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       1                 :            : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
       2                 :            : 
       3                 :            :  Header:       FGGroundCallback.cpp
       4                 :            :  Author:       Mathias Froehlich
       5                 :            :  Date started: 05/21/04
       6                 :            : 
       7                 :            :  ------ Copyright (C) 2004 Mathias Froehlich (Mathias.Froehlich@web.de) -------
       8                 :            : 
       9                 :            :  This program is free software; you can redistribute it and/or modify it under
      10                 :            :  the terms of the GNU Lesser General Public License as published by the Free Software
      11                 :            :  Foundation; either version 2 of the License, or (at your option) any later
      12                 :            :  version.
      13                 :            : 
      14                 :            :  This program is distributed in the hope that it will be useful, but WITHOUT
      15                 :            :  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
      16                 :            :  FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
      17                 :            :  details.
      18                 :            : 
      19                 :            :  You should have received a copy of the GNU Lesser General Public License along with
      20                 :            :  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
      21                 :            :  Place - Suite 330, Boston, MA  02111-1307, USA.
      22                 :            : 
      23                 :            :  Further information about the GNU Lesser General Public License can also be found on
      24                 :            :  the world wide web at http://www.gnu.org.
      25                 :            : 
      26                 :            : HISTORY
      27                 :            : -------------------------------------------------------------------------------
      28                 :            : 05/21/00   MF   Created
      29                 :            : 
      30                 :            : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
      31                 :            : SENTRY
      32                 :            : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
      33                 :            : 
      34                 :            : #include "math/FGColumnVector3.h"
      35                 :            : #include "math/FGLocation.h"
      36                 :            : #include "FGGroundCallback.h"
      37                 :            : 
      38                 :            : namespace JSBSim {
      39                 :            : 
      40                 :            : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
      41                 :            : 
      42                 :          0 : FGGroundCallback::FGGroundCallback()
      43                 :            : {
      44                 :          0 :   mReferenceRadius = 20925650.0; // Sea level radius
      45                 :          0 : }
      46                 :            : 
      47                 :            : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
      48                 :            : 
      49                 :          1 : FGGroundCallback::FGGroundCallback(double ReferenceRadius)
      50                 :            : {
      51                 :          1 :   mReferenceRadius = ReferenceRadius;
      52                 :          1 : }
      53                 :            : 
      54                 :            : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
      55                 :            : 
      56                 :          1 : FGGroundCallback::~FGGroundCallback()
      57                 :            : {
      58 [ +  - ][ #  # ]:          1 : }
                 [ #  # ]
      59                 :            : 
      60                 :            : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
      61                 :            : 
      62                 :          0 : double FGGroundCallback::GetAltitude(const FGLocation& loc) const
      63                 :            : {
      64                 :          0 :   return loc.GetRadius() - mReferenceRadius;
      65                 :            : }
      66                 :            : 
      67                 :            : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
      68                 :            : 
      69                 :            : double FGGroundCallback::GetAGLevel(double t, const FGLocation& loc,
      70                 :            :                                     FGLocation& contact, FGColumnVector3& normal,
      71                 :      54006 :                                     FGColumnVector3& vel) const
      72                 :            : {
      73                 :            :   vel = FGColumnVector3(0.0, 0.0, 0.0);
      74                 :      54006 :   normal = FGColumnVector3(loc).Normalize();
      75                 :      54006 :   double loc_radius = loc.GetRadius();  // Get the radius of the given location
      76                 :            :                                         // (e.g. the CG)
      77                 :      54006 :   double agl = loc_radius - mReferenceRadius;
      78                 :      54006 :   contact = (mReferenceRadius/loc_radius)*FGColumnVector3(loc);
      79                 :      54006 :   return agl;
      80                 :            : }
      81                 :            : 
      82 [ +  + ][ +  - ]:         12 : }