X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2Fflight.cxx;h=74bc1b5d98d6f9d8a0f8fea9b7178f8d427c9172;hb=7041ed907891f7be0205cafe13b218f9f2767efa;hp=458320257ac2865386b58fcedebc1a607e5f0851;hpb=0abf252ec8bc933b9b7c045f8782cfc7f16c0465;p=flightgear.git diff --git a/src/FDM/flight.cxx b/src/FDM/flight.cxx index 458320257..74bc1b5d9 100644 --- a/src/FDM/flight.cxx +++ b/src/FDM/flight.cxx @@ -28,8 +28,9 @@ #include #include -#include #include +#include +#include #include #include
@@ -64,14 +65,16 @@ int FGInterface::_calc_multiloop (double dt) { // Since some time the simulation time increments we get here are - // already a multiple of the basic update freqency. + // already a multiple of the basic update frequency. // So, there is no need to do our own multiloop rounding with all bad // roundoff problems when we already have nearly accurate values. // Only the speedup thing must be still handled here int hz = fgGetInt("/sim/model-hz"); - int multiloop = SGMiscd::roundToInt(dt*hz); - int speedup = fgGetInt("/sim/speed-up"); - return multiloop * speedup; + double speedup = fgGetDouble("/sim/speed-up"); + double loops = dt * hz * speedup + delta_loops; + int iloops = SGMiscd::roundToInt(loops); + delta_loops = loops-iloops; // delta_loops required for speed-ups < 1 (to do one iteration every n-th step) + return iloops; } @@ -86,39 +89,41 @@ FGInterface::_setup () 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(); + _state.d_cg_rp_body_v = SGVec3d::zeros(); + _state.v_dot_local_v = SGVec3d::zeros(); + _state.v_dot_body_v = SGVec3d::zeros(); + _state.a_cg_body_v = SGVec3d::zeros(); + _state.a_pilot_body_v = SGVec3d::zeros(); + _state.n_cg_body_v = SGVec3d::zeros(); + _state.v_local_v = SGVec3d::zeros(); + _state.v_local_rel_ground_v = SGVec3d::zeros(); + _state.v_local_airmass_v = SGVec3d::zeros(); + _state.v_body_v = SGVec3d::zeros(); + _state.omega_body_v = SGVec3d::zeros(); + _state.euler_rates_v = SGVec3d::zeros(); + _state.geocentric_rates_v = SGVec3d::zeros(); + _state.geodetic_position_v = SGGeod::fromRadM(0, 0, 0); + _state.cartesian_position_v = SGVec3d::fromGeod(_state.geodetic_position_v); + _state.geocentric_position_v = SGGeoc::fromCart(_state.cartesian_position_v); + _state.euler_angles_v = SGVec3d::zeros(); - 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=0; - climb_rate=0; - altitude_agl=0; - track=0; + _state.nlf=0; + _state.v_rel_wind=_state.v_true_kts=0; + _state.v_ground_speed=_state.v_equiv_kts=0; + _state.v_calibrated_kts=0; + _state.alpha=_state.beta=0; + _state.gamma_vert_rad=0; + _state.density=_state.mach_number=0; + _state.static_pressure=_state.total_pressure=0; + _state.dynamic_pressure=0; + _state.static_temperature=_state.total_temperature=0; + _state.sea_level_radius=_state.earth_position_angle=0; + _state.runway_altitude=0; + _state.climb_rate=0; + _state.altitude_agl=0; + _state.track=0; + + delta_loops = 0.0; } void @@ -159,6 +164,8 @@ FGInterface::common_init () 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 ); + + // Set aircraft altitude 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); @@ -176,7 +183,7 @@ FGInterface::common_init () SG_LOG( SG_FLIGHT, SG_INFO, " lat = " << fgGetDouble("/sim/presets/latitude-deg") << " alt = " << get_Altitude() ); - double slr = SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v); + double slr = SGGeodesy::SGGeodToSeaLevelRadius(_state.geodetic_position_v); _set_Sea_level_radius( slr * SG_METER_TO_FEET ); // Set initial Euler angles @@ -193,13 +200,13 @@ FGInterface::common_init () if ( !fgHasNode("/sim/presets/speed-set") ) { set_V_calibrated_kts(0.0); } else { - const string speedset = fgGetString("/sim/presets/speed-set"); + const std::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( + set_Velocities_Body( fgGetDouble("/sim/presets/uBody-fps"), fgGetDouble("/sim/presets/vBody-fps"), fgGetDouble("/sim/presets/wBody-fps") ); @@ -219,8 +226,11 @@ FGInterface::common_init () if ( fgHasNode("/sim/presets/glideslope-deg") ) set_Gamma_vert_rad( fgGetDouble("/sim/presets/glideslope-deg") * SGD_DEGREES_TO_RADIANS ); - else if ( fgHasNode( "/velocities/vertical-speed-fps") ) - set_Climb_Rate( fgGetDouble("/velocities/vertical-speed-fps") ); + else if ( fgHasNode("/sim/presets/speed-set") && + fgHasNode( "/sim/presets/vertical-speed-fps") ) + { + set_Climb_Rate( fgGetDouble("/sim/presets/vertical-speed-fps") ); + } SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" ); } @@ -356,7 +366,7 @@ FGInterface::bind () _tiedProperties.Tie("/velocities/down-relground-fps", this, &FGInterface::get_V_down_rel_ground); // read-only - // Relative wind + // ECEF velocity in body axis // FIXME: temporarily archivable, until the NED problem is fixed. _tiedProperties.Tie("/velocities/uBody-fps", this, &FGInterface::get_uBody, @@ -433,38 +443,73 @@ FGInterface::update (double dt) SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!"); } +bool FGInterface::readState(SGIOChannel* io) +{ + FlightState buf; + int length = sizeof(FlightState); + + if ( io->get_type() == sgFileType ) { + if ( io->read( (char *)(& buf), length ) == length ) { + SG_LOG( SG_IO, SG_DEBUG, "Success reading data." ); + } else { + return false; + } + } else { + while ( io->read( (char *)(& buf), length ) == length ) { + SG_LOG( SG_IO, SG_DEBUG, "Success reading data." ); + } + } + + _state = buf; // copy the read state over + return true; +} + +bool FGInterface::writeState(SGIOChannel* io) +{ + if (!bound || !inited) { + return false; + } + + int length = sizeof(FlightState); + if ( ! io->write( (char *)(& _state), length ) ) { + SG_LOG( SG_IO, SG_ALERT, "Error writing data." ); + return false; + } + + return true; +} void FGInterface::_updatePositionM(const SGVec3d& cartPos) { - TrackComputer tracker( track, geodetic_position_v ); - 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 ); + TrackComputer tracker( _state.track, _state.geodetic_position_v ); + _state.cartesian_position_v = cartPos; + _state.geodetic_position_v = SGGeod::fromCart(_state.cartesian_position_v); + _state.geocentric_position_v = SGGeoc::fromCart(_state.cartesian_position_v); + _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(_state.geodetic_position_v)*SG_METER_TO_FEET ); _update_ground_elev_at_pos(); } void FGInterface::_updatePosition(const SGGeod& geod) { - TrackComputer tracker( track, geodetic_position_v ); - geodetic_position_v = geod; - cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v); - geocentric_position_v = SGGeoc::fromCart(cartesian_position_v); + TrackComputer tracker( _state.track, _state.geodetic_position_v ); + _state.geodetic_position_v = geod; + _state.cartesian_position_v = SGVec3d::fromGeod(_state.geodetic_position_v); + _state.geocentric_position_v = SGGeoc::fromCart(_state.cartesian_position_v); - _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET ); + _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(_state.geodetic_position_v)*SG_METER_TO_FEET ); _update_ground_elev_at_pos(); } void FGInterface::_updatePosition(const SGGeoc& geoc) { - TrackComputer tracker( track, geodetic_position_v ); - geocentric_position_v = geoc; - cartesian_position_v = SGVec3d::fromGeoc(geocentric_position_v); - geodetic_position_v = SGGeod::fromCart(cartesian_position_v); + TrackComputer tracker( _state.track, _state.geodetic_position_v ); + _state.geocentric_position_v = geoc; + _state.cartesian_position_v = SGVec3d::fromGeoc(_state.geocentric_position_v); + _state.geodetic_position_v = SGGeod::fromCart(_state.cartesian_position_v); - _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET ); + _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(_state.geodetic_position_v)*SG_METER_TO_FEET ); _update_ground_elev_at_pos(); } @@ -482,123 +527,123 @@ void FGInterface::_updateGeocentricPosition( double lat, double lon, } void FGInterface::_update_ground_elev_at_pos( void ) { - double groundlevel_m = get_groundlevel_m(geodetic_position_v); + double groundlevel_m = get_groundlevel_m(_state.geodetic_position_v); _set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET ); } // Positions void FGInterface::set_Latitude(double lat) { - geodetic_position_v.setLatitudeRad(lat); + _state.geodetic_position_v.setLatitudeRad(lat); } void FGInterface::set_Longitude(double lon) { - geodetic_position_v.setLongitudeRad(lon); + _state.geodetic_position_v.setLongitudeRad(lon); } void FGInterface::set_Altitude(double alt) { - geodetic_position_v.setElevationFt(alt); + _state.geodetic_position_v.setElevationFt(alt); } void FGInterface::set_AltitudeAGL(double altagl) { - altitude_agl=altagl; + _state.altitude_agl=altagl; } // Velocities void FGInterface::set_V_calibrated_kts(double vc) { - v_calibrated_kts = vc; + _state.v_calibrated_kts = vc; } void FGInterface::set_Mach_number(double mach) { - mach_number = mach; + _state.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; + _state.v_local_v[0] = north; + _state.v_local_v[1] = east; + _state.v_local_v[2] = down; } -void FGInterface::set_Velocities_Wind_Body( double u, +void FGInterface::set_Velocities_Body( double u, double v, double w){ - v_wind_body_v[0] = u; - v_wind_body_v[1] = v; - v_wind_body_v[2] = w; + _state.v_body_v[0] = u; + _state.v_body_v[1] = v; + _state.v_body_v[2] = w; } // Euler angles void FGInterface::set_Euler_Angles( double phi, double theta, double psi ) { - euler_angles_v[0] = phi; - euler_angles_v[1] = theta; - euler_angles_v[2] = psi; + _state.euler_angles_v[0] = phi; + _state.euler_angles_v[1] = theta; + _state.euler_angles_v[2] = psi; } // Flight Path void FGInterface::set_Climb_Rate( double roc) { - climb_rate = roc; + _state.climb_rate = roc; } void FGInterface::set_Gamma_vert_rad( double gamma) { - gamma_vert_rad = gamma; + _state.gamma_vert_rad = gamma; } -void FGInterface::set_Static_pressure(double p) { static_pressure = p; } -void FGInterface::set_Static_temperature(double T) { static_temperature = T; } -void FGInterface::set_Density(double rho) { density = rho; } +void FGInterface::set_Static_pressure(double p) { _state.static_pressure = p; } +void FGInterface::set_Static_temperature(double T) { _state.static_temperature = T; } +void FGInterface::set_Density(double rho) { _state.density = rho; } void FGInterface::set_Velocities_Local_Airmass (double wnorth, double weast, double wdown ) { - v_local_airmass_v[0] = wnorth; - v_local_airmass_v[1] = weast; - v_local_airmass_v[2] = wdown; + _state.v_local_airmass_v[0] = wnorth; + _state.v_local_airmass_v[1] = weast; + _state.v_local_airmass_v[2] = wdown; } void