// flight.hxx -- define shared flight model parameters // // Written by Curtis Olson, started May 1997. // // Copyright (C) 1997 Curtis L. Olson - http://www.flightgear.org/~curt // // This program is free software; you can redistribute it and/or // modify it under the terms of the GNU General Public License as // published by the Free Software Foundation; either version 2 of the // License, or (at your option) any later version. // // This program is distributed in the hope that it will be useful, but // WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // General Public License for more details. // // You should have received a copy of the GNU General Public License // along with this program; if not, write to the Free Software // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. // // $Id$ #ifndef _FLIGHT_HXX #define _FLIGHT_HXX #ifndef __cplusplus # error This library requires C++ #endif /* Required get_() `FGInterface::get_Longitude ()' `FGInterface::get_Latitude ()' `FGInterface::get_Altitude ()' `FGInterface::get_Phi ()' `FGInterface::get_Theta ()' `FGInterface::get_Psi ()' `FGInterface::get_V_equiv_kts ()' `FGInterface::get_V_north ()' `FGInterface::get_V_east ()' `FGInterface::get_V_down ()' `FGInterface::get_P_Body ()' `FGInterface::get_Q_Body ()' `FGInterface::get_R_Body ()' `FGInterface::get_Gamma_vert_rad ()' `FGInterface::get_Climb_Rate ()' `FGInterface::get_Alpha ()' `FGInterface::get_Beta ()' `FGInterface::get_Runway_altitude ()' `FGInterface::get_Lon_geocentric ()' `FGInterface::get_Lat_geocentric ()' `FGInterface::get_Sea_level_radius ()' `FGInterface::get_Earth_position_angle ()' `FGInterface::get_Latitude_dot()' `FGInterface::get_Longitude_dot()' `FGInterface::get_Radius_dot()' `FGInterface::get_Dx_cg ()' `FGInterface::get_Dy_cg ()' `FGInterface::get_Dz_cg ()' `FGInterface::get_Radius_to_vehicle ()' */ #include <math.h> #include <simgear/compiler.h> #include <simgear/constants.h> #include <simgear/structure/subsystem_mgr.hxx> #include <simgear/props/tiedpropertylist.hxx> #include <FDM/groundcache.hxx> namespace simgear { class BVHMaterial; } class SGIOChannel; /** * A little helper class to update the track if * the position has changed. In the constructor, * create a copy of the current position and store * references to the position object and the track * variable to update. * The destructor, called at TrackComputer's end of * life/visibility, computes the track if the * position has changed. */ class TrackComputer { public: inline TrackComputer( double & track, double & path, const SGGeod & position ) : _track( track ), _path( path ), _position( position ), _prevPosition( position ) { } inline ~TrackComputer() { if( _prevPosition == _position ) return; // _track = SGGeodesy::courseDeg( _prevPosition, _position ); double d = .0; double distance = .0; if( SGGeodesy::inverse( _prevPosition, _position, _track, d, distance ) ) { d = _position.getElevationM() - _prevPosition.getElevationM(); _path = atan2( d, distance ) * SGD_RADIANS_TO_DEGREES; } } private: double & _track; double & _path; const SGGeod & _position; const SGGeod _prevPosition; }; // This is based heavily on LaRCsim/ls_generic.h class FGInterface : public SGSubsystem { private: // Has the init() method been called. This is used to delay // initialization until scenery can be loaded and we know the true // ground elevation. bool inited; // Have we bound to the property system bool bound; double delta_loops; // periodic update management variable. This is a scheme to run // the fdm with a fixed delta-t. We control how many iteration of // the fdm to run with the fixed dt based on the elapsed time from // the last update. This allows us to maintain sync with the real // time