1 // FGAIBallistic - FGAIBase-derived class creates a ballistic object
3 // Written by David Culp, started November 2003.
4 // - davidculp2@comcast.net
6 // With major additions by Mathias Froehlich & Vivian Meazza 2004-2008
8 // This program is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU General Public License as
10 // published by the Free Software Foundation; either version 2 of the
11 // License, or (at your option) any later version.
13 // This program is distributed in the hope that it will be useful, but
14 // WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // General Public License for more details.
18 // You should have received a copy of the GNU General Public License
19 // along with this program; if not, write to the Free Software
20 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
26 #include <simgear/math/sg_random.h>
27 #include <simgear/math/sg_geodesy.hxx>
28 #include <simgear/scene/model/modellib.hxx>
30 #include <Scenery/scenery.hxx>
32 #include "AIBallistic.hxx"
34 #include <Main/util.hxx>
36 using namespace simgear;
38 const double FGAIBallistic::slugs_to_kgs = 14.5939029372;
39 const double FGAIBallistic::slugs_to_lbs = 32.1740485564;
41 FGAIBallistic::FGAIBallistic(object_type ot) :
48 _formate_to_ac(false),
49 _aero_stabilised(false),
52 _gravity(32.1740485564),
59 _force_stabilised(false),
61 _slave_load_to_ac(false),
63 _report_collision(false),
64 _report_expiry(false),
65 _report_impact(false),
66 _external_force(false),
67 _impact_report_node(fgGetNode("/ai/models/model-impact", true)),
76 FGAIBallistic::~FGAIBallistic() {
79 void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
84 FGAIBase::readFromScenario(scFileNode);
86 //setPath(scFileNode->getStringValue("model", "Models/Geometry/rocket.ac"));
87 setRandom(scFileNode->getBoolValue("random", false));
88 setAzimuth(scFileNode->getDoubleValue("azimuth", 0.0));
89 setElevation(scFileNode->getDoubleValue("elevation", 0));
90 setDragArea(scFileNode->getDoubleValue("eda", 0.007));
91 setLife(scFileNode->getDoubleValue("life", 900.0));
92 setBuoyancy(scFileNode->getDoubleValue("buoyancy", 0));
93 //setWind_from_east(scFileNode->getDoubleValue("wind_from_east", 0));
94 //setWind_from_north(scFileNode->getDoubleValue("wind_from_north", 0));
95 setWind(scFileNode->getBoolValue("wind", false));
96 setRoll(scFileNode->getDoubleValue("roll", 0.0));
97 setCd(scFileNode->getDoubleValue("cd", 0.029));
98 //setMass(scFileNode->getDoubleValue("mass", 0.007));
99 setWeight(scFileNode->getDoubleValue("weight", 0.25));
100 setStabilisation(scFileNode->getBoolValue("aero-stabilised", false));
101 setNoRoll(scFileNode->getBoolValue("no-roll", false));
102 setImpact(scFileNode->getBoolValue("impact", false));
103 setExpiry(scFileNode->getBoolValue("expiry", false));
104 setCollision(scFileNode->getBoolValue("collision", false));
105 setImpactReportNode(scFileNode->getStringValue("impact-reports"));
106 setName(scFileNode->getStringValue("name", "Rocket"));
107 setFuseRange(scFileNode->getDoubleValue("fuse-range", 0.0));
108 setSMPath(scFileNode->getStringValue("submodel-path", ""));
109 setSubID(scFileNode->getIntValue("SubID", 0));
110 setExternalForce(scFileNode->getBoolValue("external-force", false));
111 setForcePath(scFileNode->getStringValue("force-path", ""));
112 setForceStabilisation(scFileNode->getBoolValue("force-stabilised", false));
113 setXoffset(scFileNode->getDoubleValue("x-offset", 0.0));
114 setYoffset(scFileNode->getDoubleValue("y-offset", 0.0));
115 setZoffset(scFileNode->getDoubleValue("z-offset", 0.0));
116 setPitchoffset(scFileNode->getDoubleValue("pitch-offset", 0.0));
117 setRolloffset(scFileNode->getDoubleValue("roll-offset", 0.0));
118 setYawoffset(scFileNode->getDoubleValue("yaw-offset", 0.0));
119 setGroundOffset(scFileNode->getDoubleValue("ground-offset", 0.0));
120 setLoadOffset(scFileNode->getDoubleValue("load-offset", 0.0));
121 setSlaved(scFileNode->getBoolValue("slaved", false));
122 setSlavedLoad(scFileNode->getBoolValue("slaved-load", false));
123 setContentsPath(scFileNode->getStringValue("contents"));
124 setParentName(scFileNode->getStringValue("parent"));
127 bool FGAIBallistic::init(bool search_in_AI_path) {
128 FGAIBase::init(search_in_AI_path);
130 _impact_reported = false;