FGInterface::_busdump(void) { - 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_ground_speed: " << v_ground_speed ); - SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts ); - SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts ); - SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha ); - SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta ); - SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad ); - SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density ); - 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,"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,"climb_rate: " << climb_rate ); - SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl ); + SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v: " << _state.d_cg_rp_body_v); + SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v: " << _state.v_dot_local_v); + SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v: " << _state.v_dot_body_v); + SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v: " << _state.a_cg_body_v); + SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v: " << _state.a_pilot_body_v); + SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v: " << _state.n_cg_body_v); + SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v: " << _state.v_local_v); + SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v: " << _state.v_local_rel_ground_v); + SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v: " << _state.v_local_airmass_v); + SG_LOG(SG_FLIGHT,SG_INFO,"v_body_v: " << _state.v_body_v); + SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v: " << _state.omega_body_v); + SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v: " << _state.euler_rates_v); + SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v: " << _state.geocentric_rates_v); + SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v: " << _state.geocentric_position_v); + SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v: " << _state.geodetic_position_v); + SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v: " << _state.euler_angles_v); + + SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << _state.nlf ); + SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << _state.v_rel_wind ); + SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << _state.v_true_kts ); + SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << _state.v_ground_speed ); + SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << _state.v_equiv_kts ); + SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << _state.v_calibrated_kts ); + SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << _state.alpha ); + SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << _state.beta ); + SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << _state.gamma_vert_rad ); + SG_LOG(SG_FLIGHT,SG_INFO,"density: " << _state.density ); + SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << _state.mach_number ); + SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << _state.static_pressure ); + SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << _state.total_pressure ); + SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << _state.dynamic_pressure ); + SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << _state.static_temperature ); + SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << _state.total_temperature ); + SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << _state.sea_level_radius ); + SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << _state.earth_position_angle ); + SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << _state.runway_altitude ); + SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << _state.climb_rate ); + SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << _state.altitude_agl ); } bool @@ -688,7 +733,7 @@ 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) + simgear::BVHMaterial const*& material, simgear::BVHNode::Id& id) { SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down(); SGVec3d _contact, _normal, _linearVel, _angularVel; @@ -711,7 +756,7 @@ 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) + simgear::BVHMaterial const*& material, simgear::BVHNode::Id& id) { // Convert units and do the real work. SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down(); @@ -737,10 +782,11 @@ 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::BVHMaterial const*& material, simgear::BVHNode::Id& id) { SGVec3d _contact, _linearVel, _angularVel; + material = 0; if (!ground_cache.get_nearest(t, SGVec3d(pt), maxDist, _contact, _linearVel, _angularVel, id, material)) return false; @@ -755,10 +801,11 @@ 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::BVHMaterial const*& material, simgear::BVHNode::Id& id) { SGVec3d _contact, _linearVel, _angularVel; + material = 0; if (!ground_cache.get_nearest(t, SG_FEET_TO_METER*SGVec3d(pt), SG_FEET_TO_METER*maxDist, _contact, _linearVel, _angularVel, id, material)) @@ -820,7 +867,7 @@ FGInterface::get_groundlevel_m(const SGGeod& geod) } double contact[3], normal[3], vel[3], angvel[3]; - const SGMaterial* material; + const simgear::BVHMaterial* 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