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flightgear/src/FDM/flight.hxx
Torsten Dreyer a4b0be3d8a Expose the vertical flight path as a property 
write the vertical flight path to /orientation/path-deg
zero means level flight, positive angles climb

Also use SGD_DEGREES_TO_RADIANS (and vice versa) for double computations
instead of the float constants
2014-08-19 00:01:08 +02:00

758 lines
28 KiB
C++
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// 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
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