X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2Fflight.cxx;h=43b5aa03b62d6b21084263e2717e0c9c82e92403;hb=1e3f0f0050cd4860b8bf2b6ecb59ba040f8b934f;hp=86324a8312e8a02c300996e0b59041b48349d6e3;hpb=7159e318e10427d9f61556b2fe965d445496ea4e;p=flightgear.git diff --git a/src/FDM/flight.cxx b/src/FDM/flight.cxx index 86324a831..43b5aa03b 100644 --- a/src/FDM/flight.cxx +++ b/src/FDM/flight.cxx @@ -188,20 +188,23 @@ FGInterface::common_init () // Set initial position SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." ); - set_Longitude( fgGetDouble("/sim/presets/longitude-deg") - * SGD_DEGREES_TO_RADIANS ); - set_Latitude( fgGetDouble("/sim/presets/latitude-deg") - * SGD_DEGREES_TO_RADIANS ); - double ground_elev_m = globals->get_scenery()->get_cur_elev(); + 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 ); + + double ground_elev_m = get_groundlevel_m(lat, lon, alt_m); double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET; - fgSetDouble("/position/ground-elev-m", ground_elev_m); _set_Runway_altitude ( ground_elev_ft ); - if ( fgGetBool("/sim/presets/onground") - || fgGetDouble("/sim/presets/altitude-ft") < ground_elev_ft ) { - fgSetDouble("/position/altitude-ft", ground_elev_ft); - set_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 { - set_Altitude( fgGetDouble("/sim/presets/altitude-ft") ); + set_Altitude( alt_ft ); } // Set ground elevation @@ -305,6 +308,17 @@ FGInterface::bind () fgSetArchivable("/position/altitude-ft"); fgTie("/position/altitude-agl-ft", this, &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, @@ -438,6 +452,10 @@ FGInterface::unbind () fgUntie("/position/longitude-deg"); fgUntie("/position/altitude-ft"); 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"); @@ -497,7 +515,7 @@ void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt ) _set_Geodetic_Position( lat, lon, alt ); _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET ); - _set_Runway_altitude( fgGetDouble("/position/ground-elev-m") * SG_METER_TO_FEET ); + _update_ground_elev_at_pos(); _set_sin_lat_geocentric( lat_geoc ); _set_cos_lat_geocentric( lat_geoc ); @@ -505,25 +523,6 @@ void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt ) _set_sin_cos_longitude( lon ); _set_sin_cos_latitude( lat ); - - /* 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) - */ } @@ -553,7 +552,7 @@ void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon, _set_Geodetic_Position( lat_geod, lon, alt ); _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET ); - _set_Runway_altitude( fgGetDouble("/position/ground-elev-m") * SG_METER_TO_FEET ); + _update_ground_elev_at_pos(); _set_sin_lat_geocentric( lat_geoc ); _set_cos_lat_geocentric( lat_geoc ); @@ -561,27 +560,15 @@ void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon, _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) - */ } +void FGInterface::_update_ground_elev_at_pos( void ) { + double lat = get_Latitude(); + double lon = get_Longitude(); + double alt_m = get_Altitude()*SG_FEET_TO_METER; + double groundlevel_m = get_groundlevel_m(lat, lon, alt_m); + _set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET ); +} // Extrapolate fdm based on time_offset (in usec) void FGInterface::extrapolate( int time_offset ) { @@ -848,7 +835,7 @@ FGInterface::get_agl_m(double t, const double pt[3], int *type, double *loadCapacity, double *frictionFactor, double *agl) { - return ground_cache.get_agl(t, pt, contact, normal, vel, type, + return ground_cache.get_agl(t, pt, 2.0, contact, normal, vel, type, loadCapacity, frictionFactor, agl); } @@ -861,7 +848,38 @@ FGInterface::get_agl_ft(double t, const double pt[3], // Convert units and do the real work. sgdVec3 pt_m; sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER ); - bool ret = ground_cache.get_agl(t, pt_m, contact, normal, vel, + bool ret = ground_cache.get_agl(t, pt_m, 2.0, contact, normal, vel, + type, loadCapacity, frictionFactor, agl); + // Convert units back ... + sgdScaleVec3( contact, SG_METER_TO_FEET ); + sgdScaleVec3( vel, SG_METER_TO_FEET ); + *agl *= SG_METER_TO_FEET; + // FIXME: scale the load limit to something in the english unit system. + // Be careful with the DBL_MAX which is returned by default. + return ret; +} + +bool +FGInterface::get_agl_m(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) +{ + return ground_cache.get_agl(t, pt, max_altoff, contact, normal, vel, type, + loadCapacity, frictionFactor, agl); +} + +bool +FGInterface::get_agl_ft(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) +{ + // Convert units and do the real work. + sgdVec3 pt_m; + sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER ); + bool ret = ground_cache.get_agl(t, pt_m, SG_FEET_TO_METER * max_altoff, + contact, normal, vel, type, loadCapacity, frictionFactor, agl); // Convert units back ... sgdScaleVec3( contact, SG_METER_TO_FEET ); @@ -872,6 +890,32 @@ FGInterface::get_agl_ft(double t, const double pt[3], return ret; } + +double +FGInterface::get_groundlevel_m(double lat, double lon, double alt) +{ + // First compute the sea level radius, + sgdVec3 pos, cpos; + sgGeodToCart(lat, lon, 0, pos); + double slr = sgdLengthVec3(pos); + // .. then the cartesian position of the given lat/lon/alt. + sgGeodToCart(lat, lon, alt, pos); + + // FIXME: how to handle t - ref_time differences ??? + double ref_time, radius; + // Prepare the ground cache for that position. + if (!is_valid_m(&ref_time, cpos, &radius)) + prepare_ground_cache_m(ref_time, pos, 10); + else if (radius*radius <= sgdDistanceSquaredVec3(pos, cpos)) + prepare_ground_cache_m(ref_time, pos, radius); + + double contact[3], normal[3], vel[3], lc, ff, agl; + int type; + get_agl_m(ref_time, pos, 2.0, contact, normal, vel, &type, &lc, &ff, &agl); + + return sgdLengthVec3(contact) - slr; +} + bool FGInterface::caught_wire_m(double t, const double pt[4][3]) {