/* Initialize the flight model parameters */
int fgFlightModelInit(int model, fgFLIGHT *f, double dt) {
+ double save_alt = 0.0;
int result;
fgPrintf(FG_FLIGHT,FG_INFO,"Initializing flight model\n");
if ( model == FG_SLEW ) {
// fgSlewInit(dt);
} else if ( model == FG_LARCSIM ) {
+ /* lets try to avoid really screwing up the LaRCsim model */
+ if ( FG_Altitude < -9000 ) {
+ save_alt = FG_Altitude;
+ FG_Altitude = 0;
+ }
+
fgFlight_2_LaRCsim(f); /* translate FG to LaRCsim structure */
fgLaRCsimInit(dt);
fgPrintf( FG_FLIGHT, FG_INFO, "FG pos = %.2f\n", FG_Latitude );
fgLaRCsim_2_Flight(f); /* translate LaRCsim back to FG structure */
+
+ /* but lets restore our original bogus altitude when we are done */
+ if ( save_alt < -9000 ) {
+ FG_Altitude = save_alt;
+ }
} else {
fgPrintf( FG_FLIGHT, FG_WARN,
"Unimplemented flight model == %d\n", model );
/* $Log$
-/* Revision 1.15 1998/07/30 23:44:36 curt
-/* Beginning to add support for multiple flight models.
+/* Revision 1.16 1998/08/22 14:49:55 curt
+/* Attempting to iron out seg faults and crashes.
+/* Did some shuffling to fix a initialization order problem between view
+/* position, scenery elevation.
/*
+ * Revision 1.15 1998/07/30 23:44:36 curt
+ * Beginning to add support for multiple flight models.
+ *
* Revision 1.14 1998/07/12 03:08:27 curt
* Added fgFlightModelSetAltitude() to force the altitude to something
* other than the current altitude. LaRCsim doesn't let you do this by just
{ 238000., 1.18020E-07, 9.52550E+02, 2.29613E-16, -1.45786E-08 },
{ 240000., 1.08270E-07, 9.47120E+02, 0.00000E+00, 0.00000E+00 }
};
-
+
+ /* for purposes of doing the table lookup, force the incoming
+ altitude to be >= 0 */
+
+ // printf("altitude = %.2f\n", altitude);
+
+ if ( altitude < 0.0 ) {
+ altitude = 0.0;
+ }
+
+ // printf("altitude = %.2f\n", altitude);
+
index = (int)( altitude / 2000 );
if (index > (MAX_ALT_INDEX-2))
{
if (altitude < HLEV) /* BUG - these curve fits are only good to about 75000 ft */
{
t_amb_r = 1. - 6.875e-6*altitude;
+ // printf("index = %d t_amb_r = %.2f\n", index, t_amb_r);
p_amb_r = pow( t_amb_r, 5.256 );
}
else
/* Run an iteration of the EOM (equations of motion) */
int fgLaRCsimUpdate(fgFLIGHT *f, int multiloop) {
+ double save_alt = 0.0;
int i;
if (speedup > 0) {
// run Autopilot system
// fgPrintf( FG_ALL, FG_BULK, "Attempting autopilot run\n");
-
fgAPRun();
+
+ /* lets try to avoid really screwing up the LaRCsim model */
+ if ( FG_Altitude < -9000 ) {
+ save_alt = FG_Altitude;
+ FG_Altitude = 0;
+ }
+
// translate FG to LaRCsim structure
fgFlight_2_LaRCsim(f);
// printf("FG_Altitude = %.2f\n", FG_Altitude * 0.3048);
// autopilot (and the rest of the sim can use the updated
// values
fgLaRCsim_2_Flight(f);
+
+ /* but lets restore our original bogus altitude when we are done */
+ if ( save_alt < -9000 ) {
+ FG_Altitude = save_alt;
+ }
}
return(1);
/* Flight Gear Modification Log
*
* $Log$
+ * Revision 1.21 1998/08/22 14:49:56 curt
+ * Attempting to iron out seg faults and crashes.
+ * Did some shuffling to fix a initialization order problem between view
+ * position, scenery elevation.
+ *
* Revision 1.20 1998/07/12 03:11:03 curt
* Removed some printf()'s.
* Fixed the autopilot integration so it should be able to update it's control
// FG_Altitude * FEET_TO_METER);
// this is just a temporary hack, to make me understand Pui
- timerText -> setLabel (ctime (&t->cur_time));
+ // timerText -> setLabel (ctime (&t->cur_time));
// end of hack
// update view volume parameters
// $Log$
+// Revision 1.46 1998/08/22 14:49:56 curt
+// Attempting to iron out seg faults and crashes.
