Vivian Meazza:

Some quite extensive changes to the AIModel code:

1. Mathias has made major changes to the AICarrier code to provide better
alignment of an aircraft on deck with the carrier - this feature is a major
improvement on the existing, but has a bug which might cause it to fail when
the computer carries out other tasks - changing window size is a known
example. This bug is outwith this code.

2.  I have made significant changes to the AIShip code to enable a ship the
turn and roll smoothly.

3. I have added some simple AI which enables the carrier to remain within,
or return to, an operating box.

4. An automated turn into wind for flying operations.

5. A simplistic implementation of TACAN within AICarrier. I am in the course
of implementing this as a generic instrument, but this is some time off
completion.

src/AIModel/AIBase.cxx

@@ -56,6 +56,7 @@ FGAIBase::FGAIBase()
     manager( NULL )
 {
     _type_str = "model";
+    tgt_heading = tgt_altitude = tgt_speed = 0.0;
     tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
     bearing = elevation = range = rdot = 0.0;
     x_shift = y_shift = rotation = 0.0;
@@ -343,7 +344,7 @@ FGAIBase::getCartPosAt(const Point3D& off) const
   // Now transform to the wgs84 earth centeres system.
   Point3D pos2(pos.lon()* SGD_DEGREES_TO_RADIANS,
                pos.lat() * SGD_DEGREES_TO_RADIANS,
-               pos.elev() * SG_FEET_TO_METER);
+               pos.elev());
   Point3D cartPos3D = sgGeodToCart(pos2);
   sgdMat4 ecTrans;
   sgdMakeCoordMat4(ecTrans, cartPos3D.x(), cartPos3D.y(), cartPos3D.z(),

src/AIModel/AIBase.hxx

@@ -91,6 +91,12 @@ typedef struct {
    string pennant_number;     // used by carrier objects
    string acType;             // used by aircraft objects
    string company;            // used by aircraft objects
+   string TACAN_channel_ID;   // used by carrier objects
+   double max_lat;            // used by carrier objects
+   double min_lat;            // used by carrier objects
+   double max_long;            // used by carrier objects
+   double min_long;            // used by carrier objects
+   
 } FGAIModelEntity;
 
 

src/AIModel/AICarrier.cxx

@@ -32,18 +32,47 @@
 
 #include "AICarrier.hxx"
 
-
 #include "AIScenario.hxx"
 
+/** Value of earth radius (meters) */
+#define RADIUS_M   SG_EQUATORIAL_RADIUS_M
+
+
 
 FGAICarrier::FGAICarrier(FGAIManager* mgr) : FGAIShip(mgr) {
   _type_str = "carrier";
   _otype = otCarrier;
+  
+  
 }
 
 FGAICarrier::~FGAICarrier() {
 }
 
+void FGAICarrier::setWind_from_east(double fps) {
+   wind_from_east = fps;
+}
+
+void FGAICarrier::setWind_from_north(double fps) {
+   wind_from_north = fps;
+}
+
+void FGAICarrier::setMaxLat(double deg) {
+   max_lat = fabs(deg);
+}
+
+void FGAICarrier::setMinLat(double deg) {
+   min_lat = fabs(deg);
+}
+
+void FGAICarrier::setMaxLong(double deg) {
+   max_long = fabs(deg);
+}
+
+void FGAICarrier::setMinLong(double deg) {
+   min_long = fabs(deg);
+}
+
 void FGAICarrier::setSolidObjects(const list<string>& so) {
   solid_objects = so;
 }
@@ -64,17 +93,28 @@ void FGAICarrier::setSign(const string& s) {
   sign = s;
 }
 
+void FGAICarrier::setTACANChannelID(const string& id) {
+   TACAN_channel_id = id;
+}
+
 void FGAICarrier::setFlolsOffset(const Point3D& off) {
   flols_off = off;
 }
 
-void FGAICarrier::getVelocityWrtEarth(sgVec3 v) {
+void FGAICarrier::getVelocityWrtEarth(sgdVec3 v, sgdVec3 omega, sgdVec3 pivot) {
-  sgCopyVec3(v, vel_wrt_earth );
+  sgdCopyVec3(v, vel_wrt_earth );
+  sgdCopyVec3(omega, rot_wrt_earth );
+  sgdCopyVec3(pivot, rot_pivot_wrt_earth );
 }
 
 void FGAICarrier::update(double dt) {
-   UpdateFlols(dt);
+   
-   FGAIShip::update(dt);
+   // For computation of rotation speeds we just use finite differences her.
+   // That is perfectly valid since this thing is not driven by accelerations
+   // but by just apply discrete changes at its velocity variables.
+   double old_hdg = hdg;
+   double old_roll = roll;
+   double old_pitch = pitch;
 
    // Update the velocity information stored in those nodes.
    double v_north = 0.51444444*speed*cos(hdg * SGD_DEGREES_TO_RADIANS);
@@ -84,13 +124,106 @@ void FGAICarrier::update(double dt) {
    double cos_lat = cos(pos.lat() * SGD_DEGREES_TO_RADIANS);
    double sin_lon = sin(pos.lon() * SGD_DEGREES_TO_RADIANS);
    double cos_lon = cos(pos.lon() * SGD_DEGREES_TO_RADIANS);
-   sgSetVec3( vel_wrt_earth,
+   double sin_roll = sin(roll * SGD_DEGREES_TO_RADIANS);
+   double cos_roll = cos(roll * SGD_DEGREES_TO_RADIANS);
+   double sin_pitch = sin(pitch * SGD_DEGREES_TO_RADIANS);
+   double cos_pitch = cos(pitch * SGD_DEGREES_TO_RADIANS);
+   double sin_hdg = sin(hdg * SGD_DEGREES_TO_RADIANS);
+   double cos_hdg = cos(hdg * SGD_DEGREES_TO_RADIANS);
+
+   // Transform this back the the horizontal local frame.
+   sgdMat3 trans;
+   
+   // set up the transform matrix
+   trans[0][0] =          cos_pitch*cos_hdg;
+   trans[0][1] = sin_roll*sin_pitch*cos_hdg - cos_roll*sin_hdg;
+   trans[0][2] = cos_roll*sin_pitch*cos_hdg + sin_roll*sin_hdg;
+   
+   trans[1][0] =          cos_pitch*sin_hdg;
+   trans[1][1] = sin_roll*sin_pitch*sin_hdg + cos_roll*cos_hdg;
+   trans[1][2] = cos_roll*sin_pitch*sin_hdg - sin_roll*cos_hdg;
+   
+   trans[2][0] =         -sin_pitch;
+   trans[2][1] = sin_roll*cos_pitch;
+   trans[2][2] = cos_roll*cos_pitch;
+   
+   sgdSetVec3( vel_wrt_earth,
               - cos_lon*sin_lat*v_north - sin_lon*v_east,
               - sin_lon*sin_lat*v_north + cos_lon*v_east,
                 cos_lat*v_north );
+   sgGeodToCart(pos.lat() * SGD_DEGREES_TO_RADIANS,
+                pos.lon() * SGD_DEGREES_TO_RADIANS,
+                pos.elev(), rot_pivot_wrt_earth);
 
