X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2Fflight.hxx;h=35ae2550a900924e25987fb9c63ccd008fe12829;hb=312447c565ec410f52353ba22d305cf470e9ba33;hp=4a6d98c3d298bc08daeb0328e005fde068db2875;hpb=de667227c4fbe0089ae3ae9014bffd725bf2db29;p=flightgear.git diff --git a/src/FDM/flight.hxx b/src/FDM/flight.hxx index 4a6d98c3d..35ae2550a 100644 --- a/src/FDM/flight.hxx +++ b/src/FDM/flight.hxx @@ -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 @@ -16,7 +16,7 @@ // // 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. // // $Id$ @@ -40,12 +40,6 @@ `FGInterface::get_Psi ()' `FGInterface::get_V_equiv_kts ()' - `FGInterface::get_Mass ()' - `FGInterface::get_I_xx ()' - `FGInterface::get_I_yy ()' - `FGInterface::get_I_zz ()' - `FGInterface::get_I_xz ()' - `FGInterface::get_V_north ()' `FGInterface::get_V_east ()' `FGInterface::get_V_down ()' @@ -74,39 +68,56 @@ `FGInterface::get_Dy_cg ()' `FGInterface::get_Dz_cg ()' - `FGInterface::get_T_local_to_body_11 ()' ... `FGInterface::get_T_local_to_body_33 ()' - `FGInterface::get_Radius_to_vehicle ()' */ -#include - #include #include #include #include +#include #include -// #include - -#include
-#include -#include
- -SG_USING_STD(list); -SG_USING_STD(vector); -SG_USING_STD(string); - -class FGAircraftModel; - - -typedef double FG_VECTOR_3[3]; +#include +#include + +using std::list; +using std::vector; +using std::string; + +/** + * A little helper class to update the track if + * the position has changed. In the constructor, + * create a copy of the current position and store + * references to the position object and the track + * variable to update. + * The destructor, called at TrackComputer's end of + * life/visibility, computes the track if the + * position has changed. + */ +class TrackComputer { +public: + inline TrackComputer( double & track, const SGGeod & position ) : + _track( track ), + _position( position ), + _prevPosition( position ) { + } + + inline ~TrackComputer() { + if( _prevPosition == _position ) return; + _track = SGGeodesy::courseDeg( _prevPosition, _position ); + } +private: + double & _track; + const SGGeod & _position; + const SGGeod _prevPosition; +}; // This is based heavily on LaRCsim/ls_generic.h -class FGInterface : public FGSubsystem { +class FGInterface : public SGSubsystem { private: @@ -128,109 +139,66 @@ private: // next elapsed time. This yields a small amount of temporal // jitter ( < dt ) but in practice seems to work well. -// double delta_t; // delta "t" -// SGTimeStamp time_stamp; // time stamp of last run -// long elapsed; // time elapsed since last run - double remainder; // remainder time from last run -// int multi_loop; // number of iterations of "delta_t" to run - - // Pilot location rel to ref pt - FG_VECTOR_3 d_pilot_rp_body_v; - // CG position w.r.t. ref. point - FG_VECTOR_3 d_cg_rp_body_v; - - // Forces - FG_VECTOR_3 f_body_total_v; - FG_VECTOR_3 f_local_total_v; - FG_VECTOR_3 f_aero_v; - FG_VECTOR_3 f_engine_v; - FG_VECTOR_3 f_gear_v; - - // Moments - FG_VECTOR_3 m_total_rp_v; - FG_VECTOR_3 m_total_cg_v; - FG_VECTOR_3 m_aero_v; - FG_VECTOR_3 m_engine_v; - FG_VECTOR_3 m_gear_v; + SGVec3d d_cg_rp_body_v; // Accelerations - FG_VECTOR_3 v_dot_local_v; - FG_VECTOR_3 v_dot_body_v; - FG_VECTOR_3 a_cg_body_v; - FG_VECTOR_3 a_pilot_body_v; - FG_VECTOR_3 n_cg_body_v; - FG_VECTOR_3 n_pilot_body_v; - FG_VECTOR_3 omega_dot_body_v; + SGVec3d v_dot_local_v; + SGVec3d v_dot_body_v; + SGVec3d a_cg_body_v; + SGVec3d a_pilot_body_v; + SGVec3d n_cg_body_v; + SGVec3d omega_dot_body_v; // Velocities - FG_VECTOR_3 v_local_v; - FG_VECTOR_3 v_local_rel_ground_v; // V rel w.r.t. earth surface - FG_VECTOR_3 v_local_airmass_v; // velocity of airmass (steady winds) - FG_VECTOR_3 v_local_rel_airmass_v; // velocity of veh. relative to airmass - FG_VECTOR_3 v_local_gust_v; // linear turbulence components, L frame - FG_VECTOR_3 v_wind_body_v; // Wind-relative velocities in body axis - - FG_VECTOR_3 omega_body_v; // Angular B rates - FG_VECTOR_3 omega_local_v; // Angular L rates - FG_VECTOR_3 omega_total_v; // Diff btw B & L - FG_VECTOR_3 euler_rates_v; - FG_VECTOR_3 geocentric_rates_v; // Geocentric linear velocities - - // Positions - FG_VECTOR_3 geocentric_position_v; - FG_VECTOR_3 geodetic_position_v; - FG_VECTOR_3 euler_angles_v; + SGVec3d v_local_v; + SGVec3d v_local_rel_ground_v; // V rel w.r.t. earth surface + SGVec3d v_local_airmass_v; // velocity of airmass (steady winds) + SGVec3d v_wind_body_v; // Wind-relative velocities in body axis - // Miscellaneous Quantities - FG_VECTOR_3 d_cg_rwy_local_v; // CG rel. to rwy in local coords - FG_VECTOR_3 d_cg_rwy_rwy_v; // CG relative to rwy, in rwy coordinates - FG_VECTOR_3 d_pilot_rwy_local_v; // pilot rel. to rwy in local coords - FG_VECTOR_3 d_pilot_rwy_rwy_v; // pilot rel. to rwy, in rwy coords. + SGVec3d omega_body_v; // Angular B rates + SGVec3d euler_rates_v; + SGVec3d geocentric_rates_v; // Geocentric linear velocities - // Inertias - double mass, i_xx, i_yy, i_zz, i_xz; + // Positions + SGGeod geodetic_position_v; + SGVec3d cartesian_position_v; + SGGeoc geocentric_position_v; + SGVec3d euler_angles_v; // Normal Load Factor double nlf; // Velocities - double v_rel_wind, v_true_kts, v_rel_ground, v_inertial; - double v_ground_speed, v_equiv, v_equiv_kts; - double v_calibrated, v_calibrated_kts; + double v_rel_wind, v_true_kts; + double v_ground_speed, v_equiv_kts; + double v_calibrated_kts; // Miscellaneious Quantities - double t_local_to_body_m[3][3]; // Transformation matrix L to B - double gravity; // Local acceleration due to G - double centrifugal_relief; // load factor reduction due to speed - double alpha, beta, alpha_dot, beta_dot; // in radians - double cos_alpha, sin_alpha, cos_beta, sin_beta; - double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi; - double gamma_vert_rad, gamma_horiz_rad; // Flight path angles - double sigma, density, v_sound, mach_number; - double static_pressure, total_pressure, impact_pressure; + double alpha, beta; // in radians + double gamma_vert_rad; // Flight path angles + double density, mach_number; + double static_pressure, total_pressure; double dynamic_pressure; double static_temperature, total_temperature; double sea_level_radius, earth_position_angle; - double runway_altitude, runway_latitude, runway_longitude; - double runway_heading; - double radius_to_rwy; + double runway_altitude; double climb_rate; // in feet per second - double sin_lat_geocentric, cos_lat_geocentric; - double sin_longitude, cos_longitude; - double sin_latitude, cos_latitude; double altitude_agl; + double track; - double daux[16]; // auxilliary doubles - float faux[16]; // auxilliary floats - int iaux[16]; // auxilliary ints - - // SGTimeStamp valid_stamp; // time this record is valid - // SGTimeStamp next_stamp; // time this record is valid - - // Model tied to FDM - FGAircraftModel * _acmodel; + // the ground cache object itself. + FGGroundCache ground_cache; + void set_A_X_pilot(double x) + { _set_Accels_Pilot_Body(x, a_pilot_body_v[1], a_pilot_body_v[2]); } + + void set_A_Y_pilot(double y) + { _set_Accels_Pilot_Body(a_pilot_body_v[0], y, a_pilot_body_v[2]); } + + void set_A_Z_pilot(double z) + { _set_Accels_Pilot_Body(a_pilot_body_v[0], a_pilot_body_v[1], z); } + protected: int _calc_multiloop (double dt); @@ -243,19 +211,17 @@ public: void _setup(); void _busdump(void); + void _updatePositionM(const SGVec3d& cartPos); + void _updatePositionFt(const SGVec3d& cartPos) { + _updatePositionM(SG_FEET_TO_METER*cartPos); + } + void _updatePosition(const SGGeod& geod); + void _updatePosition(const SGGeoc& geoc); + void _updateGeodeticPosition( double lat, double lon, double alt ); void _updateGeocentricPosition( double lat_geoc, double lon, double alt ); - void _updateWeather( void ); + void _update_ground_elev_at_pos( void ); - inline void _set_Inertias( double m, double xx, double yy, - double zz, double xz) - { - mass = m; - i_xx = xx; - i_yy = yy; - i_zz = zz; - i_xz = xz; - } inline void _set_CG_Position( double dx, double dy, double dz ) { d_cg_rp_body_v[0] = dx; d_cg_rp_body_v[1] = dy; @@ -323,83 +289,79 @@ public: euler_rates_v[1] = theta; euler_rates_v[2] = psi; } + + void set_Phi_dot_degps(double x) + { + euler_rates_v[0] = x * SG_DEGREES_TO_RADIANS; + } + + void set_Theta_dot_degps(double x) + { + euler_rates_v[1] = x * SG_DEGREES_TO_RADIANS; + } + + void set_Psi_dot_degps(double x) + { + euler_rates_v[2] = x * SG_DEGREES_TO_RADIANS; + } + inline void _set_Geocentric_Rates( double lat, double lon, double rad ) { geocentric_rates_v[0] = lat; geocentric_rates_v[1] = lon; geocentric_rates_v[2] = rad; } -#if 0 - inline void _set_Radius_to_vehicle(double radius) { - geocentric_position_v[2] = radius; - } -#endif inline void _set_Geocentric_Position( double lat, double lon, double rad ) { - geocentric_position_v[0] = lat; - geocentric_position_v[1] = lon; - geocentric_position_v[2] = rad; + geocentric_position_v.setLatitudeRad(lat); + geocentric_position_v.setLongitudeRad(lon); + geocentric_position_v.setRadiusFt(rad); + } +/* Don't call _set_L[at|ong]itude() directly, use _set_Geodetic_Position() instead. + These methods can't update the track. + * + inline void _set_Latitude(double lat) { + geodetic_position_v.setLatitudeRad(lat); + } + inline void _set_Longitude(double lon) { + geodetic_position_v.setLongitudeRad(lon); } - inline void _set_Latitude(double lat) { geodetic_position_v[0] = lat; } - inline void _set_Longitude(double lon) { geodetic_position_v[1] = lon; } +*/ inline void _set_Altitude(double altitude) { - geodetic_position_v[2] = altitude; + geodetic_position_v.setElevationFt(altitude); } inline void _set_Altitude_AGL(double agl) { altitude_agl = agl; } + inline void _set_Geodetic_Position( double lat, double lon ) { + _set_Geodetic_Position( lat, lon, geodetic_position_v.getElevationFt()); + } inline void _set_Geodetic_Position( double lat, double lon, double alt ) { - geodetic_position_v[0] = lat; - geodetic_position_v[1] = lon; - geodetic_position_v[2] = alt; + TrackComputer tracker( track, geodetic_position_v ); + geodetic_position_v.setLatitudeRad(lat); + geodetic_position_v.setLongitudeRad(lon); + geodetic_position_v.setElevationFt(alt); } inline void _set_Euler_Angles( double phi, double theta, double psi ) { euler_angles_v[0] = phi; euler_angles_v[1] = theta; euler_angles_v[2] = psi; } - inline void _set_T_Local_to_Body( int i, int j, double value) { - t_local_to_body_m[i-1][j-1] = value; - } - inline void _set_T_Local_to_Body( double m[3][3] ) { - int i, j; - for ( i = 0; i < 3; i++ ) { - for ( j = 0; j < 3; j++ ) { - t_local_to_body_m[i][j] = m[i][j]; - } - } - } + // FIXME, for compatibility with JSBSim + inline void _set_T_Local_to_Body( int i, int j, double value) { } inline void _set_Alpha( double a ) { alpha = a; } inline void _set_Beta( double b ) { beta = b; } - inline void _set_Cos_phi( double cp ) { cos_phi = cp; } - inline void _set_Cos_theta( double ct ) { cos_theta = ct; } + + inline void set_Alpha_deg( double a ) { alpha = a * SG_DEGREES_TO_RADIANS; } + inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; } inline void _set_Density( double d ) { density = d; } inline void _set_Mach_number( double m ) { mach_number = m; } inline void _set_Static_pressure( double sp ) { static_pressure = sp; } - inline void _set_Static_temperature( double t ) { static_temperature = t; } + inline void _set_Static_temperature( double t ) { static_temperature = t; } + inline void _set_Total_temperature( double tat ) { total_temperature = tat; } //JW inline void _set_Sea_level_radius( double r ) { sea_level_radius = r; } - inline void _set_Earth_position_angle(double a) { - earth_position_angle = a; - } + inline void _set_Earth_position_angle(double a) { earth_position_angle = a; } inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; } inline void _set_Climb_Rate(double rate) { climb_rate = rate; } - inline void _set_sin_lat_geocentric(double parm) { - sin_lat_geocentric = sin(parm); - } - inline void _set_cos_lat_geocentric(double parm) { - cos_lat_geocentric = cos(parm); - } - inline void _set_sin_cos_longitude(double parm) { - sin_longitude = sin(parm); - cos_longitude = cos(parm); - } - inline void _set_sin_cos_latitude(double parm) { - sin_latitude = sin(parm); - cos_latitude = cos(parm); - } - - inline void _set_daux( int n, double value ) { daux[n] = value; } - inline void _set_faux( int n, float value ) { faux[n] = value; } - inline void _set_iaux( int n, int value ) { iaux[n] = value; } public: @@ -452,19 +414,6 @@ public: //perform initializion that is common to all FDM's void common_init(); - // time and update management values -// inline double get_delta_t() const { return delta_t; } -// inline void set_delta_t( double dt ) { delta_t = dt; } -// inline SGTimeStamp get_time_stamp() const { return time_stamp; } -// inline void set_time_stamp( SGTimeStamp s ) { time_stamp = s; } -// inline void stamp() { time_stamp.stamp(); } -// inline long get_elapsed() const { return elapsed; } -// inline void set_elapsed( long e ) { elapsed = e; } -// inline long get_remainder() const { return remainder; } -// inline void set_remainder( long r ) { remainder = r; } -// inline int get_multi_loop() const { return multi_loop; } -// inline void set_multi_loop( int ml ) { multi_loop = ml; } - // Positions virtual void set_Latitude(double lat); // geocentric virtual void set_Longitude(double lon); @@ -538,189 +487,37 @@ public: // ========== Mass properties and geometry values ========== - // Inertias - inline double get_Mass() const { return mass; } - inline double get_I_xx() const { return i_xx; } - inline double get_I_yy() const { return i_yy; } - inline double get_I_zz() const { return i_zz; } - inline double get_I_xz() const { return i_xz; } - - // Pilot location rel to ref pt - // inline double * get_D_pilot_rp_body_v() { - // return d_pilot_rp_body_v; - // } - // inline double get_Dx_pilot() const { return d_pilot_rp_body_v[0]; } - // inline double get_Dy_pilot() const { return d_pilot_rp_body_v[1]; } - // inline double get_Dz_pilot() const { return d_pilot_rp_body_v[2]; } - /* inline void set_Pilot_Location( double dx, double dy, double dz ) { - d_pilot_rp_body_v[0] = dx; - d_pilot_rp_body_v[1] = dy; - d_pilot_rp_body_v[2] = dz; - } */ - // CG position w.r.t. ref. point - // inline double * get_D_cg_rp_body_v() { return d_cg_rp_body_v; } inline double get_Dx_cg() const { return d_cg_rp_body_v[0]; } inline double get_Dy_cg() const { return d_cg_rp_body_v[1]; } inline double get_Dz_cg() const { return d_cg_rp_body_v[2]; } - // ========== Forces ========== - - // inline double * get_F_body_total_v() { return f_body_total_v; } - // inline double get_F_X() const { return f_body_total_v[0]; } - // inline double get_F_Y() const { return f_body_total_v[1]; } - // inline double get_F_Z() const { return f_body_total_v[2]; } - /* inline void set_Forces_Body_Total( double x, double y, double z ) { - f_body_total_v[0] = x; - f_body_total_v[1] = y; - f_body_total_v[2] = z; - } */ - - // inline double * get_F_local_total_v() { return f_local_total_v; } - // inline double get_F_north() const { return f_local_total_v[0]; } - // inline double get_F_east() const { return f_local_total_v[1]; } - // inline double get_F_down() const { return f_local_total_v[2]; } - /* inline void set_Forces_Local_Total( double x, double y, double z ) { - f_local_total_v[0] = x; - f_local_total_v[1] = y; - f_local_total_v[2] = z; - } */ - - // inline double * get_F_aero_v() { return f_aero_v; } - // inline double get_F_X_aero() const { return f_aero_v[0]; } - // inline double get_F_Y_aero() const { return f_aero_v[1]; } - // inline double get_F_Z_aero() const { return f_aero_v[2]; } - /* inline void set_Forces_Aero( double x, double y, double z ) { - f_aero_v[0] = x; - f_aero_v[1] = y; - f_aero_v[2] = z; - } */ - - // inline double * get_F_engine_v() { return f_engine_v; } - // inline double get_F_X_engine() const { return f_engine_v[0]; } - // inline double get_F_Y_engine() const { return f_engine_v[1]; } - // inline double get_F_Z_engine() const { return f_engine_v[2]; } - /* inline void set_Forces_Engine( double x, double y, double z ) { - f_engine_v[0] = x; - f_engine_v[1] = y; - f_engine_v[2] = z; - } */ - - // inline double * get_F_gear_v() { return f_gear_v; } - // inline double get_F_X_gear() const { return f_gear_v[0]; } - // inline double get_F_Y_gear() const { return f_gear_v[1]; } - // inline double get_F_Z_gear() const { return f_gear_v[2]; } - /* inline void set_Forces_Gear( double x, double y, double z ) { - f_gear_v[0] = x; - f_gear_v[1] = y; - f_gear_v[2] = z; - } */ - - // ========== Moments ========== - - // inline double * get_M_total_rp_v() { return m_total_rp_v; } - // inline double get_M_l_rp() const { return m_total_rp_v[0]; } - // inline double get_M_m_rp() const { return m_total_rp_v[1]; } - // inline double get_M_n_rp() const { return m_total_rp_v[2]; } - /* inline void set_Moments_Total_RP( double l, double m, double n ) { - m_total_rp_v[0] = l; - m_total_rp_v[1] = m; - m_total_rp_v[2] = n; - } */ - - // inline double * get_M_total_cg_v() { return m_total_cg_v; } - // inline double get_M_l_cg() const { return m_total_cg_v[0]; } - // inline double get_M_m_cg() const { return m_total_cg_v[1]; } - // inline double get_M_n_cg() const { return m_total_cg_v[2]; } - /* inline void set_Moments_Total_CG( double l, double m, double n ) { - m_total_cg_v[0] = l; - m_total_cg_v[1] = m; - m_total_cg_v[2] = n; - } */ - - // inline double * get_M_aero_v() { return m_aero_v; } - // inline double get_M_l_aero() const { return m_aero_v[0]; } - // inline double get_M_m_aero() const { return m_aero_v[1]; } - // inline double get_M_n_aero() const { return m_aero_v[2]; } - /* inline void set_Moments_Aero( double l, double m, double n ) { - m_aero_v[0] = l; - m_aero_v[1] = m; - m_aero_v[2] = n; - } */ - - // inline double * get_M_engine_v() { return m_engine_v; } - // inline double get_M_l_engine() const { return m_engine_v[0]; } - // inline double get_M_m_engine() const { return m_engine_v[1]; } - // inline double get_M_n_engine() const { return m_engine_v[2]; } - /* inline void set_Moments_Engine( double l, double m, double n ) { - m_engine_v[0] = l; - m_engine_v[1] = m; - m_engine_v[2] = n; - } */ - - // inline double * get_M_gear_v() { return m_gear_v; } - // inline double get_M_l_gear() const { return m_gear_v[0]; } - // inline double get_M_m_gear() const { return m_gear_v[1]; } - // inline double get_M_n_gear() const { return m_gear_v[2]; } - /* inline void set_Moments_Gear( double l, double m, double n ) { - m_gear_v[0] = l; - m_gear_v[1] = m; - m_gear_v[2] = n; - } */ - // ========== Accelerations ========== - // inline double * get_V_dot_local_v() { return v_dot_local_v; } inline double get_V_dot_north() const { return v_dot_local_v[0]; } inline double get_V_dot_east() const { return v_dot_local_v[1]; } inline double get_V_dot_down() const { return v_dot_local_v[2]; } - // inline double * get_V_dot_body_v() { return v_dot_body_v; } inline double get_U_dot_body() const { return v_dot_body_v[0]; } inline double get_V_dot_body() const { return v_dot_body_v[1]; } inline double get_W_dot_body() const { return v_dot_body_v[2]; } - // inline double * get_A_cg_body_v() { return a_cg_body_v; } inline double get_A_X_cg() const { return a_cg_body_v[0]; } inline double get_A_Y_cg() const { return a_cg_body_v[1]; } inline double get_A_Z_cg() const { return a_cg_body_v[2]; } - // inline double * get_A_pilot_body_v() { return a_pilot_body_v; } inline double get_A_X_pilot() const { return a_pilot_body_v[0]; } inline double get_A_Y_pilot() const { return a_pilot_body_v[1]; } inline double get_A_Z_pilot() const { return a_pilot_body_v[2]; } - // inline double * get_N_cg_body_v() { return n_cg_body_v; } inline double get_N_X_cg() const { return n_cg_body_v[0]; } inline double get_N_Y_cg() const { return n_cg_body_v[1]; } inline