Hi,
here is a patch for the head/osg-branch. But unfortunately it does not
work here. It seems, that
FGGroundCache::get_agl(double t, const SGVec3d& dpt, double max_altoff,
SGVec3d& contact, SGVec3d& normal, SGVec3d& vel,
int *type, const SGMaterial** material, double *agl)
does not return the material.
Does anyone know, if this is not supported in osg?
Or is it OS-dependent?
Maik
Maik Justus schrieb am 22.12.2006 19:02:
Hi,
osg and plib branch differ in some details. My patch works only on the
plib-branch. I hope I find the time to patch the head/osg-branch tonight.
Maik
? df.bat
? gear.diff
? gear.osg.diff
Index: flight.cxx
===================================================================
RCS file: /var/cvs/FlightGear-0.9/source/src/FDM/flight.cxx,v
retrieving revision 1.29
diff -u -p -r1.29 flight.cxx
--- flight.cxx 29 Oct 2006 19:30:24 -0000 1.29
+++ flight.cxx 22 Dec 2006 21:10:58 -0000
@@ -883,6 +883,39 @@ FGInterface::get_agl_m(double t, const d
return ret;
}
+bool
+FGInterface::get_agl_m(double t, const double pt[3],
+ double contact[3], double normal[3], double vel[3],
+ int *type, double *loadCapacity,
+ double *frictionFactor, double *agl,
+ double *rollingFritction, double *loadResistance,
+ double *bumpiness, bool *isSolid)
+{
+ const SGMaterial* material;
+ SGVec3d _contact, _normal, _vel;
+ bool ret = ground_cache.get_agl(t, SGVec3d(pt), 2.0, _contact, _normal,
+ _vel, type, &material, agl);
+ sgdCopyVec3(contact, _contact.data());
+ sgdCopyVec3(normal, _normal.data());
+ sgdCopyVec3(vel, _vel.data());
+ if (material) {
+ *loadCapacity = material->get_load_resistence();
+ *frictionFactor = material->get_friction_factor();
+ *rollingFritction = material->get_rolling_friction();
+ *loadResistance = material->get_load_resistence();
+ *bumpiness = material->get_bumpiness();
+ *isSolid = material->get_solid();
+ } else {
+ *loadCapacity = DBL_MAX;
+ *frictionFactor = 1.0;
+ *rollingFritction = 0.02;
+ *loadResistance = DBL_MAX;
+ *bumpiness = 0.0;
+ *isSolid = true;
+ }
+ return ret;
+}
+
// Legacy interface just kept because of JSBSim
bool
FGInterface::get_agl_ft(double t, const double pt[3],
Index: flight.hxx
===================================================================
RCS file: /var/cvs/FlightGear-0.9/source/src/FDM/flight.hxx,v
retrieving revision 1.13
diff -u -p -r1.13 flight.hxx
--- flight.hxx 11 Jun 2006 13:34:19 -0000 1.13
+++ flight.hxx 22 Dec 2006 21:11:03 -0000
@@ -1128,6 +1128,12 @@ public:
double contact[3], double normal[3], double vel[3],
int *type, double *loadCapacity,
double *frictionFactor, double *agl);
+ bool get_agl_m(double t, const double pt[3],
+ double contact[3], double normal[3], double vel[3],
+ int *type, double *loadCapacity,
+ double *frictionFactor, double *agl,
+ double *rollingFritction, double *loadResistance,
+ double *bumpiness,bool *isSolid);
bool get_agl_ft(double t, const double pt[3],
double contact[3], double normal[3], double vel[3],
int *type, double *loadCapacity,
Index: YASim/Airplane.cpp
===================================================================
RCS file: /var/cvs/FlightGear-0.9/source/src/FDM/YASim/Airplane.cpp,v
retrieving revision 1.22
diff -u -p -r1.22 Airplane.cpp
--- YASim/Airplane.cpp 22 Dec 2006 18:02:17 -0000 1.22
