From: Erik Hofman <erik@ehofman.com>
Date: Wed, 29 Jan 2014 12:45:19 +0000 (+0100)
Subject: Integrate the latest terrain handling code
X-Git-Url: https://git.mxchange.org/?a=commitdiff_plain;h=7bdd1d617d763a6360bc5354603a5a4f85b5aed5;p=flightgear.git

Integrate the latest terrain handling code
---

diff --git a/src/FDM/JSBSim/input_output/string_utilities.h b/src/FDM/JSBSim/input_output/string_utilities.h
index 9bb120b04..d25e258b3 100644
--- a/src/FDM/JSBSim/input_output/string_utilities.h
+++ b/src/FDM/JSBSim/input_output/string_utilities.h
@@ -73,14 +73,10 @@ CLASS DECLARATION
   extern std::string& to_lower(std::string& str);
   extern bool is_number(const std::string& str);
   std::vector <std::string> split(std::string str, char d);
-
-// libc++ has these as built-ins for all C++ language versions
-#if !defined(_LIBCPP_VERSION)
+/* Comment out to_string functions when they are defined already - C++ 11 defines these */
   extern std::string to_string(int);
   extern std::string to_string(double);
   extern std::string to_string(float);
-#endif
-
   extern std::string replace(std::string str, const std::string& old, const std::string& newstr);
 #else
   #include <cctype>
diff --git a/src/FDM/JSBSim/models/FGGroundReactions.cpp b/src/FDM/JSBSim/models/FGGroundReactions.cpp
index 42a66f293..b628a49f8 100644
--- a/src/FDM/JSBSim/models/FGGroundReactions.cpp
+++ b/src/FDM/JSBSim/models/FGGroundReactions.cpp
@@ -49,14 +49,16 @@ using namespace std;
 
 namespace JSBSim {
 
-IDENT(IdSrc,"$Id: FGGroundReactions.cpp,v 1.47 2014/01/13 10:46:07 ehofman Exp $");
+IDENT(IdSrc,"$Id: FGGroundReactions.cpp,v 1.49 2014/01/28 09:42:21 ehofman Exp $");
 IDENT(IdHdr,ID_GROUNDREACTIONS);
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex)
+FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) :
+   FGModel(fgex),
+   FGSurface(fgex)
 {
   Name = "FGGroundReactions";
 
@@ -261,6 +263,9 @@ string FGGroundReactions::GetGroundReactionValues(string delimeter) const
 
 void FGGroundReactions::bind(void)
 {
+  eSurfaceType = ctGROUND;
+  FGSurface::bind();
+
   PropertyManager->Tie("gear/num-units", this, &FGGroundReactions::GetNumGearUnits);
   PropertyManager->Tie("gear/wow", this, &FGGroundReactions::GetWOW);
 }
diff --git a/src/FDM/JSBSim/models/FGLGear.cpp b/src/FDM/JSBSim/models/FGLGear.cpp
index 631d42c9e..dbd590dac 100644
--- a/src/FDM/JSBSim/models/FGLGear.cpp
+++ b/src/FDM/JSBSim/models/FGLGear.cpp
@@ -62,7 +62,7 @@ DEFINITIONS
 GLOBAL DATA
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-IDENT(IdSrc,"$Id: FGLGear.cpp,v 1.111 2014/01/16 14:00:30 ehofman Exp $");
+IDENT(IdSrc,"$Id: FGLGear.cpp,v 1.114 2014/01/28 09:42:21 ehofman Exp $");
 IDENT(IdHdr,ID_LGEAR);
 
 // Body To Structural (body frame is rotated 180 deg about Y and lengths are given in
@@ -75,6 +75,7 @@ CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number, const struct Inputs& inputs) :
+  FGSurface(fdmex, number),
   FGForce(fdmex),
   in(inputs),
   GearNumber(number),
@@ -286,12 +287,12 @@ const FGColumnVector3& FGLGear::GetBodyForces(FGSurface *surface)
     // not compressed) with respect to the ground level
     double height = gearLoc.GetContactPoint(t, contact, normal, terrainVel, dummy);
 