+// Did some shuffling to fix a initialization order problem between view
+// position, scenery elevation.
+//
// Revision 1.45 1998/08/20 20:32:31 curt
// Reshuffled some of the code in and around views.[ch]xx
//
#include <Cockpit/cockpit.hxx>
#include <Debug/fg_debug.h>
#include <Joystick/joystick.h>
+#include <Math/fg_geodesy.h>
#include <Math/fg_random.h>
+#include <Math/polar3d.hxx>
#include <Scenery/scenery.hxx>
#include <Scenery/tilemgr.hxx>
#include <Time/event.hxx>
}
+// convert a geodetic point lon(radians), lat(radians), elev(meter) to
+// a cartesian point
+fgPoint3d geod_to_cart(double geod[3]) {
+ fgPoint3d cp;
+ fgPoint3d pp;
+ double gc_lon, gc_lat, sl_radius;
+
+ // printf("A geodetic point is (%.2f, %.2f, %.2f)\n",
+ // geod[0], geod[1], geod[2]);
+
+ gc_lon = geod[0];
+ fgGeodToGeoc(geod[1], geod[2], &sl_radius, &gc_lat);
+
+ // printf("A geocentric point is (%.2f, %.2f, %.2f)\n", gc_lon,
+ // gc_lat, sl_radius+geod[2]);
+
+ pp.lon = gc_lon;
+ pp.lat = gc_lat;
+ pp.radius = sl_radius + geod[2];
+ cp = fgPolarToCart3d(pp);
+
+ // printf("A cart point is (%.8f, %.8f, %.8f)\n", cp.x, cp.y, cp.z);
+
+ return(cp);
+}
+
+
// This is the top level init routine which calls all the other
// initialization routines. If you are adding a subsystem to flight
// gear, its initialization call should located in this routine.
fgLIGHT *l;
fgTIME *t;
fgVIEW *v;
+ double geod_pos[3];
+ fgPoint3d abs_view_pos;
l = &cur_light_params;
t = &cur_time_params;
// seed the random number generater
fg_srandom();
- // The following section sets up the flight model EOM parameters
- // and should really be read in from one or more files.
-
- // Must happen before any of the flight model or control
- // parameters are set
-
+ // allocates structures so must happen before any of the flight
+ // model or control parameters are set
fgAircraftInit(); // In the future this might not be the case.
f = current_aircraft.flight;
// set the initial position
fgInitPosition();
+ // Initialize the Scenery Management subsystem
+ if ( fgSceneryInit() ) {
+ // Scenery initialized ok.
+ } else {
+ fgPrintf( FG_GENERAL, FG_EXIT, "Error in Scenery initialization!\n" );
+ }
+
+ if( fgTileMgrInit() ) {
+ // Load the local scenery data
+ fgTileMgrUpdate();
+ } else {
+ fgPrintf( FG_GENERAL, FG_EXIT,
+ "Error in Tile Manager initialization!\n" );
+ }
+
+ // calculalate a cartesian point somewhere along the line between
+ // the center of the earth and our view position
+ geod_pos[0] = FG_Longitude;
+ geod_pos[1] = FG_Latitude;
+ // doesn't have to be the exact elevation (this is good because we
+ // don't know it yet :-)
+ geod_pos[2] = 0;
+ abs_view_pos = geod_to_cart(geod_pos);
+
+ // Calculate ground elevation at starting point
+ scenery.cur_elev =
+ fgTileMgrCurElev( FG_Longitude, FG_Latitude, &abs_view_pos );
+ FG_Runway_altitude = scenery.cur_elev * METER_TO_FEET;
+
+ // Reset our altitude if we are below ground
+ if ( FG_Altitude < FG_Runway_altitude + 3.758099) {
+ FG_Altitude = FG_Runway_altitude + 3.758099;
+ }
+
+ fgPrintf( FG_GENERAL, FG_INFO,
+ "Updated position (after elevation adj): (%.4f, %.4f, %.2f)\n",
+ FG_Latitude * RAD_TO_DEG, FG_Longitude * RAD_TO_DEG,
+ FG_Altitude * FEET_TO_METER);
+ // end of thing that I just stuck in that I should probably move
+
+ // The following section sets up the flight model EOM parameters
+ // and should really be read in from one or more files.
