Create AGL property for contacts

seanmcleod · Jun 29, 2024 · 242650d · 242650d
1 parent c867cc7
commit 242650d
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Showing 2 changed files with 18 additions and 12 deletions.
diff --git a/src/models/FGLGear.cpp b/src/models/FGLGear.cpp
@@ -284,21 +284,24 @@ const FGColumnVector3& FGLGear::GetBodyForces(void)
 
   vFn.InitMatrix();
 
-  if (isRetractable) gearPos = GetGearUnitPos();
+  // Compute AGL
+  FGColumnVector3 normal, terrainVel, dummy;
+  FGLocation gearLoc, contact;
+  FGColumnVector3 vWhlBodyVec = Ts2b * (vXYZn - in.vXYZcg);
 
-  if (gearPos > 0.99) { // Gear DOWN
-    FGColumnVector3 normal, terrainVel, dummy;
-    FGLocation gearLoc, contact;
-    FGColumnVector3 vWhlBodyVec = Ts2b * (vXYZn - in.vXYZcg);
+  vLocalGear = in.Tb2l * vWhlBodyVec; // Get local frame wheel location
+  gearLoc = in.Location.LocalToLocation(vLocalGear);
+
+  // Compute the height of the theoretical location of the wheel (if strut is
+  // not compressed) with respect to the ground level
+  double height = fdmex->GetInertial()->GetContactPoint(gearLoc, contact,
+    normal, terrainVel, dummy);
 
-    vLocalGear = in.Tb2l * vWhlBodyVec; // Get local frame wheel location
-    gearLoc = in.Location.LocalToLocation(vLocalGear);
+  AGL = height;
 
-    // Compute the height of the theoretical location of the wheel (if strut is
-    // not compressed) with respect to the ground level
-    double height = fdmex->GetInertial()->GetContactPoint(gearLoc, contact,
-                                                          normal, terrainVel,
-                                                          dummy);
+  if (isRetractable) gearPos = GetGearUnitPos();
+
+  if (gearPos > 0.99) { // Gear DOWN
 
     if (!fdmex->GetTrimStatus())
       height -= GroundReactions->GetBumpHeight();
@@ -785,6 +788,8 @@ void FGLGear::bind(FGPropertyManager* PropertyManager)
     return;
   }
 
+  property_name = base_property_name + "/AGL";
+  PropertyManager->Tie(property_name.c_str(), &AGL);
   property_name = base_property_name + "/WOW";
   PropertyManager->Tie( property_name.c_str(), &WOW );
   property_name = base_property_name + "/x-position";

diff --git a/src/models/FGLGear.h b/src/models/FGLGear.h
@@ -366,6 +366,7 @@ class JSBSIM_API FGLGear : public FGForce
   bool Castered;
   bool StaticFriction;
   std::string name;
+  double AGL;
 
   BrakeGroup  eBrakeGrp;
   ContactType eContactType;