double get_N_Z_cg() const { return n_cg_body_v[2]; } - // inline double * get_N_pilot_body_v() { return n_pilot_body_v; } - // inline double get_N_X_pilot() const { return n_pilot_body_v[0]; } - // inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; } - // inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; } - // inline void set_Accels_Pilot_Body_N( double x, double y, double z ) { - // n_pilot_body_v[0] = x; - // n_pilot_body_v[1] = y; - // n_pilot_body_v[2] = z; - // } - inline double get_Nlf(void) const { return nlf; } - // inline double * get_Omega_dot_body_v() { return omega_dot_body_v; } - // inline double get_P_dot_body() const { return omega_dot_body_v[0]; } - // inline double get_Q_dot_body() const { return omega_dot_body_v[1]; } - // inline double get_R_dot_body() const { return omega_dot_body_v[2]; } - /* inline void set_Accels_Omega( double p, double q, double r ) { - omega_dot_body_v[0] = p; - omega_dot_body_v[1] = q; - omega_dot_body_v[2] = r; - } */ - - // ========== Velocities ========== - // inline double * get_V_local_v() { return v_local_v; } inline double get_V_north() const { return v_local_v[0]; } inline double get_V_east() const { return v_local_v[1]; } inline double get_V_down() const { return v_local_v[2]; } @@ -730,9 +527,6 @@ public: // Please dont comment these out. fdm=ada uses these (see // cockpit.cxx) ---> - inline double * get_V_local_rel_ground_v() { - return v_local_rel_ground_v; - } inline double get_V_north_rel_ground() const { return v_local_rel_ground_v[0]; } @@ -744,136 +538,76 @@ public: } // <--- fdm=ada uses these (see cockpit.cxx) - // inline double * get_V_local_airmass_v() { return v_local_airmass_v; } inline double get_V_north_airmass() const { return v_local_airmass_v[0]; } inline double get_V_east_airmass() const { return v_local_airmass_v[1]; } inline double get_V_down_airmass() const { return v_local_airmass_v[2]; } - // airmass - // inline double * get_V_local_rel_airmass_v() { - // return v_local_rel_airmass_v; - // } - // inline double get_V_north_rel_airmass() const { - // return v_local_rel_airmass_v[0]; - // } - // inline double get_V_east_rel_airmass() const { - // return v_local_rel_airmass_v[1]; - // } - // inline double get_V_down_rel_airmass() const { - // return v_local_rel_airmass_v[2]; - // } - /* inline void set_Velocities_Local_Rel_Airmass( double north, double east, - double down) - { - v_local_rel_airmass_v[0] = north; - v_local_rel_airmass_v[1] = east; - v_local_rel_airmass_v[2] = down; - } */ - - // inline double * get_V_local_gust_v() { return v_local_gust_v; } - // inline double get_U_gust() const { return v_local_gust_v[0]; } - // inline double get_V_gust() const { return v_local_gust_v[1]; } - // inline double get_W_gust() const { return v_local_gust_v[2]; } - /* inline void set_Velocities_Gust( double u, double v, double w) - { - v_local_gust_v[0] = u; - v_local_gust_v[1] = v; - v_local_gust_v[2] = w; - } */ - - // inline double * get_V_wind_body_v() { return v_wind_body_v; } inline double get_U_body() const { return v_wind_body_v[0]; } inline double get_V_body() const { return v_wind_body_v[1]; } inline double get_W_body() const { return v_wind_body_v[2]; } inline double get_V_rel_wind() const { return v_rel_wind; } - // inline void set_V_rel_wind(double wind) { v_rel_wind = wind; } inline double get_V_true_kts() const { return v_true_kts; } - // inline void set_V_true_kts(double kts) { v_true_kts = kts; } - - // inline double get_V_rel_ground() const { return v_rel_ground; } - // inline void set_V_rel_ground( double v ) { v_rel_ground = v; } - - // inline double get_V_inertial() const { return v_inertial; } - // inline void set_V_inertial(double v) { v_inertial = v; } inline double get_V_ground_speed() const { return v_ground_speed; } - - // inline double get_V_equiv() const { return v_equiv; } - // inline void set_V_equiv( double v ) { v_equiv = v; } + inline double get_V_ground_speed_kt() const { return v_ground_speed * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM; } + inline void set_V_ground_speed_kt(double ground_speed) { v_ground_speed = ground_speed / ( SG_FEET_TO_METER * 3600 * SG_METER_TO_NM); } inline double get_V_equiv_kts() const { return v_equiv_kts; } - //inline double get_V_calibrated() const { return v_calibrated; } - //inline void set_V_calibrated( double v ) { v_calibrated = v; } - inline double get_V_calibrated_kts() const { return v_calibrated_kts; } - // inline double * get_Omega_body_v() { return omega_body_v; } inline double get_P_body() const { return omega_body_v[0]; } inline double get_Q_body() const { return omega_body_v[1]; } inline double get_R_body() const { return omega_body_v[2]; } - // inline double * get_Omega_local_v() { return omega_local_v; } - // inline double get_P_local() const { return omega_local_v[0]; } - // inline double get_Q_local() const { return omega_local_v[1]; } - // inline double get_R_local() const { return omega_local_v[2]; } - /* inline