-    double maxForce = DBL_MAX;
-    bool isSolid = true;
+    // Does this surface contact point interact with another surface?
     if (surface) {
       height -= (*surface).GetBumpHeight();
-      frictionFactor = (*surface).GetFrictionFactor();
-      maxForce = (*surface).GetMaximumForce();
+      staticFFactor = (*surface).GetStaticFFactor();
+      rollingFFactor = (*surface).GetRollingFFactor();
+      maximumForce = (*surface).GetMaximumForce();
       isSolid =  (*surface).GetSolid();
     }
 
@@ -315,7 +316,7 @@ const FGColumnVector3& FGLGear::GetBodyForces(FGSurface *surface)
           compressLength = LGearProj > 0.0 ? height * normalZ / LGearProj : 0.0;
           vWhlDisplVec = mTGear * FGColumnVector3(0., 0., -compressLength);
         } else {
-          // Gears don't (or hardly) compress is liquids
+          // Gears don't (or hardly) compress in liquids
           compressLength = 0.0;
           vWhlDisplVec = 0.0 * vGroundNormal;
         }
@@ -353,7 +354,7 @@ const FGColumnVector3& FGLGear::GetBodyForces(FGSurface *surface)
           compressSpeed /= LGearProj;
       }
 
-      ComputeVerticalStrutForce(maxForce);
+      ComputeVerticalStrutForce();
 
       // Compute the friction coefficients in the wheel ground plane.
       if (eContactType == ctBOGEY) {
@@ -575,10 +576,10 @@ void FGLGear::CrashDetect(void)
 
 void FGLGear::ComputeBrakeForceCoefficient(void)
 {
-  BrakeFCoeff = frictionFactor * rollingFCoeff;
+  BrakeFCoeff = rollingFFactor * rollingFCoeff;
 
   if (eBrakeGrp != bgNone)
-    BrakeFCoeff += in.BrakePos[eBrakeGrp] * frictionFactor * (staticFCoeff - rollingFCoeff);
+    BrakeFCoeff += in.BrakePos[eBrakeGrp] * staticFFactor * (staticFCoeff - rollingFCoeff);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -599,7 +600,7 @@ void FGLGear::ComputeSideForceCoefficient(void)
     double StiffSlip = Stiffness*WheelSlip;
     FCoeff = Peak * sin(Shape*atan(StiffSlip - Curvature*(StiffSlip - atan(StiffSlip))));
   }
-  FCoeff *= frictionFactor;
+  FCoeff *= staticFFactor;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -609,7 +610,7 @@ void FGLGear::ComputeSideForceCoefficient(void)
 // possibly give a "rebound damping factor" that differs from the compression
 // case.
 
-void FGLGear::ComputeVerticalStrutForce(double maxForce)
+void FGLGear::ComputeVerticalStrutForce()
 {
   double springForce = 0;
   double dampForce = 0;
@@ -636,8 +637,8 @@ void FGLGear::ComputeVerticalStrutForce(double maxForce)
     }
 
     StrutForce = min(springForce + dampForce, (double)0.0);
-    if (StrutForce > maxForce) {
-      StrutForce = maxForce;
+    if (StrutForce > maximumForce) {
+      StrutForce = maximumForce;
       compressLength = -StrutForce / kSpring;
     }
   }
@@ -691,7 +692,7 @@ void FGLGear::ComputeJacobian(const FGColumnVector3& vWhlContactVec)
     LMultiplier[ftDynamic].ForceJacobian = mT * velocityDirection;
     LMultiplier[ftDynamic].MomentJacobian = vWhlContactVec * LMultiplier[ftDynamic].ForceJacobian;
     LMultiplier[ftDynamic].Max = 0.;
-    LMultiplier[ftDynamic].Min = -fabs(frictionFactor * dynamicFCoeff * vFn(eZ));
+    LMultiplier[ftDynamic].Min = -fabs(staticFFactor * dynamicFCoeff * vFn(eZ));
 
