flightgear/src/FDM/groundcache.cxx

// groundcache.cxx -- carries a small subset of the scenegraph near the vehicle
//
// Written by Mathias Froehlich, started Nov 2004.
//
// Copyright (C) 2004  Mathias Froehlich - Mathias.Froehlich@web.de
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
//
// $Id$

#ifdef HAVE_CONFIG_H
#  include "config.h"
#endif

#include <float.h>

#include <plib/sg.h>
#include <osg/CullFace>
#include <osg/Drawable>
#include <osg/Geode>
#include <osg/Geometry>
#include <osg/TriangleFunctor>

#include <simgear/sg_inlines.h>
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/scene/material/mat.hxx>
#include <simgear/scene/material/matlib.hxx>
#include <simgear/scene/util/SGNodeMasks.hxx>

#include <Main/globals.hxx>
#include <Scenery/scenery.hxx>
#include <Scenery/tilemgr.hxx>
#include <AIModel/AICarrier.hxx>

#include "flight.hxx"
#include "groundcache.hxx"

static inline bool
fgdRayTriangle(SGVec3d& x, const SGVec3d& point, const SGVec3d& dir,
               const SGVec3d v[3])
{
  double eps = 1e-4;
  // Method based on the observation that we are looking for a
  // point x that can be expressed in terms of the triangle points
  //  x = p_0 + \mu_1*(p_1 - p_0) + \mu_2*(p_2 - p_0)
  // with 0 <= \mu_1, \mu_2 and \mu_1 + \mu_2 <= 1.
  // OTOH it could be expressed in terms of the ray
  //  x = point + \lambda*dir
  // Now we can compute \mu_i and \lambda.
  // define
  SGVec3d d1 = v[1] - v[0];
  SGVec3d d2 = v[2] - v[0];
  SGVec3d b = point - v[0];
  
  // the vector in normal direction, but not normalized
  SGVec3d d1crossd2 = cross(d1, d2);
  
  double denom = -dot(dir, d1crossd2);
  double signDenom = copysign(1, denom);
  // return if paralell ??? FIXME what if paralell and in plane?
  // may be we are ok below than anyway??
  // if (SGMiscd::abs(denom) <= SGLimitsd::min())
  //   return false;
  
  // Now \lambda would read
  //   lambda = 1/denom*dot(b, d1crossd2);
  // To avoid an expensive division we multiply by |denom|
  double lambdaDenom = signDenom*dot(b, d1crossd2);
  if (lambdaDenom < 0)
    return false;
  // For line segment we would test against
  // if (1 < lambda)
  //   return false;
  // with the original lambda. The multiplied test would read
  // if (absDenom < lambdaDenom)
  //   return false;

  double absDenom = fabs(denom);
  double absDenomEps = absDenom*eps;
  
  SGVec3d bcrossr = cross(b, dir);
  // double mu1 = 1/denom*dot(d2, bcrossr);
  double mu1 = signDenom*dot(d2, bcrossr);
  if (mu1 < -absDenomEps)
    return false;
  // double mu2 = -1/denom*dot(d1, bcrossr);
  // if (mu2 < -eps)
  //   return false;
  double mmu2 = signDenom*dot(d1, bcrossr);
  if (mmu2 > absDenomEps)
    return false;
  
  if (mu1 - mmu2 > absDenom + absDenomEps)
    return false;

  x = point;
  // if we have survived here it could only happen with denom == 0
  // that the point is already in plane. Then return the origin ...
  if (SGLimitsd::min() < absDenom)
    x += (lambdaDenom/absDenom)*dir;

  return true;
}

static inline bool
fgdPointInTriangle( const SGVec3d& point, const SGVec3d tri[3] )
{
    SGVec3d dif;

    // Some tolerance in meters we accept a point to be outside of the triangle
    // and still return that it is inside.
    SGDfloat min, max;
    // punt if outside bouding cube
    SG_MIN_MAX3 ( min, max, tri[0][0], tri[1][0], tri[2][0] );
    if( (point[0] < min) || (point[0] > max) )
        return false;
    dif[0] = max - min;

    SG_MIN_MAX3 ( min, max, tri[0][1], tri[1][1], tri[2][1] );
    if( (point[1] < min) || (point[1] > max) )
        return false;
    dif[1] = max - min;