void set_Omega_Local( double p, double q, double r ) { - omega_local_v[0] = p; - omega_local_v[1] = q; - omega_local_v[2] = r; - } */ - - // inline double * get_Omega_total_v() { return omega_total_v; } - // inline double get_P_total() const { return omega_total_v[0]; } - // inline double get_Q_total() const { return omega_total_v[1]; } - // inline double get_R_total() const { return omega_total_v[2]; } - /* inline void set_Omega_Total( double p, double q, double r ) { - omega_total_v[0] = p; - omega_total_v[1] = q; - omega_total_v[2] = r; - } */ - - // inline double * get_Euler_rates_v() { return euler_rates_v; } inline double get_Phi_dot() const { return euler_rates_v[0]; } inline double get_Theta_dot() const { return euler_rates_v[1]; } inline double get_Psi_dot() const { return euler_rates_v[2]; } + inline double get_Phi_dot_degps() const { return euler_rates_v[0] * SGD_RADIANS_TO_DEGREES; } + inline double get_Theta_dot_degps() const { return euler_rates_v[1] * SGD_RADIANS_TO_DEGREES; } + inline double get_Psi_dot_degps() const { return euler_rates_v[2] * SGD_RADIANS_TO_DEGREES; } - // inline double * get_Geocentric_rates_v() { return geocentric_rates_v; } inline double get_Latitude_dot() const { return geocentric_rates_v[0]; } inline double get_Longitude_dot() const { return geocentric_rates_v[1]; } inline double get_Radius_dot() const { return geocentric_rates_v[2]; } // ========== Positions ========== - // inline double * get_Geocentric_position_v() { - // return geocentric_position_v; - // } inline double get_Lat_geocentric() const { - return geocentric_position_v[0]; + return geocentric_position_v.getLatitudeRad(); } inline double get_Lon_geocentric() const { - return geocentric_position_v[1]; + return geocentric_position_v.getLongitudeRad(); } inline double get_Radius_to_vehicle() const { - return geocentric_position_v[2]; + return geocentric_position_v.getRadiusFt(); } - // inline double * get_Geodetic_position_v() { return geodetic_position_v; } - inline double get_Latitude() const { return geodetic_position_v[0]; } - inline double get_Longitude() const { return geodetic_position_v[1]; } - inline double get_Altitude() const { return geodetic_position_v[2]; } + const SGGeod& getPosition() const { return geodetic_position_v; } + const SGGeoc& getGeocPosition() const { return geocentric_position_v; } + const SGVec3d& getCartPosition() const { return cartesian_position_v; } + + inline double get_Latitude() const { + return geodetic_position_v.getLatitudeRad(); + } + inline double get_Longitude() const { + return geodetic_position_v.getLongitudeRad(); + } + inline double get_Altitude() const { + return geodetic_position_v.getElevationFt(); + } inline double get_Altitude_AGL(void) const { return altitude_agl; } + inline double get_Track(void) const { return track; } inline double get_Latitude_deg () const { - return get_Latitude() * SGD_RADIANS_TO_DEGREES; + return geodetic_position_v.getLatitudeDeg(); } inline double get_Longitude_deg () const { - return get_Longitude() * SGD_RADIANS_TO_DEGREES; + return geodetic_position_v.getLongitudeDeg(); } - // inline double * get_Euler_angles_v() { return euler_angles_v; } inline double get_Phi() const { return euler_angles_v[0]; } inline double get_Theta() const { return euler_angles_v[1]; } inline double get_Psi() const { return euler_angles_v[2]; } @@ -884,96 +618,21 @@ public: // ========== Miscellaneous quantities ========== - // inline double * get_T_local_to_body_m() { return t_local_to_body_m; } - inline double get_T_local_to_body_11() const { - return t_local_to_body_m[0][0]; - } - inline double get_T_local_to_body_12() const { - return t_local_to_body_m[0][1]; - } - inline double get_T_local_to_body_13() const { - return t_local_to_body_m[0][2]; - } - inline double get_T_local_to_body_21() const { - return t_local_to_body_m[1][0]; - } - inline double get_T_local_to_body_22() const { - return t_local_to_body_m[1][1]; - } - inline double get_T_local_to_body_23() const { - return t_local_to_body_m[1][2]; - } - inline double get_T_local_to_body_31() const { - return t_local_to_body_m[2][0]; - } - inline double get_T_local_to_body_32() const { - return t_local_to_body_m[2][1]; - } - inline double get_T_local_to_body_33() const { - return t_local_to_body_m[2][2]; - } - - // inline double get_Gravity() const { return gravity; } - // inline void set_Gravity(double g) { gravity = g; } - - // inline double get_Centrifugal_relief() const { - // return centrifugal_relief; - // } - // inline void set_Centrifugal_relief(double cr) { - // centrifugal_relief = cr; - // } - inline double get_Alpha() const { return alpha; } inline double get_Alpha_deg() const { return alpha * SGD_RADIANS_TO_DEGREES; } inline double get_Beta() const { return beta; } inline double get_Beta_deg() const { return beta * SGD_RADIANS_TO_DEGREES; } - inline double get_Alpha_dot() const { return alpha_dot; } - // inline void set_Alpha_dot( double ad ) { alpha_dot = ad; } - inline double get_Beta_dot() const { return beta_dot; } - // inline void set_Beta_dot( double bd ) { beta_dot = bd; } - - // inline double get_Cos_alpha() const { return cos_alpha; } - // inline void set_Cos_alpha( double ca ) { cos_alpha = ca; } - // inline double get_Sin_alpha() const { return sin_alpha; } - // inline void set_Sin_alpha( double sa ) { sin_alpha = sa; } - // inline double get_Cos_beta() const { return cos_beta; } - // inline void set_Cos_beta( double cb ) { cos_beta = cb; } - // inline double get_Sin_beta() const { return sin_beta; } - // inline void set_Sin_beta( double sb ) { sin_beta = sb; } - - inline double get_Cos_phi() const { return cos_phi; } - // inline double get_Sin_phi() const { return sin_phi; } - // inline void set_Sin_phi( double sp ) { sin_phi = sp; } - inline double get_Cos_theta() const { return cos_theta; } - // inline double get_Sin_theta() const { return sin_theta; } - // inline void set_Sin_theta( double st ) { sin_theta = st; } - // inline double get_Cos_psi() const { return cos_psi; } - // inline void set_Cos_psi( double cp ) { cos_psi = cp; } - // inline double get_Sin_psi() const { return sin_psi; } - // inline void set_Sin_psi( double sp ) { sin_psi = sp; } - inline double get_Gamma_vert_rad() const { return gamma_vert_rad; } - // inline double get_Gamma_horiz_rad() const { return gamma_horiz_rad; } - // inline void set_Gamma_horiz_rad( double gh ) { gamma_horiz_rad = gh; } - // inline double get_Sigma() const { return sigma; } - // inline void set_Sigma( double s ) { sigma = s; } inline double get_Density() const { return density; } - // inline double get_V_sound() const { return v_sound; } - // inline void set_V_sound( double v ) { v_sound = v; } inline double get_Mach_number() const { return mach_number; } inline double get_Static_pressure() const { return static_pressure; } inline double get_Total_pressure() const { return total_pressure; } - // inline void set_Total_pressure( double tp ) { total_pressure = tp; } - // inline double get_Impact_pressure() const { return impact_pressure; } - // inline void set_Impact_pressure( double ip ) { impact_pressure = ip; } inline double get_Dynamic_pressure() const { return dynamic_pressure; } - // inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; } inline double get_Static_temperature() const { return static_temperature; } inline double get_Total_temperature() const { return total_temperature; } - // inline void set_Total_temperature( double t ) { total_temperature = t; } inline double get_Sea_level_radius() const { return sea_level_radius; } inline double get_Earth_position_angle() const { @@ -981,129 +640,92 @@ public: } inline double get_Runway_altitude() const { return runway_altitude; } - // inline double get_Runway_latitude() const { return runway_latitude; } - // inline void set_Runway_latitude( double lat ) { runway_latitude = lat; } - // inline double get_Runway_longitude() const { return runway_longitude; } - // inline void set_Runway_longitude( double lon ) { - // runway_longitude = lon; - // } - // inline double get_Runway_heading() const { return runway_heading; } - // inline void set_Runway_heading( double h ) { runway_heading = h; } - - // inline double get_Radius_to_rwy() const { return radius_to_rwy; } - // inline void set_Radius_to_rwy( double r ) { radius_to_rwy = r; } - - // inline double * get_D_cg_rwy_local_v() { return d_cg_rwy_local_v; } - // inline double get_D_cg_north_of_rwy() const { - // return d_cg_rwy_local_v[0]; - // } - // inline double get_D_cg_east_of_rwy() const { - // return d_cg_rwy_local_v[1]; - // } - // inline double get_D_cg_above_rwy() const { return d_cg_rwy_local_v[2]; } - /* inline void set_CG_Rwy_Local( double north, double east, double above ) - { - d_cg_rwy_local_v[0] = north; - d_cg_rwy_local_v[1] = east; - d_cg_rwy_local_v[2] = above; - } */ - - // inline double * get_D_cg_rwy_rwy_v() { return d_cg_rwy_rwy_v; } - // inline double get_X_cg_rwy() const { return d_cg_rwy_rwy_v[0]; } - // inline double get_Y_cg_rwy() const { return d_cg_rwy_rwy_v[1]; } - // inline double get_H_cg_rwy() const { return d_cg_rwy_rwy_v[2]; } - /* inline void set_CG_Rwy_Rwy( double x, double y, double h ) - { - d_cg_rwy_rwy_v[0] = x; - d_cg_rwy_rwy_v[1] = y; - d_cg_rwy_rwy_v[2] = h; - } */ - - // inline double * get_D_pilot_rwy_local_v() { return d_pilot_rwy_local_v; } - // inline double get_D_pilot_north_of_rwy() const { - // return d_pilot_rwy_local_v[0]; - // } - // inline double get_D_pilot_east_of_rwy() const { - // return d_pilot_rwy_local_v[1]; - // } - // inline double get_D_pilot_above_rwy() const { - // return d_pilot_rwy_local_v[2]; - // } - /* inline void set_Pilot_Rwy_Local( double north, double east, double above ) - { - d_pilot_rwy_local_v[0] = north; - d_pilot_rwy_local_v[1] = east; - d_pilot_rwy_local_v[2] = above; - } */ - - // inline double * get_D_pilot_rwy_rwy_v() { return d_pilot_rwy_rwy_v; } - // inline double get_X_pilot_rwy() const { return