X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2Fgroundcache.hxx;h=145561a9c571589b47f1075e8d7be5735de6de2b;hb=c44948041b9356c9d16acc2d888de109bf7866e7;hp=f00fb40c1e9904df3b910ae751f6ced7f1c473ca;hpb=93cb29608a9eaebc84dee6a9d39872308ff0651e;p=flightgear.git

diff --git a/src/FDM/groundcache.hxx b/src/FDM/groundcache.hxx
index f00fb40c1..145561a9c 100644
--- a/src/FDM/groundcache.hxx
+++ b/src/FDM/groundcache.hxx
@@ -26,9 +26,21 @@
 #include <simgear/compiler.h>
 #include <simgear/constants.h>
 #include <simgear/math/SGMath.hxx>
+#include <simgear/math/SGGeometry.hxx>
+#include <simgear/scene/bvh/BVHNode.hxx>
+#include <simgear/structure/SGSharedPtr.hxx>
+
+// #define GROUNDCACHE_DEBUG
+#ifdef GROUNDCACHE_DEBUG
+#include <osg/Group>
+#include <osg/ref_ptr>
+#include <simgear/timing/timestamp.hxx>
+#endif
 
 class SGMaterial;
-class GroundCacheFillVisitor;
+namespace simgear {
+class BVHLineGeometry;
+}
 
 class FGGroundCache {
 public:
@@ -42,14 +54,28 @@ public:
     // 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(double ref_time, const SGVec3d& pt,
-                              double rad);
+    bool prepare_ground_cache(double startSimTime, double endSimTime,
+                              const SGVec3d& pt, 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(double& ref_time, SGVec3d& pt, double& rad);
 
+    // Returns the unit down vector at the ground cache
+    const SGVec3d& get_down() const
+    { return down; }
+
+    // The time offset that originates from a simtime different than zero
+    // at initialization time of the fdm.
+    double get_cache_time_offset() const
+    { return cache_time_offset; }
+    void set_cache_time_offset(double time_offset)
+    { cache_time_offset = time_offset; }
+
+    bool get_body(double t, SGMatrixd& bodyToWorld, SGVec3d& linearVel,
+                  SGVec3d& angularVel, simgear::BVHNode::Id id);
+
     // Return the nearest catapult to the given point
     // pt in wgs84 coordinates.
     double get_cat(double t, const SGVec3d& pt,
@@ -58,13 +84,16 @@ public:
 
     // Return the altitude above ground below the wgs84 point pt
     // Search for highest triangle not higher than pt + max_altoff.
-    // Return ground properties like the ground type, the maximum load
+    // Return ground properties like 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(double t, const SGVec3d& pt, double max_altoff,
-                 SGVec3d& contact, SGVec3d& normal, SGVec3d& vel,
-                 int *type, const SGMaterial** material, double *agl);
+    // 0 and 1 which can be used to model lower friction with wet runways.
+    bool get_agl(double t, const SGVec3d& pt, SGVec3d& contact,
+                 SGVec3d& normal, SGVec3d& linearVel, SGVec3d& angularVel,
+                 simgear::BVHNode::Id& id, const SGMaterial*& material);
+
+    bool get_nearest(double t, const SGVec3d& pt, double maxDist,
+                     SGVec3d& contact, SGVec3d& linearVel, SGVec3d& angularVel,
+                     simgear::BVHNode::Id& id, const SGMaterial*& material);
 
     // Return 1 if the hook intersects with a wire.
     // That test is done by checking if the quad spanned by the points pt*
@@ -81,61 +110,24 @@ public:
     void release_wire(void);
 
 private:
-    friend class GroundCacheFillVisitor;
-
-    struct Triangle {
-      Triangle() : material(0) {}
-      // The edge vertices.
-      SGVec3d vertices[3];
-      // The surface normal.
-      SGVec4d plane;
-      // The bounding shpere.
-      SGVec3d boundCenter;
-      double boundRadius;
-      // The linear and angular velocity.
-      SGVec3d velocity;
-      SGVec3d rotation;
-      SGVec3d rotation_pivot;
-      // Ground type
-      int type;
-      // the simgear material reference, contains friction coeficients ...
-      const SGMaterial* material;
-    };
-    struct Catapult {
-      SGVec3d start;
-      SGVec3d end;
-      SGVec3d velocity;
-      SGVec3d rotation;
-      SGVec3d rotation_pivot;
-    };
-    struct Wire {
-      SGVec3d ends[2];
-      SGVec3d velocity;
-      SGVec3d rotation;
-      SGVec3d rotation_pivot;
-      int wire_id;
-    };
-
-
-    // The center of the cache.
-    SGVec3d cache_center;
+    class CacheFill;
+    class BodyFinder;
+    class CatapultFinder;
+    class WireIntersector;
+    class WireFinder;
+
     // Approximate ground radius.
     // In case the aircraft is too high above ground.
-    double ground_radius;
-    // Ground type
-    int _type;
+    double _altitude;
     // the simgear material reference, contains friction coeficients ...
     const SGMaterial* _material;
     // The time reference for later call to intersection test routines.
     // Is required since we will have moving triangles in carriers.
     double cache_ref_time;
-    // The wire identifier to track.
-    int wire_id;
-
-    // Containers which hold all the essential information about this cache.
-    std::vector<Triangle> triangles;
-    std::vector<Catapult> catapults;
-    std::vector<Wire> wires;
+    // The time the cache was initialized.
+    double cache_time_offset;
+    // The wire to track.
+    const simgear::BVHLineGeometry* _wire;
 
     // The point and radius where the cache is built around.
     // That are the arguments that were given to prepare_ground_cache.
@@ -144,20 +136,16 @@ private:
     SGVec3d down;
     bool found_ground;
 
+    SGSharedPtr<simgear::BVHNode> _localBvhTree;
 
-    // Helper class to hold some properties of the ground triangle.
-    struct GroundProperty {
-      GroundProperty() : type(0), material(0) {}
-      int type;
-      int wire_id;
-      SGVec3d vel;
-      SGVec3d rot;
-      SGVec3d pivot;
-      const SGMaterial* material;
-    };
+#ifdef GROUNDCACHE_DEBUG
+    SGTimeStamp _lookupTime;
+    unsigned _lookupCount;
+    SGTimeStamp _buildTime;
+    unsigned _buildCount;
 
-    static void velocityTransformTriangle(double dt, Triangle& dst,
-                                          const Triangle& src);
+    osg::ref_ptr<osg::Group> _group;
+#endif
 };
 
 #endif