X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2Fflight.cxx;h=f3d55075a4175c1c686287f5fb7e65495db42157;hb=7b4c5820cb2f964f2b8c48260a77355ce9eda234;hp=637649b97381ac97970fe70cebbce8a6eff1968e;hpb=17262df51cc5a9a542a35d6126b55f08cb210f7e;p=flightgear.git diff --git a/src/FDM/flight.cxx b/src/FDM/flight.cxx index 637649b97..f3d55075a 100644 --- a/src/FDM/flight.cxx +++ b/src/FDM/flight.cxx @@ -29,7 +29,6 @@ #include #include #include -#include #include #include @@ -45,23 +44,13 @@ static inline void assign(double* ptr, const SGVec3d& vec) ptr[2] = vec[2]; } -// 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; - // Constructor FGInterface::FGInterface() - : remainder(0) { _setup(); } FGInterface::FGInterface( double dt ) - : remainder(0) { _setup(); } @@ -71,33 +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; - - // If we artificially inflate ml above by a tiny amount to get the - // closest integer, then subtract the integer from the original - // slightly smaller value, we can get a negative remainder. - // Logically this should never happen, and we definitely don't want - // to carry a negative remainder over to the next iteration, so - // never let the remainder go below zero. - // - // Note: this fixes a problem where we run 1, 3, 1, 3, 1, 3... loops - // of the FDM when in fact we want to run 2, 2, 2, 2, 2... - if ( remainder < 0 ) { remainder = 0; } - - return (multiloop * speedup); + return multiloop * speedup; } @@ -130,7 +104,6 @@ FGInterface::_setup () geocentric_position_v = SGGeoc::fromCart(cartesian_position_v); euler_angles_v = SGVec3d::zeros(); - mass=i_xx=i_yy=i_zz=i_xz=0; nlf=0; v_rel_wind=v_true_kts=0; v_ground_speed=v_equiv_kts=0; @@ -145,6 +118,7 @@ FGInterface::_setup () runway_altitude=0; climb_rate=0; altitude_agl=0; + track=0; } void @@ -165,8 +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..." ); @@ -206,6 +179,15 @@ FGInterface::common_init () double slr = SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v); _set_Sea_level_radius( slr * SG_METER_TO_FEET ); + // Set initial Euler angles + SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." ); + set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg") + * SGD_DEGREES_TO_RADIANS, + fgGetDouble("/sim/presets/pitch-deg") + * SGD_DEGREES_TO_RADIANS, + fgGetDouble("/sim/presets/heading-deg") + * SGD_DEGREES_TO_RADIANS ); + // Set initial velocities SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." ); if ( !fgHasNode("/sim/presets/speed-set") ) { @@ -234,14 +216,11 @@ FGInterface::common_init () } } - // Set initial Euler angles - SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." ); - set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg") - * SGD_DEGREES_TO_RADIANS, - fgGetDouble("/sim/presets/pitch-deg") - * SGD_DEGREES_TO_RADIANS, - fgGetDouble("/sim/presets/heading-deg") - * SGD_DEGREES_TO_RADIANS ); + 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") ); SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" ); } @@ -261,16 +240,6 @@ 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, @@ -288,7 +257,7 @@ 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, false); fgSetArchivable("/position/ground-elev-ft"); fgTie("/position/ground-elev-ft", this, &FGInterface::get_Runway_altitude); // read-only @@ -299,34 +268,45 @@ 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, false); // 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); // read-only // 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, false); fgTie("/orientation/pitch-rate-degps", this, - &FGInterface::get_Theta_dot_degps); + &FGInterface::get_Theta_dot_degps, + &FGInterface::set_Theta_dot_degps, false); fgTie("/orientation/yaw-rate-degps", this, - &FGInterface::get_Psi_dot_degps); + &FGInterface::get_Psi_dot_degps, + &FGInterface::set_Psi_dot_degps, false); + fgTie("/orientation/p-body", this, &FGInterface::get_P_body); // read-only + fgTie("/orientation/q-body", this, &FGInterface::get_Q_body); // read-only + fgTie("/orientation/r-body", this, &FGInterface::get_R_body); // read-only + // Ground speed knots fgTie("/velocities/groundspeed-kt", this, - &FGInterface::get_V_ground_speed_kt); + &FGInterface::get_V_ground_speed_kt, + &FGInterface::set_V_ground_speed_kt); // read-only // Calibrated airspeed fgTie("/velocities/airspeed-kt", this, @@ -334,6 +314,9 @@ FGInterface::bind () &FGInterface::set_V_calibrated_kts, false); + fgTie("/velocities/equivalent-kt", this, + &FGInterface::get_V_equiv_kts); // read-only + // Mach number fgTie("/velocities/mach", this, &FGInterface::get_Mach_number, @@ -358,11 +341,19 @@ 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); // read-only + fgTie("/velocities/east-relground-fps", this, + &FGInterface::get_V_east_rel_ground); // read-only + fgTie("/velocities/down-relground-fps", this, + &FGInterface::get_V_down_rel_ground); // read-only + // Relative wind // FIXME: temporarily archivable, until @@ -386,34 +377,37 @@ FGInterface::bind () // Climb and slip (read-only) fgTie("/velocities/vertical-speed-fps", this, &FGInterface::get_Climb_Rate, - &FGInterface::set_Climb_Rate ); + &FGInterface::set_Climb_Rate, false ); fgTie("/velocities/glideslope", this, &FGInterface::get_Gamma_vert_rad, - &FGInterface::set_Gamma_vert_rad ); + &FGInterface::set_Gamma_vert_rad, false ); fgTie("/orientation/side-slip-rad", this, - &FGInterface::get_Beta); // read-only + &FGInterface::get_Beta, &FGInterface::_set_Beta, false); 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, false); fgTie("/accelerations/nlf", this, &FGInterface::get_Nlf); // read-only // NED accelerations fgTie("/accelerations/ned/north-accel-fps_sec", - this, &FGInterface::get_V_dot_north); + this, &FGInterface::get_V_dot_north); // read-only fgTie("/accelerations/ned/east-accel-fps_sec", - this, &FGInterface::get_V_dot_east); + this, &FGInterface::get_V_dot_east); // read-only fgTie("/accelerations/ned/down-accel-fps_sec", - this, &FGInterface::get_V_dot_down); + this, &FGInterface::get_V_dot_down); // read-only // 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, false); fgTie("/accelerations/pilot/y-accel-fps_sec", - this, &FGInterface::get_A_Y_pilot); + this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot, false); fgTie("/accelerations/pilot/z-accel-fps_sec", - this, &FGInterface::get_A_Z_pilot); + this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot, false); + + fgTie("/accelerations/n-z-cg-fps_sec", + this, &FGInterface::get_N_Z_cg); // read-only } @@ -427,12 +421,12 @@ 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"); @@ -444,18 +438,26 @@ 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"); @@ -468,6 +470,7 @@ 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"); } /** @@ -482,6 +485,7 @@ FGInterface::update (double dt) 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); @@ -492,6 +496,7 @@ void FGInterface::_updatePositionM(const SGVec3d& cartPos) 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); @@ -503,6 +508,7 @@ void FGInterface::_updatePosition(const SGGeod& geod) 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); @@ -621,11 +627,6 @@ void FGInterface::_busdump(void) { 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,"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,"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 ); @@ -650,18 +651,21 @@ void FGInterface::_busdump(void) { } 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, SGVec3d(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. SGVec3d pt_ft = SG_FEET_TO_METER*SGVec3d(pt); - return ground_cache.prepare_ground_cache(ref_time, pt_ft, rad*SG_FEET_TO_METER); + return ground_cache.prepare_ground_cache(startSimTime, endSimTime, + pt_ft, rad*SG_FEET_TO_METER); } bool @@ -711,108 +715,108 @@ FGInterface::get_cat_ft(double t, const double pt[3], return dist*SG_METER_TO_FEET; } -// Legacy interface just kept because of JSBSim 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]) { - const SGMaterial* material; - SGVec3d _contact, _normal, _vel; - bool ret = ground_cache.get_agl(t, SGVec3d(pt), 2.0, _contact, _normal, - _vel, type, &material, agl); - assign(contact, _contact); - assign(normal, _normal); - assign(vel, _vel); - if (material) { - *loadCapacity = material->get_load_resistance(); - *frictionFactor = material->get_friction_factor(); - - } else { - *loadCapacity = DBL_MAX; - *frictionFactor = 1.0; - } - return ret; + SGMatrixd _bodyToWorld; + SGVec3d _linearVel, _angularVel; + if (!ground_cache.get_body(t, _bodyToWorld, _linearVel, _angularVel, id)) + return false; + + 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 