     // The Lagrange multiplier value obtained from the previous iteration is kept
     // This is supposed to accelerate the convergence of the projected Gauss-Seidel
@@ -719,7 +720,7 @@ void FGLGear::ComputeJacobian(const FGColumnVector3& vWhlContactVec)
       LMultiplier[ftSide].Max = fabs(FCoeff * vFn(eZ));
       break;
     case ctSTRUCTURE:
-      LMultiplier[ftRoll].Max = fabs(staticFCoeff * vFn(eZ));
+      LMultiplier[ftRoll].Max = fabs(staticFFactor * staticFCoeff * vFn(eZ));
       LMultiplier[ftSide].Max = LMultiplier[ftRoll].Max;
       break;
     }
@@ -773,14 +774,17 @@ void FGLGear::bind(void)
 
   switch(eContactType) {
   case ctBOGEY:
+    eSurfaceType = FGSurface::ctBOGEY;
     base_property_name = CreateIndexedPropertyName("gear/unit", GearNumber);
     break;
   case ctSTRUCTURE:
+    eSurfaceType = FGSurface::ctSTRUCTURE;
     base_property_name = CreateIndexedPropertyName("contact/unit", GearNumber);
     break;
   default:
     return;
   }
+  FGSurface::bind();
 
   property_name = base_property_name + "/WOW";
   PropertyManager->Tie( property_name.c_str(), &WOW );
diff --git a/src/FDM/JSBSim/models/FGLGear.h b/src/FDM/JSBSim/models/FGLGear.h
index 791a6a30a..ed0fb862a 100644
--- a/src/FDM/JSBSim/models/FGLGear.h
+++ b/src/FDM/JSBSim/models/FGLGear.h
@@ -49,7 +49,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_LGEAR "$Id: FGLGear.h,v 1.61 2014/01/16 14:00:42 ehofman Exp $"
+#define ID_LGEAR "$Id: FGLGear.h,v 1.64 2014/01/28 09:42:21 ehofman Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -178,7 +178,7 @@ CLASS DOCUMENTATION
         </contact>
 @endcode
     @author Jon S. Berndt
-    @version $Id: FGLGear.h,v 1.61 2014/01/16 14:00:42 ehofman Exp $
+    @version $Id: FGLGear.h,v 1.64 2014/01/28 09:42:21 ehofman Exp $
     @see Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
      NASA-Ames", NASA CR-2497, January 1975
     @see Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
@@ -191,7 +191,7 @@ CLASS DOCUMENTATION
 CLASS DECLARATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-class FGLGear : public FGForce, protected FGSurface
+class FGLGear : protected FGSurface, public FGForce
 {
 public:
   struct Inputs {
@@ -237,7 +237,9 @@ public:
   /// Destructor
   ~FGLGear();
 
-  /// The Force vector for this gear
+  /** The Force vector for this gear
+      @param surface another surface to interact with, set to NULL for none.
+   */
   const FGColumnVector3& GetBodyForces(FGSurface *surface = NULL);
 
   /// Gets the location of the gear in Body axes
@@ -334,6 +336,7 @@ private:
   double bDampRebound;
   double compressLength;
   double compressSpeed;
+  double rollingFCoeff;
   double Stiffness, Shape, Peak, Curvature; // Pacejka factors
   double BrakeFCoeff;
   double maxCompLen;
@@ -377,7 +380,7 @@ private:
   void ComputeSteeringAngle(void);
   void ComputeSlipAngle(void);
   void ComputeSideForceCoefficient(void);
-  void ComputeVerticalStrutForce(double maxForce = DBL_MAX);
+  void ComputeVerticalStrutForce(void);
   void ComputeGroundFrame(void);
   void ComputeJacobian(const FGColumnVector3& vWhlContactVec);
   void UpdateForces(void);
diff --git a/src/FDM/JSBSim/models/FGSurface.cpp b/src/FDM/JSBSim/models/FGSurface.cpp
index 88fec297e..f91b57ba3 100644
--- a/src/FDM/JSBSim/models/FGSurface.cpp
+++ b/src/FDM/JSBSim/models/FGSurface.cpp
@@ -38,13 +38,14 @@ HISTORY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include "FGSurface.h"
+#include "input_output/FGPropertyManager.h"
+#include "models/FGSurface.h"
 
 using namespace std;
 