+   // Now update the position and heading. This will compute new hdg and
+   // roll values required for the rotation speed computation.
+   FGAIShip::update(dt);
+   
+   
+   //automatic turn into wind with a target wind of 25 kts otd
+   if(turn_to_launch_hdg){
+       TurnToLaunch();
+   } else if(OutsideBox() || returning) {// check that the carrier is inside the operating box
+       ReturnToBox();
+   } else {                   //if(!returning
+       TurnToBase();
+   }  //end if  
+
+   // Only change these values if we are able to compute them safely
+   if (dt < DBL_MIN)
+     sgdSetVec3( rot_wrt_earth, 0.0, 0.0, 0.0);
+   else {
+     // Compute the change of the euler angles.
+     double hdg_dot = SGD_DEGREES_TO_RADIANS * (hdg-old_hdg)/dt;
+     // Allways assume that the movement was done by the shorter way.
+     if (hdg_dot < - SGD_DEGREES_TO_RADIANS * 180)
+       hdg_dot += SGD_DEGREES_TO_RADIANS * 360;
+     if (hdg_dot > SGD_DEGREES_TO_RADIANS * 180)
+       hdg_dot -= SGD_DEGREES_TO_RADIANS * 360;
+     double pitch_dot = SGD_DEGREES_TO_RADIANS * (pitch-old_pitch)/dt;
+     // Allways assume that the movement was done by the shorter way.
+     if (pitch_dot < - SGD_DEGREES_TO_RADIANS * 180)
+       pitch_dot += SGD_DEGREES_TO_RADIANS * 360;
+     if (pitch_dot > SGD_DEGREES_TO_RADIANS * 180)
+       pitch_dot -= SGD_DEGREES_TO_RADIANS * 360;
+     double roll_dot = SGD_DEGREES_TO_RADIANS * (roll-old_roll)/dt;
+     // Allways assume that the movement was done by the shorter way.
+     if (roll_dot < - SGD_DEGREES_TO_RADIANS * 180)
+       roll_dot += SGD_DEGREES_TO_RADIANS * 360;
+     if (roll_dot > SGD_DEGREES_TO_RADIANS * 180)
+       roll_dot -= SGD_DEGREES_TO_RADIANS * 360;
+     /*cout << "euler derivatives = "
+          << roll_dot << " " << pitch_dot << " " << hdg_dot << endl;*/
+
+     // Now Compute the rotation vector in the carriers coordinate frame
+     // originating from the euler angle changes.
+     sgdVec3 body;
+     body[0] = roll_dot - hdg_dot*sin_pitch;
+     body[1] = pitch_dot*cos_roll + hdg_dot*sin_roll*cos_pitch;
+     body[2] = -pitch_dot*sin_roll + hdg_dot*cos_roll*cos_pitch;
+
+     // Transform that back to the horizontal local frame.
+     sgdVec3 hl;
+     hl[0] = body[0]*trans[0][0] + body[1]*trans[0][1] + body[2]*trans[0][2];
+     hl[1] = body[0]*trans[1][0] + body[1]*trans[1][1] + body[2]*trans[1][2];
+     hl[2] = body[0]*trans[2][0] + body[1]*trans[2][1] + body[2]*trans[2][2];
+
+     // Now we need to project out rotation components ending in speeds in y
+     // direction in the hoirizontal local frame.
+     hl[1] = 0;
+
+     // Transform that to the earth centered frame.
+     sgdSetVec3(rot_wrt_earth,
+               - cos_lon*sin_lat*hl[0] - sin_lon*hl[1] - cos_lat*cos_lon*hl[2],
+               - sin_lon*sin_lat*hl[0] + cos_lon*hl[1] - cos_lat*sin_lon*hl[2],
+                 cos_lat*hl[0] - sin_lat*hl[2]);
    }
 
+   UpdateWind(dt);
+   UpdateTACAN(dt);
+   UpdateFlols(trans);
+} //end update
+
 bool FGAICarrier::init() {
    if (!FGAIShip::init())
       return false;
@@ -111,36 +244,103 @@ bool FGAICarrier::init() {
    mark_cat(sel, catapult_objects);
    mark_solid(sel, solid_objects);
 
+   _longitude_node = fgGetNode("/position/longitude-deg", true);
+   _latitude_node = fgGetNode("/position/latitude-deg", true);
+   _altitude_node = fgGetNode("/position/altitude-ft", true);
+   _dme_freq_node = fgGetNode("/instrumentation/dme/frequencies/selected-mhz", true);
+   _surface_wind_from_deg_node = 
+              fgGetNode("/environment/config/boundary/entry[0]/wind-from-heading-deg", true);
+   _surface_wind_speed_node = 
+              fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt", true);
+   
+  
+   turn_to_launch_hdg = false;
+   returning = false;
+  
+   initialpos = pos;
+   base_course = hdg;
+   base_speed = speed;
+   
    return true;
 }
 
 void FGAICarrier::bind() {
    FGAIShip::bind();
 
+   props->untie("velocities/true-airspeed-kt");
+   
    props->tie("controls/flols/source-lights",
                 SGRawValuePointer<int>(&source));
    props->tie("controls/flols/distance-m",
                 SGRawValuePointer<double>(&dist));
    props->tie("controls/flols/angle-degs",
                 SGRawValuePointer<double>(&angle));
+   props->tie("controls/turn-to-launch-hdg",
+                SGRawValuePointer<bool>(&turn_to_launch_hdg));
+   props->tie("controls/in-to-wind",
+                SGRawValuePointer<bool>(&turn_to_launch_hdg));
+   props->tie("controls/base-course-deg",
+                SGRawValuePointer<double>(&base_course));
+   props->tie("controls/base-speed-kts",
+                SGRawValuePointer<double>(&base_speed));
+   props->tie("controls/start-pos-lat-deg",
+                SGRawValuePointer<double>(&initialpos[1]));
+   props->tie("controls/start-pos-long-deg",
+                SGRawValuePointer<double>(&initialpos[0]));
+   props->tie("velocities/speed-kts",  
+                SGRawValuePointer<double>(&speed));
+   props->tie("environment/surface-wind-speed-true-kts",  
+                SGRawValuePointer<double>(&wind_speed_kts));
+   props->tie("environment/surface-wind-from-true-degs",  
+                SGRawValuePointer<double>(&wind_from_deg));
+   props->tie("environment/rel-wind-from-degs",  
+                SGRawValuePointer<double>(&rel_wind_from_deg));
+   props->tie("environment/rel-wind-from-carrier-hdg-degs",  
+                SGRawValuePointer<double>(&rel_wind));
+   props->tie("environment/rel-wind-speed-kts",  
+                SGRawValuePointer<double>(&rel_wind_speed_kts));
+   props->tie("controls/flols/wave-off-lights",  
+                SGRawValuePointer<bool>(&wave_off_lights));
+   props->tie("instrumentation/TACAN/bearing-true-deg",  
+                SGRawValuePointer<double>(&bearing));
+   props->tie("instrumentation/TACAN/range-nm",  
+                SGRawValuePointer<double>(&range));
+                    
    props->setBoolValue("controls/flols/cut-lights", false);
    props->setBoolValue("controls/flols/wave-off-lights", false);
    props->setBoolValue("controls/flols/cond-datum-lights", true);
    props->setBoolValue("controls/crew", false);
 
