136 lines
5 KiB
C++
136 lines
5 KiB
C++
// groundcache.hxx -- carries a small subset of the scenegraph near the vehicle
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//
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// Written by Mathias Froehlich, started Nov 2004.
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//
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// Copyright (C) 2004 Mathias Froehlich - Mathias.Froehlich@web.de
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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//
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// $Id$
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#ifndef _GROUNDCACHE_HXX
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#define _GROUNDCACHE_HXX
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#include <osg/Group>
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#include <osg/ref_ptr>
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#include <simgear/compiler.h>
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#include <simgear/constants.h>
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#include <simgear/math/SGMath.hxx>
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#include <simgear/math/SGGeometry.hxx>
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#include <simgear/scene/bvh/BVHNode.hxx>
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#include <simgear/structure/SGSharedPtr.hxx>
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class SGMaterial;
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namespace simgear {
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class BVHLineGeometry;
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}
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class FGGroundCache {
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public:
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FGGroundCache();
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~FGGroundCache();
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//////////////////////////////////////////////////////////////////////////
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// Ground handling routines
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//////////////////////////////////////////////////////////////////////////
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// Prepare the ground cache for the wgs84 position pt_*.
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// That is take all vertices in the ball with radius rad around the
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// position given by the pt_* and store them in a local scene graph.
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bool prepare_ground_cache(double startSimTime, double endSimTime,
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const SGVec3d& pt, double rad);
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// Returns true if the cache is valid.
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// Also the reference time, point and radius values where the cache
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// is valid for are returned.
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bool is_valid(double& ref_time, SGVec3d& pt, double& rad);
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// Returns the unit down vector at the ground cache
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const SGVec3d& get_down() const
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{ return down; }
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double get_cache_time_offset() const
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{ return cache_time_offset; }
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void set_cache_time_offset(double time_offset)
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{ cache_time_offset = time_offset; }
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bool get_body(double t, SGMatrixd& bodyToWorld, SGVec3d& linearVel,
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SGVec3d& angularVel, simgear::BVHNode::Id id);
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// Return the nearest catapult to the given point
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// pt in wgs84 coordinates.
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double get_cat(double t, const SGVec3d& pt,
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SGVec3d end[2], SGVec3d vel[2]);
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// Return the altitude above ground below the wgs84 point pt
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// Search for highest triangle not higher than pt + max_altoff.
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// Return ground properties like the maximum load
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// this kind kind of ground can carry, the friction factor between
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// 0 and 1 which can be used to model lower friction with wet runways.
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bool get_agl(double t, const SGVec3d& pt, SGVec3d& contact,
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SGVec3d& normal, SGVec3d& linearVel, SGVec3d& angularVel,
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simgear::BVHNode::Id& id, const SGMaterial*& material);
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bool get_nearest(double t, const SGVec3d& pt, double maxDist,
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SGVec3d& contact, SGVec3d& linearVel, SGVec3d& angularVel,
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simgear::BVHNode::Id& id, const SGMaterial*& material);
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// Return 1 if the hook intersects with a wire.
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// That test is done by checking if the quad spanned by the points pt*
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// intersects with the line representing the wire.
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// If the wire is caught, the cache will trace this wires endpoints until
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// the FDM calls release_wire().
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bool caught_wire(double t, const SGVec3d pt[4]);
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// Return the location and speed of the wire endpoints.
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bool get_wire_ends(double t, SGVec3d end[2], SGVec3d vel[2]);
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// Tell the cache code that it does no longer need to care for
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// the wire end position.
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void release_wire(void);
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private:
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class CacheFill;
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class BodyFinder;
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class CatapultFinder;
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class WireIntersector;
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class WireFinder;
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// Approximate ground radius.
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// In case the aircraft is too high above ground.
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double _altitude;
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// the simgear material reference, contains friction coeficients ...
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const SGMaterial* _material;
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// The time reference for later call to intersection test routines.
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// Is required since we will have moving triangles in carriers.
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double cache_ref_time;
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// The time the cache was initialized.
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double cache_time_offset;
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// The wire to track.
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const simgear::BVHLineGeometry* _wire;
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// The point and radius where the cache is built around.
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// That are the arguments that were given to prepare_ground_cache.
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SGVec3d reference_wgs84_point;
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double reference_vehicle_radius;
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SGVec3d down;
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bool found_ground;
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SGSharedPtr<simgear::BVHNode> _localBvhTree;
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};
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#endif
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