    SG_MIN_MAX3 ( min, max, tri[0][2], tri[1][2], tri[2][2] );
    if( (point[2] < min) || (point[2] > max) )
        return false;
    dif[2] = max - min;

    // drop the smallest dimension so we only have to work in 2d.
    SGDfloat min_dim = SG_MIN3 (dif[0], dif[1], dif[2]);
    SGDfloat x1, y1, x2, y2, x3, y3, rx, ry;
    if ( fabs(min_dim-dif[0]) <= DBL_EPSILON ) {
        // x is the smallest dimension
        x1 = point[1];
        y1 = point[2];
        x2 = tri[0][1];
        y2 = tri[0][2];
        x3 = tri[1][1];
        y3 = tri[1][2];
        rx = tri[2][1];
        ry = tri[2][2];
    } else if ( fabs(min_dim-dif[1]) <= DBL_EPSILON ) {
        // y is the smallest dimension
        x1 = point[0];
        y1 = point[2];
        x2 = tri[0][0];
        y2 = tri[0][2];
        x3 = tri[1][0];
        y3 = tri[1][2];
        rx = tri[2][0];
        ry = tri[2][2];
    } else if ( fabs(min_dim-dif[2]) <= DBL_EPSILON ) {
        // z is the smallest dimension
        x1 = point[0];
        y1 = point[1];
        x2 = tri[0][0];
        y2 = tri[0][1];
        x3 = tri[1][0];
        y3 = tri[1][1];
        rx = tri[2][0];
        ry = tri[2][1];
    } else {
        // all dimensions are really small so lets call it close
        // enough and return a successful match
        return true;
    }

    // check if intersection point is on the same side of p1 <-> p2 as p3
    SGDfloat tmp = (y2 - y3);
    SGDfloat tmpn = (x2 - x3);
    int side1 = SG_SIGN (tmp * (rx - x3) + (y3 - ry) * tmpn);
    int side2 = SG_SIGN (tmp * (x1 - x3) + (y3 - y1) * tmpn);
    if ( side1 != side2 ) {
        // printf("failed side 1 check\n");
        return false;
    }

    // check if intersection point is on correct side of p2 <-> p3 as p1
    tmp = (y3 - ry);
    tmpn = (x3 - rx);
    side1 = SG_SIGN (tmp * (x2 - rx) + (ry - y2) * tmpn);
    side2 = SG_SIGN (tmp * (x1 - rx) + (ry - y1) * tmpn);
    if ( side1 != side2 ) {
        // printf("failed side 2 check\n");
        return false;
    }

    // check if intersection point is on correct side of p1 <-> p3 as p2
    tmp = (y2 - ry);
    tmpn = (x2 - rx);
    side1 = SG_SIGN (tmp * (x3 - rx) + (ry - y3) * tmpn);
    side2 = SG_SIGN (tmp * (x1 - rx) + (ry - y1) * tmpn);
    if ( side1 != side2 ) {
        // printf("failed side 3  check\n");
        return false;
    }

    return true;
}

// Test if the line given by the point on the line pt_on_line and the
// line direction dir intersects the sphere sp.
// Adapted from plib.
static inline bool
fgdIsectSphereInfLine(const SGVec3d& sphereCenter, double radius,
                      const SGVec3d& pt_on_line, const SGVec3d& dir)
{
  SGVec3d r = sphereCenter - pt_on_line;
  double projectedDistance = dot(r, dir);
  double dist = dot(r, r) - projectedDistance * projectedDistance;
  return dist < radius*radius;
}

template<typename T>
class SGExtendedTriangleFunctor : public osg::TriangleFunctor<T> {
public:
  // Ok, to be complete we should also implement the indexed variants
  // For now this one appears to be enough ...
  void drawArrays(GLenum mode, GLint first, GLsizei count)
  {
    if (_vertexArrayPtr==0 || count==0) return;

