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flightgear/src/FDM/groundcache.cxx
timoore 579b60b8e4 Check if scenery is available before blowing away existing values in ground cache 
This fixes a race condition when teleporting somewhere outside of the
currently loaded scenery. Before, if there was no valid scenery, an
aircraft might end up at the center of the earth...
2007-12-11 11:10:35 +00:00

732 lines
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// groundcache.cxx -- carries a small subset of the scenegraph near the vehicle
//
// Written by Mathias Froehlich, started Nov 2004.
//
// Copyright (C) 2004 Mathias Froehlich - Mathias.Froehlich@web.de
//
// 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.
//
// $Id$
#ifdef HAVE_CONFIG_H
# include "config.h"
#endif
#include <float.h>
#include <osg/CullFace>
#include <osg/Drawable>
#include <osg/Geode>
#include <osg/Geometry>
#include <osg/TriangleFunctor>
#include <simgear/sg_inlines.h>
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/scene/material/mat.hxx>
#include <simgear/scene/material/matlib.hxx>
#include <simgear/scene/util/SGNodeMasks.hxx>
#include <Main/globals.hxx>
#include <Scenery/scenery.hxx>
#include <Scenery/tilemgr.hxx>
#include <AIModel/AICarrier.hxx>
#include "flight.hxx"
#include "groundcache.hxx"
/// Ok, variant that uses a infinite line istead of the ray.
/// also not that this only works if the ray direction is normalized.
static inline bool
intersectsInf(const SGRayd& ray, const SGSphered& sphere)
{
SGVec3d r = sphere.getCenter() - ray.getOrigin();
double projectedDistance = dot(r, ray.getDirection());
double dist = dot(r, r) - projectedDistance * projectedDistance;
return dist < sphere.getRadius2();
}
template<typename T>
class SGExtendedTriangleFunctor : public osg::TriangleFunctor<T> {
public:
// Ok, to be complete we should also implement the indexed variants
// For now this one appears to be enough ...
void drawArrays(GLenum mode, GLint first, GLsizei count)
{
if (_vertexArrayPtr==0 || count==0) return;
const osg::Vec3* vlast;
const osg::Vec3* vptr;
switch(mode) {
case(GL_LINES):
vlast = &_vertexArrayPtr[first+count];
for(vptr=&_vertexArrayPtr[first];vptr<vlast;vptr+=2)
this->operator()(*(vptr),*(vptr+1),_treatVertexDataAsTemporary);
break;
case(GL_LINE_STRIP):
vlast = &_vertexArrayPtr[first+count-1];
for(vptr=&_vertexArrayPtr[first];vptr<vlast;++vptr)
this->operator()(*(vptr),*(vptr+1),_treatVertexDataAsTemporary);
break;
case(GL_LINE_LOOP):
vlast = &_vertexArrayPtr[first+count-1];
for(vptr=&_vertexArrayPtr[first];vptr<vlast;++vptr)
this->operator()(*(vptr),*(vptr+1),_treatVertexDataAsTemporary);
this->operator()(_vertexArrayPtr[first+count-1],
_vertexArrayPtr[first],_treatVertexDataAsTemporary);
break;
default:
osg::TriangleFunctor<T>::drawArrays(mode, first, count);
break;
}
}
protected:
using osg::TriangleFunctor<T>::_vertexArrayPtr;
using osg::TriangleFunctor<T>::_treatVertexDataAsTemporary;
};
class GroundCacheFillVisitor : public osg::NodeVisitor {
