Use simgear vector instead of plib vectors.
Modified Files: SP/Balloon.cxx SP/BalloonSim.cpp SP/BalloonSim.h
This commit is contained in:
frohlich
Tim Moore
parent
4e13f8e4a0
commit
22888ca8a5
3 changed files with 48 additions and 56 deletions
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@ -81,31 +81,26 @@ void FGBalloonSim::init() {
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//now do init specific to the Balloon
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sgVec3 temp;
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SG_LOG( SG_FLIGHT, SG_INFO, "Starting initializing BalloonSim" );
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SG_LOG( SG_FLIGHT, SG_INFO, " created a balloon" );
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//set position
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sgSetVec3( temp,
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get_Latitude(),
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get_Longitude(),
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get_Altitude() * SG_FEET_TO_METER);
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SGVec3f temp(get_Latitude(),
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get_Longitude(),
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get_Altitude() * SG_FEET_TO_METER);
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current_balloon.setPosition( temp );
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//set Euler angles (?)
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sgSetVec3( temp,
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get_Phi(),
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get_Theta(),
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get_Psi() );
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temp = SGVec3f(get_Phi(),
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get_Theta(),
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get_Psi() );
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current_balloon.setHPR( temp );
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//set velocities
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sgSetVec3( temp,
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fgGetDouble("/sim/presets/uBody-fps"),
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fgGetDouble("/sim/presets/vBody-fps"),
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fgGetDouble("/sim/presets/wBody-fps") );
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temp = SGVec3f(fgGetDouble("/sim/presets/uBody-fps"),
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fgGetDouble("/sim/presets/vBody-fps"),
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fgGetDouble("/sim/presets/wBody-fps") );
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current_balloon.setVelocity( temp );
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SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing BalloonSim" );
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@ -179,13 +174,13 @@ bool FGBalloonSim::copy_to_BalloonSim() {
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// Convert from the BalloonSim to the FGInterface struct
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bool FGBalloonSim::copy_from_BalloonSim() {
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sgVec3 temp;
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SGVec3f temp;
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// Velocities
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current_balloon.getVelocity( temp );
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_set_Velocities_Local( temp[0], temp[1], temp[2] );
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/* ***FIXME*** */ _set_V_equiv_kts( sgLengthVec3 ( temp ) );
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/* ***FIXME*** */ _set_V_equiv_kts( length( temp ) );
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_set_Omega_Body( 0.0, 0.0, 0.0 );
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@ -44,7 +44,6 @@ HISTORY
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#endif
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#include <stdio.h>
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// #include <conio.h>
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#include <math.h>
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#include <simgear/constants.h>
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@ -53,8 +52,6 @@ HISTORY
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#include "BalloonSim.h"
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#include <plib/sg.h>
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/****************************************************************************/
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/********************************** CODE ************************************/
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/****************************************************************************/
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@ -71,10 +68,10 @@ balloon::balloon()
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dt = 0.1;
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ground_level = 3400.0;
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sgSetVec3(gravity_vector, 0.0, 0.0, -9.81);
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sgSetVec3(velocity, 0.0, 0.0, 0.0);
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sgSetVec3(position, 0.0, 0.0, 0.0);
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sgSetVec3(hpr, 0.0, 0.0, 0.0);
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gravity_vector = SGVec3f(0.0, 0.0, -9.81);
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velocity = SGVec3f(0.0, 0.0, 0.0);
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position = SGVec3f(0.0, 0.0, 0.0);
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hpr = SGVec3f(0.0, 0.0, 0.0);
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/************************************************************************/
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/* My balloon has a radius of 8.8 metres as that gives a envelope */
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@ -202,24 +199,24 @@ void balloon::update()
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float mTotal = mEnvelope + mBasket;
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//calulate the forces
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sgVec3 fTotal, fFriction, fLift;
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SGVec3f fTotal, fFriction, fLift;
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sgScaleVec3(fTotal, gravity_vector, mTotal);
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fTotal = mTotal*gravity_vector;
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//sgAddVec3(fTotal, fLift); //FIXME: uninitialized fLift
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//sgAddVec3(fTotal, fFriction); //FIXME: uninitialized fFriction
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// fTotal += fLift; //FIXME: uninitialized fLift
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// fTotal += fFriction; //FIXME: uninitialized fFriction
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//claculate acceleration: a = F / m
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sgVec3 aTotal, vTotal, dTotal;
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SGVec3f aTotal, vTotal, dTotal;
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sgScaleVec3(aTotal, fTotal, 1.0 / mTotal);
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aTotal = (1.0 / mTotal)*fTotal;
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//integrate the displacement: d = 0.5 * a * dt**2 + v * dt + d
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sgScaleVec3(vTotal, velocity, dt);
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sgScaleVec3(dTotal, aTotal, 0.5*dt*dt); sgAddVec3(dTotal, vTotal);
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vTotal = dt*velocity;
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dTotal = (0.5*dt*dt)*aTotal; dTotal += vTotal;
