X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2Fflight.hxx;h=fdb729aaa6bc18228462ae70bb1530bf6234a7e2;hb=ecfdf354f1607ec45d7ad2291fd550b063edf129;hp=222df3b546492a29ac427982eda29c3e034f39fa;hpb=bf4b263071885b5b44469557d31cae56ada1a4bc;p=flightgear.git diff --git a/src/FDM/flight.hxx b/src/FDM/flight.hxx index 222df3b54..fdb729aaa 100644 --- a/src/FDM/flight.hxx +++ b/src/FDM/flight.hxx @@ -75,18 +75,17 @@ #include -#include -#include -#include - #include #include #include +#include #include -using std::list; -using std::vector; -using std::string; +namespace simgear { +class BVHMaterial; +} + +class SGIOChannel; /** * A little helper class to update the track if @@ -127,7 +126,9 @@ private: bool inited; // Have we bound to the property system - bool bound; + bool bound; + + double delta_loops; // periodic update management variable. This is a scheme to run // the fdm with a fixed delta-t. We control how many iteration of @@ -139,61 +140,79 @@ private: // next elapsed time. This yields a small amount of temporal // jitter ( < dt ) but in practice seems to work well. - // CG position w.r.t. ref. point - SGVec3d d_cg_rp_body_v; - - // Accelerations - 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 - 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 - - SGVec3d omega_body_v; // Angular B rates - SGVec3d euler_rates_v; - SGVec3d geocentric_rates_v; // Geocentric linear velocities - - // 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; - double v_ground_speed, v_equiv_kts; - double v_calibrated_kts; - - // Miscellaneious Quantities - 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; - double climb_rate; // in feet per second - double altitude_agl; - double track; - - double daux[16]; // auxilliary doubles - float faux[16]; // auxilliary floats - int iaux[16]; // auxilliary ints + /** + * encapsulate primary flight state. This is packaged so it can be + * (unfortunately) sent directly over the wire by the 'native' FDM + * protocol. + */ + struct FlightState + { + // CG position w.r.t. ref. point + SGVec3d d_cg_rp_body_v; + + // Accelerations + 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 + 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_body_v; // ECEF velocities in body axis + + SGVec3d omega_body_v; // Angular B rates + SGVec3d euler_rates_v; + SGVec3d geocentric_rates_v; // Geocentric linear velocities + + // 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; + double v_ground_speed, v_equiv_kts; + double v_calibrated_kts; + + // Miscellaneious Quantities + 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; + double climb_rate; // in feet per second + double altitude_agl; + double track; + }; + + FlightState _state; + + simgear::TiedPropertyList _tiedProperties; // the ground cache object itself. FGGroundCache ground_cache; + void set_A_X_pilot(double x) + { _set_Accels_Pilot_Body(x, _state.a_pilot_body_v[1], _state.a_pilot_body_v[2]); } + + void set_A_Y_pilot(double y) + { _set_Accels_Pilot_Body(_state.a_pilot_body_v[0], y, _state.a_pilot_body_v[2]); } + + void set_A_Z_pilot(double z) + { _set_Accels_Pilot_Body(_state.a_pilot_body_v[0], _state.a_pilot_body_v[1], z); } + + protected: int _calc_multiloop (double dt); @@ -218,81 +237,97 @@ public: void _update_ground_elev_at_pos( void ); 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; - d_cg_rp_body_v[2] = dz; + _state.d_cg_rp_body_v[0] = dx; + _state.d_cg_rp_body_v[1] = dy; + _state.d_cg_rp_body_v[2] = dz; } inline void _set_Accels_Local( double north, double east, double down ) { - v_dot_local_v[0] = north; - v_dot_local_v[1] = east; - v_dot_local_v[2] = down; + _state.v_dot_local_v[0] = north; + _state.v_dot_local_v[1] = east; + _state.v_dot_local_v[2] = down; } inline void _set_Accels_Body( double u, double v, double w ) { - v_dot_body_v[0] = u; - v_dot_body_v[1] = v; - v_dot_body_v[2] = w; + _state.v_dot_body_v[0] = u; + _state.v_dot_body_v[1] = v; + _state.v_dot_body_v[2] = w; } inline void _set_Accels_CG_Body( double x, double y, double z ) { - a_cg_body_v[0] = x; - a_cg_body_v[1] = y; - a_cg_body_v[2] = z; + _state.a_cg_body_v[0] = x; + _state.a_cg_body_v[1] = y; + _state.a_cg_body_v[2] = z; } inline void _set_Accels_Pilot_Body( double x, double y, double z ) { - a_pilot_body_v[0] = x; - a_pilot_body_v[1] = y; - a_pilot_body_v[2] = z; + _state.a_pilot_body_v[0] = x; + _state.a_pilot_body_v[1] = y; + _state.a_pilot_body_v[2] = z; } inline void _set_Accels_CG_Body_N( double x, double y, double z ) { - n_cg_body_v[0] = x; - n_cg_body_v[1] = y; - n_cg_body_v[2] = z; + _state.n_cg_body_v[0] = x; + _state.n_cg_body_v[1] = y; + _state.n_cg_body_v[2] = z; } - void _set_Nlf(double n) { nlf=n; } + void _set_Nlf(double n) { _state.nlf=n; } inline void _set_Velocities_Local( double north, double east, double down ){ - v_local_v[0] = north; - v_local_v[1] = east; - v_local_v[2] = down; + _state.v_local_v[0] = north; + _state.v_local_v[1] = east; + _state.v_local_v[2] = down; } inline void _set_Velocities_Ground(double north, double east, double down) { - v_local_rel_ground_v[0] = north; - v_local_rel_ground_v[1] = east; - v_local_rel_ground_v[2] = down; + _state.v_local_rel_ground_v[0] = north; + _state.v_local_rel_ground_v[1] = east; + _state.v_local_rel_ground_v[2] = down; } inline void _set_Velocities_Local_Airmass( double north, double east, double down) { - v_local_airmass_v[0] = north; - v_local_airmass_v[1] = east; - v_local_airmass_v[2] = down; - } - inline void _set_Velocities_Wind_Body( double u, double v, double w) { - v_wind_body_v[0] = u; - v_wind_body_v[1] = v; - v_wind_body_v[2] = w; - } - inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; } - inline void _set_V_ground_speed( double v) { v_ground_speed = v; } - inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; } - inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; } + _state.v_local_airmass_v[0] = north; + _state.v_local_airmass_v[1] = east; + _state.v_local_airmass_v[2] = down; + } + inline void _set_Velocities_Body( double u, double v, double w) { + _state.v_body_v[0] = u; + _state.v_body_v[1] = v; + _state.v_body_v[2] = w; + } + inline void _set_V_rel_wind(double vt) { _state.v_rel_wind = vt; } + inline void _set_V_ground_speed( double v) { _state.v_ground_speed = v; } + inline void _set_V_equiv_kts( double kts ) { _state.v_equiv_kts = kts; } + inline void _set_V_calibrated_kts( double kts ) { _state.v_calibrated_kts = kts; } inline void _set_Omega_Body( double p, double q, double r ) { - omega_body_v[0] = p; - omega_body_v[1] = q; - omega_body_v[2] = r; + _state.omega_body_v[0] = p; + _state.omega_body_v[1] = q; + _state.omega_body_v[2] = r; } inline void _set_Euler_Rates( double phi, double theta, double psi ) { - euler_rates_v[0] = phi; - euler_rates_v[1] = theta; - euler_rates_v[2] = psi; + _state.euler_rates_v[0] = phi; + _state.euler_rates_v[1] = theta; + _state.euler_rates_v[2] = psi; } + + void set_Phi_dot_degps(double x) + { + _state.euler_rates_v[0] = x * SG_DEGREES_TO_RADIANS; + } + + void set_Theta_dot_degps(double x) + { + _state.euler_rates_v[1] = x * SG_DEGREES_TO_RADIANS; + } + + void set_Psi_dot_degps(double x) + { + _state.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; + _state.geocentric_rates_v[0] = lat; + _state.geocentric_rates_v[1] = lon; + _state.geocentric_rates_v[2] = rad; } inline void _set_Geocentric_Position( double lat, double lon, double rad ) { - geocentric_position_v.setLatitudeRad(lat); - geocentric_position_v.setLongitudeRad(lon); - geocentric_position_v.setRadiusFt(rad); + _state.geocentric_position_v.setLatitudeRad(lat); + _state.geocentric_position_v.setLongitudeRad(lon); + _state.