+++ YASim/Airplane.cpp 22 Dec 2006 21:11:08 -0000
@@ -602,6 +602,7 @@ void Airplane::compileContactPoints()
// I made these up
g->setStaticFriction(0.6f);
g->setDynamicFriction(0.5f);
+ g->setContactPoint(1);
_model.addGear(g);
}
Index: YASim/FGFDM.cpp
===================================================================
RCS file: /var/cvs/FlightGear-0.9/source/src/FDM/YASim/FGFDM.cpp,v
retrieving revision 1.45
diff -u -p -r1.45 FGFDM.cpp
--- YASim/FGFDM.cpp 18 Dec 2006 21:22:20 -0000 1.45
+++ YASim/FGFDM.cpp 22 Dec 2006 21:11:11 -0000
@@ -273,6 +273,10 @@ void FGFDM::startElement(const char* nam
g->setDynamicFriction(attrf(a, "dfric", 0.7));
g->setSpring(attrf(a, "spring", 1));
g->setDamping(attrf(a, "damp", 1));
+ if(attrb(a,"on-water"))g->setOnWater(1);
+ if(attrb(a,"on-solid"))g->setOnSolid(1);
+ g->setInverseSpeedSpringIsDoubled(attrf(a,
"inverse-speed-spring-is-doubled", 0));
+ g->setReduceFrictionByExtension(attrf(a,
"reduce-friction-by-extension", 0));
_airplane.addGear(g);
} else if(eq(name, "hook")) {
Hook* h = new Hook();
Index: YASim/FGGround.cpp
===================================================================
RCS file: /var/cvs/FlightGear-0.9/source/src/FDM/YASim/FGGround.cpp,v
retrieving revision 1.2
diff -u -p -r1.2 FGGround.cpp
--- YASim/FGGround.cpp 18 Feb 2005 12:40:39 -0000 1.2
+++ YASim/FGGround.cpp 22 Dec 2006 21:11:12 -0000
@@ -35,6 +35,29 @@ void FGGround::getGroundPlane(const doub
for(int i=0; i<3; i++) vel[i] = dvel[i];
}
+void FGGround::getGroundPlane(const double pos[3],
+ double plane[4], float vel[3],
+ int *type,
+ double *frictionFactor,
+ double *rollingFriction,
+ double *loadCapacity,
+ double *loadResistance,
+ double *bumpiness,
+ bool *isSolid)
+{
+ // Return values for the callback.
+ double agl;
+ double cp[3], dvel[3];
+ _iface->get_agl_m(_toff, pos, cp, plane, dvel,
+ type, loadCapacity, frictionFactor, &agl,
+ rollingFriction,loadResistance,bumpiness,isSolid);
+
+ // The plane below the actual contact point.
+ plane[3] = plane[0]*cp[0] + plane[1]*cp[1] + plane[2]*cp[2];
+
+ for(int i=0; i<3; i++) vel[i] = dvel[i];
+}
+
bool FGGround::caughtWire(const double pos[4][3])
{
return _iface->caught_wire_m(_toff, pos);
Index: YASim/FGGround.hpp
===================================================================
RCS file: /var/cvs/FlightGear-0.9/source/src/FDM/YASim/FGGround.hpp,v
retrieving revision 1.1
diff -u -p -r1.1 FGGround.hpp
--- YASim/FGGround.hpp 17 Feb 2005 10:37:26 -0000 1.1
+++ YASim/FGGround.hpp 22 Dec 2006 21:11:12 -0000
@@ -18,6 +18,16 @@ public:
virtual void getGroundPlane(const double pos[3],
double plane[4], float vel[3]);
+ virtual void getGroundPlane(const double pos[3],
+ double plane[4], float vel[3],
+ int *type,
+ double *frictionFactor,
+ double *rollingFriction,
+ double *loadCapacity,
+ double *loadResistance,
+ double *bumpiness,
+ bool *isSolid);
+
virtual bool caughtWire(const double pos[4][3]);
virtual bool getWire(double end[2][3], float vel[2][3]);
Index: YASim/Gear.cpp
===================================================================
RCS file: /var/cvs/FlightGear-0.9/source/src/FDM/YASim/Gear.cpp,v
retrieving revision 1.7
diff -u -p -r1.7 Gear.cpp
--- YASim/Gear.cpp 24 Nov 2005 17:35:42 -0000 1.7
+++ YASim/Gear.cpp 22 Dec 2006 21:11:13 -0000
@@ -4,6 +4,9 @@
