Removed the static member of FGLocation (issue #201).

src/FGFDMExec.cpp

@@ -197,11 +197,6 @@ FGFDMExec::~FGFDMExec()
   }
 
   for (unsigned int i=1; i<ChildFDMList.size(); i++) delete ChildFDMList[i]->exec;
-  ChildFDMList.clear();
-
-  PropertyCatalog.clear();
-
-  SetGroundCallback(0);
 
   if (FDMctr != 0) (*FDMctr)--;
 
@@ -210,6 +205,25 @@ FGFDMExec::~FGFDMExec()
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+double FGFDMExec::Setsim_time(double cur_time) {
+  sim_time = cur_time;
+  Inertial->SetTime(sim_time);
+  return sim_time;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+double FGFDMExec::IncrTime(void) {
+  if (!holding && !IntegrationSuspended()) {
+    sim_time += dT;
+    Inertial->SetTime(sim_time);
+    Frame++;
+  }
+  return sim_time;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 bool FGFDMExec::Allocate(void)
 {
   bool result=true;
@@ -221,7 +235,6 @@ bool FGFDMExec::Allocate(void)
   // Note that this does not affect the order in which the models will be
   // executed later.
   Models[eInertial]          = new FGInertial(this);
-  SetGroundCallback(new FGDefaultGroundCallback(static_cast<FGInertial*>(Models[eInertial])->GetRefRadius()));
 
   // See the eModels enum specification in the header file. The order of the
   // enums specifies the order of execution. The Models[] vector is the primary

src/FGFDMExec.h

@@ -252,15 +252,6 @@ class FGFDMExec : public FGJSBBase
       @return true if successful */
   bool RunIC(void);
 
-  /** Sets the ground callback pointer. For optimal memory management, a shared
-      pointer is used internally that maintains a reference counter. The calling
-      application must therefore use FGGroundCallback_ptr 'smart pointers' to
-      manage their copy of the ground callback.
-      @param gc A pointer to a ground callback object
-      @see FGGroundCallback
-   */
-  void SetGroundCallback(FGGroundCallback* gc) { FGLocation::SetGroundCallback(gc); }
-
   /** Loads an aircraft model.
       @param AircraftPath path to the aircraft/ directory. For instance:
       "aircraft". Under aircraft, then, would be directories for various
@@ -364,12 +355,6 @@ class FGFDMExec : public FGJSBBase
   FGInput* GetInput(void)              {return (FGInput*)Models[eInput];}
   /// Returns the FGOutput pointer.
   FGOutput* GetOutput(void)            {return (FGOutput*)Models[eOutput];}
-  /** Get a pointer to the ground callback currently used. It is recommanded
-      to store the returned pointer in a 'smart pointer' FGGroundCallback_ptr.
-      @return A pointer to the current ground callback object.
-      @see FGGroundCallback
-   */
-  FGGroundCallback* GetGroundCallback(void) {return FGLocation::GetGroundCallback();}
   /// Retrieves the script object
   FGScript* GetScript(void) {return Script;}
   /// Returns a pointer to the FGInitialCondition object
@@ -539,17 +524,14 @@ class FGFDMExec : public FGJSBBase
   /** Sets the current sim time.
       @param cur_time the current time
       @return the current simulation time.      */
-  double Setsim_time(double cur_time) {
-    sim_time = cur_time;
-    GetGroundCallback()->SetTime(sim_time);
-    return sim_time;
-  }
+  double Setsim_time(double cur_time);
 
   /** Sets the integration time step for the simulation executive.
       @param delta_t the time step in seconds.     */
   void Setdt(double delta_t) { dT = delta_t; }
 
-  /** Sets the root directory where JSBSim starts looking for its system directories.
+  /** Sets the root directory where JSBSim starts looking for its system
+      directories.
       @param rootDir the string containing the root directory. */
   void SetRootDir(const SGPath& rootDir) {RootDir = rootDir;}
 
@@ -560,14 +542,7 @@ class FGFDMExec : public FGJSBBase
   /** Increments the simulation time if not in Holding mode. The Frame counter
       is also incremented.
       @return the new simulation time.     */
-  double IncrTime(void) {
-    if (!holding && !IntegrationSuspended()) {
-      sim_time += dT;
-      GetGroundCallback()->SetTime(sim_time);
-      Frame++;
-    }
-    return sim_time;
-  }
+  double IncrTime(void);
 