131 _collision_reported = false;
132 _expiry_reported = false;
144 _elapsed_time += (sg_random() * 100);
146 props->setStringValue("material/name", "");
147 props->setStringValue("name", _name.c_str());
148 props->setStringValue("submodels/path", _path.c_str());
151 props->setStringValue("force/path", _force_path.c_str());
152 props->setStringValue("contents/path", _contents_path.c_str());
159 setParentNodes(_selected_ac);
161 //props->setStringValue("vector/path", _vector_path.c_str());
163 // start with high value so that animations don't trigger yet
171 //cout << _name << " speed init: " << speed << endl;
176 void FGAIBallistic::bind() {
179 props->tie("sim/time/elapsed-sec",
180 SGRawValueMethods<FGAIBallistic,double>(*this,
181 &FGAIBallistic::_getTime));
182 //props->tie("mass-slug",
183 // SGRawValueMethods<FGAIBallistic,double>(*this,
184 // &FGAIBallistic::getMass));
186 props->tie("material/solid",
187 SGRawValuePointer<bool>(&_solid));
188 props->tie("altitude-agl-ft",
189 SGRawValuePointer<double>(&_ht_agl_ft));
190 props->tie("controls/slave-to-ac",
191 SGRawValueMethods<FGAIBallistic,bool>
192 (*this, &FGAIBallistic::getSlaved, &FGAIBallistic::setSlaved));
193 props->tie("controls/invisible",
194 SGRawValuePointer<bool>(&invisible));
196 if(_external_force || _slave_to_ac){
197 props->tie("controls/force_stabilized",
198 SGRawValuePointer<bool>(&_force_stabilised));
199 props->tie("position/global-x",
200 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getCartPosX, 0));
201 props->tie("position/global-y",
202 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getCartPosY, 0));
203 props->tie("position/global-z",
204 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getCartPosZ, 0));
205 props->tie("velocities/vertical-speed-fps",
206 SGRawValuePointer<double>(&vs));
207 props->tie("velocities/true-airspeed-kt",
208 SGRawValuePointer<double>(&speed));
209 props->tie("velocities/horizontal-speed-fps",
210 SGRawValuePointer<double>(&hs));
211 props->tie("position/altitude-ft",
212 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getElevationFt, &FGAIBase::_setAltitude));
213 props->tie("position/latitude-deg",
214 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getLatitude, &FGAIBase::_setLatitude));
215 props->tie("position/longitude-deg",
216 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getLongitude, &FGAIBase::_setLongitude));
217 props->tie("orientation/hdg-deg",
218 SGRawValuePointer<double>(&hdg));
219 props->tie("orientation/pitch-deg",
220 SGRawValuePointer<double>(&pitch));
221 props->tie("orientation/roll-deg",
222 SGRawValuePointer<double>(&roll));
223 props->tie("controls/slave-load-to-ac",
224 SGRawValueMethods<FGAIBallistic,bool>
225 (*this, &FGAIBallistic::getSlavedLoad, &FGAIBallistic::setSlavedLoad));
226 props->tie("position/load-offset",
227 SGRawValueMethods<FGAIBallistic,double>
228 (*this, &FGAIBallistic::getLoadOffset, &FGAIBallistic::setLoadOffset));
229 props->tie("load/distance-to-hitch-ft",
230 SGRawValueMethods<FGAIBallistic,double>
231 (*this, &FGAIBallistic::getDistanceLoadToHitch));
232 props->tie("load/elevation-to-hitch-deg",
233 SGRawValueMethods<FGAIBallistic,double>
234 (*this, &FGAIBallistic::getElevLoadToHitch));
235 props->tie("load/bearing-to-hitch-deg",
236 SGRawValueMethods<FGAIBallistic,double>
237 (*this, &FGAIBallistic::getBearingLoadToHitch));
238 props->tie("material/load-resistance",
239 SGRawValuePointer<double>(&_load_resistance));
244 void FGAIBallistic::unbind() {
245 // FGAIBase::unbind();
247 props->untie("sim/time/elapsed-sec");
248 props->untie("mass-slug");
249 props->untie("material/solid");
250 props->untie("altitude-agl-ft");
251 props->untie("controls/slave-to-ac");
252 props->untie("controls/invisible");
254 if(_external_force || _slave_to_ac){
255 props->untie("position/global-y");
256 props->untie("position/global-x");
257 props->untie("position/global-z");
258 props->untie("velocities/vertical-speed-fps");
259 props->untie("velocities/true-airspeed-kt");
260 props->untie("velocities/horizontal-speed-fps");
261 props->untie("position/altitude-ft");
262 props->untie("position/latitude-deg");
263 props->untie("position/longitude-deg");
264 props->untie("position/ht-agl-ft");
265 props->untie("orientation/hdg-deg");
266 props->untie("orientation/pitch-deg");
267 props->untie("orientation/roll-deg");
268 props->untie("controls/force_stabilized");
269 props->untie("position/load-offset");
270 props->untie("load/distance-to-hitch-ft");
271 props->untie("load/elevation-to-hitch-deg");
272 props->untie("load/bearing-to-hitch-deg");
273 props->untie("material/load-resistance");
277 void FGAIBallistic::update(double dt) {
278 FGAIBase::update(dt);
284 } else if (_slave_to_ac){
287 } else if (!invisible){
294 void FGAIBallistic::setAzimuth(double az) {
297 hdg = _azimuth = (az - 5 ) + (10 * sg_random());
301 //cout << _name << " init hdg " << hdg << " random " << _random << endl;
304 void FGAIBallistic::setElevation(double el) {
305 pitch = _elevation = el;
308 void FGAIBallistic::setRoll(double rl) {
309 roll = _rotation = rl;
312 void FGAIBallistic::setStabilisation(bool val) {
313 _aero_stabilised = val;
316 void FGAIBallistic::setForceStabilisation(bool val) {
317 _force_stabilised = val;
320 void FGAIBallistic::setNoRoll(bool nr) {
324 void FGAIBallistic::setDragArea(double a) {
328 void FGAIBallistic::setLife(double seconds) {
331 life = seconds * _randomness + (seconds * (1 -_randomness) * sg_random());
332 //cout << "life " << life << endl;
337 void FGAIBallistic::setBuoyancy(double fpss) {
341 void FGAIBallistic::setWind_from_east(double fps) {
342 _wind_from_east = fps;
345 void FGAIBallistic::setWind_from_north(double fps) {
346 _wind_from_north = fps;
349 void FGAIBallistic::setWind(bool val) {
353 void FGAIBallistic::setCd(double c) {
357 void FGAIBallistic::setMass(double m) {
361 void FGAIBallistic::setWeight(double w) {
365 void FGAIBallistic::setRandomness(double r) {
369 void FGAIBallistic::setRandom(bool r) {
373 void FGAIBallistic::setImpact(bool i) {
377 void FGAIBallistic::setCollision(bool c) {
378 _report_collision = c;
381 void FGAIBallistic::setExpiry(bool e) {
385 void FGAIBallistic::setExternalForce(bool f) {
389 void FGAIBallistic::setImpactReportNode(const string& path) {
392 _impact_report_node = fgGetNode(path.c_str(), true);
395 void FGAIBallistic::setSMPath(const string& s) {
397 //cout << "submodel path " << _path << endl;
400 void FGAIBallistic::setFuseRange(double f) {
404 void FGAIBallistic::setSubID(int i) {
408 void FGAIBallistic::setSubmodel(const string& s) {
412 void FGAIBallistic::setGroundOffset(double g) {
416 void FGAIBallistic::setLoadOffset(double l) {
420 double FGAIBallistic::getLoadOffset() const {
424 void FGAIBallistic::setSlaved(bool s) {
428 void FGAIBallistic::setFormate(bool f) {
432 void FGAIBallistic::setContentsPath(const string& path) {
434 _contents_path = path;
437 _contents_node = fgGetNode(path.c_str(), true);
441 void FGAIBallistic::setContentsNode(SGPropertyNode_ptr node) {
444 _contents_node = node;
445 _contents_path = _contents_node->getDisplayName();
449 void FGAIBallistic::setParentNodes(SGPropertyNode_ptr node) {
453 _p_pos_node = _pnode->getChild("position", 0, true);
454 _p_lat_node = _p_pos_node->getChild("latitude-deg", 0, true);
455 _p_lon_node = _p_pos_node->getChild("longitude-deg", 0, true);
456 _p_alt_node = _p_pos_node->getChild("altitude-ft", 0, true);
457 _p_agl_node = _p_pos_node->getChild("altitude-agl-ft", 0, true);
460 _p_ori_node = _pnode->getChild("orientation", 0, true);
461 _p_pch_node = _p_ori_node->getChild("pitch-deg", 0, true);
462 _p_rll_node = _p_ori_node->getChild("roll-deg", 0, true);
463 _p_hdg_node = _p_ori_node->getChild("true-heading-deg",0, true);
465 _p_vel_node = _pnode->getChild("velocities", 0, true);
466 _p_spd_node = _p_vel_node->getChild("true-airspeed-kt", 0, true);
471 void FGAIBallistic::setParentPos() {
474 double lat = _p_lat_node->getDoubleValue();
475 double lon = _p_lon_node->getDoubleValue();
476 double alt = _p_alt_node->getDoubleValue();
478 _parentpos.setLongitudeDeg(lon);
479 _parentpos.setLatitudeDeg(lat);
480 _parentpos.setElevationFt(alt);
486 bool FGAIBallistic::getSlaved() const {
490 bool FGAIBallistic::getFormate() const {
491 return _formate_to_ac;
494 double FGAIBallistic::getMass() const {
498 double FGAIBallistic::getContents() {
500 _contents_lb = _contents_node->getChild("level-lbs",0,1)->getDoubleValue();
505 void FGAIBallistic::setContents(double c) {
507 _contents_lb = _contents_node->getChild("level-gal_us",0,1)->setDoubleValue(c);
