X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2Fflight.cxx;h=86324a8312e8a02c300996e0b59041b48349d6e3;hb=18ff3a6108bc29bd5fed76322c4ab63589095a2a;hp=c7f6b0944db618faf5bcad32cccf7bcd60107099;hpb=68522eb75c12f198a49dffce10ef433f210058aa;p=flightgear.git

diff --git a/src/FDM/flight.cxx b/src/FDM/flight.cxx
index c7f6b0944..86324a831 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 <simgear/constants.h>
 #include <simgear/debug/logstream.hxx>
 #include <simgear/math/sg_geodesy.hxx>
+#include <simgear/scene/model/placement.hxx>
 #include <simgear/timing/timestamp.hxx>
 
 #include <Scenery/scenery.hxx>
-#include <FDM/LaRCsim/ls_interface.h>
 #include <Main/globals.hxx>
 #include <Main/fg_props.hxx>
-#include <Main/location.hxx>
-#include <Model/model.hxx>
-#include <Model/acmodel.hxx>
+#include <FDM/groundcache.hxx>
 
 #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
@@ -187,12 +186,6 @@ 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")
@@ -201,14 +194,15 @@ FGInterface::common_init ()
                   * SGD_DEGREES_TO_RADIANS );
     double ground_elev_m = globals->get_scenery()->get_cur_elev();
     double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
-    _acmodel->get3DModel()->getFGLocation()->set_cur_elev_m( ground_elev_m );
+    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("/sim/presets/altitude-ft", ground_elev_ft);
         fgSetDouble("/position/altitude-ft", ground_elev_ft);
+        set_Altitude( ground_elev_ft );
+    } else {
+        set_Altitude( fgGetDouble("/sim/presets/altitude-ft") );
     }
-    set_Altitude( fgGetDouble("/sim/presets/altitude-ft") );
 
     // Set ground elevation
     SG_LOG( SG_FLIGHT, SG_INFO,
@@ -219,12 +213,12 @@ 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 );
 
@@ -503,9 +497,7 @@ 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 );
-    }
+    _set_Runway_altitude( fgGetDouble("/position/ground-elev-m") * SG_METER_TO_FEET );
 
     _set_sin_lat_geocentric( lat_geoc );
     _set_cos_lat_geocentric( lat_geoc );
@@ -561,7 +553,7 @@ 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 );
+    _set_Runway_altitude(  fgGetDouble("/position/ground-elev-m") * SG_METER_TO_FEET );
 
     _set_sin_lat_geocentric( lat_geoc );
     _set_cos_lat_geocentric( lat_geoc );
@@ -797,6 +789,129 @@ 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, 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, 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::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();