[Prototype]Touchdown points penetration distance

.github/workflows/build.yml

@@ -74,7 +74,7 @@ jobs:
       run: cmake --build --preset windows-${{ matrix.architecture }}-release --jobs 2
 
     - name: Test
-      run: ctest --preset windows-${{ matrix.architecture }}-release --jobs 2
+      run: ctest --preset windows-${{ matrix.architecture }}-release --parallel 2
 
     - name: Install
       working-directory: ${{ github.workspace }}/out/build/windows-${{ matrix.architecture }}-release

Orbitersdk/include/VesselAPI.h

@@ -40,6 +40,12 @@ typedef struct {
 	double mu_lng;    ///< longitudinal friction coefficient (only used for first 3 points)
 } TOUCHDOWNVTX;
 
+struct CONTACTINFO {
+	double depth;
+	VECTOR3 normal;
+};
+
+
 //  ======================================================================
 /**
  * \brief Base class for objects of vessel type (spacecraft and similar)
@@ -6464,6 +6470,8 @@ class OAPIFUNC VESSEL4: public VESSEL3 {
 	 *   VESSEL::ActivateNavmode, VESSEL::DeactivateNavmode, VESSEL::ToggleNavmode
 	 */
 	virtual int clbkNavProcess (int mode);
+
+	bool GetGroundContactInfo(CONTACTINFO *, DWORD idx);
 };
 
 // ======================================================================

Orbitersdk/samples/Lua/DeltaGlider/Src/Deltaglider.lua

@@ -1412,6 +1412,19 @@ function DeltaGlider:clbkPostStep (simt, simdt, mjd)
 	end
 
 	ComponentVessel.clbkPostStep (self, simt, simdt, mjd)
+
+	if self.bGearIsDown and self:get_groundcontact() then
+		local str = ""
+		for i = 0,12 do
+			local tdinfo = self:get_groundcontactinfo(i)
+			if tdinfo and tdinfo.depth <= 0 then
+				str = str..string.format("td%d %.02f V(%.02f,%.02f,%.02f) ", i, tdinfo.depth, tdinfo.normal.x, tdinfo.normal.y, tdinfo.normal.z)
+			end
+		end
+		oapi.dbg_out(str)
+	else
+		oapi.dbg_out("")
+	end
 end
 
 function DeltaGlider:clbkLoadGenericCockpit ()

Src/Module/LuaScript/LuaInterpreter/Interpreter.cpp

@@ -3661,7 +3661,7 @@ module or by multiple modules) the last state before rendering will be displayed
 int Interpreter::oapiDbgOut (lua_State *L)
 {
 	const char *str = lua_tostringex (L, 1);
-	strcpy (oapiDebugString(), str);
+	strncpy (oapiDebugString(), str, 256);
 	return 0;
 }
 

Src/Module/LuaScript/LuaInterpreter/Interpreter.h

@@ -647,6 +647,7 @@ class INTERPRETERLIB Interpreter {
 	static int v_send_bufferedkey (lua_State *L);
 	static int v_is_landed (lua_State *L);
 	static int v_get_groundcontact (lua_State *L);
+	static int v_get_groundcontactinfo (lua_State *L);
 
 	// general vessel properties
 	static int v_get_name (lua_State *L);

Src/Module/LuaScript/LuaInterpreter/lua_vessel_mtd.cpp

@@ -333,6 +333,7 @@ void Interpreter::LoadVesselAPI ()
 		// vessel status
 		{"is_landed", v_is_landed},
 		{"get_groundcontact", v_get_groundcontact},
+		{"get_groundcontactinfo", v_get_groundcontactinfo},
 
 		// fuel management
 		{"create_propellantresource", v_create_propellantresource },
@@ -2387,6 +2388,31 @@ int Interpreter::v_get_groundcontact (lua_State *L)
 	return 1;
 }
 
+int Interpreter::v_get_groundcontactinfo (lua_State *L)
+{
+	static const char *funcname = "v_get_groundcontactpenetration";
+	VESSEL* v = lua_tovessel_safe(L, 1, funcname);
+		if (v->Version() < 3) {
+		lua_pushnil(L);
+		lua_pushstring(L, "Invalid vessel version in register_panelarea");
+		return 2;
+	}
+	VESSEL4* v4 = (VESSEL4*)v;
+	int idx = luaL_checkinteger(L, 2);
+
+	CONTACTINFO info;
+	bool ret = v4->GetGroundContactInfo(&info, idx);
+	if(!ret) return luaL_error(L, "Index out of range (%d/%d)", idx, v4->GetTouchdownPointCount());
+
+	lua_newtable (L);
+	lua_pushnumber (L, info.depth);
+	lua_setfield (L, -2, "depth");
+	lua_pushvector(L, info.normal);
+	lua_setfield (L, -2, "normal");
+
+	return 1;
+}
+
 /***
 Angular acceleration.
 