public:
/// class to just redirect triangles to the GroundCacheFillVisitor
class GroundCacheFill {
public:
void setGroundCacheFillVisitor(GroundCacheFillVisitor* gcfv)
{ mGroundCacheFillVisitor = gcfv; }
void operator () (const osg::Vec3& v1, const osg::Vec3& v2,
const osg::Vec3& v3, bool)
{ mGroundCacheFillVisitor->addTriangle(v1, v2, v3); }
void operator () (const osg::Vec3& v1, const osg::Vec3& v2, bool)
{ mGroundCacheFillVisitor->addLine(v1, v2); }
private:
GroundCacheFillVisitor* mGroundCacheFillVisitor;
};
GroundCacheFillVisitor(FGGroundCache* groundCache,
const SGVec3d& down,
const SGVec3d& cacheReference,
double cacheRadius,
double wireCacheRadius) :
osg::NodeVisitor(osg::NodeVisitor::TRAVERSE_ACTIVE_CHILDREN),
mGroundCache(groundCache)
{
setTraversalMask(SG_NODEMASK_TERRAIN_BIT);
mDown = down;
mLocalDown = down;
sphIsec = true;
mBackfaceCulling = false;
mCacheReference = cacheReference;
mLocalCacheReference = cacheReference;
mCacheRadius = cacheRadius;
mWireCacheRadius = wireCacheRadius;
mTriangleFunctor.setGroundCacheFillVisitor(this);
mGroundProperty.wire_id = -1;
mGroundProperty.vel = SGVec3d(0, 0, 0);
mGroundProperty.rot = SGVec3d(0, 0, 0);
mGroundProperty.pivot = SGVec3d(0, 0, 0);
}
void updateCullMode(osg::StateSet* stateSet)
{
if (!stateSet)
return;
osg::StateAttribute* stateAttribute;
stateAttribute = stateSet->getAttribute(osg::StateAttribute::CULLFACE);
if (!stateAttribute)
return;
osg::CullFace* cullFace = static_cast<osg::CullFace*>(stateAttribute);
mBackfaceCulling = cullFace->getMode() == osg::CullFace::BACK;
}
bool enterBoundingSphere(const osg::BoundingSphere& bs)
{
if (!bs.valid())
return false;
SGVec3d cntr(osg::Vec3d(bs.center())*mLocalToGlobal);
double rc = bs.radius() + mCacheRadius;
// Ok, this node might intersect the cache. Visit it in depth.
double centerDist2 = distSqr(mCacheReference, cntr);
if (centerDist2 < rc*rc) {
sphIsec = true;
} else {
// Check if the down direction touches the bounding sphere of the node
// if so, do at least croase agl computations.
// Ther other thing is that we must check if we are in range of
// cats or wires
double rw = bs.radius() + mWireCacheRadius;
if (rw*rw < centerDist2 &&
!intersectsInf(SGRayd(mCacheReference, mDown),
SGSphered(cntr, bs.radius())))
return false;
sphIsec = false;
}
return true;
}
bool enterNode(osg::Node& node)
{
if (!enterBoundingSphere(node.getBound()))
return false;
updateCullMode(node.getStateSet());
FGGroundCache::GroundProperty& gp = mGroundProperty;
// get some material information for use in the gear model
gp.type = FGInterface::Unknown;
osg::Referenced* base = node.getUserData();
if (!base)
return true;
FGAICarrierHardware *ud =
dynamic_cast<FGAICarrierHardware*>(base);
if (!ud)
return true;
switch (ud->type) {
case FGAICarrierHardware::Wire:
gp.type = FGInterface::Wire;
gp.wire_id = ud->id;
break;
case FGAICarrierHardware::Catapult:
gp.type = FGInterface::Catapult;
break;
default:
gp.type = FGInterface::Solid;
break;
}
// Copy the velocity from the carrier class.