#include "Gear.hpp"
namespace yasim {
+static const float YASIM_PI = 3.14159265358979323846;
+static const float maxGroundBumpAmplitude=0.5;
+ //Amplitude can be positive and negative
Gear::Gear()
{
@@ -19,6 +22,20 @@ Gear::Gear()
_extension = 1;
_castering = false;
_frac = 0;
+ _ground_type = 0;
+ _ground_frictionFactor = 1;
+ _ground_rollingFriction = 0.02;
+ _ground_loadCapacity = 1e30;
+ _ground_loadResistance = 1e30;
+ _ground_isSolid=1;
+ _ground_bumpiness = 0;
+ _onWater=0;
+ _onSolid=1;
+ _global_x=0.0;
+ _global_y=0.0;
+ _inverseSpeedSpringIsDoubled=0;
+ _reduceFrictionByExtension=0;
+ _isContactPoint=0;
for(i=0; i<3; i++)
_global_ground[i] = _global_vel[i] = 0;
@@ -78,11 +95,51 @@ void Gear::setCastering(bool c)
_castering = c;
}
-void Gear::setGlobalGround(double *global_ground, float* global_vel)
+void Gear::setContactPoint(bool c)
+{
+ _isContactPoint=c;
+}
+
+void Gear::setOnWater(bool c)
+{
+ _onWater = c;
+}
+
+void Gear::setOnSolid(bool c)
+{
+ _onSolid = c;
+}
+
+void Gear::setInverseSpeedSpringIsDoubled(float s)
+{
+ _inverseSpeedSpringIsDoubled=s;
+}
+
+void Gear::setReduceFrictionByExtension(float s)
+{
+ _reduceFrictionByExtension=s;
+}
+
+void Gear::setGlobalGround(double *global_ground, float* global_vel,
+ double globalX, double globalY,
+ int type, double frictionFactor,
+ double rollingFriction, double loadCapacity,
+ double loadResistance, double bumpiness,
+ bool isSolid)
{
int i;
for(i=0; i<4; i++) _global_ground[i] = global_ground[i];
for(i=0; i<3; i++) _global_vel[i] = global_vel[i];
+ _ground_type = type;
+ _ground_frictionFactor=frictionFactor;
+ _ground_rollingFriction=rollingFriction;
+ _ground_loadCapacity=loadCapacity;
+ _ground_loadResistance=loadResistance;
+ _ground_bumpiness=bumpiness;
+ _ground_isSolid=isSolid;
+ _global_x=globalX;
+ _global_y=globalY;
+
}
void Gear::getPosition(float* out)
@@ -159,6 +216,31 @@ bool Gear::getCastering()
return _castering;
}
+bool Gear::getGroundIsSolid()
+{
+ return _ground_isSolid;
+}
+
+float Gear::getBumbAltitude()
+{
+ if (_ground_bumpiness<0.001) return 0.0;
+ double x = _global_x*10;
+ double y = _global_y*10;
+ x-=Math::floor(x);
+ y-=Math::floor(y);
+ x*=2*YASIM_PI;
+ y*=2*YASIM_PI;
+ //now x and y are in the range of 0..2pi
+ //we need a function, that is periodically on 2pi and gives some
+ //height. This is not very fast, but for a beginning.
+ //maybe this should be done by interpolating between some precalculated
+ //values
+ float h= Math::sin(x)+Math::sin(7*x)+Math::sin(8*x)+Math::sin(13*x);
+ h+= Math::sin(2*y)+Math::sin(5*y)+Math::sin(9*y*x)+Math::sin(17*y);
+
+ return h *(1/8.)*_ground_bumpiness*maxGroundBumpAmplitude;
+}
+
void Gear::calcForce(RigidBody* body, State *s, float* v, float* rot)
{
// Init the return values
@@ -169,6 +251,15 @@ void Gear::calcForce(RigidBody* body, St
if(_extension < 1)
return;
+ if (!((_onWater&&!_ground_isSolid)||(_onSolid&&_ground_isSolid))) {
+ _wow = 0;
+ _frac = 0;
+ _compressDist = 0;
+ _rollSpeed = 0;
+ _casterAngle = 0;
+ return;
+ }
+
// The ground plane transformed to the local frame.
float ground[4];
s->planeGlobalToLocal(_global_ground, ground);
@@ -180,6 +271,12 @@ void Gear::calcForce(RigidBody* body, St
// First off, make sure that the gear "tip" is below the ground.