d_pilot_rwy_rwy_v[0]; } - // inline double get_Y_pilot_rwy() const { return d_pilot_rwy_rwy_v[1]; } - // inline double get_H_pilot_rwy() const { return d_pilot_rwy_rwy_v[2]; } - /* inline void set_Pilot_Rwy_Rwy( double x, double y, double h ) - { - d_pilot_rwy_rwy_v[0] = x; - d_pilot_rwy_rwy_v[1] = y; - d_pilot_rwy_rwy_v[2] = h; - } */ + inline double get_Runway_altitude_m() const { return SG_FEET_TO_METER * runway_altitude; } inline double get_Climb_Rate() const { return climb_rate; } - // inline SGTimeStamp get_time_stamp() const { return valid_stamp; } - // inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); } - - // Extrapolate FDM based on time_offset (in usec) - void extrapolate( int time_offset ); - - // sin/cos lat_geocentric - inline double get_sin_lat_geocentric(void) const { - return sin_lat_geocentric; - } - inline double get_cos_lat_geocentric(void) const { - return cos_lat_geocentric; - } - - inline double get_sin_longitude(void) const { - return sin_longitude; - } - inline double get_cos_longitude(void) const { - return cos_longitude; - } - - inline double get_sin_latitude(void) const { - return sin_latitude; - } - inline double get_cos_latitude(void) const { - return cos_latitude; - } - - // Auxilliary variables - inline double get_daux( int n ) const { return daux[n]; } - inline float get_faux( int n ) const { return faux[n]; } - inline int get_iaux( int n ) const { return iaux[n]; } - - // Model tied to FDM - FGAircraftModel * getACModel() const { return _acmodel; } - // Note that currently this is the "same" value runway altitude... inline double get_ground_elev_ft() const { return runway_altitude; } -}; - - -typedef list < FGInterface > fdm_state_list; -typedef fdm_state_list::iterator fdm_state_list_iterator; -typedef fdm_state_list::const_iterator const_fdm_state_list_iterator; + ////////////////////////////////////////////////////////////////////////// + // Ground handling routines + ////////////////////////////////////////////////////////////////////////// -extern FGInterface * cur_fdm_state; + // Prepare the ground cache for the wgs84 position pt_*. + // That is take all vertices in the ball with radius rad around the + // position given by the pt_* and store them in a local scene graph. + bool prepare_ground_cache_m(double startSimTime, double endSimTime, + const double pt[3], double rad); + bool prepare_ground_cache_ft(double startSimTime, double endSimTime, + const double pt[3], double rad); -// General interface to the flight model routines + // Returns true if the cache is valid. + // Also the reference time, point and radius values where the cache + // is valid for are returned. + bool is_valid_m(double *ref_time, double pt[3], double *rad); + bool is_valid_ft(double *ref_time, double pt[3], double *rad); + // Return the nearest catapult to the given point + // pt in wgs84 coordinates. + double get_cat_m(double t, const double pt[3], + double end[2][3], double vel[2][3]); + double get_cat_ft(double t, const double pt[3], + double end[2][3], double vel[2][3]); + -// Toggle data logging on/off -void fgToggleFDMdataLogging(void); + // Return the orientation and position matrix and the linear and angular + // velocity of that local coordinate systems origin for a given time and + // body id. The velocities are in the wgs84 frame at the bodys origin. + bool get_body_m(double t, simgear::BVHNode::Id id, double bodyToWorld[16], + double linearVel[3], double angularVel[3]); + + + // Return the altitude above ground below the wgs84 point pt + // Search for the nearest triangle to pt in downward direction. + // Return ground properties. The velocities are in the wgs84 frame at the + // contact point. + bool 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); + bool 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); + double get_groundlevel_m(double lat, double lon, double alt); + double get_groundlevel_m(const SGGeod& geod); + + + // Return the nearest point in any direction to the point pt with a maximum + // distance maxDist. The velocities are in the wgs84 frame at the query + // position pt. + bool 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); + bool 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); + + + // Return 1 if the hook intersects with a wire. + // That test is done by checking if the quad spanned by the points pt* + // intersects with the line representing the wire. + // If the wire is caught, the cache will trace this wires endpoints until + // the FDM calls release_wire(). + bool caught_wire_m(double t, const double pt[4][3]); + bool caught_wire_ft(double t, const double pt[4][3]); + + // Return the location and speed of the wire endpoints. + bool get_wire_ends_m(double t, double end[2][3], double vel[2][3]); + bool get_wire_ends_ft(double t, double end[2][3], double vel[2][3]); + // Tell the cache code that it does no longer need to care for + // the wire end position. + void release_wire(void); +}; #endif // _FLIGHT_HXX