ud->carrier->getVelocityWrtEarth(gp.vel, gp.rot, gp.pivot);
return true;
}
void fillWith(osg::Drawable* drawable)
{
bool oldSphIsec = sphIsec;
if (!enterBoundingSphere(drawable->getBound()))
return;
bool oldBackfaceCulling = mBackfaceCulling;
updateCullMode(drawable->getStateSet());
FGGroundCache::GroundProperty& gp = mGroundProperty;
// get some material information for use in the gear model
gp.material = globals->get_matlib()->findMaterial(drawable->getStateSet());
if (gp.material)
gp.type = gp.material->get_solid() ? FGInterface::Solid : FGInterface::Water;
drawable->accept(mTriangleFunctor);
mBackfaceCulling = oldBackfaceCulling;
sphIsec = oldSphIsec;
}
virtual void apply(osg::Geode& geode)
{
bool oldBackfaceCulling = mBackfaceCulling;
bool oldSphIsec = sphIsec;
FGGroundCache::GroundProperty oldGp = mGroundProperty;
if (!enterNode(geode))
return;
for(unsigned i = 0; i < geode.getNumDrawables(); ++i)
fillWith(geode.getDrawable(i));
sphIsec = oldSphIsec;
mGroundProperty = oldGp;
mBackfaceCulling = oldBackfaceCulling;
}
virtual void apply(osg::Group& group)
{
bool oldBackfaceCulling = mBackfaceCulling;
bool oldSphIsec = sphIsec;
FGGroundCache::GroundProperty oldGp = mGroundProperty;
if (!enterNode(group))
return;
traverse(group);
sphIsec = oldSphIsec;
mBackfaceCulling = oldBackfaceCulling;
mGroundProperty = oldGp;
}
virtual void apply(osg::Transform& transform)
{
if (!enterNode(transform))
return;
bool oldBackfaceCulling = mBackfaceCulling;
bool oldSphIsec = sphIsec;
FGGroundCache::GroundProperty oldGp = mGroundProperty;
/// transform the caches center to local coords
osg::Matrix oldLocalToGlobal = mLocalToGlobal;
osg::Matrix oldGlobalToLocal = mGlobalToLocal;
transform.computeLocalToWorldMatrix(mLocalToGlobal, this);
transform.computeWorldToLocalMatrix(mGlobalToLocal, this);
SGVec3d oldLocalCacheReference = mLocalCacheReference;
mLocalCacheReference.osg() = mCacheReference.osg()*mGlobalToLocal;
SGVec3d oldLocalDown = mLocalDown;
mLocalDown.osg() = osg::Matrixd::transform3x3(mDown.osg(), mGlobalToLocal);
// walk the children
traverse(transform);
// Restore that one
mLocalDown = oldLocalDown;
mLocalCacheReference = oldLocalCacheReference;
mLocalToGlobal = oldLocalToGlobal;
mGlobalToLocal = oldGlobalToLocal;
sphIsec = oldSphIsec;
mBackfaceCulling = oldBackfaceCulling;
mGroundProperty = oldGp;
}
void addTriangle(const osg::Vec3& v1, const osg::Vec3& v2,
const osg::Vec3& v3)
{
SGVec3d v[3] = {
SGVec3d(v1),
SGVec3d(v2),
SGVec3d(v3)
};
// a bounding sphere in the node local system
SGVec3d boundCenter = (1.0/3)*(v[0] + v[1] + v[2]);
double boundRadius = std::max(distSqr(v[0], boundCenter),
distSqr(v[1], boundCenter));
boundRadius = std::max(boundRadius, distSqr(v[2], boundCenter));
boundRadius = sqrt(boundRadius);
SGRayd ray(mLocalCacheReference, mLocalDown);
// if we are not in the downward cylinder bail out
if (!intersectsInf(ray, SGSphered(boundCenter, boundRadius + mCacheRadius)))
return;
SGTriangled triangle(v);
// The normal and plane in the node local coordinate system
SGVec3d n = cross(triangle.getEdge(0), triangle.getEdge(1));
if (0 < dot(mLocalDown, n)) {
if (mBackfaceCulling) {
// Surface points downwards, ignore for altitude computations.
return;
} else {
triangle.flip();
}
}
// Only check if the triangle is in the cache sphere if the plane
// containing the triangle is near enough
if (sphIsec) {
double d = dot(n, v[0] - mLocalCacheReference);
if (d*d < mCacheRadius*dot(n, n)) {
// Check if the sphere around the vehicle intersects the sphere
// around that triangle. If so, put that triangle into the cache.
double r2 = boundRadius + mCacheRadius;
if (distSqr(boundCenter, mLocalCacheReference) < r2*r2) {
FGGroundCache::Triangle t;
t.triangle.setBaseVertex(SGVec3d(v[0].osg()*mLocalToGlobal));
t.triangle.setEdge(0, SGVec3d(osg::Matrixd::transform3x3(triangle.getEdge(0).osg(), mLocalToGlobal)));
t.triangle.setEdge(1, SGVec3d(osg::Matrixd::transform3x3(triangle.getEdge(1).osg(), mLocalToGlobal)));
t.sphere.setCenter(SGVec3d(boundCenter.osg()*mLocalToGlobal));
t.sphere.setRadius(boundRadius);
t.velocity = mGroundProperty.vel;
t.rotation = mGroundProperty.rot;
t.rotation_pivot = mGroundProperty.pivot;
t.type = mGroundProperty.type;
t.material = mGroundProperty.material;
mGroundCache->triangles.push_back(t);
}
}
}
// In case the cache is empty, we still provide agl computations.