+   props->setStringValue("instrumentation/TACAN/channel-ID", TACAN_channel_id.c_str());
+  
    props->setStringValue("sign", sign.c_str());
 }
 
 void FGAICarrier::unbind() {
     FGAIShip::unbind();
+    
+    props->untie("velocities/true-airspeed-kt");
+    
     props->untie("controls/flols/source-lights");
     props->untie("controls/flols/distance-m");
     props->untie("controls/flols/angle-degs");
+    props->untie("controls/turn-to-launch-hdg");
+    props->untie("velocities/speed-kts");
+    props->untie("environment/wind-speed-true-kts");
+    props->untie("environment/wind-from-true-degs");
+    props->untie("environment/rel-wind-from-degs");
+    props->untie("environment/rel-wind-speed-kts");
+    props->untie("controls/flols/wave-off-lights");
+    props->untie("instrumentation/TACAN/bearing-true-deg");
+    props->untie("instrumentation/TACAN/range-nm");
+    props->untie("instrumentation/TACAN/channel-ID");
 }
 
 bool FGAICarrier::getParkPosition(const string& id, Point3D& geodPos,
                                   double& hdng, sgdVec3 uvw)
 {
+
+  // FIXME: does not yet cover rotation speeds.
   list<ParkPosition>::iterator it = ppositions.begin();
   while (it != ppositions.end()) {
     // Take either the specified one or the first one ...
@@ -341,16 +541,11 @@ bool FGAICarrier::mark_cat(ssgEntity* e, const list<string>& cat_objects, bool m
   return found;
 }
 
-void FGAICarrier::UpdateFlols( double dt) {
+void FGAICarrier::UpdateFlols(sgdMat3 trans) {
     
-    float trans[3][3];
     float in[3];
     float out[3];
 
-    float cosRx, sinRx;
-    float cosRy, sinRy;
-    float cosRz, sinRz;
-        
     double flolsXYZ[3], eyeXYZ[3]; 
     double lat, lon, alt;
     Point3D eyepos;
@@ -386,29 +581,6 @@ void FGAICarrier::UpdateFlols( double dt) {
   in[1] = flols_off.y();
   in[2] = flols_off.z();    
 
-// pre-process the trig functions
-
-    cosRx = cos(roll * SG_DEGREES_TO_RADIANS);
-    sinRx = sin(roll * SG_DEGREES_TO_RADIANS);
-    cosRy = cos(pitch * SG_DEGREES_TO_RADIANS);
-    sinRy = sin(pitch * SG_DEGREES_TO_RADIANS);
-    cosRz = cos(hdg * SG_DEGREES_TO_RADIANS);
-    sinRz = sin(hdg * SG_DEGREES_TO_RADIANS);
-
-// set up the transform matrix
-
-    trans[0][0] =  cosRy * cosRz;
-    trans[0][1] =  -1 * cosRx * sinRz + sinRx * sinRy * cosRz ;
-    trans[0][2] =  sinRx * sinRz + cosRx * sinRy * cosRz;
-
-    trans[1][0] =  cosRy * sinRz;
-    trans[1][1] =  cosRx * cosRz + sinRx * sinRy * sinRz;
-    trans[1][2] =  -1 * sinRx * cosRx + cosRx * sinRy * sinRz;
-
-    trans[2][0] =  -1 * sinRy;
-    trans[2][1] =  sinRx * cosRy;
-    trans[2][2] =  cosRx * cosRy;
-
 // multiply the input and transform matrices
 
    out[0] = in[0] * trans[0][0] + in[1] * trans[0][1] + in[2] * trans[0][2];
@@ -519,4 +691,216 @@ void FGAICarrier::UpdateFlols( double dt) {
    }   
 } // end updateflols
 
