X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2Fflight.hxx;h=5b01cff0a22eda9776d5ea3c913a0f2415bde6b6;hb=4df7a3e9f8c1e8b450a3674ec4aab497fda0a514;hp=780d75c92f3776282602183c3b0b04f3bf32f983;hpb=80b4567d54c920c0ffd6a1ef44eb8abc909cbc20;p=flightgear.git diff --git a/src/FDM/flight.hxx b/src/FDM/flight.hxx index 780d75c92..5b01cff0a 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 @@ -81,28 +81,25 @@ */ -#include - #include #include #include #include +#include #include -#include - -#include
+#include +#include SG_USING_STD(list); SG_USING_STD(vector); SG_USING_STD(string); - typedef double FG_VECTOR_3[3]; // This is based heavily on LaRCsim/ls_generic.h -class FGInterface : public FGSubsystem { +class FGInterface : public SGSubsystem { private: @@ -124,11 +121,11 @@ 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 - long remainder; // remainder time from last run - int multi_loop; // number of iterations of "delta_t" to run +// 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; @@ -224,7 +221,13 @@ private: // SGTimeStamp valid_stamp; // time this record is valid // SGTimeStamp next_stamp; // time this record is valid -// protected: + // the ground cache object itself. + FGGroundCache ground_cache; + +protected: + + int _calc_multiloop (double dt); + public: // deliberately not virtual so that @@ -400,7 +403,7 @@ public: virtual void init (); virtual void bind (); virtual void unbind (); - virtual void update(int dt); + virtual void update(double dt); virtual bool ToggleDataLogging(bool state) { return false; } virtual bool ToggleDataLogging(void) { return false; } @@ -443,17 +446,17 @@ public: 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; } +// 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 @@ -502,19 +505,21 @@ public: virtual void set_Psi (double psi) { set_Euler_Angles(get_Phi(), get_Theta(), psi); } - virtual void set_Phi_deg (double phi) { set_Phi(phi * SGD_DEGREES_TO_RADIANS); } + virtual void set_Phi_deg (double phi) { + set_Phi(phi * SGD_DEGREES_TO_RADIANS); + } virtual void set_Theta_deg (double theta) { set_Theta(theta * SGD_DEGREES_TO_RADIANS); } - virtual void set_Psi_deg (double psi) { set_Psi(psi * SGD_DEGREES_TO_RADIANS); } + virtual void set_Psi_deg (double psi) { + set_Psi(psi * SGD_DEGREES_TO_RADIANS); + } // Flight Path virtual void set_Climb_Rate( double roc); virtual void set_Gamma_vert_rad( double gamma); // Earth - virtual void set_Sea_level_radius(double slr); - virtual void set_Runway_altitude(double ralt); virtual void set_Static_pressure(double p); virtual void set_Static_temperature(double T); @@ -693,7 +698,7 @@ public: // n_pilot_body_v[2] = z; // } - inline double get_Nlf(void) { return nlf; } + 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]; } @@ -777,7 +782,7 @@ public: 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 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; } @@ -827,6 +832,9 @@ public: 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]; } @@ -912,10 +920,12 @@ public: // } 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_Alpha_dot() const { return alpha_dot; } + 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 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; } @@ -950,15 +960,15 @@ public: 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 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 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 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; } @@ -967,6 +977,7 @@ public: } inline double get_Runway_altitude() const { return runway_altitude; } + inline double get_Runway_altitude_m() const { return SG_FEET_TO_METER * 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; } @@ -1068,21 +1079,89 @@ public: inline float get_faux( int n ) const { return faux[n]; } inline int get_iaux( int n ) const { return iaux[n]; } -}; + // 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 + ////////////////////////////////////////////////////////////////////////// + enum GroundType { + Unknown = 0, //?? + Solid, // Whatever we will roll on with infinite load factor. + Forest, // Ground unsuitable for taxiing. + Water, // For the beaver ... + Catapult, // Carrier cats. + Wire // Carrier wires. + }; -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 ref_time, const double pt[3], + double rad); + bool prepare_ground_cache_ft(double ref_time, const double pt[3], + double rad); + + + // 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]); + + // Return the altitude above ground below the wgs84 point pt + // Search for the nearest triangle to pt. + // Return ground properties like the ground type, the maximum load + // this kind kind of ground can carry, the friction factor between + // 0 and 1 which can be used to model lower friction with wet runways + // and finally the altitude above ground. + bool 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); + bool 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); + bool 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); + bool 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 get_groundlevel_m(double lat, double lon, double alt); + + + // 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]); -// General interface to the flight model routines + // Tell the cache code that it does no longer need to care for + // the wire end position. + void release_wire(void); +}; -// Set the altitude (force) -void fgFDMForceAltitude(const string &model, double alt_meters); +extern FGInterface * cur_fdm_state; // Toggle data logging on/off void fgToggleFDMdataLogging(void);