clock, even though each frame could take a random amount // of time. Since "dt" is unlikely to divide evenly into the // elapse time, we keep track of the remainder and add it into the // next elapsed time. This yields a small amount of temporal // jitter ( < dt ) but in practice seems to work well. /** * encapsulate primary flight state. This is packaged so it can be * (unfortunately) sent directly over the wire by the 'native' FDM * protocol. */ struct FlightState { // CG position w.r.t. ref. point SGVec3d d_cg_rp_body_v; // Accelerations SGVec3d v_dot_local_v; SGVec3d v_dot_body_v; SGVec3d a_cg_body_v; SGVec3d a_pilot_body_v; SGVec3d n_cg_body_v; SGVec3d omega_dot_body_v; // Velocities SGVec3d v_local_v; SGVec3d v_local_rel_ground_v; // V rel w.r.t. earth surface SGVec3d v_local_airmass_v; // velocity of airmass (steady winds) SGVec3d v_body_v; // ECEF velocities in body axis SGVec3d omega_body_v; // Angular B rates SGVec3d euler_rates_v; SGVec3d geocentric_rates_v; // Geocentric linear velocities // Positions SGGeod geodetic_position_v; SGVec3d cartesian_position_v; SGGeoc geocentric_position_v; SGVec3d euler_angles_v; // Normal Load Factor double nlf; // Velocities double v_rel_wind, v_true_kts; double v_ground_speed, v_equiv_kts; double v_calibrated_kts; // Miscellaneious Quantities double alpha, beta; // in radians double gamma_vert_rad; // Flight path angles double density, mach_number; double static_pressure, total_pressure; double dynamic_pressure; double static_temperature, total_temperature; double sea_level_radius, earth_position_angle; double runway_altitude; double climb_rate; // in feet per second double altitude_agl; double track; double path; }; FlightState _state; simgear::TiedPropertyList _tiedProperties; // the ground cache object itself. FGGroundCache ground_cache; void set_A_X_pilot(double x) { _set_Accels_Pilot_Body(x, _state.a_pilot_body_v[1], _state.a_pilot_body_v[2]); } void set_A_Y_pilot(double y) { _set_Accels_Pilot_Body(_state.a_pilot_body_v[0], y, _state.a_pilot_body_v[2]); } void set_A_Z_pilot(double z) { _set_Accels_Pilot_Body(_state.a_pilot_body_v[0], _state.a_pilot_body_v[1], z); } protected: int _calc_multiloop (double dt); public: // deliberately not virtual so that // FGInterface constructor will call // the right version void _setup(); void _busdump(void); void _updatePositionM(const SGVec3d& cartPos); void _updatePositionFt(const SGVec3d& cartPos) { _updatePositionM(SG_FEET_TO_METER*cartPos); } void _updatePosition(const SGGeod& geod); void _updatePosition(const SGGeoc& geoc); void _updateGeodeticPosition( double lat, double lon, double alt ); void _updateGeocentricPosition( double lat_geoc, double lon, double alt ); void _update_ground_elev_at_pos( void ); inline void _set_CG_Position( double dx, double dy, double dz ) { _state.d_cg_rp_body_v[0] = dx; _state.d_cg_rp_body_v[1] = dy; _state.d_cg_rp_body_v[2] = dz; } inline void _set_Accels_Local( double north, double east, double down ) { _state.v_dot_local_v[0] = north; _state.v_dot_local_v[1] = east; _state.v_dot_local_v[2] = down; } inline void _set_Accels_Body( double u, double v, double w ) { _state.v_dot_body_v[0] = u; _state.v_dot_body_v[1] = v; _state.v_dot_body_v[2] = w; } inline void _set_Accels_CG_Body( double x, double y, double z ) { _state.a_cg_body_v[0] = x; _state.a_cg_body_v[1] = y; _state.a_cg_body_v[2] = z; } inline void _set_Accels_Pilot_Body( double x, double y, double z ) { _state.a_pilot_body_v[0] = x; _state.a_pilot_body_v[1] = y; _state.a_pilot_body_v[2] = z; } inline void _set_Accels_CG_Body_N( double x, double y, double z ) { _state.n_cg_body_v[0] = x; _state.n_cg_body_v[1] = y; _state.n_cg_body_v[2] = z; } void _set_Nlf(double n) { _state.nlf=n; } inline