+// find relative wind
+
+
+
+
+void FGAICarrier::UpdateWind( double dt) {
+
+    double recip;
+    
+    //calculate the reciprocal hdg
+    
+    if (hdg >= 180){
+        recip = hdg - 180;
+    }
+    else{
+        recip = hdg + 180;
+    }
+    
+    //cout <<" heading: " << hdg << "recip: " << recip << endl;
+    
+    //get the surface wind speed and direction
+    wind_from_deg = _surface_wind_from_deg_node->getDoubleValue();
+    wind_speed_kts  = _surface_wind_speed_node->getDoubleValue();
+    
+    //calculate the surface wind speed north and east in kts   
+    double wind_speed_from_north_kts = cos( wind_from_deg / SGD_RADIANS_TO_DEGREES )* wind_speed_kts ;
+    double wind_speed_from_east_kts  = sin( wind_from_deg / SGD_RADIANS_TO_DEGREES )* wind_speed_kts ;
+    
+    //calculate the carrier speed north and east in kts   
+    double speed_north_kts = cos( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
+    double speed_east_kts  = sin( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
+    
+    //calculate the relative wind speed north and east in kts
+    double rel_wind_speed_from_east_kts = wind_speed_from_east_kts + speed_east_kts;
+    double rel_wind_speed_from_north_kts = wind_speed_from_north_kts + speed_north_kts;
+    
+    //combine relative speeds north and east to get relative windspeed in kts                          
+    rel_wind_speed_kts = sqrt((rel_wind_speed_from_east_kts * rel_wind_speed_from_east_kts) 
+    + (rel_wind_speed_from_north_kts * rel_wind_speed_from_north_kts));
+    
+    //calculate the relative wind direction
+    rel_wind_from_deg = atan(rel_wind_speed_from_east_kts/rel_wind_speed_from_north_kts) 
+                            * SG_RADIANS_TO_DEGREES;
+    
+    // rationalise the output
+    if (rel_wind_speed_from_north_kts <= 0){
+        rel_wind_from_deg = 180 + rel_wind_from_deg;
+    }
+    else{
+        if(rel_wind_speed_from_east_kts <= 0){
+            rel_wind_from_deg = 360 + rel_wind_from_deg;
+        }    
+    }
+    
+    //calculate rel wind
+    rel_wind = rel_wind_from_deg - hdg  ;
+    if (rel_wind > 180) rel_wind -= 360;
+    
+    //switch the wave-off lights
+    if (InToWind()){
+       wave_off_lights = false;
+    }else{
+       wave_off_lights = true;
+    }    
+       
+    cout << "rel wind: " << rel_wind << endl;
+
+}// end update wind
+
+void FGAICarrier::TurnToLaunch(){
+    
+     //calculate tgt speed
+       double tgt_speed = 25 - wind_speed_kts;
+       if (tgt_speed < 10) tgt_speed = 10;
+       
+     //turn the carrier
+       FGAIShip::TurnTo(wind_from_deg); 
+       FGAIShip::AccelTo(tgt_speed); 
+           
+     
+        
+}  // end turn to launch
+   
+void FGAICarrier::TurnToBase(){
+    
+    //turn the carrier
+       FGAIShip::TurnTo(base_course); 
+       FGAIShip::AccelTo(base_speed); 
+    
+} //  end turn to base  
+
+void FGAICarrier::ReturnToBox(){
+    double course, distance;
+        
+    //get the carrier position
+    carrierpos = pos;
+    
+    //cout << "lat: " << carrierpos[1] << " lon: " << carrierpos[0] << endl;
+    
+    //calculate the bearing and range of the initial position from the carrier
+    geo_inverse_wgs_84(carrierpos[2],
+                       carrierpos[1],
+                       carrierpos[0],
+                       initialpos[1],
+                       initialpos[0],
+                       &course, &az2, &distance);
+                     
+    distance *= SG_METER_TO_NM;
+
+    cout << "return course: " << course << " distance: " << distance << endl;
+    //turn the carrier
+       FGAIShip::TurnTo(course); 
+       FGAIShip::AccelTo(base_speed);
+       if (distance >= 1 ){
+           returning = true;
+       }else{
+           returning = false;
+       }        
+    
+} //  end turn to base  
+ 
+    
+void FGAICarrier::UpdateTACAN(double dt){ //update the TACAN 
+
+  //cout << "TACAN: " << TACAN_channel_id << endl;
+
+  double max_range_nm = 100; //nm
+  
+  double dme_freq = _dme_freq_node->getDoubleValue();
+  
+  //cout << "dme_freq: " << dme_freq << endl; 
+  
+  if (TACAN_channel_id == "017X"){
+  
+      //get the aircraft position  
+      double longitude_deg = _longitude_node->getDoubleValue();
+      double latitude_deg  = _latitude_node->getDoubleValue();
+      double altitude_m    = _altitude_node->getDoubleValue() * SG_FEET_TO_METER;
+    
+      //get the carrier position
+      carrierpos = pos;
+      
+      //cout << "lat: " << carrierpos[1] << " lon: " << carrierpos[0] << endl;
+      
+      //calculate the bearing and range of the carrier from the aircraft
+      geo_inverse_wgs_84(altitude_m,
+                         latitude_deg,
+                         longitude_deg,
+                         carrierpos[1],
+                         carrierpos[0],
+                         &bearing, &az2, &range);
+                         
+      range *= SG_METER_TO_NM;
+      
+      
+      
+       double aircraft_horizon_nm = Horizon(altitude_m) * SG_METER_TO_NM;
+       double carrier_horizon_nm = Horizon(50) * SG_METER_TO_NM;
+       double horizon_nm = aircraft_horizon_nm + carrier_horizon_nm;
+                         
+       if (range > horizon_nm || range > max_range_nm) {
+           range = 0;
+           bearing = 0 ;
+        }    
+    /*cout << "bearing: " << bearing << " range: " << range << " altitude: " << altitude_m
+      <<  " horizon: " << horizon_nm << endl; */
+  } else {
+      range = 0;
+      bearing = 0 ;
+  }  // end if
+        
+}// end update TACAN
+
+bool FGAICarrier::OutsideBox(){ //returns true if the carrier is outside operating box
+
+    if ( max_lat == 0 && min_lat == 0 && max_long == 0 && min_long == 0) {
+       SG_LOG(SG_GENERAL, SG_INFO,"AICarrier: No Operating Box defined" );
+       return false;
+    }        
+     
+    if (initialpos[1] >= 0){//northern hemisphere
+        if (pos[1] >= initialpos[1] + max_lat) {return true;}
+        else if (pos[1] <= initialpos[1] - min_lat) {return true;}
+    }else{                  //southern hemisphere
+        if (pos[1] <= initialpos[1] - max_lat) {return true;}
+        else if (pos[1] >= initialpos[1] + min_lat) {return true;}
+    }
+    
+    if (initialpos[0] >=0) {//eastern hemisphere
+        if (pos[0] >= initialpos[0] + max_long) {return true;}
+        else if (pos[0] <= initialpos[0] - min_long) {return true;}
+    }else{                 //western hemisphere
+        if (pos[0] <= initialpos[0] - max_long) {return true;}
+        else if (pos[0] >= initialpos[0] + min_long) {return true;}
+    }
+    
+    SG_LOG(SG_GENERAL, SG_INFO,"AICarrier: Inside Operating Box" );
+   
+    return false;   
+
+} // end OutsideBox
+
+// return the distance to the horizon, given the altitude and the radius of the earth
+float FGAICarrier::Horizon(float h) { return RADIUS_M * acos(RADIUS_M / (RADIUS_M + h)); }
+    
+bool FGAICarrier::InToWind(){
+    
+    // test
+    if ( fabs(rel_wind) < 5 ) return true;
+    return false;
+    
+} //end InToWind     
 int FGAICarrierHardware::unique_id = 1;

src/AIModel/AICarrier.hxx

@@ -30,6 +30,10 @@ SG_USING_STD(string);
 SG_USING_STD(list);
 
 #include "AIShip.hxx"
+
+#include "AIManager.hxx"
+#include "AIBase.hxx"
+
 class FGAIManager;
 class FGAICarrier;
 
@@ -81,11 +85,27 @@ public:
         void setParkingPositions(const list<ParkPosition>& p);
         void setSign(const string& );
         void setFlolsOffset(const Point3D& off);
+        void setTACANChannelID(const string &);
 
-	void getVelocityWrtEarth(sgVec3 v);
+	void getVelocityWrtEarth(sgdVec3 v, sgdVec3 omega, sgdVec3 pivot);
 	virtual void bind();
     virtual void unbind();
-    void UpdateFlols ( double dt );
+    void UpdateFlols ( sgdMat3 trans );
+    void UpdateWind ( double dt );
+    void UpdateTACAN( double dt );
+    void setWind_from_east( double fps );
+    void setWind_from_north( double fps );
+    void setMaxLat( double deg );
+    void setMinLat( double deg );
+    void setMaxLong( double deg );
+    void setMinLong( double deg );
+    void TurnToLaunch();
+    void TurnToBase();
+    void ReturnToBox();
+    float Horizon(float h);
+    double TACAN_freq;
+	bool OutsideBox();
+    
 	
 	bool init();
 
@@ -96,9 +116,15 @@ private:
 
 	void update(double dt);
 	void mark_nohot(ssgEntity*);
+	
 	bool mark_wires(ssgEntity*, const list<string>&, bool = false);
 	bool mark_cat(ssgEntity*, const list<string>&, bool = false);
 	bool mark_solid(ssgEntity*, const list<string>&, bool = false);
+	double wind_from_east;  // fps
+    double wind_from_north; // fps
+    double rel_wind_speed_kts;
+    double rel_wind_from_deg;
+    
 
 	list<string> solid_objects;       // List of solid object names
 	list<string> wire_objects;        // List of wire object names
@@ -107,7 +133,10 @@ private:
 	string sign;                      // The sign of this carrier.
 