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. @@ -305,43 +340,42 @@ public: } */ inline void _set_Altitude(double altitude) { - geodetic_position_v.setElevationFt(altitude); + _state.geodetic_position_v.setElevationFt(altitude); } inline void _set_Altitude_AGL(double agl) { - altitude_agl = agl; + _state.altitude_agl = agl; } inline void _set_Geodetic_Position( double lat, double lon ) { - _set_Geodetic_Position( lat, lon, geodetic_position_v.getElevationFt()); + _set_Geodetic_Position( lat, lon, _state.geodetic_position_v.getElevationFt()); } inline void _set_Geodetic_Position( double lat, double lon, double alt ) { - TrackComputer tracker( track, geodetic_position_v ); - geodetic_position_v.setLatitudeRad(lat); - geodetic_position_v.setLongitudeRad(lon); - geodetic_position_v.setElevationFt(alt); + TrackComputer tracker( _state.track, _state.geodetic_position_v ); + _state.geodetic_position_v.setLatitudeRad(lat); + _state.geodetic_position_v.setLongitudeRad(lon); + _state.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; + _state.euler_angles_v[0] = phi; + _state.euler_angles_v[1] = theta; + _state.euler_angles_v[2] = psi; } // 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_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_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_Runway_altitude( double alt ) { runway_altitude = alt; } - inline void _set_Climb_Rate(double rate) { climb_rate = rate; } - - 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; } + inline void _set_Alpha( double a ) { _state.alpha = a; } + inline void _set_Beta( double b ) { _state.beta = b; } + + inline void set_Alpha_deg( double a ) { _state.alpha = a * SG_DEGREES_TO_RADIANS; } + + inline void _set_Gamma_vert_rad( double gv ) { _state.gamma_vert_rad = gv; } + inline void _set_Density( double d ) { _state.density = d; } + inline void _set_Mach_number( double m ) { _state.mach_number = m; } + inline void _set_Static_pressure( double sp ) { _state.static_pressure = sp; } + inline void _set_Static_temperature( double t ) { _state.static_temperature = t; } + inline void _set_Total_temperature( double tat ) { _state.total_temperature = tat; } //JW + inline void _set_Sea_level_radius( double r ) { _state.sea_level_radius = r; } + inline void _set_Earth_position_angle(double a) {_state.earth_position_angle = a; } + inline void _set_Runway_altitude( double alt ) { _state.runway_altitude = alt; } + inline void _set_Climb_Rate(double rate) { _state.climb_rate = rate; } public: @@ -356,6 +390,9 @@ public: virtual bool ToggleDataLogging(bool state) { return false; } virtual bool ToggleDataLogging(void) { return false; } + bool readState(SGIOChannel* io); + bool writeState(SGIOChannel* io); + // Define the various supported flight models (many not yet implemented) enum { // Magic Carpet mode @@ -411,23 +448,23 @@ public: virtual void set_Mach_number(double mach); virtual void set_Velocities_Local( double north, double east, double down ); inline void set_V_north (double north) { - set_Velocities_Local(north, v_local_v[1], v_local_v[2]); + set_Velocities_Local(north, _state.v_local_v[1], _state.v_local_v[2]); } inline void set_V_east (double east) { - set_Velocities_Local(v_local_v[0], east, v_local_v[2]); + set_Velocities_Local(_state.v_local_v[0], east, _state.v_local_v[2]); } inline void set_V_down (double down) { - set_Velocities_Local(v_local_v[0], v_local_v[1], down); + set_Velocities_Local(_state.v_local_v[0], _state.v_local_v[1], down); } - virtual void set_Velocities_Wind_Body( double u, double v, double w); + virtual void set_Velocities_Body( double u, double v, double w); virtual void set_uBody (double uBody) { - set_Velocities_Wind_Body(uBody, v_wind_body_v[1], v_wind_body_v[2]); + set_Velocities_Body(uBody, _state.v_body_v[1], _state.v_body_v[2]); } virtual void set_vBody (double vBody) { - set_Velocities_Wind_Body(v_wind_body_v[0], vBody, v_wind_body_v[2]); + set_Velocities_Body(_state.v_body_v[0], vBody, _state.v_body_v[2]); } virtual