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/*
SAR Flight Model
Flight dynamics model employing a new `simple' dimensional
recursive approach to flight dynamics.
*/
#ifndef SFM_H
#define SFM_H
#include "sfmtypes.h"
#include "sfmmodel.h"
/*
* Unit cycle constant, in milliseconds. This value determines
* what SFM considers a `unit cycle'.
*/
#define SFMCycleUnitsMS 1000
#define SFMCycleUnitsUS (SFMCycleUnitsMS * 1000)
/*
* Default gravity in (meters per cycle^2).
*/
#define SFMDefaultGravity 9.8
/*
* Core structure:
*/
typedef struct {
/* Timings for current management */
SFMTime lapsed_time; /* In milliseconds */
double time_compensation; /* Coefficient */
double time_compression; /* Coefficient */
/* Simulation constants */
double gravity; /* Gravity (in meters per cycle^2) */
/* Callbacks, typical inputs are; realm pointer,
* model pointer, client data
*/
/* Model just added to the realm */
void *init_model_cb_client_data;
void (*init_model_cb)(void *, SFMModelStruct *, void *);
/* Model just destroyed, WARNING arg2 is always invalid! */
void *destroy_model_cb_client_data;
void (*destroy_model_cb)(void *, SFMModelStruct *, void *);
/* Model has become airborne */
void *airborne_cb_client_data;
void (*airborne_cb)(void *, SFMModelStruct *, void *);
/* Model has touched down, arg4 is impact tolorance coeff */
void *touch_down_cb_client_data;
void (*touch_down_cb)(void *, SFMModelStruct *, void *, double);
/* Model has exceeded its maximum expected speed. arg4 is the
* current speed and arg5 is maximum expected speed (all units in
* meters per cycle)
*
* This function is called whenever the model is above its max
* expected speed (so this can be called multiple times)
*/
void *overspeed_cb_client_data;
void (*overspeed_cb)(
void *, SFMModelStruct *, void *,
double, /* Current speed, in meters per cycle */
double, /* Expected overspeed, in meters per cycle */
double /* Actual overspeed, in meters per cycle */
);
/* Model has collided with another object, arg3 is the other
* that has been collided into, arg5 is the impact tolorance
* coeff.
*/
void *collision_cb_client_data;
void (*collision_cb)(
void *, SFMModelStruct *, SFMModelStruct *,
void *, double
);
/* Flight dynamics model list */
SFMModelStruct **model;
int total_models;
} SFMRealmStruct;
#define SFM_REALM(p) ((SFMRealmStruct *)(p))
/* In sfm.c */
extern SFMRealmStruct *SFMInit(int argc, char **argv);
extern void SFMShutdown(SFMRealmStruct *realm);
extern void SFMSetTiming(SFMRealmStruct *realm, SFMTime lapsed_ms);
extern void SFMSetTimeCompression(SFMRealmStruct *realm, double compression);
extern void SFMUpdateRealm(SFMRealmStruct *realm, SFMTime lapsed_ms);
/* In sfmmath.c */
extern double SFMHypot2(double dx, double dy);
extern double SFMHypot3(double dx, double dy, double dz);
extern double SFMSanitizeRadians(double r);
extern double SFMSanitizeDegrees(double d);
extern double SFMRadiansToDegrees(double r);
extern double SFMDegreesToRadians(double d);
extern double SFMDeltaRadians(double a1, double a2);
extern void SFMOrthoRotate2D(double theta, double *i, double *j);
/*
extern int SFMRandom(void);
*/
extern double SFMMetersToFeet(double m);
extern double SFMFeetToMeters(double feet);
extern double SFMMetersToMiles(double m);
extern double SFMMilesToMeters(double miles);
extern double SFMMPHToMPC(double mph);
extern double SFMMPHToKTS(double mph);
extern double SFMKTSToMPH(double kts);
extern double SFMMPCToMPH(double mpc);
extern double SFMMPCToFPS(double mpc);
extern double SFMMPCToKPH(double mpc);
extern double SFMLBSToKG(double lbs);
extern double SFMKGToLBS(double kg);
extern void SFMMToDMS(
double m_x, double m_y, double m_r,
double dms_x_offset, double dms_y_offset,
float *dms_x, float *dms_y
);
extern char *SFMLongitudeToString(double dms_x);
extern char *SFMLatitudeToString(double dms_y);
extern double SFMStallCoeff(
double current_speed, double stall_speed, double speed_max
);
/* In sfmmodel.c */
extern int SFMModelInRealm(SFMRealmStruct *realm, SFMModelStruct *model);
extern SFMModelStruct *SFMModelAllocate(void);
extern int SFMModelAdd(SFMRealmStruct *realm, SFMModelStruct *model);
extern void SFMModelDelete(SFMRealmStruct *realm, SFMModelStruct *model);
extern SFMBoolean SFMModelChangeValues(
SFMRealmStruct *realm, SFMModelStruct *model,
SFMModelStruct *value
);
extern void SFMModelUndefineValue(
SFMRealmStruct *realm, SFMModelStruct *model, SFMFlags flags
);
/* In sfmsimforce.c */
extern int SFMForceApplyNatural(
SFMRealmStruct *realm, SFMModelStruct *model
);
extern int SFMForceApplyArtificial(
SFMRealmStruct *realm, SFMModelStruct *model
);
extern int SFMForceApplyControl(
SFMRealmStruct *realm, SFMModelStruct *model
);
#endif /* SFM_H */
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