FGGroundCallback.h

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 Header:       FGGroundCallback.h
 Author:       Mathias Froehlich
 Date started: 05/21/04
 
 ------ 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 Lesser 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 Lesser General Public License for more
 details.
 
 You should have received a copy of the GNU Lesser General Public License along
 with this program; if not, write to the Free Software Foundation, Inc., 59
 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 
 Further information about the GNU Lesser General Public License can also be
 found on the world wide web at http://www.gnu.org.
 
HISTORY
-------------------------------------------------------------------------------
05/21/00   MF   Created
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
#ifndef FGGROUNDCALLBACK_H
#define FGGROUNDCALLBACK_H
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
namespace JSBSim {
 
class FGLocation;
class FGColumnVector3;
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
class FGGroundCallback
{
public:
 
  FGGroundCallback() : time(0.0) {}
  virtual ~FGGroundCallback() {}
 
  virtual double GetAGLevel(double t, const FGLocation& location,
                            FGLocation& contact,
                            FGColumnVector3& normal, FGColumnVector3& v,
                            FGColumnVector3& w) const = 0;
 
  virtual double GetAGLevel(const FGLocation& location, FGLocation& contact,
                            FGColumnVector3& normal, FGColumnVector3& v,
                            FGColumnVector3& w) const
  { return GetAGLevel(time, location, contact, normal, v, w); }
 
  virtual void SetTerrainElevation(double h) {}
 
  virtual void SetEllipse(double semimajor, double semiminor) {}
 
  void SetTime(double _time) { time = _time; }
 
protected:
  double time;
};
 
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// The default sphere earth implementation:
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
class FGDefaultGroundCallback : public FGGroundCallback
{
public:
  explicit FGDefaultGroundCallback(double semiMajor, double semiMinor) :
    a(semiMajor), b(semiMinor) {}
 
  double GetAGLevel(double t, const FGLocation& location,
                    FGLocation& contact,
                    FGColumnVector3& normal, FGColumnVector3& v,
                    FGColumnVector3& w) const override;
 
  void SetTerrainElevation(double h) override
  { mTerrainElevation = h; }
 
  void SetEllipse(double semimajor, double semiminor) override
  { a = semimajor; b = semiminor; }
 
private:
  double a, b;
  double mTerrainElevation = 0.0;
};
 
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif