YASim: move one-liners and add 'const'

src/FDM/YASim/BodyEnvironment.hpp

@@ -22,36 +22,34 @@ struct State {
 
     // Simple initialization
     State() {
-        int i;
+        for(int i=0; i<3; i++) {
-        for(i=0; i<3; i++) {
             pos[i] = v[i] = rot[i] = acc[i] = racc[i] = 0;
-            int j;
+            for(int j=0; j<3; j++)
-            for(j=0; j<3; j++)
+                orient[3*i+j] = (i==j) ? 1.0f : 0.0f;
-                orient[3*i+j] = i==j ? 1.0f : 0.0f;
         }
     }
 
-    void posLocalToGlobal(float* lpos, double *gpos) {
+    void posLocalToGlobal(const float* lpos, double *gpos) const {
         float tmp[3];
         Math::tmul33(orient, lpos, tmp);
         gpos[0] = tmp[0] + pos[0];
         gpos[1] = tmp[1] + pos[1];
         gpos[2] = tmp[2] + pos[2];
     }
-    void posGlobalToLocal(double* gpos, float *lpos) {
+    void posGlobalToLocal(const double* gpos, float *lpos) const {
         lpos[0] = (float)(gpos[0] - pos[0]);
         lpos[1] = (float)(gpos[1] - pos[1]);
         lpos[2] = (float)(gpos[2] - pos[2]);
         Math::vmul33(orient, lpos, lpos);
     }
-    void velLocalToGlobal(float* lvel, float *gvel) {
+    void velLocalToGlobal(const float* lvel, float *gvel) const {
         Math::tmul33(orient, lvel, gvel);
     }
-    void velGlobalToLocal(float* gvel, float *lvel) {
+    void velGlobalToLocal(const float* gvel, float *lvel) const {
         Math::vmul33(orient, gvel, lvel);
     }
 
-    void planeGlobalToLocal(double* gplane, float *lplane) {
+    void planeGlobalToLocal(const double* gplane, float *lplane) const {
       // First the normal vector transformed to local coordinates.
       lplane[0] = (float)-gplane[0];
       lplane[1] = (float)-gplane[1];

src/FDM/YASim/Integrator.cpp

@@ -2,43 +2,6 @@
 #include "Integrator.hpp"
 namespace yasim {
 
-void Integrator::setBody(RigidBody* body)
-{
-    _body = body;
-}
-
-void Integrator::setEnvironment(BodyEnvironment* env)
-{
-    _env = env;
-}
-
-void Integrator::setInterval(float dt)
-{
-    _dt = dt;
-}
-
-float Integrator::getInterval()
-{
-    return _dt;
-}
-
-void Integrator::setState(State* s)
-{
-    _s = *s;
-}
-
-State* Integrator::getState()
-{
-    return &_s;
-}
-
-// Transforms a "local" vector to a "global" vector (not coordinate!)
-// using the specified orientation.
-void Integrator::l2gVector(float* orient, float* v, float* out)
-{
-    Math::tmul33(orient, v, out);
-}
-
 // Updates a position vector for a body c.g. motion with velocity v
 // over time dt, from orientation o0 to o1.  Because the position
 // references the local coordinate origin, but the velocity is that of

src/FDM/YASim/Integrator.hpp

@@ -17,24 +17,24 @@ class Integrator
 {
 public:
     // Sets the RigidBody that will be integrated.
-    void setBody(RigidBody* body);
+    void setBody(RigidBody* body) { _body = body; }  
 
     // Sets the BodyEnvironment object used to calculate the second
     // derivatives.
-    void setEnvironment(BodyEnvironment* env);
+    void setEnvironment(BodyEnvironment* env) { _env = env; }
 
     // Sets the time interval between steps.  Units can be anything,
     // but they must match the other values (if you specify speed in
     // m/s, then angular acceleration had better be in 1/s^2 and the
     // time interval should be in seconds, etc...)
-    void setInterval(float dt);
+    void setInterval(float dt) { _dt = dt; }
-    float getInterval();
+    float getInterval() const { return _dt; }
 