   /** Retrieves the current frame count. */
   unsigned int GetFrame(void) const {return Frame;}

src/initialization/FGInitialCondition.cpp

@@ -97,7 +97,7 @@ void FGInitialCondition::ResetIC(double u0, double v0, double w0,
 
   position.SetLongitude(lonRad0);
   position.SetLatitude(latRad0);
-  position.SetAltitudeAGL(altAGLFt0);
+  fdmex->GetInertial()->SetAltitudeAGL(position, altAGLFt0);
   lastLatitudeSet = setgeoc;
   lastAltitudeSet = setagl;
 
@@ -643,9 +643,7 @@ void FGInitialCondition::SetWindDirDegIC(double dir)
 void FGInitialCondition::SetTerrainElevationFtIC(double elev)
 {
   double agl = GetAltitudeAGLFtIC();
-  double sea_level = fdmex->GetInertial()->GetRefRadius();
-
-  fdmex->GetGroundCallback()->SetTerrainGeoCentRadius(elev + sea_level);
+  fdmex->GetInertial()->SetTerrainElevation(elev);
 
   if (lastAltitudeSet == setagl)
     SetAltitudeAGLFtIC(agl);
@@ -662,23 +660,24 @@ double FGInitialCondition::GetAltitudeASLFtIC(void) const
 
   double FGInitialCondition::GetAltitudeAGLFtIC(void) const
 {
-  return position.GetAltitudeAGL();
+  return fdmex->GetInertial()->GetAltitudeAGL(position);
 }
 
 //******************************************************************************
 
 double FGInitialCondition::GetTerrainElevationFtIC(void) const
 {
-  return position.GetTerrainRadius() - fdmex->GetInertial()->GetRefRadius();
+  FGLocation contact;
+  FGColumnVector3 normal, v, w;
+  fdmex->GetInertial()->GetContactPoint(position, contact, normal, v, w);
+  return contact.GetGeodAltitude();
 }
 
 //******************************************************************************
 
 void FGInitialCondition::SetAltitudeAGLFtIC(double agl)
 {
-  double terrainElevation = position.GetTerrainRadius()
-    - fdmex->GetInertial()->GetRefRadius();
-  SetAltitudeASLFtIC(agl + terrainElevation);
+  fdmex->GetInertial()->SetAltitudeAGL(position, agl);
   lastAltitudeSet = setagl;
 }
 
@@ -1085,8 +1084,7 @@ bool FGInitialCondition::Load_v2(Element* document)
   FGColumnVector3 vOmegaEarth = fdmex->GetInertial()->GetOmegaPlanet();
 
   if (document->FindElement("elevation")) {
-    double sea_level = fdmex->GetInertial()->GetRefRadius();
-    fdmex->GetGroundCallback()->SetTerrainGeoCentRadius(document->FindElementValueAsNumberConvertTo("elevation", "FT")+sea_level);
+    fdmex->GetInertial()->SetTerrainElevation(document->FindElementValueAsNumberConvertTo("elevation", "FT"));
   }
 
   // Initialize vehicle position
@@ -1111,7 +1109,8 @@ bool FGInitialCondition::Load_v2(Element* document)
         if (position_el->FindElement("radius")) {
           position.SetRadius(position_el->FindElementValueAsNumberConvertTo("radius", "FT"));
         } else if (position_el->FindElement("altitudeAGL")) {
-          position.SetAltitudeAGL(position_el->FindElementValueAsNumberConvertTo("altitudeAGL", "FT"));
+          fdmex->GetInertial()->SetAltitudeAGL(position,
+                                               position_el->FindElementValueAsNumberConvertTo("altitudeAGL", "FT"));
         } else if (position_el->FindElement("altitudeMSL")) {
           position.SetPositionGeodetic(longitude, 0.0,
                                        position_el->FindElementValueAsNumberConvertTo("altitudeMSL", "FT"));

src/initialization/FGTrim.cpp

@@ -397,7 +397,9 @@ void FGTrim::trimOnGround(void)
 