// But then we use the old way of having a fixed elevation value for
// the whole lifetime of this cache.
SGVec3d isectpoint;
if (intersects(isectpoint, triangle, ray, 1e-4)) {
mGroundCache->found_ground = true;
isectpoint.osg() = isectpoint.osg()*mLocalToGlobal;
double this_radius = length(isectpoint);
if (mGroundCache->ground_radius < this_radius) {
mGroundCache->ground_radius = this_radius;
mGroundCache->_type = mGroundProperty.type;
mGroundCache->_material = mGroundProperty.material;
}
}
}
void addLine(const osg::Vec3& v1, const osg::Vec3& v2)
{
SGVec3d gv1(osg::Vec3d(v1)*mLocalToGlobal);
SGVec3d gv2(osg::Vec3d(v2)*mLocalToGlobal);
SGVec3d boundCenter = 0.5*(gv1 + gv2);
double boundRadius = length(gv1 - boundCenter);
if (distSqr(boundCenter, mCacheReference)
< (boundRadius + mWireCacheRadius)*(boundRadius + mWireCacheRadius) ) {
if (mGroundProperty.type == FGInterface::Wire) {
FGGroundCache::Wire wire;
wire.ends[0] = gv1;
wire.ends[1] = gv2;
wire.velocity = mGroundProperty.vel;
wire.rotation = mGroundProperty.rot;
wire.rotation_pivot = mGroundProperty.pivot;
wire.wire_id = mGroundProperty.wire_id;
mGroundCache->wires.push_back(wire);
}
if (mGroundProperty.type == FGInterface::Catapult) {
FGGroundCache::Catapult cat;
// Trick to get the ends in the right order.
// Use the x axis in the original coordinate system. Choose the
// most negative x-axis as the one pointing forward
if (v1[0] > v2[0]) {
cat.start = gv1;
cat.end = gv2;
} else {
cat.start = gv2;
cat.end = gv1;
}
cat.velocity = mGroundProperty.vel;
cat.rotation = mGroundProperty.rot;
cat.rotation_pivot = mGroundProperty.pivot;
mGroundCache->catapults.push_back(cat);
}
}
}
SGExtendedTriangleFunctor<GroundCacheFill> mTriangleFunctor;
FGGroundCache* mGroundCache;
SGVec3d mCacheReference;
double mCacheRadius;
double mWireCacheRadius;
osg::Matrix mLocalToGlobal;
osg::Matrix mGlobalToLocal;
SGVec3d mDown;
SGVec3d mLocalDown;
SGVec3d mLocalCacheReference;
bool sphIsec;
bool mBackfaceCulling;
FGGroundCache::GroundProperty mGroundProperty;
};
FGGroundCache::FGGroundCache() :
ground_radius(0.0),
cache_ref_time(0.0),
wire_id(0),
reference_wgs84_point(SGVec3d(0, 0, 0)),
reference_vehicle_radius(0.0),
found_ground(false),
_material(0)
{
}
FGGroundCache::~FGGroundCache()
{
}
inline void
FGGroundCache::velocityTransformTriangle(double dt,
SGTriangled& dst, SGSphered& sdst,
const FGGroundCache::Triangle& src)
{
dst = src.triangle;
sdst = src.sphere;
if (dt*dt*dot(src.velocity, src.velocity) < SGLimitsd::epsilon())
return;
SGVec3d baseVert = dst.getBaseVertex();
SGVec3d pivotoff = baseVert - src.rotation_pivot;
baseVert += dt*(src.velocity + cross(src.rotation, pivotoff));
dst.setBaseVertex(baseVert);
dst.setEdge(0, dst.getEdge(0) + dt*cross(src.rotation, dst.getEdge(0)));
dst.setEdge(1, dst.getEdge(1) + dt*cross(src.rotation, dst.getEdge(1)));
}
bool
FGGroundCache::prepare_ground_cache(double ref_time, const SGVec3d& pt,
double rad)
{
// Empty cache.