void set_wBody (double wBody) { - set_Velocities_Wind_Body(v_wind_body_v[0], v_wind_body_v[1], wBody); + set_Velocities_Body(_state.v_body_v[0], _state.v_body_v[1], wBody); } // Euler angles @@ -468,128 +505,129 @@ public: // ========== Mass properties and geometry values ========== // CG position w.r.t. ref. point - 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]; } + inline double get_Dx_cg() const { return _state.d_cg_rp_body_v[0]; } + inline double get_Dy_cg() const { return _state.d_cg_rp_body_v[1]; } + inline double get_Dz_cg() const { return _state.d_cg_rp_body_v[2]; } // ========== Accelerations ========== - 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_north() const { return _state.v_dot_local_v[0]; } + inline double get_V_dot_east() const { return _state.v_dot_local_v[1]; } + inline double get_V_dot_down() const { return _state.v_dot_local_v[2]; } - 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_U_dot_body() const { return _state.v_dot_body_v[0]; } + inline double get_V_dot_body() const { return _state.v_dot_body_v[1]; } + inline double get_W_dot_body() const { return _state.v_dot_body_v[2]; } - 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_X_cg() const { return _state.a_cg_body_v[0]; } + inline double get_A_Y_cg() const { return _state.a_cg_body_v[1]; } + inline double get_A_Z_cg() const { return _state.a_cg_body_v[2]; } - 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_A_X_pilot() const { return _state.a_pilot_body_v[0]; } + inline double get_A_Y_pilot() const { return _state.a_pilot_body_v[1]; } + inline double get_A_Z_pilot() const { return _state.a_pilot_body_v[2]; } - 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_X_cg() const { return _state.n_cg_body_v[0]; } + inline double get_N_Y_cg() const { return _state.n_cg_body_v[1]; } + inline double get_N_Z_cg() const { return _state.n_cg_body_v[2]; } - inline double get_Nlf(void) const { return nlf; } + inline double get_Nlf(void) const { return _state.nlf; } // ========== Velocities ========== - 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]; } - inline double get_uBody () const { return v_wind_body_v[0]; } - inline double get_vBody () const { return v_wind_body_v[1]; } - inline double get_wBody () const { return v_wind_body_v[2]; } + inline double get_V_north() const { return _state.v_local_v[0]; } + inline double get_V_east() const { return _state.v_local_v[1]; } + inline double get_V_down() const { return _state.v_local_v[2]; } + inline double get_uBody () const { return _state.v_body_v[0]; } + inline double get_vBody () const { return _state.v_body_v[1]; } + inline double get_wBody () const { return _state.v_body_v[2]; } // Please dont comment these out. fdm=ada uses these (see // cockpit.cxx) ---> inline double get_V_north_rel_ground() const { - return v_local_rel_ground_v[0]; + return _state.v_local_rel_ground_v[0]; } inline double get_V_east_rel_ground() const { - return v_local_rel_ground_v[1]; + return _state.v_local_rel_ground_v[1]; } inline double get_V_down_rel_ground() const { - return v_local_rel_ground_v[2]; + return _state.v_local_rel_ground_v[2]; } // <--- fdm=ada uses these (see cockpit.cxx) - 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]; } + inline double get_V_north_airmass() const { return _state.v_local_airmass_v[0]; } + inline double get_V_east_airmass() const { return _state.v_local_airmass_v[1]; } + inline double get_V_down_airmass() const { return _state.v_local_airmass_v[2]; } - 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_U_body() const { return _state.v_body_v[0]; } + inline double get_V_body() const { return _state.v_body_v[1]; } + inline double get_W_body() const { return _state.v_body_v[2]; } - inline double get_V_rel_wind() const { return v_rel_wind; } + inline double