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Mathias Frhlich:

Browse source 
this is basically the past patch I sent to the list and which should now
really (...!?!?) fix the no ground below aircraft problem.
Reasons:
I understood my remaining thinko I introduced with the prevous patch, and the
same thinko I made in my test cases.
The feedback from the list told me that it should help.
This commit is contained in:
ehofman 2005-06-02 08:51:47 +00:00
parent 807d2cc3ca
commit 557a879483
5 changed files with 59 additions and 48 deletions
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3
src/FDM/JSBSim/FGTable.cpp
View file

@ -66,6 +66,7 @@ FGTable::FGTable(int NRows, int NCols, int NTables)
Data = Allocate(); // this data array will contain the keys for the associated tables
Tables.reserve(nTables);
for (int i=0; i<nTables; i++) Tables.push_back(FGTable(NRows, NCols));
lastRowIndex=lastColumnIndex=2;
Debug(0);
}
@ -282,7 +283,7 @@ double FGTable::GetValue(double rowKey, double colKey, double tableKey)
}
Value = Factor*(Tables[r-1].GetValue(rowKey, colKey) - Tables[r-2].GetValue(rowKey, colKey))
+ Tables[r-1].GetValue(rowKey, colKey);
+ Tables[r-2].GetValue(rowKey, colKey);
return Value;
}

75
src/FDM/JSBSim/JSBSim.cxx
View file

@ -26,7 +26,6 @@
#endif
#include <simgear/compiler.h>
#include <simgear/math/sg_geodesy.hxx>
#include <stdio.h> // size_t
#ifdef SG_MATH_EXCEPTION_CLASH
@ -39,6 +38,7 @@
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/misc/sg_path.hxx>
#include <simgear/structure/commands.hxx>
#include <FDM/flight.hxx>
@ -92,6 +92,7 @@ public:
sgCartToGeod( pt, &lat, &lon, &alt);
return alt * SG_METER_TO_FEET;
}
/** Compute the altitude above ground. */
virtual double GetAGLevel(double t, const FGLocation& l,
FGLocation& cont,
@ -116,7 +117,6 @@ FGJSBsim::FGJSBsim( double dt )
: FGInterface(dt)
{
bool result;
// Set up the debugging level
// FIXME: this will not respond to
// runtime changes
@ -208,7 +208,7 @@ FGJSBsim::FGJSBsim( double dt )
}
}
Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
@ -316,6 +316,14 @@ void FGJSBsim::init()
<< ", " << fdmex->GetAtmosphere()->GetPressure()
<< ", " << fdmex->GetAtmosphere()->GetDensity() );
if (fgGetBool("/sim/presets/running")) {
for (int i=0; i < Propulsion->GetNumEngines(); i++) {
SGPropertyNode * node = fgGetNode("engines/engine", i, true);
node->setBoolValue("running", true);
Propulsion->GetEngine(i)->SetRunning(true);
}
}
common_init();
copy_to_JSBsim();
@ -399,12 +407,13 @@ void FGJSBsim::update( double dt )
// Compute the potential movement of this aircraft and query for the
// ground in this area.
double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
double alt, slr, lat, lon;
FGColumnVector3 cart = Auxiliary->GetLocationVRP();
if ( needTrim && startup_trim->getBoolValue() ) {
double alt = fgic->GetAltitudeFtIC();
double slr = fgic->GetSeaLevelRadiusFtIC();
double lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
double lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
alt = fgic->GetAltitudeFtIC();
slr = fgic->GetSeaLevelRadiusFtIC();
lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
cart = FGLocation(lon, lat, alt+slr);
}
double cart_pos[3] = { cart(1), cart(2), cart(3) };
@ -412,10 +421,14 @@ void FGJSBsim::update( double dt )
groundCacheRadius );
if (!cache_ok) {
SG_LOG(SG_FLIGHT, SG_WARN,
"FGInterface is beeing called without scenery below the aircraft!");
return;
"FGInterface is being called without scenery below the aircraft!");
cout << "altitude = " << alt << endl;
cout << "sea level radius = " << slr << endl;
cout << "latitude = " << lat << endl;
cout << "longitude = " << lon << endl;
//return;
}
copy_to_JSBsim();
trimmed->setBoolValue(false);
@ -544,7 +557,7 @@ bool FGJSBsim::copy_to_JSBsim()
} // end FGEngine code block
}
Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
Atmosphere->SetExTemperature(
@ -575,7 +588,7 @@ bool FGJSBsim::copy_to_JSBsim()
SGPropertyNode* node = fgGetNode("/systems/refuel", true);
Propulsion->SetRefuel(node->getDoubleValue("contact"));
Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
return true;
}
@ -622,34 +635,9 @@ bool FGJSBsim::copy_from_JSBsim()
Propagate->GetUVW(3) );
// Make the HUD work ...
{
const FGLocation& l = Auxiliary->GetLocationVRP();
double xyz[3] = { l(eX)*SG_FEET_TO_METER,
l(eY)*SG_FEET_TO_METER,
l(eZ)*SG_FEET_TO_METER };
double lat, lon, alt;
sgCartToGeod(xyz, &lat, &lon, &alt);
FGQuaternion Tec2geodhl(0, -0.5*M_PI-lat, lon);
FGColumnVector3 ecVel = l.GetTl2ec()*Propagate->GetVel();
FGColumnVector3 geodhlVel = Tec2geodhl.GetT()*ecVel;
_set_Velocities_Ground( geodhlVel(eNorth)*SG_FEET_TO_METER,
geodhlVel(eEast)*SG_FEET_TO_METER,
-geodhlVel(eDown)*SG_FEET_TO_METER );
// Transform the acceleration to the earth centered frame and then
// back to the geodetic hl frame.
FGColumnVector3 accel = Propagate->GetUVWdot();
accel -= Propagate->GetUVW()*Propagate->GetPQR();
accel = Propagate->GetTb2l()*accel;
accel = l.GetTl2ec()*accel;
accel = Tec2geodhl.GetT()*accel;
_set_Accels_Local( accel(eNorth)*SG_FEET_TO_METER,
accel(eEast)*SG_FEET_TO_METER,
-accel(eDown)*SG_FEET_TO_METER);
}
_set_Velocities_Ground( Propagate->GetVel(eNorth),
Propagate->GetVel(eEast),
-Propagate->GetVel(eDown) );
_set_V_rel_wind( Auxiliary->GetVt() );
@ -825,6 +813,13 @@ bool FGJSBsim::copy_from_JSBsim()
speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
// force a sim reset if crashed (altitude AGL < 0)
if (get_Altitude_AGL() < 0.0) {
fgSetBool("/sim/crashed", true);
SGPropertyNode* node = fgGetNode("/sim/presets", true);
globals->get_commands()->execute("old-reinit-dialog", node);
}
return true;
}