void _set_Velocities_Local( double north, double east, double down ){ _state.v_local_v[0] = north; _state.v_local_v[1] = east; _state.v_local_v[2] = down; } inline void _set_Velocities_Ground(double north, double east, double down) { _state.v_local_rel_ground_v[0] = north; _state.v_local_rel_ground_v[1] = east; _state.v_local_rel_ground_v[2] = down; } inline void _set_Velocities_Local_Airmass( double north, double east, double down) { _state.v_local_airmass_v[0] = north; _state.v_local_airmass_v[1] = east; _state.v_local_airmass_v[2] = down; } inline void _set_Velocities_Body( double u, double v, double w) { _state.v_body_v[0] = u; _state.v_body_v[1] = v; _state.v_body_v[2] = w; } inline void _set_V_rel_wind(double vt) { _state.v_rel_wind = vt; } inline void _set_V_ground_speed( double v) { _state.v_ground_speed = v; } inline void _set_V_equiv_kts( double kts ) { _state.v_equiv_kts = kts; } inline void _set_V_calibrated_kts( double kts ) { _state.v_calibrated_kts = kts; } inline void _set_Omega_Body( double p, double q, double r ) { _state.omega_body_v[0] = p; _state.omega_body_v[1] = q; _state.omega_body_v[2] = r; } inline void _set_Euler_Rates( double phi, double theta, double psi ) { _state.euler_rates_v[0] = phi; _state.euler_rates_v[1] = theta; _state.euler_rates_v[2] = psi; } void set_Phi_dot_degps(double x) { _state.euler_rates_v[0] = x * SGD_DEGREES_TO_RADIANS; } void set_Theta_dot_degps(double x) { _state.euler_rates_v[1] = x * SGD_DEGREES_TO_RADIANS; } void set_Psi_dot_degps(double x) { _state.euler_rates_v[2] = x * SGD_DEGREES_TO_RADIANS; } inline void _set_Geocentric_Rates( double lat, double lon, double rad ) { _state.geocentric_rates_v[0] = lat; _state.geocentric_rates_v[1] = lon; _state.geocentric_rates_v[2] = rad; } inline void _set_Geocentric_Position( double lat, double lon, double rad ) { _state.geocentric_position_v.setLatitudeRad(lat); _state.geocentric_position_v.setLongitudeRad(lon); _state.geocentric_position_v.setRadiusFt(rad); } /* Don't call _set_L[at|ong]itude() directly, use _set_Geodetic_Position() instead. These methods can't update the track. * inline void _set_Latitude(double lat) { geodetic_position_v.setLatitudeRad(lat); } inline void _set_Longitude(double lon) { geodetic_position_v.setLongitudeRad(lon); } */ inline void _set_Altitude(double altitude) { _state.geodetic_position_v.setElevationFt(altitude); } inline void _set_Altitude_AGL(double agl) { _state.altitude_agl = agl; } inline void _set_Geodetic_Position( double lat, double lon ) { _set_Geodetic_Position( lat, lon, _state.geodetic_position_v.getElevationFt()); } inline void _set_Geodetic_Position( double lat, double lon, double alt ) { TrackComputer tracker( _state.track, _state.path, _state.geodetic_position_v ); _state.geodetic_position_v.setLatitudeRad(lat); _state.geodetic_position_v.setLongitudeRad(lon); _state.geodetic_position_v.setElevationFt(alt); } inline void _set_Euler_Angles( double phi, double theta, double psi ) { _state.euler_angles_v[0] = phi; _state.euler_angles_v[1] = theta; _state.euler_angles_v[2] = psi; } // FIXME, for compatibility with JSBSim inline void _set_T_Local_to_Body( int i, int j, double value) { } inline void _set_Alpha( double a ) { _state.alpha = a; } inline void _set_Beta( double b ) { _state.beta = b; } inline void set_Alpha_deg( double a ) { _state.alpha = a * SGD_DEGREES_TO_RADIANS; } inline void _set_Gamma_vert_rad( double gv ) { _state.gamma_vert_rad = gv; } inline void _set_Density( double d ) { _state.density = d; } inline void _set_Mach_number( double m ) { _state.mach_number = m; } inline void _set_Static_pressure( double sp ) { _state.static_pressure = sp; } inline void _set_Static_temperature( double t ) { _state.static_temperature = t; } inline void _set_Total_temperature( double tat ) { _state.total_temperature = tat; } //JW inline void _set_Sea_level_radius( double r ) { _state.sea_level_radius = r; } inline void _set_Earth_position_angle(double a) {_state.earth_position_angle = a; } inline void _set_Runway_altitude( double alt ) { _state.runway_altitude = alt; } inline void _set_Climb_Rate(double rate) { _state.climb_rate = rate; } public: FGInterface(); FGInterface( double dt ); virtual ~FGInterface(); virtual void init (); virtual void bind (); virtual void unbind (); virtual void update(double dt); virtual bool ToggleDataLogging(bool state) { return false; } virtual bool ToggleDataLogging(void) { return false; } bool readState(SGIOChannel* io); bool writeState(SGIOChannel* io); // Define the various supported flight models (many not yet implemented) enum { // Magic Carpet mode FG_MAGICCARPET = 0, // The NASA LaRCsim (Navion) flight model FG_LARCSIM = 1, // Jon S. Berndt's new FDM written from the ground up in C++ FG_JSBSIM = 2, // Christian's hot air balloon simulation FG_BALLOONSIM = 3, // Aeronautical DEvelopment AGEncy, Bangalore India FG_ADA = 4, // The following aren't implemented but are here to spark // thoughts and discussions, and maybe even action. FG_ACM = 5, FG_SUPER_SONIC = 6, FG_HELICOPTER = 7, FG_AUTOGYRO = 8, FG_PARACHUTE = 9, // Driven externally via a serial port, net, file, etc. FG_EXTERNAL = 10 }; // initialization inline bool get_inited() const { return inited; } inline void set_inited( bool value ) { inited = value; } inline bool get_bound() const { return bound; } //perform initializion that is common to all FDM's void common_init(); // Positions virtual void set_Latitude(double lat); // geocentric virtual void set_Longitude(double lon); virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude virtual void set_AltitudeAGL(double altagl); // and vice-versa virtual void set_Latitude_deg (double lat) { set_Latitude(lat * SGD_DEGREES_TO_RADIANS); } virtual void set_Longitude_deg (double lon) { set_Longitude(lon * SGD_DEGREES_TO_RADIANS); } // Speeds -- setting any of these will trigger a re-calc of the rest virtual void set_V_calibrated_kts(double vc); virtual void set_Mach_number(double mach); virtual void set_Velocities_Local( double north, double east, double down ); inline void set_V_north (double north) { set_Velocities_Local(north, _state.v_local_v[1], _state.v_local_v[2]); } inline void set_V_east (double east) { set_Velocities_Local(_state.v_local_v[0], east, _state.v_local_v[2]); } inline void set_V_down (double down) { set_Velocities_Local(_state.v_local_v[0], _state.v_local_v[1], down); } virtual void set_Velocities_Body( double u, double v, double w); virtual void set_uBody (double uBody) { set_Velocities_Body(uBody, _state.v_body_v[1], _state.v_body_v[2]); } virtual void set_vBody (double vBody) { set_Velocities_Body(_state.v_body_v[0], vBody, _state.v_body_v[2]); } virtual void set_wBody (double wBody) { set_Velocities_Body(_state.v_body_v[0], _state.v_body_v[1], wBody); } // Euler angles virtual void set_Euler_Angles( double phi, double theta, double psi ); virtual void set_Phi (double phi) { set_Euler_Angles(phi, get_Theta(), get_Psi()); } virtual void set_Theta (double theta) { set_Euler_Angles(get_Phi(), theta, get_Psi()); } virtual void set_Psi (double psi) { set_Euler_Angles(get_Phi(), get_Theta(), psi); } virtual void set_Phi_deg (double phi) { set_Phi(phi * SGD_DEGREES_TO_RADIANS); } virtual void set_Theta_deg (double theta) { set_Theta(theta * SGD_DEGREES_TO_RADIANS); } virtual void set_Psi_deg (double psi) { set_Psi(psi * SGD_DEGREES_TO_RADIANS); } // Flight Path virtual void set_Climb_Rate( double roc); virtual