get_V_rel_wind() const { return _state.v_rel_wind; } - inline double get_V_true_kts() const { return v_true_kts; } + inline double get_V_true_kts() const { return _state.v_true_kts; } - inline double get_V_ground_speed() const { return v_ground_speed; } - inline double get_V_ground_speed_kt() const { return v_ground_speed * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM; } + inline double get_V_ground_speed() const { return _state.v_ground_speed; } + inline double get_V_ground_speed_kt() const { return _state.v_ground_speed * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM; } + inline void set_V_ground_speed_kt(double ground_speed) { _state.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_equiv_kts() const { return _state.v_equiv_kts; } - inline double get_V_calibrated_kts() const { return v_calibrated_kts; } + inline double get_V_calibrated_kts() const { return _state.v_calibrated_kts; } - 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_P_body() const { return _state.omega_body_v[0]; } + inline double get_Q_body() const { return _state.omega_body_v[1]; } + inline double get_R_body() const { return _state.omega_body_v[2]; } - 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_Phi_dot() const { return _state.euler_rates_v[0]; } + inline double get_Theta_dot() const { return _state.euler_rates_v[1]; } + inline double get_Psi_dot() const { return _state.euler_rates_v[2]; } + inline double get_Phi_dot_degps() const { return _state.euler_rates_v[0] * SGD_RADIANS_TO_DEGREES; } + inline double get_Theta_dot_degps() const { return _state.euler_rates_v[1] * SGD_RADIANS_TO_DEGREES; } + inline double get_Psi_dot_degps() const { return _state.euler_rates_v[2] * SGD_RADIANS_TO_DEGREES; } - 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]; } + inline double get_Latitude_dot() const { return _state.geocentric_rates_v[0]; } + inline double get_Longitude_dot() const { return _state.geocentric_rates_v[1]; } + inline double get_Radius_dot() const { return _state.geocentric_rates_v[2]; } // ========== Positions ========== inline double get_Lat_geocentric() const { - return geocentric_position_v.getLatitudeRad(); + return _state.geocentric_position_v.getLatitudeRad(); } inline double get_Lon_geocentric() const { - return geocentric_position_v.getLongitudeRad(); + return _state.geocentric_position_v.getLongitudeRad(); } inline double get_Radius_to_vehicle() const { - return geocentric_position_v.getRadiusFt(); + return _state.geocentric_position_v.getRadiusFt(); } - const SGGeod& getPosition() const { return geodetic_position_v; } - const SGGeoc& getGeocPosition() const { return geocentric_position_v; } - const SGVec3d& getCartPosition() const { return cartesian_position_v; } + const SGGeod& getPosition() const { return _state.geodetic_position_v; } + const SGGeoc& getGeocPosition() const { return _state.geocentric_position_v; } + const SGVec3d& getCartPosition() const { return _state.cartesian_position_v; } inline double get_Latitude() const { - return geodetic_position_v.getLatitudeRad(); + return _state.geodetic_position_v.getLatitudeRad(); } inline double get_Longitude() const { - return geodetic_position_v.getLongitudeRad(); + return _state.geodetic_position_v.getLongitudeRad(); } inline double get_Altitude() const { - return geodetic_position_v.getElevationFt(); + return _state.