Src/Orbiter/Vessel.cpp

@@ -1144,8 +1144,11 @@ bool Vessel::SetTouchdownPoints (const TOUCHDOWNVTX *tdvtx, DWORD ntp)
 	double a, b, c, d, e, f;
 
 	if (ntp != ntouchdown_vtx) {
-		if (ntouchdown_vtx) delete []touchdown_vtx;
+		if (ntouchdown_vtx) {
+			delete []touchdown_vtx;
+		}
 		touchdown_vtx = new TOUCHDOWN_VTX[ntouchdown_vtx = ntp];
+		touchdown_contact_info.resize(ntouchdown_vtx, {0,{0,1,0}});
 	}
 	for (i = 0; i < ntp; i++) {
 		touchdown_vtx[i].pos.Set (MakeVector(tdvtx[i].pos));
@@ -1214,6 +1217,7 @@ void Vessel::ClearTouchdownPoints ()
 	if (ntouchdown_vtx) {
 		delete []touchdown_vtx;
 		ntouchdown_vtx = 0;
+		touchdown_contact_info.resize(0);
 	}
 }
 
@@ -4293,7 +4297,6 @@ bool Vessel::AddSurfaceForces (Vector *F, Vector *M, const StateVectors *s, doub
 	int i, j;
 	double alt = 0, tdymin = 0;
 	static int *tidx = new int[3];
-	static double *tdy = new double[3];
 	static double *fn = new double[3];
 	static double *flng = new double[3];
 	static double *flat = new double[3];
@@ -4334,8 +4337,6 @@ bool Vessel::AddSurfaceForces (Vector *F, Vector *M, const StateVectors *s, doub
 		ntdy = ntouchdown_vtx;
 		delete []tidx;
 		tidx = new int[ntdy];
-		delete []tdy;
-		tdy = new double[ntdy];
 		delete []fn;
 		fn = new double[ntdy];
 		delete []flng;
@@ -4352,12 +4353,19 @@ bool Vessel::AddSurfaceForces (Vector *F, Vector *M, const StateVectors *s, doub
 	for (i = 0; i < ntouchdown_vtx; i++) {
 		Vector p (mul (T, touchdown_vtx[i].pos) + shift);
 		double lng, lat, rad, elev = 0.0;
+		VECTOR3 normal = _V(0,1,0);
 		proxybody->LocalToEquatorial (p, lng, lat, rad);
-		if (emgr)
-			elev = emgr->Elevation (lat, lng, reslvl, &etile);
-		tdy[i] = rad - elev - proxybody->Size();
-		if (!i || tdy[i] < tdymin) {
-			tdymin = tdy[i];
+		if (emgr) {
+			Vector n;
+			elev = emgr->Elevation (lat, lng, reslvl, &etile, &n);
+			normal.x = n.x;
+			normal.y = n.y;
+			normal.z = n.z;
+		}
+		touchdown_contact_info[i].depth = rad - elev - proxybody->Size();
+		touchdown_contact_info[i].normal = normal;
+		if (!i || touchdown_contact_info[i].depth < tdymin) {
+			tdymin = touchdown_contact_info[i].depth;
 		}
 	}
 
@@ -4466,16 +4474,16 @@ bool Vessel::AddSurfaceForces (Vector *F, Vector *M, const StateVectors *s, doub
 
 		DWORD ntouch = 0;
 		for (i = 0; i < ntouchdown_vtx; i++) {
-			if (tdy[i] < 0.0) { // ground contact on point i!
-				tdy[i] = max(tdy[i], -1.0); // DEBUG
+			if (touchdown_contact_info[i].depth < 0.0) { // ground contact on point i!
+				touchdown_contact_info[i].depth = max(touchdown_contact_info[i].depth, -1.0); // DEBUG
 				tidx[ntouch++] = i;
 				Vector gv (surfp.groundvel_ship + crossp(touchdown_vtx[i].pos,s->omega)); // ground velocity of touchdown point in vessel frame
 				gv_n   = dotp (gv, hn);                                             // gv projected on horizon normal in vessel frame
 				gv_lon = dotp (gv, d1h);											// longitudinal speed component for touchdown point i
 				gv_lat = dotp (gv, d2h);											// lateral speed component
 