contact[3], double normal[3], double vel[3], - int *type, const SGMaterial **material, double *agl) -{ - SGVec3d _contact, _normal, _vel; - bool ret = ground_cache.get_agl(t, SGVec3d(pt), 2.0, _contact, _normal, - _vel, type, material, agl); +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) +{ + 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(vel, _vel); + assign(linearVel, _linearVel); + assign(angularVel, _angularVel); return ret; } -// Legacy interface just kept because of JSBSim 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) +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) { // Convert units and do the real work. - SGVec3d pt_m = SG_FEET_TO_METER*SGVec3d(pt); + 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); - const SGMaterial* material; - SGVec3d _contact, _normal, _vel; - bool ret = ground_cache.get_agl(t, pt_m, 2.0, _contact, _normal, _vel, - type, &material, agl); // Convert units back ... assign( contact, SG_METER_TO_FEET*_contact ); - assign( vel, SG_METER_TO_FEET*_vel ); assign( normal, _normal ); - *agl *= SG_METER_TO_FEET; - - // return material properties if available - if (material) { - // FIXME: convert units?? now pascal to lbf/ft^2 - *loadCapacity = 0.020885434*material->get_load_resistance(); - *frictionFactor = material->get_friction_factor(); - } else { - *loadCapacity = DBL_MAX; - *frictionFactor = 1.0; - } + assign( linearVel, SG_METER_TO_FEET*_linearVel ); + assign( angularVel, _angularVel ); 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, const SGMaterial** material, double *agl) +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, _normal, _vel; - bool found = ground_cache.get_agl(t, SGVec3d(pt), max_altoff, _contact, - _normal, _vel, type, material, agl); + SGVec3d _contact, _linearVel, _angularVel; + if (!ground_cache.get_nearest(t, SGVec3d(pt), maxDist, _contact, _linearVel, + _angularVel, id, material)) + return false; + assign(contact, _contact); - assign(normal, _normal); - assign(vel, _vel); - return found; + assign(linearVel, _linearVel); + assign(angularVel, _angularVel); + return true; } 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, const SGMaterial** material, double *agl) +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) { - // Convert units and do the real work. - SGVec3d pt_m = SG_FEET_TO_METER*SGVec3d(pt); - SGVec3d _contact, _normal, _vel; - bool ret = ground_cache.get_agl(t, pt_m, SG_FEET_TO_METER * max_altoff, - _contact, _normal, _vel, - type, material, agl); - // Convert units back ... - assign( contact, SG_METER_TO_FEET*_contact ); - assign( vel, SG_METER_TO_FEET*_vel ); - assign( normal, _normal ); - *agl *= SG_METER_TO_FEET; - return ret; + 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 @@ -829,43 +833,50 @@ FGInterface::get_groundlevel_m(const SGGeod& geod) // FIXME: how to handle t - ref_time differences ??? SGVec3d cpos; - double ref_time, radius; + double ref_time = 0, radius; // Prepare the ground cache for that position. if (!is_valid_m(&ref_time, cpos.data(), &radius)) { - bool ok = prepare_ground_cache_m(ref_time, pos.data(), 10); + 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::fromRadM(geod.getLongitudeRad(), geod.getLatitudeRad(), 10000)); + pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000)); /// If there is still no ground, return sea level radius - if (!prepare_ground_cache_m(ref_time, pos.data(), 10)) + 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(ref_time, pos.data(), radius); + 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::fromRadM(geod.getLongitudeRad(), geod.getLatitudeRad(), 10000)); + pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000)); /// If there is still no ground, return sea level radius - if (!prepare_ground_cache_m(ref_time, pos.data(), radius)) + if (!prepare_ground_cache_m(startTime, endTime, pos.data(), radius)) return 0; } } - double contact[3], normal[3], vel[3], agl; - int type; + 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, &type, 0, &agl); + get_agl_m(ref_time, pos.data(), 2.0, contact, normal, vel, angvel, + material, id); return SGGeod::fromCart(SGVec3d(contact)).getElevationM(); } @@ -921,6 +932,3 @@ FGInterface::release_wire(void) ground_cache.release_wire(); } -void fgToggleFDMdataLogging(void) { - cur_fdm_state->ToggleDataLogging(); -}