    const osg::Vec3* vlast;
    const osg::Vec3* vptr;
    switch(mode) {
    case(GL_LINES):
      vlast = &_vertexArrayPtr[first+count];
      for(vptr=&_vertexArrayPtr[first];vptr<vlast;vptr+=2)
        this->operator()(*(vptr),*(vptr+1),_treatVertexDataAsTemporary);
      break;
    case(GL_LINE_STRIP):
      vlast = &_vertexArrayPtr[first+count-1];
      for(vptr=&_vertexArrayPtr[first];vptr<vlast;++vptr)
        this->operator()(*(vptr),*(vptr+1),_treatVertexDataAsTemporary);
      break;
    case(GL_LINE_LOOP):
      vlast = &_vertexArrayPtr[first+count-1];
      for(vptr=&_vertexArrayPtr[first];vptr<vlast;++vptr)
        this->operator()(*(vptr),*(vptr+1),_treatVertexDataAsTemporary);
      this->operator()(_vertexArrayPtr[first+count-1],
                       _vertexArrayPtr[first],_treatVertexDataAsTemporary);
      break;
    default:
      osg::TriangleFunctor<T>::drawArrays(mode, first, count);
      break;
    }
  }
protected:
  using osg::TriangleFunctor<T>::_vertexArrayPtr;
  using osg::TriangleFunctor<T>::_treatVertexDataAsTemporary;
};

class GroundCacheFillVisitor : public osg::NodeVisitor {
public:
  
  /// class to just redirect triangles to the GroundCacheFillVisitor
  class GroundCacheFill {
  public:
    void setGroundCacheFillVisitor(GroundCacheFillVisitor* gcfv)
    { mGroundCacheFillVisitor = gcfv; }
    
    void operator () (const osg::Vec3& v1, const osg::Vec3& v2,
                      const osg::Vec3& v3, bool)
    { mGroundCacheFillVisitor->addTriangle(v1, v2, v3); }

    void operator () (const osg::Vec3& v1, const osg::Vec3& v2, bool)
    { mGroundCacheFillVisitor->addLine(v1, v2); }
    
  private:
    GroundCacheFillVisitor* mGroundCacheFillVisitor;
  };


  GroundCacheFillVisitor(FGGroundCache* groundCache,
                         const SGVec3d& down, 
                         const SGVec3d& cacheReference,
                         double cacheRadius,
                         double wireCacheRadius) :
    osg::NodeVisitor(osg::NodeVisitor::TRAVERSE_ACTIVE_CHILDREN),
    mGroundCache(groundCache)
  {
    setTraversalMask(SG_NODEMASK_TERRAIN_BIT);
    mDown = down;
    mLocalDown = down;
    sphIsec = true;
    mBackfaceCulling = false;
    mCacheReference = cacheReference;
    mLocalCacheReference = cacheReference;
    mCacheRadius = cacheRadius;
    mWireCacheRadius = wireCacheRadius;

    mTriangleFunctor.setGroundCacheFillVisitor(this);

    mGroundProperty.wire_id = -1;
    mGroundProperty.vel = SGVec3d(0, 0, 0);
    mGroundProperty.rot = SGVec3d(0, 0, 0);
    mGroundProperty.pivot = SGVec3d(0, 0, 0);
  }

  void updateCullMode(osg::StateSet* stateSet)
  {
    if (!stateSet)
      return;

    osg::StateAttribute* stateAttribute;
    stateAttribute = stateSet->getAttribute(osg::StateAttribute::CULLFACE);
    if (!stateAttribute)
      return;
    osg::CullFace* cullFace = static_cast<osg::CullFace*>(stateAttribute);
    mBackfaceCulling = cullFace->getMode() == osg::CullFace::BACK;
  }

  bool enterBoundingSphere(const osg::BoundingSphere& bs)
  {
    if (!bs.valid())
      return false;

    SGVec3d cntr(osg::Vec3d(bs.center())*mLocalToGlobal);
    double rc = bs.radius() + mCacheRadius;
    // Ok, this node might intersect the cache. Visit it in depth.
    double centerDist2 = distSqr(mCacheReference, cntr);
    if (centerDist2 < rc*rc) {
      sphIsec = true;
    } else {
      // Check if the down direction touches the bounding sphere of the node
      // if so, do at least croase agl computations.
      // Ther other thing is that we must check if we are in range of
      // cats or wires
      double rw = bs.radius() + mWireCacheRadius;
      if (rw*rw < centerDist2 &&
          !fgdIsectSphereInfLine(cntr, bs.radius(), mCacheReference, mDown))
        return false;
      sphIsec = false;
    }

    return true;
  }

  bool enterNode(osg::Node& node)
  {
    if (!enterBoundingSphere(node.getBound()))
      return false;

    updateCullMode(node.getStateSet());