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_Altitude_AGL(void) const { return _state.altitude_agl; } + inline double get_Track(void) const { return _state.track; } inline double get_Latitude_deg () const { - return geodetic_position_v.getLatitudeDeg(); + return _state.geodetic_position_v.getLatitudeDeg(); } inline double get_Longitude_deg () const { - return geodetic_position_v.getLongitudeDeg(); + return _state.geodetic_position_v.getLongitudeDeg(); } - 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]; } + inline double get_Phi() const { return _state.euler_angles_v[0]; } + inline double get_Theta() const { return _state.euler_angles_v[1]; } + inline double get_Psi() const { return _state.euler_angles_v[2]; } inline double get_Phi_deg () const { return get_Phi() * SGD_RADIANS_TO_DEGREES; } inline double get_Theta_deg () const { return get_Theta() * SGD_RADIANS_TO_DEGREES; } inline double get_Psi_deg () const { return get_Psi() * SGD_RADIANS_TO_DEGREES; } @@ -597,39 +635,34 @@ public: // ========== Miscellaneous quantities ========== - 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_Gamma_vert_rad() const { return gamma_vert_rad; } + inline double get_Alpha() const { return _state.alpha; } + inline double get_Alpha_deg() const { return _state.alpha * SGD_RADIANS_TO_DEGREES; } + inline double get_Beta() const { return _state.beta; } + inline double get_Beta_deg() const { return _state.beta * SGD_RADIANS_TO_DEGREES; } + inline double get_Gamma_vert_rad() const { return _state.gamma_vert_rad; } - inline double get_Density() const { return density; } - inline double get_Mach_number() const { return mach_number; } + inline double get_Density() const { return _state.density; } + inline double get_Mach_number() const { return _state.mach_number; } - inline double get_Static_pressure() const { return static_pressure; } - inline double get_Total_pressure() const { return total_pressure; } - inline double get_Dynamic_pressure() const { return dynamic_pressure; } + inline double get_Static_pressure() const { return _state.static_pressure; } + inline double get_Total_pressure() const { return _state.total_pressure; } + inline double get_Dynamic_pressure() const { return _state.dynamic_pressure; } - inline double get_Static_temperature() const { return static_temperature; } - inline double get_Total_temperature() const { return total_temperature; } + inline double get_Static_temperature() const { return _state.static_temperature; } + inline double get_Total_temperature() const { return _state.total_temperature; } - inline double get_Sea_level_radius() const { return sea_level_radius; } + inline double get_Sea_level_radius() const { return _state.sea_level_radius; } inline double get_Earth_position_angle() const { - return earth_position_angle; + return _state.earth_position_angle; } - 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_Climb_Rate() const { return climb_rate; } + inline double get_Runway_altitude() const { return _state.runway_altitude; } + inline double get_Runway_altitude_m() const { return SG_FEET_TO_METER * _state.runway_altitude; } - // 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]; } + inline double get_Climb_Rate() const { return _state.climb_rate; } // Note that currently this is the "same" value runway altitude... - inline double get_ground_elev_ft() const { return runway_altitude; } + inline double get_ground_elev_ft() const { return _state.runway_altitude; } ////////////////////////////////////////////////////////////////////////// @@ -672,11 +705,11 @@ public: // 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, + double angularVel[3], simgear::BVHMaterial 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, + double angularVel[3], simgear::BVHMaterial const*& material, simgear::BVHNode::Id& id); double get_groundlevel_m(double lat, double lon, double alt); double get_groundlevel_m(const SGGeod& geod); @@ -687,11 +720,11 @@ public: // 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, + double angularVel[3], simgear::BVHMaterial 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, + double angularVel[3], simgear::BVHMaterial const*& material, simgear::BVHNode::Id& id); @@ -712,10 +745,4 @@ public: void release_wire(void); }; -extern FGInterface * cur_fdm_state; - -// Toggle data logging on/off -void fgToggleFDMdataLogging(void); - - #endif // _FLIGHT_HXX