203 lines
5.8 KiB
C++
203 lines
5.8 KiB
C++
/*****************************************************************************
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Module: BalloonSimInterface.cxx
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Author: Christian Mayer
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Date started: 07.10.99
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Called by:
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-------- Copyright (C) 1999 Christian Mayer (fgfs@christianmayer.de) --------
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This program is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License as published by the Free Software
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Foundation; either version 2 of the License, or (at your option) any later
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version.
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This program is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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details.
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You should have received a copy of the GNU General Public License along with
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this program; if not, write to the Free Software Foundation, Inc., 59 Temple
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Place - Suite 330, Boston, MA 02111-1307, USA.
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Further information about the GNU General Public License can also be found on
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the world wide web at http://www.gnu.org.
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FUNCTIONAL DESCRIPTION
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------------------------------------------------------------------------------
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Interface to the hot air balloon simulator
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HISTORY
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------------------------------------------------------------------------------
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01.09.1999 Christian Mayer Created
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*****************************************************************************/
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/****************************************************************************/
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/* INCLUDES */
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/****************************************************************************/
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#include <simgear/compiler.h>
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#ifdef SG_MATH_EXCEPTION_CLASH
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# include <math.h>
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#endif
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#include STL_STRING
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#include <simgear/constants.h>
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#include <simgear/debug/logstream.hxx>
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#include <simgear/math/sg_geodesy.hxx>
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#include <simgear/misc/sg_path.hxx>
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#include <Aircraft/aircraft.hxx>
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#include <Controls/controls.hxx>
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#include <Main/globals.hxx>
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#include <Main/fg_props.hxx>
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#include "Balloon.h"
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/****************************************************************************/
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/********************************** CODE ************************************/
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/****************************************************************************/
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FGBalloonSim::FGBalloonSim( double dt ) {
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//set the dt of the model
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current_balloon.set_dt(dt);
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}
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FGBalloonSim::~FGBalloonSim() {
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}
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// Initialize the BalloonSim flight model, dt is the time increment for
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// each subsequent iteration through the EOM
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void FGBalloonSim::init() {
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//do init common to all the FDM's
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common_init();
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//now do init specific to the Balloon
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sgVec3 temp;
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SG_LOG( SG_FLIGHT, SG_INFO, "Starting initializing BalloonSim" );
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SG_LOG( SG_FLIGHT, SG_INFO, " created a balloon" );
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//set position
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sgSetVec3( temp,
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get_Latitude(),
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get_Longitude(),
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get_Altitude() * SG_FEET_TO_METER);
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current_balloon.setPosition( temp );
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//set Euler angles (?)
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sgSetVec3( temp,
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get_Phi(),
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get_Theta(),
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get_Psi() );
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current_balloon.setHPR( temp );
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//set velocities
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sgSetVec3( temp,
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fgGetDouble("/velocities/uBody-fps"),
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fgGetDouble("/velocities/vBody-fps"),
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fgGetDouble("/velocities/wBody-fps") );
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current_balloon.setVelocity( temp );
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SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing BalloonSim" );
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}
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// Run an iteration of the EOM (equations of motion)
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bool FGBalloonSim::update( int multiloop ) {
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double save_alt = 0.0;
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// lets try to avoid really screwing up the BalloonSim model
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if ( get_Altitude() < -9000 ) {
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save_alt = get_Altitude();
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set_Altitude( 0.0 );
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}
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// set control positions
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current_balloon.set_burner_strength ( globals->get_controls()->get_throttle(0) );
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//not more implemented yet
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// Inform BalloonSim of the local terrain altitude
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current_balloon.setGroundLevel ( get_Runway_altitude() * SG_FEET_TO_METER);
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// old -- FGInterface_2_JSBsim() not needed except for Init()
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// translate FG to JSBsim structure
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// FGInterface_2_JSBsim(f);
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// printf("FG_Altitude = %.2f\n", FG_Altitude * 0.3048);
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// printf("Altitude = %.2f\n", Altitude * 0.3048);
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// printf("Radius to Vehicle = %.2f\n", Radius_to_vehicle * 0.3048);
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/* FDMExec.GetState()->Setsim_time(State->Getsim_time()
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+ State->Getdt() * multiloop); */
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for ( int i = 0; i < multiloop; i++ ) {
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current_balloon.update();
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}
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// translate BalloonSim back to FG structure so that the
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// autopilot (and the rest of the sim can use the updated
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// values
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copy_from_BalloonSim();
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/*sgVec3 temp, temp2;
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current_balloon.getPosition( temp );
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current_balloon.getVelocity( temp2 );
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SG_LOG( SG_FLIGHT, SG_INFO, "T: " << current_balloon.getTemperature() <<
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" alt: " << temp[2] <<
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" gr_alt: " << get_Runway_altitude() <<
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" burner: " << controls.get_elevator() <<
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" v[2]: " << temp2[2]); */
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// but lets restore our original bogus altitude when we are done
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if ( save_alt < -9000.0 ) {
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set_Altitude( save_alt );
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}
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return true;
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}
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// Convert from the FGInterface struct to the BalloonSim
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bool FGBalloonSim::copy_to_BalloonSim() {
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return true;
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}
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// Convert from the BalloonSim to the FGInterface struct
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bool FGBalloonSim::copy_from_BalloonSim() {
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sgVec3 temp;
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// Velocities
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current_balloon.getVelocity( temp );
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_set_Velocities_Local( temp[0], temp[1], temp[2] );
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/* ***FIXME*** */ _set_V_equiv_kts( sgLengthVec3 ( temp ) );
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_set_Omega_Body( 0.0, 0.0, 0.0 );
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// Positions
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current_balloon.getPosition( temp );
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//temp[0]: geocentric latitude
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//temp[1]: longitude
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//temp[2]: altitude (meters)
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_updatePosition( temp[0], temp[1], temp[2] * SG_METER_TO_FEET );
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current_balloon.getHPR( temp );
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set_Euler_Angles( temp[0], temp[1], temp[2] );
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return true;
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}
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