    FGGroundCache::GroundProperty& gp = mGroundProperty;
    // get some material information for use in the gear model
    gp.material = globals->get_matlib()->findMaterial(&node);
    if (gp.material) {
      gp.type = gp.material->get_solid() ? FGInterface::Solid : FGInterface::Water;
      return true;
    }
    gp.type = FGInterface::Unknown;
    osg::Referenced* base = node.getUserData();
    if (!base)
      return true;
    FGAICarrierHardware *ud =
      dynamic_cast<FGAICarrierHardware*>(base);
    if (!ud)
      return true;

    switch (ud->type) {
    case FGAICarrierHardware::Wire:
      gp.type = FGInterface::Wire;
      gp.wire_id = ud->id;
      break;
    case FGAICarrierHardware::Catapult:
      gp.type = FGInterface::Catapult;
      break;
    default:
      gp.type = FGInterface::Solid;
      break;
    }
    // Copy the velocity from the carrier class.
    ud->carrier->getVelocityWrtEarth(gp.vel, gp.rot, gp.pivot);
  
    return true;
  }

  void fillWith(osg::Drawable* drawable)
  {
    bool oldSphIsec = sphIsec;
    if (!enterBoundingSphere(drawable->getBound()))
      return;

    bool oldBackfaceCulling = mBackfaceCulling;
    updateCullMode(drawable->getStateSet());

    drawable->accept(mTriangleFunctor);

    mBackfaceCulling = oldBackfaceCulling;
    sphIsec = oldSphIsec;
  }

  virtual void apply(osg::Geode& geode)
  {
    bool oldBackfaceCulling = mBackfaceCulling;
    bool oldSphIsec = sphIsec;
    FGGroundCache::GroundProperty oldGp = mGroundProperty;
    if (!enterNode(geode))
      return;

    for(unsigned i = 0; i < geode.getNumDrawables(); ++i)
      fillWith(geode.getDrawable(i));
    sphIsec = oldSphIsec;
    mGroundProperty = oldGp;
    mBackfaceCulling = oldBackfaceCulling;
  }

  virtual void apply(osg::Group& group)
  {
    bool oldBackfaceCulling = mBackfaceCulling;
    bool oldSphIsec = sphIsec;
    FGGroundCache::GroundProperty oldGp = mGroundProperty;
    if (!enterNode(group))
      return;
    traverse(group);
    sphIsec = oldSphIsec;
    mBackfaceCulling = oldBackfaceCulling;
    mGroundProperty = oldGp;
  }

  virtual void apply(osg::Transform& transform)
  {
    if (!enterNode(transform))
      return;
    bool oldBackfaceCulling = mBackfaceCulling;
    bool oldSphIsec = sphIsec;
    FGGroundCache::GroundProperty oldGp = mGroundProperty;
    /// transform the caches center to local coords
    osg::Matrix oldLocalToGlobal = mLocalToGlobal;
    osg::Matrix oldGlobalToLocal = mGlobalToLocal;
    transform.computeLocalToWorldMatrix(mLocalToGlobal, this);
    transform.computeWorldToLocalMatrix(mGlobalToLocal, this);

    SGVec3d oldLocalCacheReference = mLocalCacheReference;
    mLocalCacheReference.osg() = mCacheReference.osg()*mGlobalToLocal;
    SGVec3d oldLocalDown = mLocalDown;
    mLocalDown.osg() = osg::Matrixd::transform3x3(mDown.osg(), mGlobalToLocal);

    // walk the children
    traverse(transform);

    // Restore that one
    mLocalDown = oldLocalDown;
    mLocalCacheReference = oldLocalCacheReference;
    mLocalToGlobal = oldLocalToGlobal;
    mGlobalToLocal = oldGlobalToLocal;
    sphIsec = oldSphIsec;
    mBackfaceCulling = oldBackfaceCulling;
    mGroundProperty = oldGp;
  }
  
  void addTriangle(const osg::Vec3& v1, const osg::Vec3& v2,
                   const osg::Vec3& v3)
  {
    SGVec3d v[3] = {
      SGVec3d(v1),
      SGVec3d(v2),
      SGVec3d(v3)
    };
    
