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hla: Make use of SGLocation.

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This commit is contained in:
Mathias Froehlich
2012-11-24 09:54:21 +01:00
parent f892d88c10
commit d4310a7f3b
1 changed files with 37 additions and 2 deletions
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39
simgear/hla/HLALocation.hxx
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@@ -18,6 +18,7 @@
#ifndef HLALocation_hxx
#define HLALocation_hxx
#include <simgear/math/SGMath.hxx>
#include "HLABasicDataElement.hxx"
#include "HLATypes.hxx"
@@ -27,6 +28,9 @@ class HLAAbstractLocation : public SGReferenced {
public:
virtual ~HLAAbstractLocation() {}
virtual SGLocationd getLocation() const = 0;
virtual void setLocation(const SGLocationd&) = 0;
virtual SGVec3d getCartPosition() const = 0;
virtual void setCartPosition(const SGVec3d&) = 0;
@@ -34,10 +38,21 @@ public:
virtual void setCartOrientation(const SGQuatd&) = 0;
virtual SGVec3d getAngularBodyVelocity() const = 0;
virtual void setAngularBodyVelocity(const SGVec3d& angular) = 0;
virtual void setAngularBodyVelocity(const SGVec3d&) = 0;
virtual SGVec3d getLinearBodyVelocity() const = 0;
virtual void setLinearBodyVelocity(const SGVec3d& linear) = 0;
virtual void setLinearBodyVelocity(const SGVec3d&) = 0;
virtual double getTimeDifference(const SGTimeStamp&) const
{ return 0; }
// Get the position and orientation extrapolated to the given time stamp.
SGLocationd getLocation(const SGTimeStamp& timeStamp) const
{
SGLocationd location = getLocation();
location.eulerStepBodyVelocities(getTimeDifference(timeStamp), getLinearBodyVelocity(), getAngularBodyVelocity());
return location;
}
};
class HLACartesianLocation : public HLAAbstractLocation {
@@ -49,6 +64,14 @@ public:
_linearVelocity(SGVec3d::zeros())
{ }
virtual SGLocationd getLocation() const
{ return SGLocationd(_position, SGQuatd::fromPositiveRealImag(_imag)); }
virtual void setLocation(const SGLocationd& location)
{
_position = location.getPosition();
_imag = location.getOrientation().getPositiveRealImag();
}
virtual SGVec3d getCartPosition() const
{ return _position; }
virtual void setCartPosition(const SGVec3d& position)
@@ -260,6 +283,18 @@ public:
updateCartesianFromGeodetic();
}
virtual SGLocationd getLocation() const
{
updateCartesianFromGeodetic();
return SGLocationd(_cartPosition, _cartOrientation);
}
virtual void setLocation(const SGLocationd& location)
{
_cartPosition = location.getPosition();
_cartOrientation = location.getOrientation();
_dirty = true;
}
virtual SGVec3d getCartPosition() const
{ updateCartesianFromGeodetic(); return _cartPosition; }
virtual void setCartPosition(const SGVec3d& position)