From: ehofman Date: Sun, 19 Feb 2006 17:28:31 +0000 (+0000) Subject: Mathias Fröhlich: X-Git-Url: https://git.mxchange.org/?a=commitdiff_plain;h=5fe860750eb8b99401a64b6aca68cc7b3da5eac9;p=flightgear.git Mathias Fröhlich: This patch makes use of the vectors now available in simgear with that past patch. And using that it simplyfies the carrier code somehow. - Small additional factory's to the quaternion code are done in the simgear part. Also more explicit unit names in the factory functions. - The flightgear part makes use of them and simplyfies some computations especially in the carrier code. - The data part fixes the coordinate frames I used for the park positions in the carrier to match the usual ones. I believed that I had done so, but it was definitly different. Also there are more parking positions avaliable now. --- diff --git a/src/AIModel/AIBase.cxx b/src/AIModel/AIBase.cxx index 6e1afe2d9..3aa8b0002 100644 --- a/src/AIModel/AIBase.cxx +++ b/src/AIModel/AIBase.cxx @@ -335,35 +335,23 @@ double FGAIBase::UpdateRadar(FGAIManager* manager) return range_ft2; } -Point3D -FGAIBase::getCartPosAt(const Point3D& off) const +SGVec3d +FGAIBase::getCartPosAt(const SGVec3d& _off) const { - // The offset converted to the usual body fixed coordinate system. - sgdVec3 sgdOff; - sgdSetVec3(sgdOff, -off.x(), off.z(), -off.y()); - // Transform that one to the horizontal local coordinate system. - sgdMat4 hlTrans; - sgdMakeRotMat4(hlTrans, hdg, pitch, roll); - sgdXformPnt3(sgdOff, hlTrans); - - // Now transform to the wgs84 earth centeres system. - Point3D pos2(pos.lon()* SGD_DEGREES_TO_RADIANS, - pos.lat() * SGD_DEGREES_TO_RADIANS, - pos.elev()); - Point3D cartPos3D = sgGeodToCart(pos2); - sgdMat4 ecTrans; - sgdMakeCoordMat4(ecTrans, cartPos3D.x(), cartPos3D.y(), cartPos3D.z(), - pos.lon(), 0, - 90 - pos.lat()); - sgdXformPnt3(sgdOff, ecTrans); - - return Point3D(sgdOff[0], sgdOff[1], sgdOff[2]); -} + SGQuatd hlTrans = SGQuatd::fromLonLatDeg(pos.lon(), pos.lat()); + // and postrotate the orientation of the AIModel wrt the horizontal + // local frame + hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll); -Point3D -FGAIBase::getGeocPosAt(const Point3D& off) const -{ - return sgCartToGeod(getCartPosAt(off)); + // The offset converted to the usual body fixed coordinate system + // rotated to the earth fiexed coordinates axis + SGVec3d off = hlTrans.backTransform(_off); + + // Add the position offset of the AIModel to gain the earth centered position + SGVec3d cartPos = SGGeod::fromDegFt(pos.lon(), pos.lat(), pos.elev()); + + return cartPos + off; } /* diff --git a/src/AIModel/AIBase.hxx b/src/AIModel/AIBase.hxx index cbd6681f5..831233edc 100644 --- a/src/AIModel/AIBase.hxx +++ b/src/AIModel/AIBase.hxx @@ -24,6 +24,7 @@ #include #include +#include #include #include #include @@ -75,8 +76,7 @@ public: void setDie( bool die ); bool getDie(); - Point3D getCartPosAt(const Point3D& off) const; - Point3D getGeocPosAt(const Point3D& off) const; + SGVec3d getCartPosAt(const SGVec3d& off) const; protected: diff --git a/src/AIModel/AICarrier.cxx b/src/AIModel/AICarrier.cxx index d4c6ddba6..a5bf553d8 100644 --- a/src/AIModel/AICarrier.cxx +++ b/src/AIModel/AICarrier.cxx @@ -24,6 +24,7 @@ #include #include +#include #include #include #include @@ -61,11 +62,14 @@ void FGAICarrier::readFromScenario(SGPropertyNode* scFileNode) { SGPropertyNode* flols = scFileNode->getChild("flols-pos"); if (flols) { - flols_off[0] = flols->getDoubleValue("x-offset-m", 0); - flols_off[1] = flols->getDoubleValue("y-offset-m", 0); - flols_off[2] = flols->getDoubleValue("z-offset-m", 0); + // Transform to the right coordinate frame, configuration is done in + // the usual x-back, y-right, z-up coordinates, computations + // in the simulation usual body x-forward, y-right, z-down coordinates + flols_off(0) = - flols->getDoubleValue("x-offset-m", 0); + flols_off(1) = flols->getDoubleValue("y-offset-m", 0); + flols_off(2) = - flols->getDoubleValue("z-offset-m", 0); } else - flols_off = Point3D(0, 0, 0); + flols_off = SGVec3d::zeros(); std::vector props = scFileNode->getChildren("wire"); std::vector::const_iterator it; @@ -92,11 +96,14 @@ void FGAICarrier::readFromScenario(SGPropertyNode* scFileNode) { props = scFileNode->getChildren("parking-pos"); for (it = props.begin(); it != props.end(); ++it) { string name = (*it)->getStringValue("name", "unnamed"); - double offset_x = (*it)->getDoubleValue("x-offset-m", 0); + // Transform to the right coordinate frame, configuration is done in + // the usual x-back, y-right, z-up coordinates, computations + // in the simulation usual body x-forward, y-right, z-down coordinates + double offset_x = -(*it)->getDoubleValue("x-offset-m", 0); double offset_y = (*it)->getDoubleValue("y-offset-m", 0); - double offset_z = (*it)->getDoubleValue("z-offset-m", 0); + double offset_z = -(*it)->getDoubleValue("z-offset-m", 0); double hd = (*it)->getDoubleValue("heading-offset-deg", 0); - ParkPosition pp(name, Point3D(offset_x, offset_y, offset_z), hd); + ParkPosition pp(name, SGVec3d(offset_x, offset_y, offset_z), hd); ppositions.push_back(pp); } } @@ -134,57 +141,32 @@ void FGAICarrier::setTACANChannelID(const string& id) { } void FGAICarrier::getVelocityWrtEarth(sgdVec3& v, sgdVec3& omega, sgdVec3& pivot) { - sgdCopyVec3(v, vel_wrt_earth ); - sgdCopyVec3(omega, rot_wrt_earth ); - sgdCopyVec3(pivot, rot_pivot_wrt_earth ); + sgdCopyVec3(v, vel_wrt_earth.sg() ); + sgdCopyVec3(omega, rot_wrt_earth.sg() ); + sgdCopyVec3(pivot, rot_pivot_wrt_earth.sg() ); } void FGAICarrier::update(double dt) { - // For computation of rotation speeds we just use finite differences her. + // For computation of rotation speeds we just use finite differences here. // That is perfectly valid since this thing is not driven by accelerations // but by just apply discrete changes at its velocity variables. - double old_hdg = hdg; - double old_roll = roll; - double old_pitch = pitch; - // Update the velocity information stored in those nodes. + // Transform that one to the horizontal local coordinate system. + SGQuatd ec2hl = SGQuatd::fromLonLatDeg(pos.lon(), pos.lat()); + // The orientation of the carrier wrt the horizontal local frame + SGQuatd hl2body = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll); + // and postrotate the orientation of the AIModel wrt the horizontal + // local frame + SGQuatd ec2body = ec2hl*hl2body; + // The cartesian position of the carrier in the wgs84 world + SGVec3d cartPos = SGGeod::fromDegFt(pos.lon(), pos.lat(), pos.elev()); + // Store for later use by the groundcache + rot_pivot_wrt_earth = cartPos; + + // Compute the velocity in m/s in the earth centered coordinate system axis double v_north = 0.51444444*speed*cos(hdg * SGD_DEGREES_TO_RADIANS); double v_east = 0.51444444*speed*sin(hdg * SGD_DEGREES_TO_RADIANS); - - double sin_lat = sin(pos.lat() * SGD_DEGREES_TO_RADIANS); - double cos_lat = cos(pos.lat() * SGD_DEGREES_TO_RADIANS); - double sin_lon = sin(pos.lon() * SGD_DEGREES_TO_RADIANS); - double cos_lon = cos(pos.lon() * SGD_DEGREES_TO_RADIANS); - double sin_roll = sin(roll * SGD_DEGREES_TO_RADIANS); - double cos_roll = cos(roll * SGD_DEGREES_TO_RADIANS); - double sin_pitch = sin(pitch * SGD_DEGREES_TO_RADIANS); - double cos_pitch = cos(pitch * SGD_DEGREES_TO_RADIANS); - double sin_hdg = sin(hdg * SGD_DEGREES_TO_RADIANS); - double cos_hdg = cos(hdg * SGD_DEGREES_TO_RADIANS); - - // Transform this back the the horizontal local frame. - sgdMat3 trans; - - // set up the transform matrix - trans[0][0] = cos_pitch*cos_hdg; - trans[0][1] = sin_roll*sin_pitch*cos_hdg - cos_roll*sin_hdg; - trans[0][2] = cos_roll*sin_pitch*cos_hdg + sin_roll*sin_hdg; - - trans[1][0] = cos_pitch*sin_hdg; - trans[1][1] = sin_roll*sin_pitch*sin_hdg + cos_roll*cos_hdg; - trans[1][2] = cos_roll*sin_pitch*sin_hdg - sin_roll*cos_hdg; - - trans[2][0] = -sin_pitch; - trans[2][1] = sin_roll*cos_pitch; - trans[2][2] = cos_roll*cos_pitch; - - sgdSetVec3( vel_wrt_earth, - - cos_lon*sin_lat*v_north - sin_lon*v_east, - - sin_lon*sin_lat*v_north + cos_lon*v_east, - cos_lat*v_north ); - sgGeodToCart(pos.lat() * SGD_DEGREES_TO_RADIANS, - pos.lon() * SGD_DEGREES_TO_RADIANS, - pos.elev(), rot_pivot_wrt_earth); + vel_wrt_earth = ec2hl.backTransform(SGVec3d(v_north, v_east, 0)); // Now update the position and heading. This will compute new hdg and // roll values required for the rotation speed computation. @@ -202,59 +184,73 @@ void FGAICarrier::update(double dt) { // Only change these values if we are able to compute them safely if (dt < DBL_MIN) - sgdSetVec3( rot_wrt_earth, 0.0, 0.0, 0.0); + rot_wrt_earth = SGVec3d::zeros(); else { - // Compute the change of the euler angles. - double hdg_dot = SGD_DEGREES_TO_RADIANS * (hdg-old_hdg)/dt; - // Always assume that the movement was done by the shorter way. - if (hdg_dot < - SGD_DEGREES_TO_RADIANS * 180) - hdg_dot += SGD_DEGREES_TO_RADIANS * 360; - if (hdg_dot > SGD_DEGREES_TO_RADIANS * 180) - hdg_dot -= SGD_DEGREES_TO_RADIANS * 360; - double pitch_dot = SGD_DEGREES_TO_RADIANS * (pitch-old_pitch)/dt; - // Always assume that the movement was done by the shorter way. - if (pitch_dot < - SGD_DEGREES_TO_RADIANS * 180) - pitch_dot += SGD_DEGREES_TO_RADIANS * 360; - if (pitch_dot > SGD_DEGREES_TO_RADIANS * 180) - pitch_dot -= SGD_DEGREES_TO_RADIANS * 360; - double roll_dot = SGD_DEGREES_TO_RADIANS * (roll-old_roll)/dt; - // Always assume that the movement was done by the shorter way. - if (roll_dot < - SGD_DEGREES_TO_RADIANS * 180) - roll_dot += SGD_DEGREES_TO_RADIANS * 360; - if (roll_dot > SGD_DEGREES_TO_RADIANS * 180) - roll_dot -= SGD_DEGREES_TO_RADIANS * 360; - /*cout << "euler derivatives = " - << roll_dot << " " << pitch_dot << " " << hdg_dot << endl;*/ - - // Now Compute the rotation vector in the carriers coordinate frame - // originating from the euler angle changes. - sgdVec3 body; - body[0] = roll_dot - hdg_dot*sin_pitch; - body[1] = pitch_dot*cos_roll + hdg_dot*sin_roll*cos_pitch; - body[2] = -pitch_dot*sin_roll + hdg_dot*cos_roll*cos_pitch; - - // Transform that back to the horizontal local frame. - sgdVec3 hl; - hl[0] = body[0]*trans[0][0] + body[1]*trans[0][1] + body[2]*trans[0][2]; - hl[1] = body[0]*trans[1][0] + body[1]*trans[1][1] + body[2]*trans[1][2]; - hl[2] = body[0]*trans[2][0] + body[1]*trans[2][1] + body[2]*trans[2][2]; - - // Now we need to project out rotation components