X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2Fflight.cxx;h=43b5aa03b62d6b21084263e2717e0c9c82e92403;hb=1e3f0f0050cd4860b8bf2b6ecb59ba040f8b934f;hp=9274166f17fa10673985cab134c314f69c883b02;hpb=51c04e9e4c4d2ecc0f3ee0a6d3559d1e22e247c5;p=flightgear.git diff --git a/src/FDM/flight.cxx b/src/FDM/flight.cxx index 9274166f1..43b5aa03b 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 @@ -28,15 +28,13 @@ #include #include #include -#include #include #include #include -#include #include
#include
-#include +#include #include "flight.hxx" @@ -81,7 +79,9 @@ FGInterface::_calc_multiloop (double dt) dt += remainder; remainder = 0; double ml = dt * hz; - int multiloop = int(floor(ml)); + // 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; return (multiloop * speedup); } @@ -163,7 +163,6 @@ FGInterface::_setup () sin_latitude=cos_latitude=0; sin_longitude=cos_longitude=0; altitude_agl=0; - _acmodel = 0; } void @@ -187,28 +186,26 @@ FGInterface::common_init () // stamp(); // set_remainder( 0 ); - // linking in FGAircraft instance... - // FIXME: when using multiple instances, then there will be more than - // one model so get_aircraft_model will have to be indexed to the correct - // model. - _acmodel = globals->get_aircraft_model(); - // 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; - _acmodel->get3DModel()->getFGLocation()->set_cur_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("/sim/presets/altitude-ft", ground_elev_ft); - fgSetDouble("/position/altitude-ft", 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( alt_ft ); } - set_Altitude( fgGetDouble("/sim/presets/altitude-ft") ); // Set ground elevation SG_LOG( SG_FLIGHT, SG_INFO, @@ -219,12 +216,12 @@ FGInterface::common_init () SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." ); SG_LOG( SG_FLIGHT, SG_INFO, " lat = " << fgGetDouble("/sim/presets/latitude-deg") - << " alt = " << fgGetDouble("/sim/presets/altitude-ft") ); + << " alt = " << get_Altitude() ); double sea_level_radius_meters; double lat_geoc; sgGeodToGeoc( fgGetDouble("/sim/presets/latitude-deg") * SGD_DEGREES_TO_RADIANS, - fgGetDouble("/sim/presets/altitude-ft") * SG_FEET_TO_METER, + get_Altitude() * SG_FEET_TO_METER, &sea_level_radius_meters, &lat_geoc ); _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET ); @@ -311,6 +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, @@ -444,6 +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"); @@ -503,9 +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 ); - if ( getACModel() != NULL ) { - _set_Runway_altitude( getACModel()->get3DModel()->getFGLocation()->get_cur_elev_m() * SG_METER_TO_FEET ); - } + _update_ground_elev_at_pos(); _set_sin_lat_geocentric( lat_geoc ); _set_cos_lat_geocentric( lat_geoc ); @@ -513,25 +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) - */ } @@ -561,7 +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( getACModel()->get3DModel()->getFGLocation()->get_cur_elev_m() * SG_METER_TO_FEET ); + _update_ground_elev_at_pos(); _set_sin_lat_geocentric( lat_geoc ); _set_cos_lat_geocentric( lat_geoc ); @@ -569,27 +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 ) { @@ -797,6 +776,186 @@ void FGInterface::_busdump(void) { SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl ); } +bool +FGInterface::prepare_ground_cache_m(double ref_time, const double pt[3], + double rad) +{ + return ground_cache.prepare_ground_cache(ref_time, pt, rad); +} + +bool FGInterface::prepare_ground_cache_ft(double ref_time, const double pt[3], + double rad) +{ + // Convert units and do the real work. + sgdVec3 pt_ft; + sgdScaleVec3( pt_ft, pt, SG_FEET_TO_METER ); + return ground_cache.prepare_ground_cache(ref_time, pt_ft, rad*SG_FEET_TO_METER); +} + +bool +FGInterface::is_valid_m(double *ref_time, double pt[3], double *rad) +{ + return ground_cache.is_valid(ref_time, pt, rad); +} + +bool FGInterface::is_valid_ft(double *ref_time, double pt[3], double *rad) +{ + // Convert units and do the real work. + bool found_ground = ground_cache.is_valid(ref_time, pt, rad); + sgdScaleVec3(pt, SG_METER_TO_FEET); + *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]) +{ + return ground_cache.get_cat(t, pt, end, vel); +} + +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. + sgdVec3 pt_m; + sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER ); + double dist = ground_cache.get_cat(t, pt_m, end, vel); + for (int k=0; k<2; ++k) { + sgdScaleVec3( end[k], SG_METER_TO_FEET ); + sgdScaleVec3( vel[k], SG_METER_TO_FEET ); + } + return dist*SG_METER_TO_FEET; +} + +bool +FGInterface::get_agl_m(double t, const double pt[3], + double contact[3], double normal[3], double vel[3], + int *type, double *loadCapacity, + double *frictionFactor, double *agl) +{ + return ground_cache.get_agl(t, pt, 2.0, contact, normal, vel, type, + loadCapacity, frictionFactor, agl); +} + +bool +FGInterface::get_agl_ft(double t, const double pt[3], + 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, 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 ); + 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; +} + + +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]) +{ + return ground_cache.caught_wire(t, pt); +} + +bool +FGInterface::caught_wire_ft(double t, const double pt[4][3]) +{ + // Convert units and do the real work. + double pt_m[4][3]; + for (int i=0; i<4; ++i) + sgdScaleVec3(pt_m[i], pt[i], SG_FEET_TO_METER); + + return ground_cache.caught_wire(t, pt_m); +} + +bool +FGInterface::get_wire_ends_m(double t, double end[2][3], double vel[2][3]) +{ + return ground_cache.get_wire_ends(t, end, vel); +} + +bool +FGInterface::get_wire_ends_ft(double t, double end[2][3], double vel[2][3]) +{ + // Convert units and do the real work. + bool ret = ground_cache.get_wire_ends(t, end, vel); + for (int k=0; k<2; ++k) { + sgdScaleVec3( end[k], SG_METER_TO_FEET ); + sgdScaleVec3( vel[k], SG_METER_TO_FEET ); + } + return ret; +} + +void +FGInterface::release_wire(void) +{ + ground_cache.release_wire(); +} void fgToggleFDMdataLogging(void) { cur_fdm_state->ToggleDataLogging();