found_ground = false;
SGGeod geodPt = SGGeod::fromCart(pt);
// Don't blow away the cache ground_radius and stuff if there's no
// scenery
if (!globals->get_tile_mgr()->scenery_available(geodPt.getLatitudeDeg(),
geodPt.getLongitudeDeg(),
rad))
return false;
ground_radius = 0.0;
triangles.resize(0);
catapults.resize(0);
wires.resize(0);
// Store the parameters we used to build up that cache.
reference_wgs84_point = pt;
reference_vehicle_radius = rad;
// Store the time reference used to compute movements of moving triangles.
cache_ref_time = ref_time;
// Get a normalized down vector valid for the whole cache
SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
down = hlToEc.rotate(SGVec3d(0, 0, 1));
// Prepare sphere around the aircraft.
double cacheRadius = rad;
// Prepare bigger sphere around the aircraft.
// This one is required for reliably finding wires we have caught but
// have already left the hopefully smaller sphere for the ground reactions.
const double max_wire_dist = 300.0;
double wireCacheRadius = max_wire_dist < rad ? rad : max_wire_dist;
// Walk the scene graph and extract solid ground triangles and carrier data.
GroundCacheFillVisitor gcfv(this, down, pt, cacheRadius, wireCacheRadius);
globals->get_scenery()->get_scene_graph()->accept(gcfv);
// some stats
SG_LOG(SG_FLIGHT,SG_DEBUG, "prepare_ground_cache(): ac radius = " << rad
<< ", # triangles = " << triangles.size()
<< ", # wires = " << wires.size()
<< ", # catapults = " << catapults.size()
<< ", ground_radius = " << ground_radius );
// If the ground radius is still below 5e6 meters, then we do not yet have
// any scenery.
found_ground = found_ground && 5e6 < ground_radius;
if (!found_ground)
SG_LOG(SG_FLIGHT, SG_WARN, "prepare_ground_cache(): trying to build cache "
"without any scenery below the aircraft" );
return found_ground;
}
bool
FGGroundCache::is_valid(double& ref_time, SGVec3d& pt, double& rad)
{
pt = reference_wgs84_point;
rad = reference_vehicle_radius;
ref_time = cache_ref_time;
return found_ground;
}
double
FGGroundCache::get_cat(double t, const SGVec3d& dpt,
SGVec3d end[2], SGVec3d vel[2])
{
// start with a distance of 1e10 meters...
double dist = 1e10;
// Time difference to the reference time.
t -= cache_ref_time;
size_t sz = catapults.size();
for (size_t i = 0; i < sz; ++i) {
SGVec3d pivotoff, rvel[2];
pivotoff = catapults[i].start - catapults[i].rotation_pivot;
rvel[0] = catapults[i].velocity + cross(catapults[i].rotation, pivotoff);
pivotoff = catapults[i].end - catapults[i].rotation_pivot;
rvel[1] = catapults[i].velocity + cross(catapults[i].rotation, pivotoff);
SGVec3d thisEnd[2];
thisEnd[0] = catapults[i].start + t*rvel[0];
thisEnd[1] = catapults[i].end + t*rvel[1];
double this_dist = distSqr(SGLineSegmentd(thisEnd[0], thisEnd[1]), dpt);
if (this_dist < dist) {
SG_LOG(SG_FLIGHT,SG_INFO, "Found catapult "
<< this_dist << " meters away");
dist = this_dist;
end[0] = thisEnd[0];
end[1] = thisEnd[1];
vel[0] = rvel[0];
vel[1] = rvel[1];
}
}
// At the end take the root, we only computed squared distances ...
return sqrt(dist);
}
bool
FGGroundCache::get_agl(double t, const SGVec3d& dpt, double max_altoff,
SGVec3d& contact, SGVec3d& normal, SGVec3d& vel,
int *type, const SGMaterial** material, double *agl)
{
bool ret = false;
*type = FGInterface::Unknown;
// *agl = 0.0;
if (material)
*material = 0;
vel = SGVec3d(0, 0, 0);
contact = SGVec3d(0, 0, 0);
normal = SGVec3d(0, 0, 0);
// Time difference to th reference time.
t -= cache_ref_time;
// The double valued point we start to search for intersection.