11
src/FDM/JSBSim/filtersjb/FGGain.cpp
View file

@ -182,13 +182,22 @@ void FGGain::convert(void)
cout << endl;
cout << " <component name=\"" << Name << "\" type=\"" << Type << "\">" << endl;
cout << " <input>" << (InputNodes[0]->GetFullyQualifiedName()).substr(12) << "</input>" << endl;
if (invert)
cout << " <input>-" << (InputNodes[0]->GetFullyQualifiedName()).substr(12) << "</input>" << endl;
else
cout << " <input>" << (InputNodes[0]->GetFullyQualifiedName()).substr(12) << "</input>" << endl;
if (Gain != 1.0)
cout << " <gain>" << Gain << "</gain>" << endl;
if (Type == "PURE_GAIN") { // PURE_GAIN
} else if (Type == "SCHEDULED_GAIN") { // SCHEDULED_GAIN
cout << " <table>" << endl;
cout << " <independentVar>" << ScheduledBy->GetFullyQualifiedName().substr(12) << "</independentVar>" << endl;
cout << " <tableData>" << endl;
Table->Print(20);
cout << " </tableData>" << endl;
cout << " </table>" << endl;
} else if (Type == "AEROSURFACE_SCALE") { // AEROSURFACE_SCALE
cout << " <limit>" << endl;
cout << " <min>" << Min << "</min>" << endl;

9
src/FDM/groundcache.cxx
View file

@ -131,7 +131,8 @@ static inline bool fgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
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 - side1*eps - y1) * tmpn);
int side2 = SG_SIGN (tmp * (x1 - x3) + (y3 - y1) * tmpn
+ side1 * eps * fabs(tmpn));
if ( side1 != side2 ) {
// printf("failed side 1 check\n");
return false;
@ -141,7 +142,8 @@ static inline bool fgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
tmp = (y3 - ry);
tmpn = (x3 - rx);
side1 = SG_SIGN (tmp * (x2 - rx) + (ry - y2) * tmpn);
side2 = SG_SIGN (tmp * (x1 - rx) + (ry - side1*eps - y1) * tmpn);
side2 = SG_SIGN (tmp * (x1 - rx) + (ry - y1) * tmpn
+ side1 * eps * fabs(tmpn));
if ( side1 != side2 ) {
// printf("failed side 2 check\n");
return false;
@ -151,7 +153,8 @@ static inline bool fgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
tmp = (y2 - ry);
tmpn = (x2 - rx);
side1 = SG_SIGN (tmp * (x3 - rx) + (ry - y3) * tmpn);
side2 = SG_SIGN (tmp * (x1 - rx) + (ry - side1*eps - y1) * tmpn);
side2 = SG_SIGN (tmp * (x1 - rx) + (ry - y1) * tmpn
+ side1 * eps * fabs(tmpn));
if ( side1 != side2 ) {
// printf("failed side 3 check\n");
return false;

9
src/Scenery/hitlist.cxx
View file

@ -187,7 +187,8 @@ static inline bool fgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
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 - side1*eps - y1) * tmpn);
int side2 = SG_SIGN (tmp * (x1 - x3) + (y3 - y1) * tmpn
+ side1 * eps * fabs(tmpn));
if ( side1 != side2 ) {
// printf("failed side 1 check\n");
return false;
@ -197,7 +198,8 @@ static inline bool fgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
tmp = (y3 - ry);
tmpn = (x3 - rx);
side1 = SG_SIGN (tmp * (x2 - rx) + (ry - y2) * tmpn);
side2 = SG_SIGN (tmp * (x1 - rx) + (ry - side1*eps - y1) * tmpn);
side2 = SG_SIGN (tmp * (x1 - rx) + (ry - y1) * tmpn
+ side1 * eps * fabs(tmpn));
if ( side1 != side2 ) {
// printf("failed side 2 check\n");
return false;
@ -207,7 +209,8 @@ static inline bool fgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
tmp = (y2 - ry);
tmpn = (x2 - rx);
side1 = SG_SIGN (tmp * (x3 - rx) + (ry - y3) * tmpn);
side2 = SG_SIGN (tmp * (x1 - rx) + (ry - side1*eps - y1) * tmpn);
side2 = SG_SIGN (tmp * (x1 - rx) + (ry - y1) * tmpn
+ side1 * eps * fabs(tmpn));
if ( side1 != side2 ) {
// printf("failed side 3 check\n");
return false;