     FGColumnVector3 normal, vDummy;
     FGLocation lDummy;
-    double height = gearLoc.GetContactPoint(lDummy, normal, vDummy, vDummy);
+    double height = fdmex->GetInertial()->GetContactPoint(gearLoc, lDummy,
+                                                          normal, vDummy,
+                                                          vDummy);
 
     if (gear->IsBogey() && !GroundReactions->GetSolid())
       continue;

src/input_output/FGGroundCallback.cpp

@@ -48,6 +48,7 @@ double FGDefaultGroundCallback::GetAGLevel(double t, const FGLocation& loc,
   double loc_radius = loc.GetRadius();  // Get the radius of the given location
                                         // (e.g. the CG)
   double agl = loc_radius - mTerrainLevelRadius;
+  contact.SetEllipse(mSeaLevelRadius, mSeaLevelRadius);
   contact = (mTerrainLevelRadius/loc_radius)*FGColumnVector3(loc);
   return agl;
 }

src/input_output/FGGroundCallback.h

@@ -38,8 +38,6 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include "simgear/structure/SGSharedPtr.hxx"
-
 namespace JSBSim {
 
 class FGLocation;
@@ -61,7 +59,7 @@ CLASS DOCUMENTATION
 CLASS DECLARATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-class FGGroundCallback : public SGReferenced
+class FGGroundCallback
 {
 public:
 
@@ -97,32 +95,23 @@ class FGGroundCallback : public SGReferenced
                             FGColumnVector3& w) const
   { return GetAGLevel(time, location, contact, normal, v, w); }
 
-  /** Compute the local terrain radius
-      @param t simulation time
-      @param location location
-   */
-  virtual double GetTerrainGeoCentRadius(double t, const FGLocation& location) const = 0;
-
-  /** Compute the local terrain radius
-      @param location location
-   */
-  virtual double GetTerrainGeoCentRadius(const FGLocation& location) const
-  { return GetTerrainGeoCentRadius(time, location); }
-
-  /** Set the local terrain radius.
+  /** Set the terrain elevation.
       Only needs to be implemented if JSBSim should be allowed
       to modify the local terrain radius (see the default implementation)
    */
-  virtual void SetTerrainGeoCentRadius(double radius)  {}
+  virtual void SetTerrainElevation(double h) {}
 
+  /** Set the simulation time.
+      The elapsed time can be used by the ground callbck to assess the planet
+      rotation or the movement of objects.
+      @param _time elapsed time in seconds since the simulation started.
+   */
   void SetTime(double _time) { time = _time; }
 
 protected:
   double time;
 };
 
-typedef SGSharedPtr<FGGroundCallback> FGGroundCallback_ptr;
-
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 // The default sphere earth implementation:
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -138,10 +127,8 @@ class FGDefaultGroundCallback : public FGGroundCallback
                     FGColumnVector3& normal, FGColumnVector3& v,
                     FGColumnVector3& w) const override;
 
-  void SetTerrainGeoCentRadius(double radius) override
-  {  mTerrainLevelRadius = radius;}
-  double GetTerrainGeoCentRadius(double t, const FGLocation& location) const override
-  { return mTerrainLevelRadius; }
+  void SetTerrainElevation(double h) override
+  { mTerrainLevelRadius = mSeaLevelRadius + h; }
 
 private:
    double mSeaLevelRadius;

src/math/FGLocation.cpp

@@ -47,9 +47,6 @@ INCLUDES
 
 namespace JSBSim {
 
-// Set up the default ground callback object.
-FGGroundCallback_ptr FGLocation::GroundCallback = nullptr;
-
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -137,7 +134,7 @@ FGLocation::FGLocation(const FGLocation& l)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-const FGLocation& FGLocation::operator=(const FGLocation& l)
+FGLocation& FGLocation::operator=(const FGLocation& l)
 {
   mECLoc = l.mECLoc;
   mCacheValid = l.mCacheValid;
@@ -267,6 +264,17 @@ void FGLocation::SetEllipse(double semimajor, double semiminor)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+double FGLocation::GetSeaLevelRadius(void) const
+{
+  if (!mCacheValid) ComputeDerivedUnconditional();
+
+  double sinGeodLat = sin(mGeodLat);
+
+  return a/sqrt(1+e2*sinGeodLat*sinGeodLat/ec2);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 void FGLocation::ComputeDerivedUnconditional(void) const
 {
   // The radius is just the Euclidean norm of the vector.