 	// Velocity wrt earth.
-	sgVec3 vel_wrt_earth;
+	sgdVec3 vel_wrt_earth;
+	sgdVec3 rot_wrt_earth;
+	sgdVec3 rot_pivot_wrt_earth;
+
 
         // these describe the flols 
         Point3D flols_off;
@@ -115,6 +144,36 @@ private:
         double dist;            // the distance of the eyepoint from the flols
         double angle;
         int source;             // the flols light which is visible at the moment
+    bool wave_off_lights;
+    
+    // these are for manoeuvring the carrier
+    Point3D carrierpos;
+    Point3D initialpos;
+    
+    double wind_speed_from_north_kts ;
+    double wind_speed_from_east_kts  ;
+    double wind_speed_kts;  //true wind speed
+    double wind_from_deg;   //true wind direction
+    double rel_wind;
+    double max_lat, min_lat, max_long, min_long;
+    double base_course, base_speed;
+    
+    bool turn_to_launch_hdg;
+    bool returning;      // set if the carrier is returning to an operating box
+    bool InToWind();     // set if the carrier is in to wind   
+    SGPropertyNode_ptr _longitude_node;
+    SGPropertyNode_ptr _latitude_node;
+    SGPropertyNode_ptr _altitude_node;
+    SGPropertyNode_ptr _surface_wind_from_deg_node;
+    SGPropertyNode_ptr _surface_wind_speed_node;
+       
+    // these are for TACAN
+    SGPropertyNode_ptr _dme_freq_node;
+    
+    double bearing, az2, range;
+    string TACAN_channel_id;
+    
+    
 };
 
 #endif  // _FG_AICARRIER_HXX

src/AIModel/AIManager.cxx

@@ -75,6 +75,9 @@ void FGAIManager::init() {
       return;
 
   wind_from_down_node = fgGetNode("/environment/wind-from-down-fps", true);
+  wind_from_east_node  = fgGetNode("/environment/wind-from-east-fps",true);
+  wind_from_north_node = fgGetNode("/environment/wind-from-north-fps",true);
+
   user_latitude_node  = fgGetNode("/position/latitude-deg", true);
   user_longitude_node = fgGetNode("/position/longitude-deg", true);
   user_altitude_node  = fgGetNode("/position/altitude-ft", true);
@@ -209,7 +212,7 @@ FGAIManager::createShip( FGAIModelEntity *entity ) {
         ai_ship->setAltitude(entity->altitude);
         ai_ship->setLongitude(entity->longitude);
         ai_ship->setLatitude(entity->latitude);
-        ai_ship->setBank(entity->rudder);
+        ai_ship->setRudder(entity->rudder);
         ai_ship->setName(entity->name);
 
         if ( entity->fp ) {
@@ -236,7 +239,7 @@ FGAIManager::createCarrier( FGAIModelEntity *entity ) {
         ai_carrier->setAltitude(entity->altitude);
         ai_carrier->setLongitude(entity->longitude);
         ai_carrier->setLatitude(entity->latitude);
-        ai_carrier->setBank(entity->rudder);
+        ai_carrier->setRudder(entity->rudder);
         ai_carrier->setSolidObjects(entity->solid_objects);
         ai_carrier->setWireObjects(entity->wire_objects);
         ai_carrier->setCatapultObjects(entity->catapult_objects);
@@ -245,6 +248,14 @@ FGAIManager::createCarrier( FGAIModelEntity *entity ) {
         ai_carrier->setSign(entity->pennant_number);
         ai_carrier->setName(entity->name);
         ai_carrier->setFlolsOffset(entity->flols_offset);
+        ai_carrier->setWind_from_east(entity->wind_from_east);
+        ai_carrier->setWind_from_north(entity->wind_from_north);
+        ai_carrier->setTACANChannelID(entity->TACAN_channel_ID);
+        ai_carrier->setMaxLat(entity->max_lat);
+        ai_carrier->setMinLat(entity->min_lat);
+        ai_carrier->setMaxLong(entity->max_long);
+        ai_carrier->setMinLong(entity->min_long);
+        
 
         if ( entity->fp ) {
            ai_carrier->setFlightPlan(entity->fp);
@@ -366,6 +377,10 @@ void FGAIManager::fetchUserState( void ) {
      user_pitch     = user_pitch_node->getDoubleValue();
      user_yaw       = user_yaw_node->getDoubleValue();
      user_speed     = user_speed_node->getDoubleValue() * 0.592484;
+     wind_from_east = wind_from_east_node->getDoubleValue();
+     wind_from_north = wind_from_north_node->getDoubleValue();
+     
+     
 }
 
 
@@ -458,6 +473,9 @@ bool FGAIManager::getStartPosition(const string& id, const string& pid,
             ai_carrier->setLatitude(en->latitude);
             ai_carrier->setBank(en->rudder);
             ai_carrier->setParkingPositions(en->ppositions);
+      ai_carrier->setWind_from_east(en->wind_from_east);
+      ai_carrier->setWind_from_north(en->wind_from_north);
+      //ai_carrier->setTACANFreq(en->TACAN_freq);
 
             if (ai_carrier->getParkPosition(pid, geodPos, heading, uvw)) {
                 delete ai_carrier;

src/AIModel/AIManager.hxx

@@ -99,6 +99,8 @@ public:
     inline double get_user_pitch() { return user_pitch; }
     inline double get_user_yaw() { return user_yaw; }
     inline double get_user_speed() {return user_speed; }
+    inline double get_wind_from_east() {return wind_from_east; }
+    inline double get_wind_from_north() {return wind_from_north; }
 
     inline int getNum( FGAIBase::object_type ot ) {
       return (0 < ot && ot < FGAIBase::MAX_OBJECTS) ? numObjects[ot] : numObjects[0];
@@ -126,6 +128,8 @@ private:
     SGPropertyNode* user_pitch_node;
     SGPropertyNode* user_yaw_node;
     SGPropertyNode* user_speed_node;
+    SGPropertyNode* wind_from_east_node ;
+    SGPropertyNode* wind_from_north_node ;
 
     string scenario_filename;
 
@@ -136,6 +140,8 @@ private:
     double user_pitch;
     double user_yaw;
     double user_speed;
+    double wind_from_east;
+    double wind_from_north;
     double _dt;
     int dt_count;
     void fetchUserState( void );

src/AIModel/AIScenario.cxx

@@ -47,6 +47,7 @@ FGAIScenario::FGAIScenario(const string &filename)
   
   path.append( ("/Data/AI/" + filename + ".xml").c_str() );
   SGPropertyNode root;
+  readProperties(path.str(), &root);
   
 //   cout <<"path " << path.str() << endl;
   