SGVec3d pt = dpt;
// shift the start of our ray by maxaltoff upwards
SGRayd ray(pt - max_altoff*down, down);
// Initialize to something sensible
double current_radius = 0.0;
size_t sz = triangles.size();
for (size_t i = 0; i < sz; ++i) {
SGSphered sphere;
SGTriangled triangle;
velocityTransformTriangle(t, triangle, sphere, triangles[i]);
if (!intersectsInf(ray, sphere))
continue;
// Check for intersection.
SGVec3d isecpoint;
if (intersects(isecpoint, triangle, ray, 1e-4)) {
// Compute the vector from pt to the intersection point ...
SGVec3d off = isecpoint - pt;
// ... and check if it is too high or not
// compute the radius, good enough approximation to take the geocentric radius
double radius = dot(isecpoint, isecpoint);
if (current_radius < radius) {
current_radius = radius;
ret = true;
// Save the new potential intersection point.
contact = isecpoint;
// The first three values in the vector are the plane normal.
normal = triangle.getNormal();
// The velocity wrt earth.
SGVec3d pivotoff = pt - triangles[i].rotation_pivot;
vel = triangles[i].velocity + cross(triangles[i].rotation, pivotoff);
// Save the ground type.
*type = triangles[i].type;
*agl = dot(down, contact - dpt);
if (material)
*material = triangles[i].material;
}
}
}
if (ret)
return true;
// Whenever we did not have a ground triangle for the requested point,
// take the ground level we found during the current cache build.
// This is as good as what we had before for agl.
double r = length(dpt);
contact = dpt;
contact *= ground_radius/r;
normal = -down;
vel = SGVec3d(0, 0, 0);
// The altitude is the distance of the requested point from the
// contact point.
*agl = dot(down, contact - dpt);
*type = _type;
if (material)
*material = _material;
return ret;
}
bool FGGroundCache::caught_wire(double t, const SGVec3d pt[4])
{
size_t sz = wires.size();
if (sz == 0)
return false;
// Time difference to the reference time.
t -= cache_ref_time;
// Build the two triangles spanning the area where the hook has moved
// during the past step.
SGTriangled triangle[2];
triangle[0].set(pt[0], pt[1], pt[2]);
triangle[1].set(pt[0], pt[2], pt[3]);
// Intersect the wire lines with each of these triangles.
// You have caught a wire if they intersect.
for (size_t i = 0; i < sz; ++i) {
SGVec3d le[2];
for (int k = 0; k < 2; ++k) {
le[k] = wires[i].ends[k];
SGVec3d pivotoff = le[k] - wires[i].rotation_pivot;
SGVec3d vel = wires[i].velocity + cross(wires[i].rotation, pivotoff);
le[k] += t*vel;
}
SGLineSegmentd lineSegment(le[0], le[1]);
for (int k=0; k<2; ++k) {
if (intersects(triangle[k], lineSegment)) {
SG_LOG(SG_FLIGHT,SG_INFO, "Caught wire");
// Store the wire id.
wire_id = wires[i].wire_id;
return true;
}
}
}
return false;
}
bool FGGroundCache::get_wire_ends(double t, SGVec3d end[2], SGVec3d vel[2])
{
// Fast return if we do not have an active wire.
if (wire_id < 0)
return false;
// Time difference to the reference time.
t -= cache_ref_time;
// Search for the wire with the matching wire id.
size_t sz = wires.size();
for (size_t i = 0; i < sz; ++i) {
if (wires[i].wire_id == wire_id) {
for (size_t k = 0; k < 2; ++k) {
SGVec3d pivotoff = wires[i].ends[k] - wires[i].rotation_pivot;
vel[k] = wires[i].velocity + cross(wires[i].rotation, pivotoff);
end[k] = wires[i].ends[k] + t*vel[k];
}
return true;
}
}
return false;
}
void FGGroundCache::release_wire(void)
{
wire_id = -1;
}
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