510 void FGAIBallistic::setSlavedLoad(bool l) {
511 _slave_load_to_ac = l;
514 bool FGAIBallistic::getSlavedLoad() const {
515 return _slave_load_to_ac;
518 void FGAIBallistic::setForcePath(const string& p) {
520 if (!_force_path.empty()) {
521 SGPropertyNode *fnode = fgGetNode(_force_path.c_str(), 0, true );
522 _force_node = fnode->getChild("force-lb", 0, true);
523 _force_azimuth_node = fnode->getChild("force-azimuth-deg", 0, true);
524 _force_elevation_node = fnode->getChild("force-elevation-deg", 0, true);
528 bool FGAIBallistic::getHtAGL(double start){
530 if (getGroundElevationM(SGGeod::fromGeodM(pos, start),
531 _elevation_m, &_material)) {
532 _ht_agl_ft = pos.getElevationFt() - _elevation_m * SG_METER_TO_FEET;
535 const vector<string>& names = _material->get_names();
536 _solid = _material->get_solid();
537 _load_resistance = _material->get_load_resistance();
538 _frictionFactor =_material->get_friction_factor();
541 props->setStringValue("material/name", names[0].c_str());
543 props->setStringValue("material/name", "");
545 _mat_name = names[0];
547 //cout << "material " << _mat_name
548 //<< " solid " << _solid
549 //<< " load " << _load_resistance
550 //<< " frictionFactor " << _frictionFactor
562 double FGAIBallistic::getRecip(double az){
563 // calculate the reciprocal of the input azimuth
571 void FGAIBallistic::setPch(double e, double dt, double coeff){
572 double c = dt / (coeff + dt);
573 pitch = (e * c) + (pitch * (1 - c));
576 void FGAIBallistic::setBnk(double r, double dt, double coeff){
577 double c = dt / (coeff + dt);
578 roll = (r * c) + (roll * (1 - c));
581 void FGAIBallistic::setHt(double h, double dt, double coeff){
582 double c = dt / (coeff + dt);
583 _height = (h * c) + (_height * (1 - c));
586 void FGAIBallistic::setHdg(double az, double dt, double coeff){
587 double recip = getRecip(hdg);
588 double c = dt / (coeff + dt);
589 //we need to ensure that we turn the short way to the new hdg
590 if (az < recip && az < hdg && hdg > 180) {
591 hdg = ((az + 360) * c) + (hdg * (1 - c));
592 } else if (az > recip && az > hdg && hdg <= 180){
593 hdg = ((az - 360) * c) + (hdg * (1 - c));
595 hdg = (az * c) + (hdg * (1 - c));
599 double FGAIBallistic::getTgtXOffset() const {
600 return _tgt_x_offset;
603 double FGAIBallistic::getTgtYOffset() const {
604 return _tgt_y_offset;
607 double FGAIBallistic::getTgtZOffset() const {
608 return _tgt_z_offset;
611 void FGAIBallistic::setTgtXOffset(double x){
615 void FGAIBallistic::setTgtYOffset(double y){
619 void FGAIBallistic::setTgtZOffset(double z){
623 void FGAIBallistic::slaveToAC(double dt){
625 double hdg, pch, rll, agl = 0;
629 hdg = _p_hdg_node->getDoubleValue();
630 pch = _p_pch_node->getDoubleValue();
631 rll = _p_rll_node->getDoubleValue();
632 agl = _p_agl_node->getDoubleValue();
633 setOffsetPos(_parentpos, hdg, pch, rll);
634 setSpeed(_p_spd_node->getDoubleValue());
636 hdg = manager->get_user_heading();
637 pch = manager->get_user_pitch();
638 rll = manager->get_user_roll();
639 agl = manager->get_user_agl();
640 setOffsetPos(userpos, hdg, pch, rll);
641 setSpeed(manager->get_user_speed());
644 pos.setLatitudeDeg(_offsetpos.getLatitudeDeg());
645 pos.setLongitudeDeg(_offsetpos.getLongitudeDeg());
646 pos.setElevationFt(_offsetpos.getElevationFt());
648 setPitch(pch + _pitch_offset);
649 setBank(rll + _roll_offset);
650 setOffsetVelocity(dt, pos);
652 //update the mass (slugs)
653 _mass = (_weight_lb + getContents()) / slugs_to_lbs;
655 _impact_reported = false;
657 //cout << _name << " _mass "<<_mass <<" " << getContents()
658 //<< " " << getContents() / slugs_to_lbs << " weight " << _weight_lb << endl;
659 // cout << _name << " update hs " << hs << " vs " << vs << endl;
662 void FGAIBallistic::Run(double dt) {
665 // if life = -1 the object does not die
666 if (_life_timer > life && life != -1){
668 if (_report_expiry && !_expiry_reported && !_impact_reported && !_collision_reported){
669 //cout<<"AIBallistic: expiry"<< endl;
676 //set the contents in the appropriate tank or other property in the parent to zero
679 //randomise Cd by +- 10%
681 _Cd = _Cd * 0.90 + (0.10 * sg_random());
683 // Adjust Cd by Mach number. The equations are based on curves
684 // for a conventional shell/bullet (no boat-tail).