@@ -84,7 +85,7 @@ FGAIScenario::FGAIScenario(const string &filename)
      en->roll           = entry_node->getDoubleValue("roll", 0.0); 
      en->azimuth        = entry_node->getDoubleValue("azimuth", 0.0); 
      en->elevation      = entry_node->getDoubleValue("elevation", 0.0); 
-     en->rudder         = entry_node->getDoubleValue("rudder", 0.0);
+     en->rudder         = entry_node->getFloatValue("rudder", 0.0);
      en->strength       = entry_node->getDoubleValue("strength-fps", 8.0);
      en->strength       = entry_node->getDoubleValue("strength-norm", 1.0);  
      en->diameter       = entry_node->getDoubleValue("diameter-ft", 0.0);
@@ -98,12 +99,17 @@ FGAIScenario::FGAIScenario(const string &filename)
      en->cd              = entry_node->getDoubleValue("cd", 0.029); 
      en->mass            = entry_node->getDoubleValue("mass", 0.007); 
      en->radius          = entry_node->getDoubleValue("turn-radius-ft", 2000);
+     en->TACAN_channel_ID= entry_node->getStringValue("TACAN-channel-ID", "017X");
      en->name            = entry_node->getStringValue("name", "");
      en->pennant_number  = entry_node->getStringValue("pennant-number", "");
      en->wire_objects     = getAllStringNodeVals("wire", entry_node);
      en->catapult_objects = getAllStringNodeVals("catapult", entry_node);
      en->solid_objects    = getAllStringNodeVals("solid", entry_node);
      en->ppositions       = getAllOffsetNodeVals("parking-pos", entry_node);
+     en->max_lat          = entry_node->getDoubleValue("max-lat", 0);
+     en->min_lat          = entry_node->getDoubleValue("min-lat",0);
+     en->max_long          = entry_node->getDoubleValue("max-long", 0);
+     en->min_long          = entry_node->getDoubleValue("min-long", 0);
      list<ParkPosition> flolspos = getAllOffsetNodeVals("flols-pos", entry_node);
      en->flols_offset     = flolspos.front().offset;
 

src/AIModel/AIShip.cxx

@@ -32,8 +32,6 @@ FGAIShip::FGAIShip(FGAIManager* mgr) {
    _type_str = "ship";
    _otype = otShip;
 
-   hdg_lock = false;
-   rudder = 0.0;
 }
 
 FGAIShip::~FGAIShip() {
@@ -41,6 +39,16 @@ FGAIShip::~FGAIShip() {
 
 
 bool FGAIShip::init() {
+   
+   hdg_lock = false;
+   rudder = 0.0;
+   no_roll = false;
+    
+   rudder_constant = 0.5;
+   roll_constant = 0.001;
+   speed_constant = 0.05;
+   hdg_constant = 0.01;
+   
    return FGAIBase::init();
 }
 
@@ -48,7 +56,21 @@ void FGAIShip::bind() {
     FGAIBase::bind();
 
     props->tie("surface-positions/rudder-pos-deg",
-                SGRawValuePointer<double>(&rudder));
+                SGRawValuePointer<float>(&rudder));
+    props->tie("controls/heading-lock",
+                SGRawValuePointer<bool>(&hdg_lock));
+    props->tie("controls/tgt-speed-kts",
+                SGRawValuePointer<double>(&tgt_speed));
+    props->tie("controls/tgt-heading-degs",
+                SGRawValuePointer<double>(&tgt_heading)); 
+    props->tie("controls/constants/rudder",
+                SGRawValuePointer<double>(&rudder_constant));
+    props->tie("controls/constants/roll",
+                SGRawValuePointer<double>(&roll_constant));
+    props->tie("controls/constants/rudder",
+                SGRawValuePointer<double>(&rudder_constant));
+    props->tie("controls/constants/speed",
+                SGRawValuePointer<double>(&speed_constant)); 
 
     props->setStringValue("name", name.c_str());
 }
@@ -56,6 +78,13 @@ void FGAIShip::bind() {
 void FGAIShip::unbind() {
     FGAIBase::unbind();
     props->untie("surface-positions/rudder-pos-deg");
+    props->untie("controls/heading-lock");
+    props->untie("controls/tgt-speed-kts");
+    props->untie("controls/tgt-heading-degs");
+    props->untie("controls/constants/roll");
+    props->untie("controls/constants/rudder");
+    props->untie("controls/constants/speed");           
+
 }
 
 void FGAIShip::update(double dt) {
@@ -77,12 +106,14 @@ void FGAIShip::Run(double dt) {
    double speed_east_deg_sec;
    double dist_covered_ft;
    double alpha;
+   double rudder_limit;
+   double raw_roll;   
 
    // adjust speed
    double speed_diff = tgt_speed - speed;
    if (fabs(speed_diff) > 0.1) {
-     if (speed_diff > 0.0) speed += 0.1 * dt;
+     if (speed_diff > 0.0) speed += speed_constant * dt;
-     if (speed_diff < 0.0) speed -= 0.1 * dt;
+     if (speed_diff < 0.0) speed -= speed_constant * dt;
    } 
    
    // convert speed to degrees per second
@@ -97,7 +128,7 @@ void FGAIShip::Run(double dt) {
 
    
    // adjust heading based on current rudder angle
-   if (rudder != 0.0)  {
+   if (rudder <= -0.25 or rudder >= 0.25)  {
    /*  turn_radius_ft = 0.088362 * speed * speed
                        / tan( fabs(rudder) / SG_RADIANS_TO_DEGREES );
      turn_circum_ft = SGD_2PI * turn_radius_ft;
@@ -105,32 +136,46 @@ void FGAIShip::Run(double dt) {
      alpha = dist_covered_ft / turn_circum_ft * 360.0;*/
      
      if (turn_radius_ft <= 0) turn_radius_ft = 0; // don't allow nonsense values
-     
+     if (rudder > 45) rudder = 45;
-//     cout << "speed " << speed << " turn radius " << turn_radius_ft << endl;
+     if (rudder < -45) rudder = -45;
 
 // adjust turn radius for speed. The equation is very approximate.
      sp_turn_radius_ft = 10 * pow ((speed - 15),2) + turn_radius_ft;
-//     cout << "speed " << speed << " speed turn radius " << sp_turn_radius_ft << endl; 
+//     cout << " speed turn radius " << sp_turn_radius_ft ; 
 
 // adjust turn radius for rudder angle. The equation is even more approximate.     
-     rd_turn_radius_ft = -130 * (rudder - 15) + sp_turn_radius_ft;
+     float a = 19;
-//     cout << "rudder " << rudder << " rudder turn radius " << rd_turn_radius_ft << endl;
+     float b = -0.2485;
+     float c = 0.543;
+     
+     rd_turn_radius_ft = (a * exp(b * fabs(rudder)) + c) * sp_turn_radius_ft;
+     
+//     cout <<" rudder turn radius " << rd_turn_radius_ft << endl;
           
 // calculate the angle, alpha, subtended by the arc traversed in time dt        
      alpha = ((speed * 1.686 * dt)/rd_turn_radius_ft) * SG_RADIANS_TO_DEGREES;
 
+   
 // make sure that alpha is applied in the right direction   
-   
      hdg += alpha * sign( rudder );
-
      if ( hdg > 360.0 ) hdg -= 360.0;
      if ( hdg < 0.0) hdg += 360.0;
 
