double t, const double pt[3], double maxDist, + double contact[3], double normal[3], + double linearVel[3], double angularVel[3], + SGMaterial const*& material, + simgear::BVHNode::Id& id) +{ + SGVec3d _contact, _linearVel, _angularVel; + if (!ground_cache.get_nearest(t, SGVec3d(pt), maxDist, _contact, _linearVel, + _angularVel, id, material)) + return false; + + assign(contact, _contact); + assign(linearVel, _linearVel); + assign(angularVel, _angularVel); + return true; +} + +bool +FGInterface::get_nearest_ft(double t, const double pt[3], double maxDist, + double contact[3], double normal[3], + double linearVel[3], double angularVel[3], + SGMaterial const*& material, + simgear::BVHNode::Id& id) +{ + SGVec3d _contact, _linearVel, _angularVel; + if (!ground_cache.get_nearest(t, SG_FEET_TO_METER*SGVec3d(pt), + SG_FEET_TO_METER*maxDist, _contact, _linearVel, + _angularVel, id, material)) + return false; + + assign(contact, SG_METER_TO_FEET*_contact); + assign(linearVel, SG_METER_TO_FEET*_linearVel); + assign(angularVel, _angularVel); + return true; +} + +double +FGInterface::get_groundlevel_m(double lat, double lon, double alt) +{ + return get_groundlevel_m(SGGeod::fromRadM(lon, lat, alt)); +} + +double +FGInterface::get_groundlevel_m(const SGGeod& geod) +{ + // Compute the cartesian position of the given lat/lon/alt. + SGVec3d pos = SGVec3d::fromGeod(geod); + + // FIXME: how to handle t - ref_time differences ??? + SGVec3d cpos; + double ref_time = 0, radius; + // Prepare the ground cache for that position. + if (!is_valid_m(&ref_time, cpos.data(), &radius)) { + double startTime = ref_time; + double endTime = startTime + 1; + bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), 10); + /// This is most likely the case when the given altitude is + /// too low, try with a new altitude of 10000m, that should be + /// sufficient to find a ground level below everywhere on our planet + if (!ok) { + pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000)); + /// If there is still no ground, return sea level radius + if (!prepare_ground_cache_m(startTime, endTime, pos.data(), 10)) + return 0; + } + } else if (radius*radius <= distSqr(pos, cpos)) { + double startTime = ref_time; + double endTime = startTime + 1; + + /// We reuse the old radius value, but only if it is at least 10 Meters .. + if (!(10 < radius)) // Well this strange compare is nan safe + radius = 10; + + bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), radius); + /// This is most likely the case when the given altitude is + /// too low, try with a new altitude of 10000m, that should be + /// sufficient to find a ground level below everywhere on our planet + if (!ok) { + pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000)); + /// If there is still no ground, return sea level radius + if (!prepare_ground_cache_m(startTime, endTime, pos.data(), radius)) + return 0; + } + } + + double contact[3], normal[3], vel[3], angvel[3]; + const SGMaterial* material; + simgear::BVHNode::Id id; + // Ignore the return value here, since it just tells us if + // the returns stem from the groundcache or from the coarse + // computations below the groundcache. The contact point is still something + // valid, the normals and the other returns just contain some defaults. + get_agl_m(ref_time, pos.data(), 2.0, contact, normal, vel, angvel, + material, id); + return SGGeod::fromCart(SGVec3d(contact)).getElevationM(); +} + +bool +FGInterface::caught_wire_m(double t, const double pt[4][3]) +{ + SGVec3d pt_m[4]; + for (int i=0; i<4; ++i) + pt_m[i] = SGVec3d(pt[i]); + + return ground_cache.caught_wire(t, pt_m); +} + +bool +FGInterface::caught_wire_ft(double t, const double pt[4][3]) +{ + // Convert units and do the real work. + SGVec3d pt_m[4]; + for (int i=0; i<4; ++i) + pt_m[i] = SG_FEET_TO_METER*SGVec3d(pt[i]); + + return ground_cache.caught_wire(t, pt_m); +} + +bool +FGInterface::get_wire_ends_m(double t, double end[2][3], double vel[2][3]) +{ + SGVec3d _end[2], _vel[2]; + bool ret = ground_cache.get_wire_ends(t, _end, _vel); + for (int k=0; k<2; ++k) { + assign( end[k], _end[k] ); + assign( vel[k], _vel[k] ); + } + return ret; +} + +bool +FGInterface::get_wire_ends_ft(double t, double end[2][3], double vel[2][3]) +{ + // Convert units and do the real work. + SGVec3d _end[2], _vel[2]; + bool ret = ground_cache.get_wire_ends(t, _end, _vel); + for (int k=0; k<2; ++k) { + assign( end[k], SG_METER_TO_FEET*_end[k] ); + assign( vel[k], SG_METER_TO_FEET*_vel[k] ); + } + return ret; +} + +void +FGInterface::release_wire(void) +{ + ground_cache.release_wire(); +} void fgToggleFDMdataLogging(void) { cur_fdm_state->ToggleDataLogging(); } -