688 Cdm = 0.0125 * Mach + _Cd;
689 else if (Mach < 1.2 )
690 Cdm = 0.3742 * pow(Mach, 2) - 0.252 * Mach + 0.0021 + _Cd;
692 Cdm = 0.2965 * pow(Mach, -1.1506) + _Cd;
694 //cout <<_name << " Mach " << Mach << " Cdm " << Cdm
695 // << " ballistic speed kts "<< speed << endl;
697 // drag = Cd * 0.5 * rho * speed * speed * drag_area;
698 // rho is adjusted for altitude in void FGAIBase::update,
699 // using Standard Atmosphere (sealevel temperature 15C)
700 // acceleration = drag/mass;
701 // adjust speed by drag
702 speed -= (Cdm * 0.5 * rho * speed * speed * _drag_area/_mass) * dt;
704 // don't let speed become negative
708 double speed_fps = speed * SG_KT_TO_FPS;
711 // calculate vertical and horizontal speed components
715 vs = sin( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps;
716 hs = cos( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps;
719 //resolve horizontal speed into north and east components:
720 double speed_north_fps = cos(_azimuth / SG_RADIANS_TO_DEGREES) * hs;
721 double speed_east_fps = sin(_azimuth / SG_RADIANS_TO_DEGREES) * hs;
723 // convert horizontal speed (fps) to degrees per second
724 double speed_north_deg_sec = speed_north_fps / ft_per_deg_lat;
725 double speed_east_deg_sec = speed_east_fps / ft_per_deg_lon;
727 // if wind not required, set to zero
729 _wind_from_north = 0;
732 _wind_from_north = manager->get_wind_from_north();
733 _wind_from_east = manager->get_wind_from_east();
736 //calculate velocity due to external force
737 double force_speed_north_deg_sec = 0;
738 double force_speed_east_deg_sec = 0;
739 // double vs_force_fps = 0;
740 double hs_force_fps = 0;
741 double v_force_acc_fpss = 0;
742 double force_speed_north_fps = 0;
743 double force_speed_east_fps = 0;
744 double h_force_lbs = 0;
745 double normal_force_lbs = 0;
746 double normal_force_fpss = 0;
747 double static_friction_force_lbs = 0;
748 double dynamic_friction_force_lbs = 0;
749 double friction_force_speed_north_fps = 0;
750 double friction_force_speed_east_fps = 0;
751 double friction_force_speed_north_deg_sec = 0;
752 double friction_force_speed_east_deg_sec = 0;
753 double force_elevation_deg = 0;
755 if (_external_force) {
756 //cout << _name << " external force" << endl;
758 SGPropertyNode *n = fgGetNode(_force_path.c_str(), true);
759 double force_lbs = n->getChild("force-lb", 0, true)->getDoubleValue();
760 force_elevation_deg = n->getChild("force-elevation-deg", 0, true)->getDoubleValue();
761 double force_azimuth_deg = n->getChild("force-azimuth-deg", 0, true)->getDoubleValue();
763 //resolve force into vertical and horizontal components:
764 double v_force_lbs = force_lbs * sin( force_elevation_deg * SG_DEGREES_TO_RADIANS );
765 h_force_lbs = force_lbs * cos( force_elevation_deg * SG_DEGREES_TO_RADIANS );
769 if (getHtAGL(10000)){
770 double deadzone = 0.1;
772 if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){
773 normal_force_lbs = (_mass * slugs_to_lbs) - v_force_lbs;
775 if ( normal_force_lbs < 0 )
776 normal_force_lbs = 0;
778 pos.setElevationFt(0 + _ground_offset);
782 // calculate friction
783 // we assume a static Coefficient of Friction (mu) of 0.62 (wood on concrete)
786 static_friction_force_lbs = mu * normal_force_lbs * _frictionFactor;
788 //adjust horizontal force. We assume that a speed of <= 5 fps is static
789 if (h_force_lbs <= static_friction_force_lbs && hs <= 5){
790 h_force_lbs = hs = 0;
791 speed_north_fps = speed_east_fps = 0;
793 dynamic_friction_force_lbs = (static_friction_force_lbs * 0.95);
795 //ignore wind when on the ground for now
797 _wind_from_north = 0;
804 //acceleration = (force(lbsf)/mass(slugs))
805 v_force_acc_fpss = v_force_lbs/_mass;
806 normal_force_fpss = normal_force_lbs/_mass;
807 double h_force_acc_fpss = h_force_lbs/_mass;
808 double dynamic_friction_acc_fpss = dynamic_friction_force_lbs/_mass;
810 // velocity = acceleration * dt
811 hs_force_fps = h_force_acc_fpss * dt;
812 double friction_force_fps = dynamic_friction_acc_fpss * dt;
814 //resolve horizontal speeds into north and east components:
815 force_speed_north_fps = cos(force_azimuth_deg * SG_DEGREES_TO_RADIANS) * hs_force_fps;
816 force_speed_east_fps = sin(force_azimuth_deg * SG_DEGREES_TO_RADIANS) * hs_force_fps;
818 friction_force_speed_north_fps = cos(getRecip(hdg) * SG_DEGREES_TO_RADIANS) * friction_force_fps;
819 friction_force_speed_east_fps = sin(getRecip(hdg) * SG_DEGREES_TO_RADIANS) * friction_force_fps;
821 // convert horizontal speed (fps) to degrees per second
822 force_speed_north_deg_sec = force_speed_north_fps / ft_per_deg_lat;
823 force_speed_east_deg_sec = force_speed_east_fps / ft_per_deg_lon;
825 friction_force_speed_north_deg_sec = friction_force_speed_north_fps / ft_per_deg_lat;
826 friction_force_speed_east_deg_sec = friction_force_speed_east_fps / ft_per_deg_lon;
829 // convert wind speed (fps) to degrees lat/lon per second
830 double wind_speed_from_north_deg_sec = _wind_from_north / ft_per_deg_lat;
831 double wind_speed_from_east_deg_sec = _wind_from_east / ft_per_deg_lon;
833 //recombine the horizontal velocity components
834 hs = sqrt(((speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps)
835 * (speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps))
836 + ((speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps)
837 * (speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps)));