 namespace JSBSim {
 
-IDENT(IdSrc,"$Id: FGSurface.cpp,v 1.2 2014/01/16 12:31:50 ehofman Exp $");
+IDENT(IdSrc,"$Id: FGSurface.cpp,v 1.5 2014/01/28 09:42:21 ehofman Exp $");
 IDENT(IdHdr,ID_SURFACE);
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -55,28 +56,64 @@ GLOBAL DECLARATIONS
 CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-FGSurface::FGSurface()
+FGSurface::FGSurface(FGFDMExec* fdmex, int number) :
+   contactNumber(number)
 {
-  frictionFactor = 1.0;
-  rollingFCoeff = 0.02;
-  MaximumForce = DBL_MAX;
-  bumpiness = 0.0;
-  isSolid = true;
+  eSurfaceType = ctBOGEY;
+  _PropertyManager = fdmex->GetPropertyManager();
+  resetValues();
 }
 
-FGSurface::FGSurface(FGFDMExec* fdmex)
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+FGSurface::~FGSurface()
 {
-  frictionFactor = 1.0;
-  rollingFCoeff = 0.02;
-  MaximumForce = DBL_MAX;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGSurface::resetValues(void)
+{
+  staticFFactor = 1.0;
+  rollingFFactor = 1.0;
+  maximumForce = DBL_MAX;
   bumpiness = 0.0;
   isSolid = true;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-FGSurface::~FGSurface()
+void FGSurface::bind(void)
 {
+  if (!_PropertyManager) return;
+
+  string base_property_name;
+  string property_name;
+
+  switch(eSurfaceType) {
+  case ctBOGEY:
+    base_property_name = _CreateIndexedPropertyName("gear/unit", contactNumber);
+    break;
+  case ctSTRUCTURE:
+    base_property_name = _CreateIndexedPropertyName("contact/unit", contactNumber);
+    break;
+  case ctGROUND:
+    base_property_name = "ground";
+    break;
+  default:
+    return;
+  }
+ 
+  property_name = base_property_name + "/solid";
+  _PropertyManager->Tie( property_name.c_str(), &isSolid);
+  property_name = base_property_name + "/bumpiness";
+  _PropertyManager->Tie( property_name.c_str(), &bumpiness);
+  property_name = base_property_name + "/maximum-force-lbs";
+  _PropertyManager->Tie( property_name.c_str(), &maximumForce);
+  property_name = base_property_name + "/rolling_friction-factor";
+  _PropertyManager->Tie( property_name.c_str(), &rollingFFactor);
+  property_name = base_property_name + "/static-friction-factor";
+  _PropertyManager->Tie( property_name.c_str(), &staticFFactor);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -105,15 +142,24 @@ float FGSurface::GetBumpHeight()
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+string FGSurface::_CreateIndexedPropertyName(const string& Property, int index)
+{
+  std::ostringstream buf;
+  buf << Property << '[' << index << ']';
+  return buf.str();
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 string FGSurface::GetSurfaceStrings(string delimeter) const
 {
   std::ostringstream buf;
 
-  buf << "FrictionFactor" << delimeter
-      << "RollingFriction" << delimeter
-      << "MaximumForce" << delimeter
-      << "Bumpiness" << delimeter
-      << "IsSolid";
+  buf << "staticFFactor" << delimeter
+      << "rollingFFactor" << delimeter
+      << "maximumForce" << delimeter
+      << "bumpiness" << delimeter
+      << "isSolid";
   
   return buf.str();
 }
@@ -124,14 +170,15 @@ string FGSurface::GetSurfaceValues(string delimeter) const
 {
   std::ostringstream buf;
  