// If it's not, there's no force.
float a = ground[3] - Math::dot3(_pos, ground);
+ float BumbAltitude=0;
+ if (a<maxGroundBumpAmplitude)
+ {
+ BumbAltitude=getBumbAltitude();
+ a+=BumbAltitude;
+ }
_compressDist = -a;
if(a > 0) {
_wow = 0;
@@ -196,7 +293,7 @@ void Gear::calcForce(RigidBody* body, St
// above ground is negative.
float tmp[3];
Math::add3(_cmpr, _pos, tmp);
- float b = ground[3] - Math::dot3(tmp, ground);
+ float b = ground[3] - Math::dot3(tmp, ground)+BumbAltitude;
// Calculate the point of ground _contact.
_frac = a/(a-b);
@@ -219,7 +316,11 @@ void Gear::calcForce(RigidBody* body, St
// compression. (note the clamping of _frac to 1):
_frac = (_frac > 1) ? 1 : _frac;
float fmag = _frac*clen*_spring;
-
+ float inversespeed_multiplied_by_speed=0;
+ if (_inverseSpeedSpringIsDoubled>0.0000001) {
+
inversespeed_multiplied_by_speed=Math::mag3(cv)*_inverseSpeedSpringIsDoubled;
+ fmag*=1+inversespeed_multiplied_by_speed;
+ }
// Then the damping. Use the only the velocity into the ground
// (projection along "ground") projected along the compression
// axis. So Vdamp = ground*(ground dot cv) dot cmpr
@@ -284,11 +385,28 @@ void Gear::calcForce(RigidBody* body, St
_rollSpeed = vsteer;
_casterAngle = _rot;
}
-
- float fsteer = _brake * calcFriction(wgt, vsteer);
- float fskid = calcFriction(wgt, vskid);
+ float fsteer,fskid;
+ if(_ground_isSolid)
+ {
+ fsteer = (_brake * _ground_frictionFactor
+ +(1-_brake)*_ground_rollingFriction
+ )*calcFriction(wgt, vsteer);
+ fskid = calcFriction(wgt, vskid)*_ground_frictionFactor;
+ }
+ else
+ {
+ fsteer = _ground_frictionFactor *calcFrictionV2(wgt, vsteer);
+ fskid = calcFrictionV2(wgt, vskid)*_ground_frictionFactor;
+ }
if(vsteer > 0) fsteer = -fsteer;
if(vskid > 0) fskid = -fskid;
+
+ //reduce friction if wanted by _reduceFrictionByExtension
+ //float factor =
1-inversespeed_multiplied_by_speed*_reduceFrictionByExtension;
+ float factor = (1-_frac)*(1-_reduceFrictionByExtension)+_frac*1;
+ factor=Math::clamp(factor,0,1);
+ fsteer*=factor;
+ fskid*=factor;
// Phoo! All done. Add it up and get out of here.
Math::mul3(fsteer, steer, tmp);
@@ -308,5 +426,14 @@ float Gear::calcFriction(float wgt, floa
else return wgt * _dfric;
}
+float Gear::calcFrictionV2(float wgt, float v)
+{
+ // How slow is stopped? 10 cm/second?