ending in speeds in y - // direction in the horizontal local frame. - hl[1] = 0; - - // Transform that to the earth centered frame. - sgdSetVec3(rot_wrt_earth, - - cos_lon*sin_lat*hl[0] - sin_lon*hl[1] - cos_lat*cos_lon*hl[2], - - sin_lon*sin_lat*hl[0] + cos_lon*hl[1] - cos_lat*sin_lon*hl[2], - cos_lat*hl[0] - sin_lat*hl[2]); - } - - UpdateWind(dt); - UpdateFlols(trans); - UpdateElevator(dt, transition_time); -} //end update + // Now here is the finite difference ... + + // Transform that one to the horizontal local coordinate system. + SGQuatd ec2hlNew = SGQuatd::fromLonLatDeg(pos.lon(), pos.lat()); + // compute the new orientation + SGQuatd hl2bodyNew = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll); + // The rotation difference + SGQuatd dOr = inverse(ec2body)*ec2hlNew*hl2bodyNew; + SGVec3d dOrAngleAxis; + dOr.getAngleAxis(dOrAngleAxis); + // divided by the time difference provides a rotation speed vector + dOrAngleAxis /= dt; + + // now rotate the rotation speed vector back into the + // earth centered frames coordinates + dOrAngleAxis = ec2body.backTransform(dOrAngleAxis); +// dOrAngleAxis = hl2body.backTransform(dOrAngleAxis); +// dOrAngleAxis(1) = 0; +// dOrAngleAxis = ec2hl.backTransform(dOrAngleAxis); + rot_wrt_earth = dOrAngleAxis; + } + UpdateWind(dt); + UpdateElevator(dt, transition_time); + + // For the flols reuse some computations done above ... + + // The position of the eyepoint - at least near that ... + SGVec3d eyePos(globals->get_current_view()->get_absolute_view_pos()); + // Add the position offset of the AIModel to gain the earth + // centered position + SGVec3d eyeWrtCarrier = eyePos - cartPos; + // rotate the eyepoint wrt carrier vector into the carriers frame + eyeWrtCarrier = ec2body.transform(eyeWrtCarrier); + // the eyepoints vector wrt the flols position + SGVec3d eyeWrtFlols = eyeWrtCarrier - flols_off; + + // the distance from the eyepoint to the flols + dist = norm(eyeWrtFlols); + + // now the angle, positive angles are upwards + if (fabs(dist) < SGLimits::min()) { + angle = 0; + } else { + double sAngle = -eyeWrtFlols(2)/dist; + sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle)); + angle = SGMiscd::rad2deg(asin(sAngle)); + } + + // set the value of source + if ( angle <= 4.35 && angle > 4.01 ) + source = 1; + else if ( angle <= 4.01 && angle > 3.670 ) + source = 2; + else if ( angle <= 3.670 && angle > 3.330 ) + source = 3; + else if ( angle <= 3.330 && angle > 2.990 ) + source = 4; + else if ( angle <= 2.990 && angle > 2.650 ) + source = 5; + else if ( angle <= 2.650 ) + source = 6; + else + source = 0; +} //end update bool FGAICarrier::init() { if (!FGAIShip::init()) @@ -379,8 +375,8 @@ void FGAICarrier::unbind() { } -bool FGAICarrier::getParkPosition(const string& id, Point3D& geodPos, - double& hdng, sgdVec3 uvw) +bool FGAICarrier::getParkPosition(const string& id, SGGeod& geodPos, + double& hdng, SGVec3d& uvw) { // FIXME: does not yet cover rotation speeds. @@ -389,12 +385,13 @@ bool FGAICarrier::getParkPosition(const string& id, Point3D& geodPos, // Take either the specified one or the first one ... if ((*it).name == id || id.empty()) { ParkPosition ppos = *it; - geodPos = getGeocPosAt(ppos.offset); + SGVec3d cartPos = getCartPosAt(ppos.offset); + geodPos = cartPos; hdng = hdg + ppos.heading_deg; double shdng = sin(ppos.heading_deg * SGD_DEGREES_TO_RADIANS); double chdng = cos(ppos.heading_deg * SGD_DEGREES_TO_RADIANS); double speed_fps = speed*1.6878099; - sgdSetVec3(uvw, chdng*speed_fps, shdng*speed_fps, 0); + uvw = SGVec3d(chdng*speed_fps, shdng*speed_fps, 0); return true; } ++it; @@ -584,160 +581,6 @@ bool FGAICarrier::mark_cat(ssgEntity* e, const list& cat_objects, bool m return found; } - -void FGAICarrier::UpdateFlols(const sgdMat3& trans) { - - float in[3]; - float out[3]; - - double flolsXYZ[3], eyeXYZ[3]; - double lat, lon, alt; - Point3D eyepos; - Point3D flolspos; - -/* cout << "x_offset " << flols_x_offset - << " y_offset " << flols_y_offset - << " z_offset " << flols_z_offset << endl; - - cout << "roll " << roll - << " heading " << hdg - << " pitch " << pitch << endl; - - cout << "carrier lon " << pos[0] - << " lat " << pos[1] - << " alt " << pos[2] << endl; -*/ - - // set the Flols initial position to the carrier position - - flolspos = pos; - -/* cout << "flols lon " << flolspos[0] - << " lat " << flolspos[1] - << " alt " << flolspos[2] << endl; - - // set the offsets in metres - - cout << "flols_x_offset " << flols_x_offset << endl - << "flols_y_offset " << flols_y_offset << endl - << "flols_z_offset " << flols_z_offset << endl; -*/ - - in[0] = flols_off.x(); - in[1] = flols_off.y(); - in[2] = flols_off.z(); - - // multiply the input and transform matrices - out[0] = in[0] * trans[0][0] + in[1] * trans[0][1] + in[2] * trans[0][2]; - out[1] = in[0] * trans[1][0] + in[1] * trans[1][1] + in[2] * trans[1][2]; - out[2] = in[0] * trans[2][0] + in[1] * trans[2][1] + in[2] * trans[2][2]; - - // convert meters to ft to degrees of latitude - out[0] = (out[0] * 3.28083989501) / - (366468.96 - 3717.12 * cos(flolspos[0] * SG_DEGREES_TO_RADIANS)); - - // convert meters to ft to degrees of longitude - out[1] = (out[1] * 3.28083989501) / - (365228.16 * cos(flolspos[1] * SG_DEGREES_TO_RADIANS)); - -/* cout << "lat adjust deg" << out[0] - << " lon adjust deg " << out[1] - << " alt adjust m " << out[2] << endl; -*/ - - // adjust Flols position - flolspos[0] += out[0]; - flolspos[1] += out[1]; - flolspos[2] += out[2]; - - // convert flols position to cartesian co-ordinates - sgGeodToCart(flolspos[1] * SG_DEGREES_TO_RADIANS, - flolspos[0] * SG_DEGREES_TO_RADIANS, - flolspos[2] , flolsXYZ ); - - -/* cout << "flols X " << flolsXYZ[0] - << " Y " << flolsXYZ[1] - << " Z " << flolsXYZ[2] << endl; - - // check the conversion - - sgCartToGeod(flolsXYZ, &lat, &lon, &alt); - - cout << "flols check lon " << lon - << " lat " << lat - << " alt " << alt << endl; -*/ - - // get the current position of the pilot's eyepoint (cartesian coordinates) - sgdCopyVec3( eyeXYZ, globals->get_current_view()->get_absolute_view_pos() ); - -/* cout << "Eye_X " << eyeXYZ[0] - << " Eye_Y " << eyeXYZ[1] - << " Eye_Z " << eyeXYZ[2] << endl; -*/ - - sgCartToGeod(eyeXYZ, &lat, &lon, &alt); - - eyepos[0] = lon * SG_RADIANS_TO_DEGREES; - eyepos[1] = lat * SG_RADIANS_TO_DEGREES; - eyepos[2] = alt; - -/* cout << "eye lon " << eyepos[0] - << " eye lat " << eyepos[1] - << " eye alt " << eyepos[2] << endl; -*/ - - //calculate the distance from eye to flols - dist = sgdDistanceVec3( flolsXYZ, eyeXYZ ); - - //apply an index error - dist -= 100; - - //cout << "distance " << dist << endl; - if ( dist > 5000 ) - return; - - // calculate height above FLOLS - double y = eyepos[2] - flolspos[2]; - - // calculate the angle from the flols to eye - // above the horizontal - // double angle; - - if ( dist != 0 ) - angle = asin( y / dist ); - else - angle = 0.0; - - angle *= SG_RADIANS_TO_DEGREES; - - - // cout << " height " << y << " angle " << angle ; - - // set the value of source - - if ( angle <= 4.35 && angle > 4.01 ) - source = 1; - else if ( angle <= 4.01 && angle > 3.670 ) - source = 2; - else if ( angle <= 3.670 && angle > 3.330 ) - source = 3; - else if ( angle <= 3.330 && angle > 2.990 ) - source = 4; - else if ( angle <= 2.990 && angle > 2.650 ) - source = 5; - else if ( angle <= 2.650 ) - source = 6; - else - source = 0; - - // cout << " source " << source << endl; - -} // end updateflols - - - // find relative wind void FGAICarrier::UpdateWind( double dt) { diff --git a/src/AIModel/AICarrier.hxx b/src/AIModel/AICarrier.hxx index cf9c5cd33..c633bd4ef 100644 --- a/src/AIModel/AICarrier.hxx +++ b/src/AIModel/AICarrier.hxx @@ -87,7 +87,6 @@ public: void getVelocityWrtEarth(sgdVec3& v, sgdVec3& omega, sgdVec3& pivot); virtual void bind(); virtual void unbind(); - void UpdateFlols ( const sgdMat3& trans ); void UpdateWind ( double dt ); void setWind_from_east( double fps ); void setWind_from_north( double fps ); @@ -105,8 +104,8 @@ public: virtual const char* getTypeString(void) const { return "carrier"; } - bool getParkPosition(const string& id, Point3D& geodPos, - double& hdng, sgdVec3 uvw); + bool getParkPosition(const string& id, SGGeod& geodPos, + double& hdng, SGVec3d& uvw); private: /// Is sufficient to be private, stores a possible position to place an @@ -115,11 +114,11 @@ private: ParkPosition(const ParkPosition& pp) : name(pp.name), offset(pp.offset), heading_deg(pp.heading_deg) {} - ParkPosition(const string& n, const Point3D& off = Point3D(), double heading = 0) + ParkPosition(const string& n, const SGVec3d& off = SGVec3d(), double heading = 0) : name(n), offset(off), heading_deg(heading) {} string name; - Point3D offset; + SGVec3d offset; double heading_deg; }; @@ -143,13 +142,12 @@ private: string sign; // The sign of this carrier. // Velocity wrt earth. - sgdVec3 vel_wrt_earth; - sgdVec3 rot_wrt_earth; - sgdVec3 rot_pivot_wrt_earth; - + SGVec3d vel_wrt_earth; + SGVec3d rot_wrt_earth; + SGVec3d rot_pivot_wrt_earth; // these describe the flols - Point3D flols_off; + SGVec3d flols_off; double dist; // the distance of the eyepoint from the flols double angle; diff --git a/src/AIModel/AIManager.cxx b/src/AIModel/AIManager.cxx index 5fe3d3dc2..cfe7276b7 100644 --- a/src/AIModel/AIManager.cxx +++ b/src/AIModel/AIManager.cxx @@ -269,8 +269,7 @@ void FGAIManager::setModel(const string& path, ssgBranch *model) } bool FGAIManager::getStartPosition(const string& id, const string& pid, - Point3D& geodPos, double& heading, - sgdVec3 uvw) + SGGeod& geodPos, double& hdng, SGVec3d& uvw) { bool found = false; SGPropertyNode* root = fgGetNode("sim/ai", true); @@ -294,7 +293,7 @@ bool FGAIManager::getStartPosition(const string& id, const string& pid, SGSharedPtr carrier = new FGAICarrier; carrier->readFromScenario(scEntry); - if (carrier->getParkPosition(pid, geodPos, heading, uvw)) { + if (carrier->getParkPosition(pid, geodPos, hdng, uvw)) { found = true; break; } diff --git a/src/AIModel/AIManager.hxx b/src/AIModel/AIManager.hxx index 9686ba009..ce065b09b 100644 --- a/src/AIModel/AIManager.hxx +++ b/src/AIModel/AIManager.hxx @@ -105,7 +105,7 @@ public: static SGPropertyNode_ptr loadScenarioFile(const std::string& filename); static bool getStartPosition(const string& id, const string& pid, - Point3D& geodPos, double& hdng, sgdVec3 uvw); + SGGeod& geodPos, double& hdng, SGVec3d& uvw); private: diff --git a/src/AIModel/AIMultiplayer.cxx b/src/AIModel/AIMultiplayer.cxx index 023ba185c..c8c2a2cca 100755 --- a/src/AIModel/AIMultiplayer.cxx +++ b/src/AIModel/AIMultiplayer.cxx @@ -280,8 +280,8 @@ void FGAIMultiplayer::update(double dt) // The quaternion rotating from the earth centered frame to the // horizontal local frame - SGQuatf qEc2Hl = SGQuatf::fromLonLat((float)geod.getLongitudeRad(), - (float)geod.getLatitudeRad()); + SGQuatf qEc2Hl = SGQuatf::fromLonLatRad((float)geod.getLongitudeRad(), + (float)geod.getLatitudeRad()); // The orientation wrt the horizontal local frame SGQuatf hlOr = conj(qEc2Hl)*ecOrient; float hDeg, pDeg, rDeg; diff --git a/src/FDM/YASim/YASim.cxx b/src/FDM/YASim/YASim.cxx index b95037dcf..021931f1b 100644 --- a/src/FDM/YASim/YASim.cxx +++ b/src/FDM/YASim/YASim.cxx @@ -225,8 +225,8 @@ void YASim::update(double dt) void YASim::copyToYASim(bool copyState) { // Physical state - float lat = get_Latitude(); - float lon = get_Longitude(); + double lat = get_Latitude(); + double lon = get_Longitude(); float alt = get_Altitude() * FT2M; float roll = get_Phi(); float pitch = get_Theta(); diff --git a/src/Main/fg_init.cxx b/src/Main/fg_init.cxx index 491dd1edf..5af69186e 100644 --- a/src/Main/fg_init.cxx +++ b/src/Main/fg_init.cxx @@ -935,13 +935,13 @@ static bool fgSetPosFromNAV( const string& id, const double& freq ) { static bool fgSetPosFromCarrier( const string& carrier, const string& posid ) { // set initial position from runway and heading - Point3D geodPos; + SGGeod geodPos; double heading; - sgdVec3 uvw; + SGVec3d uvw; if (FGAIManager::getStartPosition(carrier, posid, geodPos, heading, uvw)) { - double lon = geodPos.lon() * SGD_RADIANS_TO_DEGREES; - double lat = geodPos.lat() * SGD_RADIANS_TO_DEGREES; - double alt = geodPos.elev() * SG_METER_TO_FEET; + double lon = geodPos.getLongitudeDeg(); + double lat = geodPos.getLatitudeDeg(); + double alt = geodPos.getElevationFt(); SG_LOG( SG_GENERAL, SG_INFO, "Attempting to set starting position for " << carrier << " at lat = " << lat << ", lon = " << lon @@ -957,12 +957,12 @@ static bool fgSetPosFromCarrier( const string& carrier, const string& posid ) { fgSetDouble("/orientation/heading-deg", heading); fgSetString("/sim/presets/speed-set", "UVW"); - fgSetDouble("/velocities/uBody-fps", uvw[0]); - fgSetDouble("/velocities/vBody-fps", uvw[1]); - fgSetDouble("/velocities/wBody-fps", uvw[2]); - fgSetDouble("/sim/presets/uBody-fps", uvw[0]); - fgSetDouble("/sim/presets/vBody-fps", uvw[1]); - fgSetDouble("/sim/presets/wBody-fps", uvw[2]); + fgSetDouble("/velocities/uBody-fps", uvw(0)); + fgSetDouble("/velocities/vBody-fps", uvw(1)); + fgSetDouble("/velocities/wBody-fps", uvw(2)); + fgSetDouble("/sim/presets/uBody-fps", uvw(0)); + fgSetDouble("/sim/presets/vBody-fps", uvw(1)); + fgSetDouble("/sim/presets/wBody-fps", uvw(2)); fgSetBool("/sim/presets/onground", true); diff --git a/src/Network/multiplay.cxx b/src/Network/multiplay.cxx index 00d6dcefa..ea286926b 100644 --- a/src/Network/multiplay.cxx +++ b/src/Network/multiplay.cxx @@ -160,7 +160,7 @@ bool FGMultiplay::process() { // The quaternion rotating from the earth centered frame to the // horizontal local frame - SGQuatf qEc2Hl = SGQuatf::fromLonLat((float)lon, (float)lat); + SGQuatf qEc2Hl = SGQuatf::fromLonLatRad((float)lon, (float)lat); // The orientation wrt the horizontal local frame float heading = ifce->get_Psi(); float pitch = ifce->get_Theta();