X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2Fflight.cxx;h=d501d1507cd72a0d25d6305f2247ccd628af5969;hb=0114fd962e7450b080e580fe67414ca43cd99bd7;hp=43b5aa03b62d6b21084263e2717e0c9c82e92403;hpb=411d133a54692172bc035a5810922b1634456e77;p=flightgear.git diff --git a/src/FDM/flight.cxx b/src/FDM/flight.cxx index 43b5aa03b..d501d1507 100644 --- a/src/FDM/flight.cxx +++ b/src/FDM/flight.cxx @@ -16,19 +16,19 @@ // // 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 +#include "flight.hxx" #include #include -#include -#include +#include #include #include @@ -36,30 +36,21 @@ #include
#include -#include "flight.hxx" - - -// 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 = 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; +static inline void assign(double* ptr, const SGVec3d& vec) +{ + ptr[0] = vec[0]; + ptr[1] = vec[1]; + ptr[2] = vec[2]; } // Constructor FGInterface::FGInterface() - : remainder(0) { _setup(); } FGInterface::FGInterface( double dt ) - : remainder(0) { _setup(); } @@ -69,21 +60,18 @@ FGInterface::~FGInterface() { // unbind(); // FIXME: should be called explicitly } - 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. + // 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"); - - 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; - return (multiloop * speedup); + return multiloop * speedup; } @@ -98,71 +86,39 @@ FGInterface::_setup () inited = false; bound = false; - 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] ); - - mass=i_xx=i_yy=i_zz=i_xz=0; + 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(); + 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; + 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; + runway_altitude=0; climb_rate=0; - sin_lat_geocentric=cos_lat_geocentric=0; - sin_latitude=cos_latitude=0; - sin_longitude=cos_longitude=0; altitude_agl=0; + track=0; } void @@ -183,8 +139,7 @@ FGInterface::common_init () set_inited( true ); -// stamp(); -// set_remainder( 0 ); + ground_cache.set_cache_time_offset(globals->get_sim_time_sec()); // Set initial position SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." ); @@ -196,6 +151,10 @@ FGInterface::common_init () 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; @@ -217,13 +176,8 @@ FGInterface::common_init () SG_LOG( SG_FLIGHT, SG_INFO, " lat = " << fgGetDouble("/sim/presets/latitude-deg") << " alt = " << get_Altitude() ); - double sea_level_radius_meters; - double lat_geoc; - sgGeodToGeoc( fgGetDouble("/sim/presets/latitude-deg") - * SGD_DEGREES_TO_RADIANS, - get_Altitude() * SG_FEET_TO_METER, - &sea_level_radius_meters, &lat_geoc ); - _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET ); + 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..." ); @@ -280,16 +234,6 @@ 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 - // Aircraft position fgTie("/position/latitude-deg", this, &FGInterface::get_Latitude_deg, @@ -307,7 +251,7 @@ FGInterface::bind () false); fgSetArchivable("/position/altitude-ft"); fgTie("/position/altitude-agl-ft", this, - &FGInterface::get_Altitude_AGL); // read-only + &FGInterface::get_Altitude_AGL, &FGInterface::set_AltitudeAGL); fgSetArchivable("/position/ground-elev-ft"); fgTie("/position/ground-elev-ft", this, &FGInterface::get_Runway_altitude); // read-only @@ -318,30 +262,41 @@ FGInterface::bind () &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 + &FGInterface::get_Sea_level_radius, + &FGInterface::_set_Sea_level_radius); // Orientation fgTie("/orientation/roll-deg", this, &FGInterface::get_Phi_deg, - &FGInterface::set_Phi_deg); + &FGInterface::set_Phi_deg, false); fgSetArchivable("/orientation/roll-deg"); fgTie("/orientation/pitch-deg", this, &FGInterface::get_Theta_deg, - &FGInterface::set_Theta_deg); + &FGInterface::set_Theta_deg, false); fgSetArchivable("/orientation/pitch-deg"); fgTie("/orientation/heading-deg", this, &FGInterface::get_Psi_deg, - &FGInterface::set_Psi_deg); + &FGInterface::set_Psi_deg, false); fgSetArchivable("/orientation/heading-deg"); + fgTie("/orientation/track-deg", this, + &FGInterface::get_Track); // Body-axis "euler rates" (rotation speed, but in a funny // representation). fgTie("/orientation/roll-rate-degps", this, - &FGInterface::get_Phi_dot_degps); + &FGInterface::get_Phi_dot_degps, &FGInterface::set_Phi_dot_degps); fgTie("/orientation/pitch-rate-degps", this, - &FGInterface::get_Theta_dot_degps); + &FGInterface::get_Theta_dot_degps, &FGInterface::set_Theta_dot_degps); fgTie("/orientation/yaw-rate-degps", this, - &FGInterface::get_Psi_dot_degps); + &FGInterface::get_Psi_dot_degps, &FGInterface::set_Psi_dot_degps); + + fgTie("/orientation/p-body", this, &FGInterface::get_P_body); + fgTie("/orientation/q-body", this, &FGInterface::get_Q_body); + fgTie("/orientation/r-body", this, &FGInterface::get_R_body); + + // Ground speed knots + fgTie("/velocities/groundspeed-kt", this, + &FGInterface::get_V_ground_speed_kt); // Calibrated airspeed fgTie("/velocities/airspeed-kt", this, @@ -349,6 +304,9 @@ FGInterface::bind () &FGInterface::set_V_calibrated_kts, false); + fgTie("/velocities/equivalent-kt", this, + &FGInterface::get_V_equiv_kts); + // Mach number fgTie("/velocities/mach", this, &FGInterface::get_Mach_number, @@ -373,11 +331,19 @@ FGInterface::bind () // LaRCSim are fixed (LaRCSim adds the // earth's rotation to the east velocity). fgTie("/velocities/speed-north-fps", this, - &FGInterface::get_V_north); + &FGInterface::get_V_north, &FGInterface::set_V_north, false); fgTie("/velocities/speed-east-fps", this, - &FGInterface::get_V_east); + &FGInterface::get_V_east, &FGInterface::set_V_east, false); fgTie("/velocities/speed-down-fps", this, - &FGInterface::get_V_down); + &FGInterface::get_V_down, &FGInterface::set_V_down, false); + + fgTie("/velocities/north-relground-fps", this, + &FGInterface::get_V_north_rel_ground); + fgTie("/velocities/east-relground-fps", this, + &FGInterface::get_V_east_rel_ground); + fgTie("/velocities/down-relground-fps", this, + &FGInterface::get_V_down_rel_ground); + // Relative wind // FIXME: temporarily archivable, until @@ -406,11 +372,11 @@ FGInterface::bind () &FGInterface::get_Gamma_vert_rad, &FGInterface::set_Gamma_vert_rad ); fgTie("/orientation/side-slip-rad", this, - &FGInterface::get_Beta); // read-only + &FGInterface::get_Beta, &FGInterface::_set_Beta); fgTie("/orientation/side-slip-deg", this, &FGInterface::get_Beta_deg); // read-only fgTie("/orientation/alpha-deg", this, - &FGInterface::get_Alpha_deg); // read-only + &FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg); // read-only fgTie("/accelerations/nlf", this, &FGInterface::get_Nlf); // read-only @@ -424,11 +390,13 @@ FGInterface::bind () // Pilot accelerations fgTie("/accelerations/pilot/x-accel-fps_sec", - this, &FGInterface::get_A_X_pilot); + this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot); fgTie("/accelerations/pilot/y-accel-fps_sec", - this, &FGInterface::get_A_Y_pilot); + this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot); fgTie("/accelerations/pilot/z-accel-fps_sec", - this, &FGInterface::get_A_Z_pilot); + this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot); + + fgTie("/accelerations/n-z-cg-fps_sec", this, &FGInterface::get_N_Z_cg); } @@ -442,12 +410,12 @@ FGInterface::bind () void FGInterface::unbind () { + if (!bound) { + return; + } + 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"); @@ -459,17 +427,26 @@ FGInterface::unbind () fgUntie("/orientation/roll-deg"); fgUntie("/orientation/pitch-deg"); fgUntie("/orientation/heading-deg"); + fgUntie("/orientation/track-deg"); fgUntie("/orientation/roll-rate-degps"); fgUntie("/orientation/pitch-rate-degps"); fgUntie("/orientation/yaw-rate-degps"); + fgUntie("/orientation/p-body"); + fgUntie("/orientation/q-body"); + fgUntie("/orientation/r-body"); fgUntie("/orientation/side-slip-rad"); fgUntie("/orientation/side-slip-deg"); fgUntie("/orientation/alpha-deg"); fgUntie("/velocities/airspeed-kt"); + fgUntie("/velocities/groundspeed-kt"); + fgUntie("/velocities/equivalent-kt"); fgUntie("/velocities/mach"); fgUntie("/velocities/speed-north-fps"); fgUntie("/velocities/speed-east-fps"); fgUntie("/velocities/speed-down-fps"); + fgUntie("/velocities/north-relground-fps"); + fgUntie("/velocities/east-relground-fps"); + fgUntie("/velocities/down-relground-fps"); fgUntie("/velocities/uBody-fps"); fgUntie("/velocities/vBody-fps"); fgUntie("/velocities/wBody-fps"); @@ -482,6 +459,7 @@ FGInterface::unbind () fgUntie("/accelerations/ned/north-accel-fps_sec"); fgUntie("/accelerations/ned/east-accel-fps_sec"); fgUntie("/accelerations/ned/down-accel-fps_sec"); + fgUntie("/accelerations/n-z-cg-fps_sec"); } /** @@ -494,122 +472,69 @@ FGInterface::update (double dt) } -void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt ) +void FGInterface::_updatePositionM(const SGVec3d& cartPos) { - double lat_geoc, sl_radius; - - // cout << "starting sea level rad = " << get_Sea_level_radius() << endl; - - sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc ); - - SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon - << " lat_geod = " << lat - << " lat_geoc = " << lat_geoc - << " alt = " << alt - << " sl_radius = " << sl_radius * SG_METER_TO_FEET - << " Equator = " << SG_EQUATORIAL_RADIUS_FT ); - - _set_Geocentric_Position( lat_geoc, lon, - sl_radius * SG_METER_TO_FEET + alt ); - - _set_Geodetic_Position( lat, lon, alt ); - - _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET ); + 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 ); _update_ground_elev_at_pos(); - - _set_sin_lat_geocentric( lat_geoc ); - _set_cos_lat_geocentric( lat_geoc ); - - _set_sin_cos_longitude( lon ); - - _set_sin_cos_latitude( lat ); } -void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon, - double alt ) +void FGInterface::_updatePosition(const SGGeod& geod) { - double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc; - - // cout << "starting sea level rad = " << get_Sea_level_radius() << endl; + 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); - 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 ); + _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET ); + _update_ground_elev_at_pos(); +} - 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 ); +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); - _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET ); + _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET ); _update_ground_elev_at_pos(); +} + - _set_sin_lat_geocentric( lat_geoc ); - _set_cos_lat_geocentric( lat_geoc ); +void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt ) +{ + _updatePosition(SGGeod::fromRadFt(lon, lat, alt)); +} - _set_sin_cos_longitude( lon ); - _set_sin_cos_latitude( lat_geod ); +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 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); + double groundlevel_m = get_groundlevel_m(geodetic_position_v); _set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET ); } -// 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__ - SG_LOG(SG_FLIGHT, SG_INFO, "extrapolating FDM by dt = " << dt); -#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; - - double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt; - double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt; - - geodetic_position_v[0] = lat; - geocentric_position_v[0] = lat_geoc; - - geodetic_position_v[1] = lon; - geocentric_position_v[1] = lon_geoc; - - geodetic_position_v[2] = alt; - geocentric_position_v[2] = radius; -} - // Positions void FGInterface::set_Latitude(double lat) { - geodetic_position_v[0] = 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) { @@ -674,135 +599,79 @@ void FGInterface::set_Velocities_Local_Airmass (double wnorth, 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 ref_time, const double pt[3], - double rad) +FGInterface::prepare_ground_cache_m(double