    // a bounding sphere in the node local system
    SGVec3d boundCenter = (1.0/3)*(v[0] + v[1] + v[2]);
#if 0
    double boundRadius = std::max(norm1(v[0] - boundCenter),
                                  norm1(v[1] - boundCenter));
    boundRadius = std::max(boundRadius, norm1(v[2] - boundCenter));
    // Ok, we take the 1-norm instead of the expensive 2 norm.
    // Therefore we need that scaling factor - roughly sqrt(3)
    boundRadius = 1.733*boundRadius;
#else
    double boundRadius = std::max(distSqr(v[0], boundCenter),
                                  distSqr(v[1], boundCenter));
    boundRadius = std::max(boundRadius, distSqr(v[2], boundCenter));
    boundRadius = sqrt(boundRadius);
#endif

    // if we are not in the downward cylinder bail out
    if (!fgdIsectSphereInfLine(boundCenter, boundRadius + mCacheRadius,
                              mLocalCacheReference, mLocalDown))
      return;

    
    // The normal and plane in the node local coordinate system
    SGVec3d n = normalize(cross(v[1] - v[0], v[2] - v[0]));
    if (0 < dot(mLocalDown, n)) {
      if (mBackfaceCulling) {
        // Surface points downwards, ignore for altitude computations.
        return;
      } else {
        n = -n;
        std::swap(v[1], v[2]);
      }
    }
    
    // Only check if the triangle is in the cache sphere if the plane
    // containing the triangle is near enough
    if (sphIsec && fabs(dot(n, v[0] - mLocalCacheReference)) < mCacheRadius) {
      // Check if the sphere around the vehicle intersects the sphere
      // around that triangle. If so, put that triangle into the cache.
      double r2 = boundRadius + mCacheRadius;
      if (distSqr(boundCenter, mLocalCacheReference) < r2*r2) {
        FGGroundCache::Triangle t;
        for (unsigned i = 0; i < 3; ++i)
          t.vertices[i].osg() = v[i].osg()*mLocalToGlobal;
        t.boundCenter.osg() = boundCenter.osg()*mLocalToGlobal;
        t.boundRadius = boundRadius;
        
        SGVec3d tmp;
        tmp.osg() = osg::Matrixd::transform3x3(n.osg(), mLocalToGlobal);
        t.plane = SGVec4d(tmp[0], tmp[1], tmp[2], -dot(tmp, t.vertices[0]));
        t.velocity = mGroundProperty.vel;
        t.rotation = mGroundProperty.rot;
        t.rotation_pivot = mGroundProperty.pivot - mGroundCache->cache_center;
        t.type = mGroundProperty.type;
        t.material = mGroundProperty.material;
        mGroundCache->triangles.push_back(t);
      }
    }
    
    // In case the cache is empty, we still provide agl computations.
    // But then we use the old way of having a fixed elevation value for
    // the whole lifetime of this cache.
    SGVec4d plane = SGVec4d(n[0], n[1], n[2], -dot(n, v[0]));
    SGVec3d isectpoint;

    if (fgdRayTriangle(isectpoint, mLocalCacheReference, mLocalDown, v)) {
      mGroundCache->found_ground = true;
      isectpoint.osg() = isectpoint.osg()*mLocalToGlobal;
      isectpoint += mGroundCache->cache_center;
      double this_radius = length(isectpoint);
      if (mGroundCache->ground_radius < this_radius) {
        mGroundCache->ground_radius = this_radius;
        mGroundCache->_type = mGroundProperty.type;
        mGroundCache->_material = mGroundProperty.material;
      }
    }
  }
  
  void addLine(const osg::Vec3& v1, const osg::Vec3& v2)
  {
    SGVec3d gv1(osg::Vec3d(v1)*mLocalToGlobal);
    SGVec3d gv2(osg::Vec3d(v2)*mLocalToGlobal);