void set_Gamma_vert_rad( double gamma); // Earth virtual void set_Static_pressure(double p); virtual void set_Static_temperature(double T); virtual void set_Density(double rho); virtual void set_Velocities_Local_Airmass (double wnorth, double weast, double wdown ); // ========== Mass properties and geometry values ========== // CG position w.r.t. ref. point inline double get_Dx_cg() const { return _state.d_cg_rp_body_v[0]; } inline double get_Dy_cg() const { return _state.d_cg_rp_body_v[1]; } inline double get_Dz_cg() const { return _state.d_cg_rp_body_v[2]; } // ========== Accelerations ========== inline double get_V_dot_north() const { return _state.v_dot_local_v[0]; } inline double get_V_dot_east() const { return _state.v_dot_local_v[1]; } inline double get_V_dot_down() const { return _state.v_dot_local_v[2]; } inline double get_U_dot_body() const { return _state.v_dot_body_v[0]; } inline double get_V_dot_body() const { return _state.v_dot_body_v[1]; } inline double get_W_dot_body() const { return _state.v_dot_body_v[2]; } inline double get_A_X_cg() const { return _state.a_cg_body_v[0]; } inline double get_A_Y_cg() const { return _state.a_cg_body_v[1]; } inline double get_A_Z_cg() const { return _state.a_cg_body_v[2]; } inline double get_A_X_pilot() const { return _state.a_pilot_body_v[0]; } inline double get_A_Y_pilot() const { return _state.a_pilot_body_v[1]; } inline double get_A_Z_pilot() const { return _state.a_pilot_body_v[2]; } inline double get_N_X_cg() const { return _state.n_cg_body_v[0]; } inline double get_N_Y_cg() const { return _state.n_cg_body_v[1]; } inline double get_N_Z_cg() const { return _state.n_cg_body_v[2]; } inline double get_Nlf(void) const { return _state.nlf; } // ========== Velocities ========== inline double get_V_north() const { return _state.v_local_v[0]; } inline double get_V_east() const { return _state.v_local_v[1]; } inline double get_V_down() const { return _state.v_local_v[2]; } inline double get_uBody () const { return _state.v_body_v[0]; } inline double get_vBody () const { return _state.v_body_v[1]; } inline double get_wBody () const { return _state.v_body_v[2]; } // Please dont comment these out. fdm=ada uses these (see // cockpit.cxx) ---> inline double get_V_north_rel_ground() const { return _state.v_local_rel_ground_v[0]; } inline double get_V_east_rel_ground() const { return _state.v_local_rel_ground_v[1]; } inline double get_V_down_rel_ground() const { return _state.v_local_rel_ground_v[2]; } // <--- fdm=ada uses these (see cockpit.cxx) inline double get_V_north_airmass() const { return _state.v_local_airmass_v[0]; } inline double get_V_east_airmass() const { return _state.v_local_airmass_v[1]; } inline double get_V_down_airmass() const { return _state.v_local_airmass_v[2]; } inline double get_U_body() const { return _state.v_body_v[0]; } inline double get_V_body() const { return _state.v_body_v[1]; } inline double get_W_body() const { return _state.v_body_v[2]; } inline double get_V_rel_wind() const { return _state.v_rel_wind; } inline double get_V_true_kts() const { return _state.v_true_kts; } inline double get_V_ground_speed() const { return _state.v_ground_speed; } inline double get_V_ground_speed_kt() const { return _state.v_ground_speed * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM; } inline void set_V_ground_speed_kt(double ground_speed) { _state.v_ground_speed = ground_speed / ( SG_FEET_TO_METER * 3600 * SG_METER_TO_NM); } inline double get_V_equiv_kts() const { return _state.v_equiv_kts; } inline double get_V_calibrated_kts() const { return _state.v_calibrated_kts; } inline double get_P_body() const { return _state.omega_body_v[0]; } inline double get_Q_body() const { return _state.omega_body_v[1]; } inline