842 // adjust vertical speed for acceleration of gravity, buoyancy, and vertical force
843 vs -= (_gravity - _buoyancy - v_force_acc_fpss - normal_force_fpss) * dt;
845 if (vs <= 0.00001 && vs >= -0.00001)
849 if(_slave_load_to_ac) {
851 manager->get_user_heading(),
852 manager->get_user_pitch(),
853 manager->get_user_roll()
855 pos.setLatitudeDeg(_offsetpos.getLatitudeDeg());
856 pos.setLongitudeDeg(_offsetpos.getLongitudeDeg());
857 pos.setElevationFt(_offsetpos.getElevationFt());
859 if (getHtAGL(10000)){
860 double deadzone = 0.1;
862 if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){
863 pos.setElevationFt(0 + _ground_offset);
865 pos.setElevationFt(_offsetpos.getElevationFt() + _load_offset);
870 pos.setLatitudeDeg( pos.getLatitudeDeg()
871 + (speed_north_deg_sec - wind_speed_from_north_deg_sec
872 + force_speed_north_deg_sec + friction_force_speed_north_deg_sec) * dt );
873 pos.setLongitudeDeg( pos.getLongitudeDeg()
874 + (speed_east_deg_sec - wind_speed_from_east_deg_sec
875 + force_speed_east_deg_sec + friction_force_speed_east_deg_sec) * dt );
876 pos.setElevationFt(pos.getElevationFt() + vs * dt);
879 // cout << _name << " run hs " << hs << " vs " << vs << endl;
881 // recalculate total speed
882 if ( vs == 0 && hs == 0)
885 speed = sqrt( vs * vs + hs * hs) / SG_KT_TO_FPS;
887 // recalculate elevation and azimuth (velocity vectors)
888 _elevation = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
889 _azimuth = atan2((speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps),
890 (speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps))
891 * SG_RADIANS_TO_DEGREES;
893 // rationalise azimuth
897 if (_aero_stabilised) { // we simulate rotational moment of inertia by using a filter
898 //cout<< "_aero_stabilised "<< endl;
899 const double coeff = 0.9;
901 // we assume a symetrical MI about the pitch and yaw axis
902 setPch(_elevation, dt, coeff);
903 setHdg(_azimuth, dt, coeff);
904 } else if (_force_stabilised) { // we simulate rotational moment of inertia by using a filter
905 //cout<< "_force_stabilised "<< endl;
907 const double coeff = 0.9;
908 double ratio = h_force_lbs/(_mass * slugs_to_lbs);
910 if (ratio > 1) ratio = 1;
911 if (ratio < -1) ratio = -1;
913 double force_pitch = acos(ratio) * SG_RADIANS_TO_DEGREES;
915 if (force_pitch <= force_elevation_deg)
916 force_pitch = force_elevation_deg;
918 // we assume a symetrical MI about the pitch and yaw axis
919 setPch(force_pitch,dt, coeff);
920 setHdg(_azimuth, dt, coeff);
923 //do impacts and collisions
924 if (_report_impact && !_impact_reported)
927 if (_report_collision && !_collision_reported)
930 // set destruction flag if altitude less than sea level -1000
931 if (altitude_ft < -1000.0 && life != -1)
936 double FGAIBallistic::_getTime() const {
940 void FGAIBallistic::handle_impact() {
942 // try terrain intersection
943 double start = pos.getElevationM() + 10;
948 if (_ht_agl_ft <= 0) {
949 SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: terrain impact");
950 report_impact(_elevation_m);
951 _impact_reported = true;
955 } else if (_subID == 0) // kill the AIObject if there is no subsubmodel
960 void FGAIBallistic::handle_expiry() {
962 SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: handle_expiry " << pos.getElevationM());
964 report_impact(pos.getElevationM());
965 _expiry_reported = true;
969 } else if (_subID == 0){ // kill the AIObject if there is no subsubmodel
975 void FGAIBallistic::handle_collision()
977 const FGAIBase *object = manager->calcCollision(pos.getElevationFt(),
978 pos.getLatitudeDeg(),pos.getLongitudeDeg(), _fuse_range);
981 report_impact(pos.getElevationM(), object);
982 _collision_reported = true;
986 void FGAIBallistic::report_impact(double elevation, const FGAIBase *object)
988 _impact_lat = pos.getLatitudeDeg();
989 _impact_lon = pos.getLongitudeDeg();
990 _impact_elev = elevation;
991 _impact_speed = speed * SG_KT_TO_MPS;
993 _impact_pitch = pitch;
996 SGPropertyNode *n = props->getNode("impact", true);
999 n->setStringValue("type", object->getTypeString());
1001 n->setStringValue("type", "terrain");
1003 SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: object impact" << _name << " lon " <<_impact_lon);
1005 n->setDoubleValue("longitude-deg", _impact_lon);
1006 n->setDoubleValue("latitude-deg", _impact_lat);
1007 n->setDoubleValue("elevation-m", _impact_elev);
1008 n->setDoubleValue("heading-deg", _impact_hdg);
1009 n->setDoubleValue("pitch-deg", _impact_pitch);
1010 n->setDoubleValue("roll-deg", _impact_roll);
1011 n->setDoubleValue("speed-mps", _impact_speed);
1013 _impact_report_node->setStringValue(props->getPath());
1016 SGVec3d FGAIBallistic::getCartUserPos() const {
1017 SGVec3d cartUserPos = SGVec3d::fromGeod(userpos);
1021 SGVec3d FGAIBallistic::getCartHitchPos() const{
1023 // convert geodetic positions to geocentered
1024 SGVec3d cartuserPos = SGVec3d::fromGeod(userpos);
1025 //SGVec3d cartPos = getCartPos();
1027 // Transform to the right coordinate frame, configuration is done in
1028 // the x-forward, y-right, z-up coordinates (feet), computation
1029 // in the simulation usual body x-forward, y-right, z-down coordinates
1031 SGVec3d _off(_x_offset * SG_FEET_TO_METER,
1032 _y_offset * SG_FEET_TO_METER,
1033 -_z_offset * SG_FEET_TO_METER);
1035 // Transform the user position to the horizontal local coordinate system.