+ const float STOP = 0.1f;
+ const float iSTOP = 1.0f/STOP;
+ v = Math::abs(v);
+ if(v < STOP) return v*iSTOP * wgt * _sfric;
+ else return wgt * _dfric*v*v*0.01;
+}
}; // namespace yasim
Index: YASim/Gear.hpp
===================================================================
RCS file: /var/cvs/FlightGear-0.9/source/src/FDM/YASim/Gear.hpp,v
retrieving revision 1.5
diff -u -p -r1.5 Gear.hpp
--- YASim/Gear.hpp 24 Nov 2005 17:35:42 -0000 1.5
+++ YASim/Gear.hpp 22 Dec 2006 21:11:13 -0000
@@ -39,8 +39,15 @@ public:
void setRotation(float rotation);
void setExtension(float extension);
void setCastering(bool castering);
- void setGlobalGround(double* global_ground, float* global_vel);
-
+ void setOnWater(bool c);
+ void setOnSolid(bool c);
+ void setInverseSpeedSpringIsDoubled(float s);
+ void setReduceFrictionByExtension(float s);
+ void setGlobalGround(double* global_ground, float* global_vel,
+ double globalX, double globalY,
+ int type, double frictionFactor,double rollingFriction,
+ double loadCapacity, double loadResistance, double bumpiness,
+ bool isSolid);
void getPosition(float* out);
void getCompression(float* out);
void getGlobalGround(double* global_ground);
@@ -54,6 +61,8 @@ public:
bool getCastering();
float getCasterAngle() { return _casterAngle; }
float getRollSpeed() { return _rollSpeed; }
+ float getBumbAltitude();
+ bool getGroundIsSolid();
// Takes a velocity of the aircraft relative to ground, a rotation
// vector, and a ground plane (all specified in local coordinates)
@@ -67,9 +76,12 @@ public:
float getWoW();
float getCompressFraction();
float getCompressDist() { return _compressDist; }
+ bool getIgnoreAtCrashDetection() {return
(!_ground_isSolid)&&(!_isContactPoint); }
+ void setContactPoint(bool c);
private:
float calcFriction(float wgt, float v);
+ float calcFrictionV2(float wgt, float v);
bool _castering;
float _pos[3];
@@ -90,6 +102,21 @@ private:
float _global_vel[3];
float _casterAngle;
float _rollSpeed;
+ bool _isContactPoint;
+ bool _onWater;
+ bool _onSolid;
+ float _inverseSpeedSpringIsDoubled;
+ float _reduceFrictionByExtension;
+
+ int _ground_type;
+ double _ground_frictionFactor;
+ double _ground_rollingFriction;
+ double _ground_loadCapacity;
+ double _ground_loadResistance;
+ double _ground_bumpiness;
+ bool _ground_isSolid;
+ double _global_x;
+ double _global_y;
};
}; // namespace yasim
Index: YASim/Ground.cpp
===================================================================
RCS file: /var/cvs/FlightGear-0.9/source/src/FDM/YASim/Ground.cpp,v
retrieving revision 1.1
diff -u -p -r1.1 Ground.cpp
--- YASim/Ground.cpp 17 Feb 2005 10:37:26 -0000 1.1
+++ YASim/Ground.cpp 22 Dec 2006 21:11:13 -0000
@@ -28,6 +28,19 @@ void Ground::getGroundPlane(const double
vel[2] = 0.0;
}
+void Ground::getGroundPlane(const double pos[3],
+ double plane[4], float vel[3],
+ int *type,
+ double *frictionFactor,
+ double *rollingFriction,
+ double *loadCapacity,
+ double *loadResistance,
+ double *bumpiness,
+ bool *isSolid)
+{
+ getGroundPlane(pos,plane,vel);
+}
+
bool Ground::caughtWire(const double pos[4][3])
{
return false;
Index: YASim/Ground.hpp
===================================================================
RCS file: /var/cvs/FlightGear-0.9/source/src/FDM/YASim/Ground.hpp,v
retrieving revision 1.1
diff -u -p -r1.1 Ground.hpp
--- YASim/Ground.hpp 17 Feb 2005 10:37:26 -0000 1.1
+++ YASim/Ground.hpp 22 Dec 2006 21:11:14 -0000
@@ -11,6 +11,16 @@ public:
virtual void getGroundPlane(const double pos[3],
double plane[4], float vel[3]);
+ virtual void getGroundPlane(const double pos[3],
+ double plane[4], float vel[3],
+ int *type,
+ double *frictionFactor,
+ double *rollingFriction,
+ double *loadCapacity,