-//adjust roll for rudder angle and speed     
+//adjust roll for rudder angle and speed. Another bit of voodoo    
-     roll = - (  speed / 2 - rudder / 6 );
+     raw_roll =  -0.0166667 * speed * rudder;
-     
-//    cout << " hdg " << hdg  << "roll "<< roll << endl;
    }
+   else
+   {
+// rudder angle is 0  
+     raw_roll = 0;
+//     cout << " roll "<< roll << endl;
+   }
+
+    //low pass filter
+     roll = (raw_roll * roll_constant) + (roll * (1 - roll_constant));
+         
+     cout  << " rudder: " << rudder << " raw roll: "<< raw_roll<<" roll: " << roll ;
+     cout  << " hdg: " << hdg << endl ;
 
    // adjust target rudder angle if heading lock engaged
    if (hdg_lock) {
@@ -144,24 +189,43 @@ void FGAIShip::Run(double dt) {
      } else {
        rudder_sense = -1.0;
      } 
-     if (diff < 30) tgt_roll = diff * rudder_sense; 
+     if (diff < 15){ 
+         tgt_rudder = diff * rudder_sense;
+         }
+         else
+         {
+         tgt_rudder = 45 * rudder_sense;
+     }     
    }
 
    // adjust rudder angle
-   double rudder_diff = tgt_roll - rudder;
+    double rudder_diff = tgt_rudder - rudder;
-   if (fabs(rudder_diff) > 0.1) {
+    // set the rudder limit by speed
-     if (rudder_diff > 0.0) rudder += 5.0 * dt;
+    if (speed <= 40 ){
-     if (rudder_diff < 0.0) rudder -= 5.0 * dt;
+       rudder_limit = (-0.825 * speed) + 35;
+    }else{
+       rudder_limit = 2;
    }
 
+    if (fabs(rudder_diff) > 0.1) {
+        if (rudder_diff > 0.0){
+            rudder += rudder_constant * dt;
+            if (rudder > rudder_limit) rudder = rudder_limit;// apply the rudder limit
+        } else if (rudder_diff < 0.0){
+            rudder -= rudder_constant * dt;
+            if (rudder < -rudder_limit) rudder = -rudder_limit;
         }
+}
+
+
+
+}//end function
 
 
 void FGAIShip::AccelTo(double speed) {
    tgt_speed = speed;
 }
 
-
 void FGAIShip::PitchTo(double angle) {
    tgt_pitch = angle;
 }
@@ -204,3 +268,10 @@ void FGAIShip::ProcessFlightPlan(double dt) {
   // not implemented yet
 }
 
+void FGAIShip::setRudder(float r) {
+  rudder = r;
+}
+
+void FGAIShip::setRoll(double rl) {
+   roll = rl;
+}

src/AIModel/AIShip.hxx

@@ -37,6 +37,9 @@ public:
 	void update(double dt);
         void setFlightPlan(FGAIFlightPlan* f);
         void setName(const string&);
+        void setRudder(float r);
+        void setRoll(double rl);
+        
         void ProcessFlightPlan( double dt );
 
         void AccelTo(double speed);
@@ -45,6 +48,7 @@ public:
         void YawTo(double angle);
         void ClimbTo(double altitude);
         void TurnTo(double heading);
+	    bool hdg_lock;
 	
 protected:
 
@@ -52,8 +56,8 @@ protected:
 
 private:
 
-        bool hdg_lock;
+        float rudder, tgt_rudder;
-        double rudder;
+        double rudder_constant, roll_constant, speed_constant, hdg_constant;
 
 	void Run(double dt);
         double sign(double x);	

src/FDM/groundcache.cxx

@@ -226,13 +226,15 @@ FGGroundCache::extractGroundProperty( ssgLeaf* l )
     }
 
     // Copy the velocity from the carrier class.
-    ud->carrier->getVelocityWrtEarth( gp.vel );
+    ud->carrier->getVelocityWrtEarth( gp.vel, gp.rot, gp.pivot );
   }
 
   else {
 
     // Initialize velocity field.
-    sgSetVec3( gp.vel, 0.0, 0.0, 0.0 );
+    sgdSetVec3( gp.vel, 0.0, 0.0, 0.0 );
+    sgdSetVec3( gp.rot, 0.0, 0.0, 0.0 );
+    sgdSetVec3( gp.pivot, 0.0, 0.0, 0.0 );
   }
   
   // Get the texture name and decide what ground type we have.
@@ -285,7 +287,9 @@ FGGroundCache::putLineLeafIntoCache(const sgdSphere *wsp, const sgdMat4 xform,
         Wire wire;
         sgdCopyVec3(wire.ends[0], ends[0]);
         sgdCopyVec3(wire.ends[1], ends[1]);
-        sgdSetVec3(wire.velocity, gp.vel);
+        sgdCopyVec3(wire.velocity, gp.vel);
+        sgdCopyVec3(wire.rotation, gp.rot);
+        sgdSubVec3(wire.rotation_pivot, gp.pivot, cache_center);
         wire.wire_id = gp.wire_id;
 
         wires.push_back(wire);
@@ -294,7 +298,9 @@ FGGroundCache::putLineLeafIntoCache(const sgdSphere *wsp, const sgdMat4 xform,
         Catapult cat;
         sgdCopyVec3(cat.start, ends[0]);
         sgdCopyVec3(cat.end, ends[1]);
-        sgdSetVec3(cat.velocity, gp.vel);
+        sgdCopyVec3(cat.velocity, gp.vel);
+        sgdCopyVec3(cat.rotation, gp.rot);
+        sgdSubVec3(cat.rotation_pivot, gp.pivot, cache_center);
 
         catapults.push_back(cat);
       }
@@ -334,7 +340,9 @@ FGGroundCache::putSurfaceLeafIntoCache(const sgdSphere *sp,
     // Check if the sphere around the vehicle intersects the sphere
     // around that triangle. If so, put that triangle into the cache.
     if (sphIsec && sp->intersects(&t.sphere)) {
-      sgdSetVec3(t.velocity, gp.vel);
+      sgdCopyVec3(t.velocity, gp.vel);
+      sgdCopyVec3(t.rotation, gp.rot);
+      sgdSubVec3(t.rotation_pivot, gp.pivot, cache_center);
       t.type = gp.type;
       triangles.push_back(t);
     }
@@ -373,15 +381,25 @@ FGGroundCache::velocityTransformTriangle(double dt,
   dst.sphere.radius = src.sphere.radius;
 
   sgdCopyVec3(dst.velocity, src.velocity);
+  sgdCopyVec3(dst.rotation, src.rotation);
+  sgdCopyVec3(dst.rotation_pivot, src.rotation_pivot);
 
   dst.type = src.type;
 
   if (dt*sgdLengthSquaredVec3(src.velocity) != 0) {
-    sgdAddScaledVec3(dst.vertices[0], src.velocity, dt);
+    sgdVec3 pivotoff, vel;
-    sgdAddScaledVec3(dst.vertices[1], src.velocity, dt);
+    for (int i = 0; i < 3; ++i) {
-    sgdAddScaledVec3(dst.vertices[2], src.velocity, dt);
+      sgdSubVec3(pivotoff, src.vertices[i], src.rotation_pivot);
+      sgdVectorProductVec3(vel, src.rotation, pivotoff);
+      sgdAddVec3(vel, src.velocity);
+      sgdAddScaledVec3(dst.vertices[i], vel, dt);
+    }
     