1036 SGQuatd hlTrans = SGQuatd::fromLonLat(userpos);
1038 // and postrotate the orientation of the user model wrt the horizontal
1040 hlTrans *= SGQuatd::fromYawPitchRollDeg(
1041 manager->get_user_heading(),
1042 manager->get_user_pitch(),
1043 manager->get_user_roll());
1045 // The offset converted to the usual body fixed coordinate system
1046 // rotated to the earth-fixed coordinates axis
1047 SGVec3d off = hlTrans.backTransform(_off);
1049 // Add the position offset of the user model to get the geocentered position
1050 SGVec3d offsetPos = cartuserPos + off;
1055 void FGAIBallistic::setOffsetPos(SGGeod inpos, double heading, double pitch, double roll){
1056 // convert the hitch geocentered position to geodetic
1058 SGVec3d cartoffsetPos = getCartOffsetPos(inpos, heading, pitch, roll);
1060 //SGVec3d cartoffsetPos = getCartHitchPos();
1062 //SGGeodesy::SGCartToGeod(cartoffsetPos, hitchpos);
1063 SGGeodesy::SGCartToGeod(cartoffsetPos, _offsetpos);
1067 double FGAIBallistic::getDistanceLoadToHitch() const {
1068 //calculate the distance load to hitch
1069 SGVec3d carthitchPos = getCartHitchPos();
1070 SGVec3d cartPos = getCartPos();
1072 SGVec3d diff = carthitchPos - cartPos;
1073 double distance = norm(diff);
1074 return distance * SG_METER_TO_FEET;
1078 double FGAIBallistic::getElevLoadToHitch() const {
1079 // now the angle, positive angles are upwards
1080 double distance = getDistanceLoadToHitch() * SG_FEET_TO_METER;
1082 double daltM = _offsetpos.getElevationM() - pos.getElevationM();
1084 if (fabs(distance) < SGLimits<float>::min()) {
1087 double sAngle = daltM/distance;
1088 sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
1089 angle = SGMiscd::rad2deg(asin(sAngle));
1095 double FGAIBallistic::getBearingLoadToHitch() const {
1096 //calculate the bearing and range of the second pos from the first
1097 double az1, az2, distance;
1099 geo_inverse_wgs_84(pos, _offsetpos, &az1, &az2, &distance);
1104 double FGAIBallistic::getRelBrgHitchToUser() const {
1105 //calculate the relative bearing
1106 double az1, az2, distance;
1108 geo_inverse_wgs_84(_offsetpos, userpos, &az1, &az2, &distance);
1110 double rel_brg = az1 - hdg;
1118 double FGAIBallistic::getElevHitchToUser() const {
1120 //calculate the distance from the user position
1121 SGVec3d carthitchPos = getCartHitchPos();
1122 SGVec3d cartuserPos = getCartUserPos();
1124 SGVec3d diff = cartuserPos - carthitchPos;
1126 double distance = norm(diff);
1129 double daltM = userpos.getElevationM() - _offsetpos.getElevationM();
1131 // now the angle, positive angles are upwards
1132 if (fabs(distance) < SGLimits<float>::min()) {
1135 double sAngle = daltM/distance;
1136 sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
1137 angle = SGMiscd::rad2deg(asin(sAngle));
1143 void FGAIBallistic::setTgtOffsets(double dt, double coeff){
1144 double c = dt / (coeff + dt);
1146 _x_offset = (_tgt_x_offset * c) + (_x_offset * (1 - c));
1147 _y_offset = (_tgt_y_offset * c) + (_y_offset * (1 - c));
1148 _z_offset = (_tgt_z_offset * c) + (_z_offset * (1 - c));
1151 void FGAIBallistic::formateToAC(double dt){
1153 double hdg, pch, rll, agl, ht = 0;
1155 setTgtOffsets(dt, 25);
1159 hdg = _p_hdg_node->getDoubleValue();
1160 pch = _p_pch_node->getDoubleValue();
1161 rll = _p_rll_node->getDoubleValue();
1162 agl = _p_agl_node->getDoubleValue();
1163 ht = _p_alt_node->getDoubleValue();
1164 setOffsetPos(_parentpos, hdg, pch, rll);
1165 setSpeed(_p_spd_node->getDoubleValue());
1167 hdg = manager->get_user_heading();
1168 pch = manager->get_user_pitch();
1169 rll = manager->get_user_roll();
1170 agl = manager->get_user_agl();
1171 ht = manager->get_user_altitude();
1172 setOffsetPos(userpos, hdg, pch, rll);
1173 setSpeed(manager->get_user_speed());
1176 // elapsed time has a random initialisation so that each
1177 // wingman moves differently
1178 _elapsed_time += dt;
1180 // we derive a sine based factor to give us smoothly
1181 // varying error between -1 and 1
1182 double factor = sin(SGMiscd::deg2rad(_elapsed_time * 10));
1183 double r_angle = 5 * factor;
1184 double p_angle = 2.5 * factor;