-  buf << GetFrictionFactor() << delimeter
-      << GetRollingFriction() << delimeter
-      << GetMaximumForce() << delimeter
-      << GetBumpiness() << delimeter
-      << (GetSolid() ? "1" : "0");
+  buf << staticFFactor << delimeter
+      << rollingFFactor << delimeter
+      << maximumForce << delimeter
+      << bumpiness << delimeter
+      << (isSolid ? "1" : "0");
 
   return buf.str();
 }
 
-}
+} // namespace JSBSim
+
 
diff --git a/src/FDM/JSBSim/models/FGSurface.h b/src/FDM/JSBSim/models/FGSurface.h
index 232c59c62..f05819fcc 100644
--- a/src/FDM/JSBSim/models/FGSurface.h
+++ b/src/FDM/JSBSim/models/FGSurface.h
@@ -44,7 +44,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_SURFACE "$Id: FGSurface.h,v 1.2 2014/01/16 12:31:50 ehofman Exp $"
+#define ID_SURFACE "$Id: FGSurface.h,v 1.5 2014/01/28 09:42:21 ehofman Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -68,21 +68,29 @@ class FGSurface
 {
 public:
 
-  /// Constructor
-  FGSurface();
+  enum ContactType {ctBOGEY, ctSTRUCTURE, ctGROUND};
 
   /// Constructor
-  FGSurface(FGFDMExec* fdmex);
+  FGSurface(FGFDMExec* fdmex, int number = -1);
+
   /// Destructor
   ~FGSurface();
 
-  /// Sets the friction factor of the surface area
-  void SetFrictionFactor(double friction) { frictionFactor = friction; }
+  void bind(void);
+
+  /// Reset all surface values to a default
+  void resetValues(void);
+
+  /// Sets the static friction factor of the surface area
+  void SetStaticFFactor(double friction) { staticFFactor = friction; }
+
+  /// Sets the rolling friction factor of the surface area
+  void SetRollingFFactor(double friction) { rollingFFactor = friction; }
 
-  /// Sets the load capacity of the surface area
-  void SetMaximumForce(double force ) { MaximumForce = force; }
+  /// Sets the maximum force for the surface area
+  void SetMaximumForce(double force) { maximumForce = force; }
 
-  /// Sets the bumpiness factor associated with the surface
+  /// Sets the normalized bumpiness factor associated with the surface
   void SetBumpiness(double bump) { bumpiness = bump; }
 
   /// Sets the surface is a solid flag value
@@ -94,26 +102,20 @@ public:
   }
 
 
-  /// Gets the friction factor of the surface area
-  double GetFrictionFactor(void) const { return frictionFactor; }
+  /// Gets the static friction factor of the surface area
+  double GetStaticFFactor(void) { return staticFFactor; }
 
-  /// Gets the rolling friction of the surface area
-  double GetRollingFriction(void) const { return rollingFCoeff; }
+  /// Gets the rolling friction factor of the surface area
+  double GetRollingFFactor(void) { return rollingFFactor; }
 
-  /// Gets the static friction of the surface area
-  double GetStaticFriction(void) const { return staticFCoeff; }
+  /// Gets the maximum force of the surface area
+  double GetMaximumForce(void) { return maximumForce; }
 
-  /// Gets the dynamic friction of the surface area
-  double GetDynamicFriction(void) const { return dynamicFCoeff; }
-
-  /// Gets the maximum force for this surface point
-  double GetMaximumForce(void) const { return MaximumForce; }
-
-  /// Gets the bumpiness factor associated with the surface
-  double GetBumpiness(void) const { return bumpiness; }
+  /// Gets the normalized bumpiness factor associated with the surface
+  double GetBumpiness(void) { return bumpiness; }
 
   /// Gets the surface is a solid flag value
-  bool   GetSolid(void) const { return isSolid; }
+  bool GetSolid(void) { return isSolid; }
 
   /// Returns the height of the bump at the provided offset
   float  GetBumpHeight();
@@ -122,14 +124,21 @@ public:
   std::string GetSurfaceValues(std::string delimeter) const;
 
 protected:
-  double staticFCoeff, dynamicFCoeff, rollingFCoeff;
-  double frictionFactor;
-  double MaximumForce;
+  ContactType eSurfaceType;
+  double staticFFactor, rollingFFactor;
+  double maximumForce;
   double bumpiness;
   bool isSolid;
 
+  double staticFCoeff, dynamicFCoeff;
+
 private:
+  int contactNumber;
   double pos[3];
+
+  FGPropertyManager* _PropertyManager;
+
+  static std::string _CreateIndexedPropertyName(const std::string& Property, int index);
 };
 
 }