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//integrate the velocity to 'velocity': v = a * dt + v
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sgScaleVec3(vTotal, aTotal, dt); sgAddVec3(velocity, vTotal);
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vTotal = dt*aTotal; velocity += vTotal;
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/************************************************************************/
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/* VERY WRONG STUFF: it's just here to get some results to start with */
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@ -230,7 +227,7 @@ void balloon::update()
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position[2] = ground_level;
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//return results
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sgAddVec3(position, dTotal);
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position += dTotal;
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//cout << "BallonSim: T: " << (T-273.16) << " alt: " << position[2] << " ground: " << ground_level << " throttle: " << current_burner_strength << "\n";
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}
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@ -241,34 +238,34 @@ void balloon::set_burner_strength(const float bs)
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current_burner_strength = bs;
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}
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void balloon::getVelocity(sgVec3 v) const
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void balloon::getVelocity(SGVec3f& v) const
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{
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sgCopyVec3(v, velocity);
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v = velocity;
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}
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void balloon::setVelocity(const sgVec3 v)
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void balloon::setVelocity(const SGVec3f& v)
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{
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sgCopyVec3(velocity, v);
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velocity = v;
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}
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void balloon::getPosition(sgVec3 v) const
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void balloon::getPosition(SGVec3f& v) const
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{
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sgCopyVec3(v, position);
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v = position;
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}
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void balloon::setPosition(const sgVec3 v)
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void balloon::setPosition(const SGVec3f& v)
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{
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sgCopyVec3(position, v);
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position = v;
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}
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void balloon::getHPR(sgVec3 angles) const //the balloon isn't allways exactly vertical
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void balloon::getHPR(SGVec3f& angles) const //the balloon isn't allways exactly vertical
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{
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sgCopyVec3(angles, hpr);
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angles = hpr;
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}
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void balloon::setHPR(const sgVec3 angles) //the balloon isn't allways exactly vertical
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void balloon::setHPR(const SGVec3f& angles) //the balloon isn't allways exactly vertical
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{
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sgCopyVec3(hpr, angles);
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hpr = angles;
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}
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void balloon::setGroundLevel(const float altitude)
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@ -43,7 +43,7 @@ HISTORY
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/****************************************************************************/
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/* INCLUDES */
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/****************************************************************************/
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#include <plib/sg.h>
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#include <simgear/math/SGMath.hxx>
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/****************************************************************************/
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/* DEFINES */
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@ -57,10 +57,10 @@ class balloon
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private:
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float dt; //in s
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sgVec3 gravity_vector; //in m/s*s
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sgVec3 hpr; //the balloon isn't allways exactly vertical (e.g. during gusts); normalized
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sgVec3 velocity; //current velocity; it gets iterated at each 'update'
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sgVec3 position; //current position in lat/lon/alt
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SGVec3f gravity_vector; //in m/s*s
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SGVec3f hpr; //the balloon isn't allways exactly vertical (e.g. during gusts); normalized
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SGVec3f velocity; //current velocity; it gets iterated at each 'update'
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SGVec3f position; //current position in lat/lon/alt
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float balloon_envelope_area; //area of the envelope
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float balloon_envelope_volume; //volume of the envelope
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@ -94,14 +94,14 @@ public:
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void update(); //dt = time in seconds since last call
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void set_burner_strength(const float bs);
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void getVelocity(sgVec3 v) const;
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void setVelocity(const sgVec3 v);
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void getVelocity(SGVec3f& v) const;
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void setVelocity(const SGVec3f& v);
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void getPosition(sgVec3 v) const;
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void setPosition(const sgVec3 v);
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void getPosition(SGVec3f& v) const;
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void setPosition(const SGVec3f& v);
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void getHPR(sgVec3 angles) const; //the balloon isn't allways exactly vertical
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void setHPR(const sgVec3 angles); //the balloon isn't allways exactly vertical
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void getHPR(SGVec3f& angles) const; //the balloon isn't allways exactly vertical
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void setHPR(const SGVec3f& angles); //the balloon isn't allways exactly vertical
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void setGroundLevel(const float altitude);
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