    SGVec3d boundCenter = 0.5*(gv1 + gv2);
    double boundRadius = length(gv1 - boundCenter);

    if (distSqr(boundCenter, mCacheReference)
        < (boundRadius + mWireCacheRadius)*(boundRadius + mWireCacheRadius) ) {
      if (mGroundProperty.type == FGInterface::Wire) {
        FGGroundCache::Wire wire;
        wire.ends[0] = gv1;
        wire.ends[1] = gv2;
        wire.velocity = mGroundProperty.vel;
        wire.rotation = mGroundProperty.rot;
        wire.rotation_pivot = mGroundProperty.pivot - mGroundCache->cache_center;
        wire.wire_id = mGroundProperty.wire_id;

        mGroundCache->wires.push_back(wire);
      }
      if (mGroundProperty.type == FGInterface::Catapult) {
        FGGroundCache::Catapult cat;
        // Trick to get the ends in the right order.
        // Use the x axis in the original coordinate system. Choose the
        // most negative x-axis as the one pointing forward
        if (v1[0] < v2[0]) {
          cat.start = gv1;
          cat.end = gv2;
        } else {
          cat.start = gv2;
          cat.end = gv1;
        }
        cat.velocity = mGroundProperty.vel;
        cat.rotation = mGroundProperty.rot;
        cat.rotation_pivot = mGroundProperty.pivot - mGroundCache->cache_center;

        mGroundCache->catapults.push_back(cat);
      }
    }
  }

  SGExtendedTriangleFunctor<GroundCacheFill> mTriangleFunctor;
  FGGroundCache* mGroundCache;
  SGVec3d mCacheReference;
  double mCacheRadius;
  double mWireCacheRadius;
  osg::Matrix mLocalToGlobal;
  osg::Matrix mGlobalToLocal;
  SGVec3d mDown;
  SGVec3d mLocalDown;
  SGVec3d mLocalCacheReference;
  bool sphIsec;
  bool mBackfaceCulling;
  FGGroundCache::GroundProperty mGroundProperty;
};

FGGroundCache::FGGroundCache()
{
  cache_center = SGVec3d(0, 0, 0);
  ground_radius = 0.0;
  cache_ref_time = 0.0;
  wire_id = 0;
  reference_wgs84_point = SGVec3d(0, 0, 0);
  reference_vehicle_radius = 0.0;
  found_ground = false;
}

FGGroundCache::~FGGroundCache()
{
}

inline void
FGGroundCache::velocityTransformTriangle(double dt,
                                         FGGroundCache::Triangle& dst,
                                         const FGGroundCache::Triangle& src)
{
  dst = src;

  if (fabs(dt*dot(src.velocity, src.velocity)) < SGLimitsd::epsilon())
    return;

  for (int i = 0; i < 3; ++i) {
    SGVec3d pivotoff = src.vertices[i] - src.rotation_pivot;
    dst.vertices[i] += dt*(src.velocity + cross(src.rotation, pivotoff));
  }
  
  // Transform the plane equation
  SGVec3d pivotoff, vel;
  sgdSubVec3(pivotoff.sg(), dst.plane.sg(), src.rotation_pivot.sg());
  vel = src.velocity + cross(src.rotation, pivotoff);
  dst.plane[3] += dt*sgdScalarProductVec3(dst.plane.sg(), vel.sg());
  
  dst.boundCenter += dt*src.velocity;
}

bool
FGGroundCache::prepare_ground_cache(double ref_time, const SGVec3d& pt,
                                    double rad)
{
  // Empty cache.
  ground_radius = 0.0;
  found_ground = false;
  triangles.resize(0);
  catapults.resize(0);
  wires.resize(0);

  // Store the parameters we used to build up that cache.
  reference_wgs84_point = pt;
  reference_vehicle_radius = rad;
  // Store the time reference used to compute movements of moving triangles.
  cache_ref_time = ref_time;

  // Get a normalized down vector valid for the whole cache
  SGQuatd hlToEc = SGQuatd::fromLonLat(SGGeod::fromCart(pt));
  down = hlToEc.rotate(SGVec3d(0, 0, 1));

  // Decide where we put the scenery center.
  SGVec3d old_cntr = globals->get_scenery()->get_center();
  SGVec3d cntr(pt);
  // Only move the cache center if it is unacceptable far away.
  if (40*40 < distSqr(old_cntr, cntr))
    globals->get_scenery()->set_center(cntr);
  else
    cntr = old_cntr;

  // The center of the cache.
  cache_center = cntr;
  
  // Prepare sphere around the aircraft.
  SGVec3d ptoff = pt - cache_center;
  double cacheRadius = rad;

  // Prepare bigger sphere around the aircraft.
  // This one is required for reliably finding wires we have caught but
  // have already left the hopefully smaller sphere for the ground reactions.
  const double max_wire_dist = 300.0;
  double wireCacheRadius = max_wire_dist < rad ? rad : max_wire_dist;