startSimTime, double endSimTime, + const double pt[3], double rad) { - return ground_cache.prepare_ground_cache(ref_time, pt, rad); + return ground_cache.prepare_ground_cache(startSimTime, endSimTime, + SGVec3d(pt), rad); } -bool FGInterface::prepare_ground_cache_ft(double ref_time, const double pt[3], - double rad) +bool +FGInterface::prepare_ground_cache_ft(double startSimTime, double endSimTime, + 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); + 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) { - return ground_cache.is_valid(ref_time, pt, 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. - bool found_ground = ground_cache.is_valid(ref_time, pt, rad); - sgdScaleVec3(pt, SG_METER_TO_FEET); + 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; } @@ -811,7 +680,13 @@ 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); + 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 @@ -819,116 +694,198 @@ 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); + 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) { - sgdScaleVec3( end[k], SG_METER_TO_FEET ); - sgdScaleVec3( vel[k], SG_METER_TO_FEET ); + 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_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) +FGInterface::get_body_m(double t, simgear::BVHNode::Id id, + double bodyToWorld[16], double linearVel[3], + double angularVel[3]) { - return ground_cache.get_agl(t, pt, 2.0, contact, normal, vel, type, - loadCapacity, frictionFactor, agl); -} + SGMatrixd _bodyToWorld; + SGVec3d _linearVel, _angularVel; + if (!ground_cache.get_body(t, _bodyToWorld, _linearVel, _angularVel, id)) + return false; -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; + 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 vel[3], - int *type, double *loadCapacity, - double *frictionFactor, double *agl) + double contact[3], double normal[3], + double linearVel[3], double angularVel[3], + SGMaterial const*& material, simgear::BVHNode::Id& id) { - return ground_cache.get_agl(t, pt, max_altoff, contact, normal, vel, type, - loadCapacity, frictionFactor, agl); + 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 vel[3], - int *type, double *loadCapacity, - double *frictionFactor, double *agl) + 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. - 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); + 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 ... - 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. + 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) { - // 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); + 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 ??? - double ref_time, radius; + SGVec3d cpos; + double ref_time = 0, 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); + 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], lc, ff, agl; - int type; - get_agl_m(ref_time, pos, 2.0, contact, normal, vel, &type, &lc, &ff, &agl); - - return sgdLengthVec3(contact) - slr; + 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]) { - return ground_cache.caught_wire(t, pt); + 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. - double pt_m[4][3]; + SGVec3d pt_m[4]; for (int i=0; i<4; ++i) - sgdScaleVec3(pt_m[i], pt[i], SG_FEET_TO_METER); + pt_m[i] = SG_FEET_TO_METER*SGVec3d(pt[i]); return ground_cache.caught_wire(t, pt_m); } @@ -936,17 +893,24 @@ FGInterface::caught_wire_ft(double t, const double pt[4][3]) 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); + 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. - bool ret = ground_cache.get_wire_ends(t, end, vel); + SGVec3d _end[2], _vel[2]; + 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 ); + assign( end[k], SG_METER_TO_FEET*_end[k] ); + assign( vel[k], SG_METER_TO_FEET*_vel[k] ); } return ret; } @@ -957,6 +921,3 @@ FGInterface::release_wire(void) ground_cache.release_wire(); } -void fgToggleFDMdataLogging(void) { - cur_fdm_state->ToggleDataLogging(); -}