+
// Initial Velocity
FG_V_north = 0.0; // 7.287719E+00
FG_V_east = 0.0; // 1.521770E+03
// Initialize the "sky"
fgSkyInit();
- // Initialize the Scenery Management subsystem
- if ( fgSceneryInit() ) {
- // Scenery initialized ok.
- } else {
- fgPrintf( FG_GENERAL, FG_EXIT, "Error in Scenery initialization!\n" );
- }
-
- if( fgTileMgrInit() ) {
- // Load the local scenery data
- fgTileMgrUpdate();
- } else {
- fgPrintf( FG_GENERAL, FG_EXIT,
- "Error in Tile Manager initialization!\n" );
- }
-
- // I'm just sticking this here for now, it should probably move
- // eventually
- scenery.cur_elev = FG_Runway_altitude * FEET_TO_METER;
-
- if ( FG_Altitude < FG_Runway_altitude + 3.758099) {
- FG_Altitude = FG_Runway_altitude + 3.758099;
- }
-
- fgPrintf( FG_GENERAL, FG_INFO,
- "Updated position (after elevation adj): (%.4f, %.4f, %.2f)\n",
- FG_Latitude * RAD_TO_DEG, FG_Longitude * RAD_TO_DEG,
- FG_Altitude * FEET_TO_METER);
- // end of thing that I just stuck in that I should probably move
-
// Initialize the flight model subsystem data structures base on
// above values
// $Log$
+// Revision 1.31 1998/08/22 14:49:57 curt
+// Attempting to iron out seg faults and crashes.
+// Did some shuffling to fix a initialization order problem between view
+// position, scenery elevation.
+//
// Revision 1.30 1998/08/20 20:32:33 curt
// Reshuffled some of the code in and around views.[ch]xx
//
// test if line intesects with this fragment. p0 and p1 are the two
// line end points of the line. If side_flag is true, check to see
// that end points are on opposite sides of face. Returns 1 if it
-// does, 0 otherwise. If it intesects, result is the point of
-// intersection
+// intersection found, 0 otherwise. If it intesects, result is the
+// point of intersection
int fgFRAGMENT::intersect( fgPoint3d *end0, fgPoint3d *end1, int side_flag,
fgPoint3d *result)
// $Log$
+// Revision 1.8 1998/08/22 14:49:58 curt
+// Attempting to iron out seg faults and crashes.
+// Did some shuffling to fix a initialization order problem between view
+// position, scenery elevation.
+//
// Revision 1.7 1998/08/20 15:12:05 curt
// Used a forward declaration of classes fgTILE and fgMATERIAL to eliminate
// the need for "void" pointers and casts.
// test if line intesects with this fragment. p0 and p1 are the
// two line end points of the line. If side_flag is true, check
// to see that end points are on opposite sides of face. Returns
- // 1 if it does, 0 otherwise. If it intesects, result is the
- // point of intersection
+ // 1 if it intersection found, 0 otherwise. If it intesects,
+ // result is the point of intersection
int intersect( fgPoint3d *end0, fgPoint3d *end1, int side_flag,
fgPoint3d *result);
// $Log$
+// Revision 1.17 1998/08/22 14:49:58 curt
+// Attempting to iron out seg faults and crashes.
+// Did some shuffling to fix a initialization order problem between view
+// position, scenery elevation.
+//
// Revision 1.16 1998/08/22 02:01:34 curt
// increased fragment list size.
//
}
+// Determine scenery altitude. Normally this just happens when we
+// render the scene, but we'd also like to be able to do this
+// explicitely. lat & lon are in radians. abs_view_pos in meters.
+// Returns result in meters.