+ double *loadResistance,
+ double *bumpiness,
+ bool *isSolid);
+
virtual bool caughtWire(const double pos[4][3]);
virtual bool getWire(double end[2][3], float vel[2][3]);
Index: YASim/Model.cpp
===================================================================
RCS file: /var/cvs/FlightGear-0.9/source/src/FDM/YASim/Model.cpp,v
retrieving revision 1.13
diff -u -p -r1.13 Model.cpp
--- YASim/Model.cpp 14 Sep 2006 18:18:33 -0000 1.13
+++ YASim/Model.cpp 22 Dec 2006 21:11:15 -0000
@@ -13,7 +13,12 @@
#include "Rotorpart.hpp"
#include "Glue.hpp"
#include "Ground.hpp"
-
+/*
+#include <stdio.h>
+#include <iostream>
+#include <sstream>
+#include <simgear/debug/logstream.hxx>
+*/
#include "Model.hpp"
namespace yasim {
@@ -307,8 +312,26 @@ void Model::updateGround(State* s)
// Ask for the ground plane in the global coordinate system
double global_ground[4];
float global_vel[3];
- _ground_cb->getGroundPlane(pt, global_ground, global_vel);
- g->setGlobalGround(global_ground, global_vel);
+ int type;
+ double frictionFactor, rollingFriction, loadCapacity,
+ loadResistance, bumpiness;
+ bool isSolid;
+ //_ground_cb->getGroundPlane(pt, global_ground, global_vel);
+ _ground_cb->getGroundPlane(pt, global_ground, global_vel,
+ &type,&frictionFactor, &rollingFriction,
+ &loadCapacity,
&loadResistance,&bumpiness,&isSolid);
+ static int h=0;
+ /*
+ if (h++>100)
+ {
+ cout<<"t:"<<type<<"fF:"<<frictionFactor<<"rF:"<<rollingFriction
+ <<"lC:"<<loadCapacity<<"lR"<<loadResistance<<"b:"<<bumpiness<<"
\r";
+ h=0;
+ }
+ */
+ g->setGlobalGround(global_ground, global_vel, pt[0], pt[1],type,
+ frictionFactor, rollingFriction, loadCapacity, loadResistance,
+ bumpiness,isSolid);
}
for(i=0; i<_rotorgear.getRotors()->size(); i++) {
Rotor* r = (Rotor*)_rotorgear.getRotors()->get(i);
@@ -480,23 +503,26 @@ void Model::newState(State* s)
for(i=0; i<_gears.size(); i++) {
Gear* g = (Gear*)_gears.get(i);
- // Get the point of ground contact
- float pos[3], cmpr[3];
- g->getPosition(pos);
- g->getCompression(cmpr);
- Math::mul3(g->getCompressFraction(), cmpr, cmpr);
- Math::add3(cmpr, pos, pos);
-
- // The plane transformed to local coordinates.
- double global_ground[4];
- g->getGlobalGround(global_ground);
- float ground[4];
- s->planeGlobalToLocal(global_ground, ground);
- float dist = ground[3] - Math::dot3(pos, ground);
-
- // Find the lowest one
- if(dist < min)
- min = dist;
+ if (!g->getIgnoreAtCrashDetection())
+ {
+ // Get the point of ground contact
+ float pos[3], cmpr[3];
+ g->getPosition(pos);
+ g->getCompression(cmpr);
+ Math::mul3(g->getCompressFraction(), cmpr, cmpr);
+ Math::add3(cmpr, pos, pos);
+
+ // The plane transformed to local coordinates.
+ double global_ground[4];
+ g->getGlobalGround(global_ground);
+ float ground[4];
+ s->planeGlobalToLocal(global_ground, ground);
+ float dist = ground[3] - Math::dot3(pos, ground);
+
+ // Find the lowest one
+ if(dist < min)
+ min = dist;
+ }
}
_agl = min;
if(_agl < -1) // Allow for some integration slop
Index: YASim/YASim.cxx
===================================================================
RCS file: /var/cvs/FlightGear-0.9/source/src/FDM/YASim/YASim.cxx,v
retrieving revision 1.37
diff -u -p -r1.37 YASim.cxx
--- YASim/YASim.cxx 9 Dec 2006 20:37:59 -0000 1.37
+++ YASim/YASim.cxx 22 Dec 2006 21:11:17 -0000
@@ -477,6 +477,7 @@ void YASim::copyFromYASim()
node->setFloatValue("compression-m", g->getCompressDist());
node->setFloatValue("caster-angle-deg", g->getCasterAngle() * RAD2DEG);
node->setFloatValue("rollspeed-ms", g->getRollSpeed());
+ node->setBoolValue("ground-is-solid", g->getGroundIsSolid()!=0);
}
Hook* h = airplane->getHook();
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