double get_R_body() const { return _state.omega_body_v[2]; } inline double get_Phi_dot() const { return _state.euler_rates_v[0]; } inline double get_Theta_dot() const { return _state.euler_rates_v[1]; } inline double get_Psi_dot() const { return _state.euler_rates_v[2]; } inline double get_Phi_dot_degps() const { return _state.euler_rates_v[0] * SGD_RADIANS_TO_DEGREES; } inline double get_Theta_dot_degps() const { return _state.euler_rates_v[1] * SGD_RADIANS_TO_DEGREES; } inline double get_Psi_dot_degps() const { return _state.euler_rates_v[2] * SGD_RADIANS_TO_DEGREES; } inline double get_Latitude_dot() const { return _state.geocentric_rates_v[0]; } inline double get_Longitude_dot() const { return _state.geocentric_rates_v[1]; } inline double get_Radius_dot() const { return _state.geocentric_rates_v[2]; } // ========== Positions ========== inline double get_Lat_geocentric() const { return _state.geocentric_position_v.getLatitudeRad(); } inline double get_Lon_geocentric() const { return _state.geocentric_position_v.getLongitudeRad(); } inline double get_Radius_to_vehicle() const { return _state.geocentric_position_v.getRadiusFt(); } const SGGeod& getPosition() const { return _state.geodetic_position_v; } const SGGeoc& getGeocPosition() const { return _state.geocentric_position_v; } const SGVec3d& getCartPosition() const { return _state.cartesian_position_v; } inline double get_Latitude() const { return _state.geodetic_position_v.getLatitudeRad(); } inline double get_Longitude() const { return _state.geodetic_position_v.getLongitudeRad(); } inline double get_Altitude() const { return _state.geodetic_position_v.getElevationFt(); } inline double get_Altitude_AGL(void) const { return _state.altitude_agl; } inline double get_Track(void) const { return _state.track; } inline double get_Path(void) const { return _state.path; } inline double get_Latitude_deg () const { return _state.geodetic_position_v.getLatitudeDeg(); } inline double get_Longitude_deg () const { return _state.geodetic_position_v.getLongitudeDeg(); } inline double get_Phi() const { return _state.euler_angles_v[0]; } inline double get_Theta() const { return _state.euler_angles_v[1]; } inline double get_Psi() const { return _state.euler_angles_v[2]; } inline double get_Phi_deg () const { return get_Phi() * SGD_RADIANS_TO_DEGREES; } inline double get_Theta_deg () const { return get_Theta() * SGD_RADIANS_TO_DEGREES; } inline double get_Psi_deg () const { return get_Psi() * SGD_RADIANS_TO_DEGREES; } // ========== Miscellaneous quantities ========== inline double get_Alpha() const { return _state.alpha; } inline double get_Alpha_deg() const { return _state.alpha * SGD_RADIANS_TO_DEGREES; } inline double get_Beta() const { return _state.beta; } inline double get_Beta_deg() const { return _state.beta * SGD_RADIANS_TO_DEGREES; } inline double get_Gamma_vert_rad() const { return _state.gamma_vert_rad; } inline double get_Density() const { return _state.density; } inline double get_Mach_number() const { return _state.mach_number; } inline double get_Static_pressure() const { return _state.static_pressure; } inline double get_Total_pressure() const { return _state.total_pressure; } inline double get_Dynamic_pressure() const { return _state.dynamic_pressure; } inline double get_Static_temperature() const { return _state.static_temperature; } inline double get_Total_temperature() const { return _state.total_temperature; } inline double get_Sea_level_radius() const { return _state.sea_level_radius; } inline double get_Earth_position_angle() const { return _state.earth_position_angle; } inline double get_Runway_altitude() const { return _state.runway_altitude; } inline double get_Runway_altitude_m() const { return SG_FEET_TO_METER * _state.runway_altitude; } inline double get_Climb_Rate() const { return _state.climb_rate; } // Note that currently this is the "same" value runway altitude... inline double get_ground_elev_ft() const { return _state.runway_altitude; } ////////////////////////////////////////////////////////////////////////// // Ground handling routines ////////////////////////////////////////////////////////////////////////// // Prepare the ground cache for the wgs84 position pt_*. // That is take all vertices in the ball with radius rad around the // position given by the pt_* and store them in a local scene graph. bool prepare_ground_cache_m(double startSimTime, double endSimTime, const double pt[3], double rad); bool prepare_ground_cache_ft(double startSimTime, double endSimTime, const double pt[3], double rad); // Returns true if the cache is valid. // Also the reference time, point and radius values where the cache // is valid for are returned. bool is_valid_m(double *ref_time, double pt[3], double *rad); bool is_valid_ft(double *ref_time, double pt[3], double *rad); // Return the nearest catapult to the given point // pt in wgs84 coordinates. double get_cat_m(double t, const double pt[3], double end[2][3], double vel[2][3]); double get_cat_ft(double t, const double pt[3], double end[2][3], double vel[2][3]); // Return the orientation and position matrix and the linear and angular // velocity of that local coordinate systems origin for a given time and // body id. The velocities are in the wgs84 frame at the bodys origin. bool get_body_m(double t, simgear::BVHNode::Id id, double bodyToWorld[16], double linearVel[3], double angularVel[3]); // Return the altitude above ground below the wgs84 point pt // Search for the nearest triangle to pt in downward direction. // Return ground properties. The velocities are in the wgs84 frame at the // contact point. bool get_agl_m(double t, const double pt[3], double max_altoff, double contact[3], double normal[3], double linearVel[3], double angularVel[3], simgear::BVHMaterial const*& material, simgear::BVHNode::Id& id); bool get_agl_ft(double t, const double pt[3], double max_altoff, double contact[3], double normal[3], double linearVel[3], double angularVel[3], simgear::BVHMaterial const*& material, simgear::BVHNode::Id& id); double get_groundlevel_m(double lat, double lon, double alt); double get_groundlevel_m(const SGGeod& geod); // Return the nearest point in any direction to the point pt with a maximum // distance maxDist. The velocities are in the wgs84 frame at the query // position pt. bool get_nearest_m(double t, const double pt[3], double maxDist, double contact[3], double normal[3], double linearVel[3], double angularVel[3], simgear::BVHMaterial const*& material, simgear::BVHNode::Id& id); bool get_nearest_ft(double t, const double pt[3], double maxDist, double contact[3], double normal[3],double linearVel[3], double angularVel[3], simgear::BVHMaterial const*& material, simgear::BVHNode::Id& id); // Return 1 if the hook intersects with a wire. // That test is done by checking if the quad spanned by the points pt* // intersects with the line representing the wire. // If the wire is caught, the cache will trace this wires endpoints until // the FDM calls release_wire(). bool caught_wire_m(double t, const double pt[4][3]); bool caught_wire_ft(double t, const double pt[4][3]); // Return the location and speed of the wire endpoints. bool get_wire_ends_m(double t, double end[2][3], double vel[2][3]); bool get_wire_ends_ft(double t, double end[2][3], double vel[2][3]); // Tell the cache code that it does no longer need to care for // the wire end position. void release_wire(void); }; #endif // _FLIGHT_HXX