  // Walk the scene graph and extract solid ground triangles and carrier data.
  GroundCacheFillVisitor gcfv(this, down, ptoff, cacheRadius, wireCacheRadius);
  globals->get_scenery()->get_scene_graph()->accept(gcfv);

  // some stats
  SG_LOG(SG_FLIGHT,SG_DEBUG, "prepare_ground_cache(): ac radius = " << rad
         << ", # triangles = " << triangles.size()
         << ", # wires = " << wires.size()
         << ", # catapults = " << catapults.size()
         << ", ground_radius = " << ground_radius );

  // If the ground radius is still below 5e6 meters, then we do not yet have
  // any scenery.
  found_ground = found_ground && 5e6 < ground_radius;
  if (!found_ground)
    SG_LOG(SG_FLIGHT, SG_WARN, "prepare_ground_cache(): trying to build cache "
           "without any scenery below the aircraft" );

  if (cntr != old_cntr)
    globals->get_scenery()->set_center(old_cntr);

  return found_ground;
}

bool
FGGroundCache::is_valid(double& ref_time, SGVec3d& pt, double& rad)
{
  pt = reference_wgs84_point;
  rad = reference_vehicle_radius;
  ref_time = cache_ref_time;
  return found_ground;
}

double
FGGroundCache::get_cat(double t, const SGVec3d& dpt,
                       SGVec3d end[2], SGVec3d vel[2])
{
  // start with a distance of 1e10 meters...
  double dist = 1e10;

  // Time difference to the reference time.
  t -= cache_ref_time;

  size_t sz = catapults.size();
  for (size_t i = 0; i < sz; ++i) {
    SGVec3d pivotoff, rvel[2];
    pivotoff = catapults[i].start - catapults[i].rotation_pivot;
    rvel[0] = catapults[i].velocity + cross(catapults[i].rotation, pivotoff);
    pivotoff = catapults[i].end - catapults[i].rotation_pivot;
    rvel[1] = catapults[i].velocity + cross(catapults[i].rotation, pivotoff);

    SGVec3d thisEnd[2];
    thisEnd[0] = cache_center + catapults[i].start + t*rvel[0];
    thisEnd[1] = cache_center + catapults[i].end + t*rvel[1];

    sgdLineSegment3 ls;
    sgdCopyVec3(ls.a, thisEnd[0].sg());
    sgdCopyVec3(ls.b, thisEnd[1].sg());
    double this_dist = sgdDistSquaredToLineSegmentVec3( ls, dpt.sg() );

    if (this_dist < dist) {
      SG_LOG(SG_FLIGHT,SG_INFO, "Found catapult "
             << this_dist << " meters away");
      dist = this_dist;
        
      end[0] = thisEnd[0];
      end[1] = thisEnd[1];
      vel[0] = rvel[0];
      vel[1] = rvel[1];
    }
  }

  // At the end take the root, we only computed squared distances ...
  return sqrt(dist);
}

bool
FGGroundCache::get_agl(double t, const SGVec3d& dpt, double max_altoff,
                       SGVec3d& contact, SGVec3d& normal, SGVec3d& vel,
                       int *type, const SGMaterial** material, double *agl)
{
  bool ret = false;

  *type = FGInterface::Unknown;
//   *agl = 0.0;
  if (material)
    *material = 0;
  vel = SGVec3d(0, 0, 0);
  contact = SGVec3d(0, 0, 0);
  normal = SGVec3d(0, 0, 0);

  // Time difference to th reference time.
  t -= cache_ref_time;

  // The double valued point we start to search for intersection.
  SGVec3d pt = dpt - cache_center;
  // shift the start of our ray by maxaltoff upwards
  SGVec3d raystart = pt - max_altoff*down;

  // Initialize to something sensible
  double current_radius = 0.0;

  size_t sz = triangles.size();
  for (size_t i = 0; i < sz; ++i) {
    Triangle triangle;
    velocityTransformTriangle(t, triangle, triangles[i]);
    if (!fgdIsectSphereInfLine(triangle.boundCenter, triangle.boundRadius, pt, down))
      continue;