     // The current state, i.e. initial conditions for the next
     // integration iteration.  Note that the acceleration parameters
     // in the State object are ignored.
-    State* getState();
+    State* getState() {  return &_s; }
-    void setState(State* s);
+    void setState(State* s) {  _s = *s; }
 
     // Do a 4th order Runge-Kutta integration over one time interval.
     // This is the top level of the simulation.
@@ -43,9 +43,13 @@ public:
 private:
     void orthonormalize(float* m);
     void rotMatrix(float* r, float dt, float* out);
-    void l2gVector(float* orient, float* v, float* out);
+    
-    void extrapolatePosition(double* pos, float* v, float dt,
+    // Transforms a "local" vector to a "global" vector (not coordinate!)
-                             float* o1, float* o2);
+    // using the specified orientation.    
+    void l2gVector(const float* orient, const float* v, float* out) { 
+      Math::tmul33(orient, v, out); }
+    
+    void extrapolatePosition(double* pos, float* v, float dt, float* o1, float* o2);
 
     BodyEnvironment* _env;
     RigidBody* _body;

src/FDM/YASim/Thruster.cpp

@@ -17,51 +17,6 @@ Thruster::~Thruster()
 {
 }
 
-void Thruster::getPosition(float* out)
-{
-    int i;
-    for(i=0; i<3; i++) out[i] = _pos[i];
-}
-
-void Thruster::setPosition(float* pos)
-{
-    int i;
-    for(i=0; i<3; i++) _pos[i] = pos[i];
-}
-
-void Thruster::getDirection(float* out)
-{
-    int i;
-    for(i=0; i<3; i++) out[i] = _dir[i];
-}
-
-void Thruster::setDirection(float* dir)
-{
-    Math::unit3(dir, _dir);
-}
-
-void Thruster::setThrottle(float throttle)
-{
-    _throttle = Math::clamp(throttle, -1, 1);
-}
-
-void Thruster::setMixture(float mixture)
-{
-    _mixture = Math::clamp(mixture, 0, 1);
-}
-
-
-void Thruster::setStarter(bool starter)
-{
-    _starter = starter;
-}
-
-void Thruster::setWind(float* wind)
-{
-    int i;
-    for(i=0; i<3; i++) _wind[i] = wind[i];
-}
-
 void Thruster::setAir(float pressure, float temp, float density)
 {
     _pressure = pressure;

src/FDM/YASim/Thruster.hpp

@@ -1,5 +1,6 @@
 #ifndef _THRUSTER_HPP
 #define _THRUSTER_HPP
+#include "Math.hpp"
 
 namespace yasim {
 
@@ -22,15 +23,15 @@ public:
     virtual Engine* getEngine() { return 0; }
     
     // Static data
-    void getPosition(float* out);
+    void getPosition(float* out) const { Math::set3(_pos, out); }
-    void setPosition(float* pos);
+    void setPosition(const float* pos) { Math::set3(pos, _pos); }
-    void getDirection(float* out);
+    void getDirection(float* out) const { Math::set3(_dir, out); }
-    void setDirection(float* dir);
+    void setDirection(const float* dir) { Math::unit3(dir, _dir); }
 
     // Controls
-    void setThrottle(float throttle);
+    void setThrottle(float throttle) { _throttle = Math::clamp(throttle, -1, 1); }
-    void setMixture(float mixture);
+    void setMixture(float mixture) { _mixture = Math::clamp(mixture, 0, 1); }
-    void setStarter(bool starter);
+    void setStarter(bool starter) { _starter = starter; }
     void setFuelState(bool hasFuel) { _fuel = hasFuel; }
 
     // Dynamic output
@@ -42,7 +43,7 @@ public:
     virtual float getFuelFlow()=0; // in kg/s
 
     // Runtime instructions
-    void setWind(float* wind);
+    void setWind(const float* wind) { Math::set3(wind, _wind); };
     void setAir(float pressure, float temp, float density);
     virtual void init() {}
     virtual void integrate(float dt)=0;