From 7811b11565b485ad7bd6bf12588c526e60489750 Mon Sep 17 00:00:00 2001
From: James Turner <zakalawe@mac.com>
Date: Tue, 24 Mar 2020 22:37:13 +0000
Subject: [PATCH] Fix Yasim ground interface recursion bug

The base (non-FlightGear) implementation of YASim ground getBody
would always call itself. Fortunately we always replace it with the
FG-specific subclass (FGGround).
---
 src/FDM/YASim/FGGround.hpp | 22 +++++++++++-----------
 src/FDM/YASim/Ground.cpp   | 11 +----------
 src/FDM/YASim/Ground.hpp   |  7 +++----
 3 files changed, 15 insertions(+), 25 deletions(-)

diff --git a/src/FDM/YASim/FGGround.hpp b/src/FDM/YASim/FGGround.hpp
index 78325b955..df85489f7 100644
--- a/src/FDM/YASim/FGGround.hpp
+++ b/src/FDM/YASim/FGGround.hpp
@@ -18,26 +18,26 @@ public:
     FGGround(FGInterface *iface);
     virtual ~FGGround();
 
-    virtual void getGroundPlane(const double pos[3],
+    void getGroundPlane(const double pos[3],
                                 double plane[4], float vel[3],
-                                unsigned int &body);
+                                unsigned int &body) override;
 
-    virtual void getGroundPlane(const double pos[3],
+    void getGroundPlane(const double pos[3],
                                 double plane[4], float vel[3],
                                 const simgear::BVHMaterial **material,
-                                unsigned int &body);
+                                unsigned int &body) override;
 
-    virtual bool getBody(double t, double bodyToWorld[16], double linearVel[3],
-                         double angularVel[3], unsigned int &id);
+    bool getBody(double t, double bodyToWorld[16], double linearVel[3],
+                         double angularVel[3], unsigned int &id) override;
 
-    virtual bool caughtWire(const double pos[4][3]);
+    bool caughtWire(const double pos[4][3]) override;
 
-    virtual bool getWire(double end[2][3], float vel[2][3]);
+    bool getWire(double end[2][3], float vel[2][3]) override;
 
-    virtual void releaseWire(void);
+    void releaseWire(void) override;
 
-    virtual float getCatapult(const double pos[3],
-                              double end[2][3], float vel[2][3]);
+    float getCatapult(const double pos[3],
+                              double end[2][3], float vel[2][3]) override;
 
     void setTimeOffset(double toff);
 
diff --git a/src/FDM/YASim/Ground.cpp b/src/FDM/YASim/Ground.cpp
index af01a065c..47274aaa7 100644
--- a/src/FDM/YASim/Ground.cpp
+++ b/src/FDM/YASim/Ground.cpp
@@ -8,14 +8,6 @@
 #include "Ground.hpp"
 namespace yasim {
 
-Ground::Ground()
-{
-}
-
-Ground::~Ground()
-{
-}
-
 void Ground::getGroundPlane(const double pos[3],
                             double plane[4], float vel[3],
                             unsigned int &body)
@@ -47,8 +39,7 @@ void Ground::getGroundPlane(const double pos[3],
 bool Ground::getBody(double t, double bodyToWorld[16], double linearVel[3],
                      double angularVel[3], unsigned int &body)
 {
-    return getBody(t, bodyToWorld, linearVel,
-	    angularVel, body);
+    return false;
 }
 
 bool Ground::caughtWire(const double pos[4][3])
diff --git a/src/FDM/YASim/Ground.hpp b/src/FDM/YASim/Ground.hpp
index 433caca76..52d6284b0 100644
--- a/src/FDM/YASim/Ground.hpp
+++ b/src/FDM/YASim/Ground.hpp
@@ -8,8 +8,7 @@ namespace yasim {
 
 class Ground {
 public:
-    Ground();
-    virtual ~Ground();
+    virtual ~Ground() = default;
 
     virtual void getGroundPlane(const double pos[3],
                                 double plane[4], float vel[3],
@@ -20,8 +19,8 @@ public:
                                 const simgear::BVHMaterial **material,
                                 unsigned int &body);
 
-    virtual bool getBody(double t, double bodyToWorld[16], double linearVel[3],
-                         double angularVel[3], unsigned int &id);
+   virtual bool getBody(double t, double bodyToWorld[16], double linearVel[3],
+                        double angularVel[3], unsigned int &id);
 
     virtual bool caughtWire(const double pos[4][3]);