+double fgTileMgrCurElev( double lon, double lat, fgPoint3d *abs_view_pos ) {
+ fgTILECACHE *c;
+ fgTILE *t;
+ // fgVIEW *v;
+ fgFRAGMENT *frag_ptr;
+ fgBUCKET p;
+ fgPoint3d earth_center, result;
+ fgPoint3d pp;
+ MAT3vec local_up;
+ list < fgFRAGMENT > :: iterator current;
+ list < fgFRAGMENT > :: iterator last;
+ double dist, min_dist, lat_geod, alt, sea_level_r;
+ double x, y, z;
+ int index, tile_diameter, i;
+
+ c = &global_tile_cache;
+ // v = ¤t_view;
+
+ local_up[0] = abs_view_pos->x;
+ local_up[1] = abs_view_pos->y;
+ local_up[2] = abs_view_pos->z;
+
+ tile_diameter = current_options.get_tile_diameter();
+
+ // Find current translation offset
+ fgBucketFind(lon * RAD_TO_DEG, lat * RAD_TO_DEG, &p);
+ index = c->Exists(&p);
+ t = c->GetTile(index);
+
+ scenery.next_center.x = t->center.x;
+ scenery.next_center.y = t->center.y;
+ scenery.next_center.z = t->center.z;
+
+ earth_center.x = 0.0;
+ earth_center.y = 0.0;
+ earth_center.z = 0.0;
+
+ fgPrintf( FG_TERRAIN, FG_DEBUG,
+ "Pos = (%.2f, %.2f) Current bucket = %d %d %d %d Index = %ld\n",
+ lon * RAD_TO_DEG, lat * RAD_TO_DEG,
+ p.lon, p.lat, p.x, p.y, fgBucketGenIndex(&p) );
+
+ // traverse the potentially viewable tile list
+ for ( i = 0; i < (tile_diameter * tile_diameter); i++ ) {
+ index = tiles[i];
+ // fgPrintf( FG_TERRAIN, FG_DEBUG, "Index = %d\n", index);
+ t = c->GetTile(index);
+
+ // calculate tile offset
+ x = (t->offset.x = t->center.x - scenery.center.x);
+ y = (t->offset.y = t->center.y - scenery.center.y);
+ z = (t->offset.z = t->center.z - scenery.center.z);
+
+ // calc current terrain elevation calculate distance from
+ // vertical tangent line at current position to center of
+ // tile.
+
+ /* printf("distance squared = %.2f, bounding radius = %.2f\n",
+ point_line_dist_squared(&(t->offset), &(v->view_pos),
+ v->local_up), t->bounding_radius); */
+
+ dist = point_line_dist_squared( &(t->center), abs_view_pos,
+ local_up );
+ if ( dist < FG_SQUARE(t->bounding_radius) ) {
+
+ // traverse fragment list for tile
+ current = t->fragment_list.begin();
+ last = t->fragment_list.end();
+
+ while ( current != last ) {
+ frag_ptr = &(*current);
+ current++;
+ /* printf("distance squared = %.2f, bounding radius = %.2f\n",
+ point_line_dist_squared( &(frag_ptr->center),
+ &abs_view_pos), local_up),
+ frag_ptr->bounding_radius); */
+
+ dist = point_line_dist_squared( &(frag_ptr->center),
+ abs_view_pos, local_up);
+ if ( dist <= FG_SQUARE(frag_ptr->bounding_radius) ) {
+ if ( frag_ptr->intersect( abs_view_pos,
+ &earth_center, 0, &result ) ) {
+ // compute geocentric coordinates of tile center
+ pp = fgCartToPolar3d(result);
+ // convert to geodetic coordinates
+ fgGeocToGeod(pp.lat, pp.radius, &lat_geod,
+ &alt, &sea_level_r);
+ // printf("alt = %.2f\n", alt);
+ // exit since we found an intersection
+ return(alt);
+ }
+ }
+ }
+ }
+ }
+
+ printf("no terrain intersection found\n");
+ return(0);
+}
+
+
// Render the local tiles
void fgTileMgrRender( void ) {
fgTILECACHE *c;
// $Log$
+// Revision 1.30 1998/08/22 14:49:59 curt
+// Attempting to iron out seg faults and crashes.
+// Did some shuffling to fix a initialization order problem between view
+// position, scenery elevation.
+//
// Revision 1.29 1998/08/20 15:12:06 curt
// Used a forward declaration of classes fgTILE and fgMATERIAL to eliminate
// the need for "void" pointers and casts.
int fgTileMgrUpdate( void );
+// Determine scenery altitude. Normally this just happens when we
+// render the scene, but we'd also like to be able to do this
+// explicitely. lat & lon are in radians. abs_view_pos in meters.
+// Returns result in meters.
+double fgTileMgrCurElev( double lon, double lat, fgPoint3d *abs_view_pos );
+
+
// Render the local tiles --- hack, hack, hack
void fgTileMgrRender( void );
// $Log$
+// Revision 1.3 1998/08/22 14:49:59 curt
+// Attempting to iron out seg faults and crashes.
+// Did some shuffling to fix a initialization order problem between view
+// position, scenery elevation.
+//
// Revision 1.2 1998/05/20 20:53:56 curt
// Moved global ref point and radius (bounding sphere info, and offset) to
// data file rather than calculating it on the fly.
projects / flightgear.git / commitdiff