-    dst.plane[3] += dt*sgdScalarProductVec3(dst.plane, src.velocity);
+    // Transform the plane equation
+    sgdSubVec3(pivotoff, dst.plane, src.rotation_pivot);
+    sgdVectorProductVec3(vel, src.rotation, pivotoff);
+    sgdAddVec3(vel, src.velocity);
+    dst.plane[3] += dt*sgdScalarProductVec3(dst.plane, vel);
 
     sgdAddScaledVec3(dst.sphere.center, src.velocity, dt);
   }
@@ -554,15 +572,23 @@ FGGroundCache::get_cat(double t, const double dpt[3],
 
   size_t sz = catapults.size();
   for (size_t i = 0; i < sz; ++i) {
+    sgdVec3 pivotoff, rvel[2];
     sgdLineSegment3 ls;
     sgdCopyVec3(ls.a, catapults[i].start);
     sgdCopyVec3(ls.b, catapults[i].end);
 
+    sgdSubVec3(pivotoff, ls.a, catapults[i].rotation_pivot);
+    sgdVectorProductVec3(rvel[0], catapults[i].rotation, pivotoff);
+    sgdAddVec3(rvel[0], catapults[i].velocity);
+    sgdSubVec3(pivotoff, ls.b, catapults[i].rotation_pivot);
+    sgdVectorProductVec3(rvel[1], catapults[i].rotation, pivotoff);
+    sgdAddVec3(rvel[1], catapults[i].velocity);
+
     sgdAddVec3(ls.a, cache_center);
     sgdAddVec3(ls.b, cache_center);
 
-    sgdAddScaledVec3(ls.a, catapults[i].velocity, t);
+    sgdAddScaledVec3(ls.a, rvel[0], t);
-    sgdAddScaledVec3(ls.b, catapults[i].velocity, t);
+    sgdAddScaledVec3(ls.b, rvel[1], t);
     
     double this_dist = sgdDistSquaredToLineSegmentVec3( ls, dpt );
     if (this_dist < dist) {
@@ -573,8 +599,8 @@ FGGroundCache::get_cat(double t, const double dpt[3],
       // The carrier code takes care of that ordering.
       sgdCopyVec3( end[0], ls.a );
       sgdCopyVec3( end[1], ls.b );
-      sgdCopyVec3( vel[0], catapults[i].velocity );
+      sgdCopyVec3( vel[0], rvel[0] );
-      sgdCopyVec3( vel[1], catapults[i].velocity );
+      sgdCopyVec3( vel[1], rvel[1] );
     }
   }
 
@@ -641,8 +667,10 @@ FGGroundCache::get_agl(double t, const double dpt[3], double max_altoff,
           // The first three values in the vector are the plane normal.
           sgdCopyVec3( normal, triangle.plane );
           // The velocity wrt earth.
-          /// FIXME: only true for non rotating objects!!!!
+          sgdVec3 pivotoff;
-          sgdCopyVec3( vel, triangle.velocity );
+          sgdSubVec3(pivotoff, pt, triangle.rotation_pivot);
+          sgdVectorProductVec3(vel, triangle.rotation, pivotoff);
+          sgdAddVec3(vel, triangle.velocity);
           // Save the ground type.
           *type = triangle.type;
           // FIXME: figure out how to get that sign ...
@@ -704,14 +732,15 @@ bool FGGroundCache::caught_wire(double t, const double pt[4][3])
   // You have cautght a wire if they intersect.
   for (size_t i = 0; i < sz; ++i) {
     sgdVec3 le[2];
-    sgdCopyVec3(le[0], wires[i].ends[0]);
+    for (int k = 0; k < 2; ++k) {
-    sgdCopyVec3(le[1], wires[i].ends[1]);
+      sgdVec3 pivotoff, vel;
-
+      sgdCopyVec3(le[k], wires[i].ends[k]);
-    sgdAddVec3(le[0], cache_center);
+      sgdSubVec3(pivotoff, le[k], wires[i].rotation_pivot);
-    sgdAddVec3(le[1], cache_center);
+      sgdVectorProductVec3(vel, wires[i].rotation, pivotoff);
-
+      sgdAddVec3(vel, wires[i].velocity);
-    sgdAddScaledVec3(le[0], wires[i].velocity, t);
+      sgdAddScaledVec3(le[k], vel, t);
-    sgdAddScaledVec3(le[1], wires[i].velocity, t);
+      sgdAddVec3(le[k], cache_center);
+    }
     
     for (int k=0; k<2; ++k) {
       sgdVec3 isecpoint;
@@ -742,17 +771,15 @@ bool FGGroundCache::get_wire_ends(double t, double end[2][3], double vel[2][3])
   size_t sz = wires.size();
   for (size_t i = 0; i < sz; ++i) {
     if (wires[i].wire_id == wire_id) {
-      sgdCopyVec3(end[0], wires[i].ends[0]);
+      for (size_t k = 0; k < 2; ++k) {
-      sgdCopyVec3(end[1], wires[i].ends[1]);
+        sgdVec3 pivotoff;
-      
+        sgdCopyVec3(end[k], wires[i].ends[k]);
-      sgdAddVec3(end[0], cache_center);
+        sgdSubVec3(pivotoff, end[k], wires[i].rotation_pivot);
-      sgdAddVec3(end[1], cache_center);
+        sgdVectorProductVec3(vel[k], wires[i].rotation, pivotoff);
-      
+        sgdAddVec3(vel[k], wires[i].velocity);
-      sgdAddScaledVec3(end[0], wires[i].velocity, t);
+        sgdAddScaledVec3(end[k], vel[k], t);
-      sgdAddScaledVec3(end[1], wires[i].velocity, t);
+        sgdAddVec3(end[k], cache_center);
-      
+      }
-      sgdCopyVec3(vel[0], wires[i].velocity);
-      sgdCopyVec3(vel[1], wires[i].velocity);
       return true;
     }
   }

src/FDM/groundcache.hxx

@@ -88,8 +88,10 @@ private:
       sgdVec4 plane;
       // The bounding shpere.
       sgdSphere sphere;
-      // The linear velocity.
+      // The linear and angular velocity.
       sgdVec3 velocity;
+      sgdVec3 rotation;
+      sgdVec3 rotation_pivot;
       // Ground type
       int type;
     };
@@ -97,10 +99,14 @@ private:
       sgdVec3 start;
       sgdVec3 end;
       sgdVec3 velocity;
+      sgdVec3 rotation;
+      sgdVec3 rotation_pivot;
     };
     struct Wire {
       sgdVec3 ends[2];
       sgdVec3 velocity;
+      sgdVec3 rotation;
+      sgdVec3 rotation_pivot;
       int wire_id;
     };
 
@@ -144,7 +150,9 @@ private:
       GroundProperty() : type(0) {}
       int type;
       int wire_id;
-      sgVec3 vel;
+      sgdVec3 vel;
+      sgdVec3 rot;
+      sgdVec3 pivot;
       // not yet implemented ...
 //       double loadCapacity;
     };