-				fn[i] = -tdy[i]*touchdown_vtx[i].stiffness; 						// horizon-normal force component: gear compression forces
-				double maxpress = min (-tdy[i], 0.1)*touchdown_vtx[i].stiffness;
+				fn[i] = -touchdown_contact_info[i].depth*touchdown_vtx[i].stiffness; 						// horizon-normal force component: gear compression forces
+				double maxpress = min (-touchdown_contact_info[i].depth, 0.1)*touchdown_vtx[i].stiffness;
 
 				if (i < 3) {
 					mu = touchdown_vtx[i].mu_lng;
@@ -4497,7 +4505,7 @@ bool Vessel::AddSurfaceForces (Vector *F, Vector *M, const StateVectors *s, doub
 				if (gv_lat > 0.0) flat[i] = -flat[i];
 				flat_tot += flat[i];
 
-				E_comp -= fn[i]*tdy[i]*0.5; // compression energy
+				E_comp -= fn[i]*touchdown_contact_info[i].depth*0.5; // compression energy
 				fn_tot_undamped += fn[i];
 				fn[i] -= gv_n*touchdown_vtx[i].damping;
 				fn_tot += fn[i];
@@ -4619,7 +4627,7 @@ bool Vessel::AddSurfaceForces (Vector *F, Vector *M, const StateVectors *s, doub
 	} else {
 		double v1, v2;
 		for (i = 0; i < 3; i++) {
-			if (tdy[i] < 0.0) {
+			if (touchdown_contact_info[i].depth < 0.0) {
 				Vector gv (surfp.groundvel_ship + crossp(touchdown_vtx[i].pos,s->omega)); // ground velocity of touchdown point in vessel frame
 				v1 = dotp (gv, d1h); // longitudinal speed component for touchdown point i
 				v2 = dotp (gv, d2h); // lateral speed component
@@ -4665,7 +4673,7 @@ bool Vessel::AddSurfaceForces (Vector *F, Vector *M, const StateVectors *s, doub
 
 		// apply angular forces
 		for (i = 0; i < 3; i++) {
-			if (tdy[i] < 0.0) {
+			if (touchdown_contact_info[i].depth < 0.0) {
 				Vector f_attack(touchdown_vtx[i].pos);
 				//f_attack.y = 0.0; // hack to avoid nicking
 				Vector F(d1h*flng[i] + d2h*flat[i]);
@@ -9044,3 +9052,8 @@ int VESSEL4::clbkNavProcess (int mode)
 {
 	return mode;
 }
+
+bool VESSEL4::GetGroundContactInfo(CONTACTINFO *info, DWORD idx)
+{
+	return vessel->GetGroundContactInfo(info, idx);
+}

Src/Orbiter/Vessel.h

@@ -1283,6 +1283,15 @@ class Vessel: public VesselBase {
 	void Write (std::ostream &ofs) const;
 	// read/write vessel status from/to stream
 
+	bool GetGroundContactInfo(CONTACTINFO *tdi, DWORD idx) {
+		if(idx < touchdown_contact_info.size()) {
+			*tdi = touchdown_contact_info[idx];
+			return true;
+		} else {
+			return false;
+		}
+	}
+
 protected:
 	bool OpenConfigFile (std::ifstream &cfgfile) const;
 	// returns configuration file for the vessel
@@ -1442,7 +1451,6 @@ class Vessel: public VesselBase {
 
 	TOUCHDOWN_VTX *HullvtxFirst ();
 	TOUCHDOWN_VTX *HullvtxNext ();
-
 private:
 	void UpdateMass ();
 	// update vessel mass (empty + sum of all fuel resources)
@@ -1650,6 +1658,7 @@ class Vessel: public VesselBase {
 	Vector touchdown_nm;   // upward normal of touchdown plane (vessel frame)
 	Vector touchdown_cg;   // projection of CG onto touchdown plane
 	TOUCHDOWN_VTX *touchdown_vtx;
+	mutable std::vector<CONTACTINFO> touchdown_contact_info;
 	DWORD ntouchdown_vtx;    // number of touchdown vertices
 	DWORD next_hullvtx;      // used by hull vertex iterator