    // Check for intersection.
    SGVec3d isecpoint;
    if (fgdRayTriangle(isecpoint, raystart, down, triangle.vertices)) {
      // Compute the vector from pt to the intersection point ...
      SGVec3d off = isecpoint - pt;
      // ... and check if it is too high or not
      // Transform to the wgs system
      isecpoint += cache_center;
      // compute the radius, good enough approximation to take the geocentric radius
      double radius = dot(isecpoint, isecpoint);
      if (current_radius < radius) {
        current_radius = radius;
        ret = true;
        // Save the new potential intersection point.
        contact = isecpoint;
        // The first three values in the vector are the plane normal.
        sgdCopyVec3( normal.sg(), triangle.plane.sg() );
        // The velocity wrt earth.
        SGVec3d pivotoff = pt - triangle.rotation_pivot;
        vel = triangle.velocity + cross(triangle.rotation, pivotoff);
        // Save the ground type.
        *type = triangle.type;
        *agl = dot(down, contact - dpt);
        if (material)
          *material = triangle.material;
      }
    }
  }

  if (ret)
    return true;

  // Whenever we did not have a ground triangle for the requested point,
  // take the ground level we found during the current cache build.
  // This is as good as what we had before for agl.
  double r = length(dpt);
  contact = dpt;
  contact *= ground_radius/r;
  normal = -down;
  vel = SGVec3d(0, 0, 0);
  
  // The altitude is the distance of the requested point from the
  // contact point.
  *agl = dot(down, contact - dpt);
  *type = _type;
  if (material)
    *material = _material;

  return ret;
}

bool FGGroundCache::caught_wire(double t, const SGVec3d pt[4])
{
  size_t sz = wires.size();
  if (sz == 0)
    return false;

  // Time difference to the reference time.
  t -= cache_ref_time;

  // Build the two triangles spanning the area where the hook has moved
  // during the past step.
  SGVec4d plane[2];
  SGVec3d tri[2][3];
  sgdMakePlane( plane[0].sg(), pt[0].sg(), pt[1].sg(), pt[2].sg() );
  tri[0][0] = pt[0];
  tri[0][1] = pt[1];
  tri[0][2] = pt[2];
  sgdMakePlane( plane[1].sg(), pt[0].sg(), pt[2].sg(), pt[3].sg() );
  tri[1][0] = pt[0];
  tri[1][1] = pt[2];
  tri[1][2] = pt[3];

  // Intersect the wire lines with each of these triangles.
  // You have caught a wire if they intersect.
  for (size_t i = 0; i < sz; ++i) {
    SGVec3d le[2];
    for (int k = 0; k < 2; ++k) {
      le[k] = wires[i].ends[k];
      SGVec3d pivotoff = le[k] - wires[i].rotation_pivot;
      SGVec3d vel = wires[i].velocity + cross(wires[i].rotation, pivotoff);
      le[k] += t*vel + cache_center;
    }
    
    for (int k=0; k<2; ++k) {
      SGVec3d isecpoint;
      double isecval = sgdIsectLinesegPlane(isecpoint.sg(), le[0].sg(),
                                            le[1].sg(), plane[k].sg());
      if ( 0.0 <= isecval && isecval <= 1.0 &&
           fgdPointInTriangle( isecpoint, tri[k] ) ) {
        SG_LOG(SG_FLIGHT,SG_INFO, "Caught wire");
        // Store the wire id.
        wire_id = wires[i].wire_id;
        return true;
      }
    }
  }

  return false;
}

bool FGGroundCache::get_wire_ends(double t, SGVec3d end[2], SGVec3d vel[2])
{
  // Fast return if we do not have an active wire.
  if (wire_id < 0)
    return false;

  // Time difference to the reference time.
  t -= cache_ref_time;

  // Search for the wire with the matching wire id.
  size_t sz = wires.size();
  for (size_t i = 0; i < sz; ++i) {
    if (wires[i].wire_id == wire_id) {
      for (size_t k = 0; k < 2; ++k) {
        SGVec3d pivotoff = end[k] - wires[i].rotation_pivot;
        vel[k] = wires[i].velocity + cross(wires[i].rotation, pivotoff);
        end[k] = cache_center + wires[i].ends[k] + t*vel[k];
      }
      return true;
    }
  }

  return false;
}

void FGGroundCache::release_wire(void)
{
  wire_id = -1;
}