1185 double h_angle = 5 * factor;
1186 double h_feet = 3 * factor;
1188 pos.setLatitudeDeg(_offsetpos.getLatitudeDeg());
1189 pos.setLongitudeDeg(_offsetpos.getLongitudeDeg());
1193 //cout << "ht case1" << endl;
1194 } else if (agl > 10 && agl <= 150 ) {
1196 //cout << "ht case2" << endl;
1197 } else if (agl > 150 && agl <= 250) {
1198 setHt(_offsetpos.getElevationFt()+ h_feet, dt, 0.75);
1199 //cout << "ht case3" << endl;
1201 setHt(_offsetpos.getElevationFt()+ h_feet, dt, 0.5);
1202 //cout << "ht case4" << endl;
1205 pos.setElevationFt(_height);
1207 // these calculations are unreliable at slow speeds
1209 setHdg(_azimuth + h_angle, dt, 0.9);
1210 setPch(_elevation + p_angle + _pitch_offset, dt, 0.9);
1212 if (roll <= 115 && roll >= -115)
1213 setBnk(manager->get_user_roll() + r_angle + _roll_offset, dt, 0.5);
1215 roll = manager->get_user_roll() + r_angle + _roll_offset;
1218 setHdg(manager->get_user_heading(), dt, 0.9);
1219 setPch(manager->get_user_pitch() + _pitch_offset, dt, 0.9);
1220 setBnk(manager->get_user_roll() + _roll_offset, dt, 0.9);
1223 setOffsetVelocity(dt, pos);
1225 void FGAIBallistic::calcVSHS(){
1226 // calculate vertical and horizontal speed components
1227 double speed_fps = speed * SG_KT_TO_FPS;
1232 vs = sin( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps;
1233 hs = cos( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps;
1237 void FGAIBallistic::calcNE(){
1238 //resolve horizontal speed into north and east components:
1239 _speed_north_fps = cos(_azimuth / SG_RADIANS_TO_DEGREES) * hs;
1240 _speed_east_fps = sin(_azimuth / SG_RADIANS_TO_DEGREES) * hs;
1242 // convert horizontal speed (fps) to degrees per second
1243 speed_north_deg_sec = _speed_north_fps / ft_per_deg_lat;
1244 speed_east_deg_sec = _speed_east_fps / ft_per_deg_lon;
1248 SGVec3d FGAIBallistic::getCartOffsetPos(SGGeod inpos, double user_heading,
1249 double user_pitch, double user_roll
1252 // convert geodetic positions to geocentered
1253 SGVec3d cartuserPos = SGVec3d::fromGeod(inpos);
1254 //SGVec3d cartuserPos = getCartUserPos();
1255 //SGVec3d cartPos = getCartPos();
1257 // Transform to the right coordinate frame, configuration is done in
1258 // the x-forward, y-right, z-up coordinates (feet), computation
1259 // in the simulation usual body x-forward, y-right, z-down coordinates
1261 SGVec3d _off(_x_offset * SG_FEET_TO_METER,
1262 _y_offset * SG_FEET_TO_METER,
1263 -_z_offset * SG_FEET_TO_METER);
1265 // Transform the user position to the horizontal local coordinate system.
1266 SGQuatd hlTrans = SGQuatd::fromLonLat(userpos);
1268 // and postrotate the orientation of the user model wrt the horizontal
1270 hlTrans *= SGQuatd::fromYawPitchRollDeg(
1275 // The offset converted to the usual body fixed coordinate system
1276 // rotated to the earth-fixed coordinates axis
1277 SGVec3d off = hlTrans.backTransform(_off);
1279 // Add the position offset of the user model to get the geocentered position
1280 SGVec3d offsetPos = cartuserPos + off;
1285 void FGAIBallistic::setOffsetVelocity(double dt, SGGeod offsetpos) {
1286 //calculate the distance from the previous offset position
1287 SGVec3d cartoffsetPos = SGVec3d::fromGeod(offsetpos);
1288 SGVec3d diff = cartoffsetPos - _oldcartoffsetPos;
1290 double distance = norm(diff);
1291 //calculate speed knots
1292 speed = (distance/dt) * SG_MPS_TO_KT;
1294 //now calulate the angle between the old and current postion positions (degrees)
1296 double daltM = offsetpos.getElevationM() - _oldoffsetpos.getElevationM();
1298 if (fabs(distance) < SGLimits<float>::min()) {
1301 double sAngle = daltM/distance;
1302 sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
1303 angle = SGMiscd::rad2deg(asin(sAngle));
1308 //calculate vertical and horizontal speed components
1311 //calculate the bearing of the new offset position from the old
1312 double az1, az2, dist;
1313 geo_inverse_wgs_84(_oldoffsetpos, offsetpos, &az1, &az2, &dist);
1316 //resolve horizontal speed into north and east components:
1319 // and finally store the new values
1320 _oldcartoffsetPos = cartoffsetPos;
1321 _oldoffsetpos = offsetpos;