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>
35 #include <Environment/gravity.hxx>
37 using namespace simgear;
39 const double FGAIBallistic::slugs_to_kgs = 14.5939029372;
40 const double FGAIBallistic::slugs_to_lbs = 32.1740485564;
42 FGAIBallistic::FGAIBallistic(object_type ot) :
52 _aero_stabilised(false),
61 _force_stabilised(false),
63 _slave_load_to_ac(false),
65 _report_collision(false),
66 _report_impact(false),
67 _external_force(false),
68 _report_expiry(false),
69 _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);
148 props->setStringValue("material/name", "");
149 props->setStringValue("name", _name.c_str());
150 props->setStringValue("submodels/path", _path.c_str());
153 props->setStringValue("force/path", _force_path.c_str());
154 props->setStringValue("contents/path", _contents_path.c_str());
157 //cout << "init: name " << _name.c_str() << " _life_timer " << _life_timer
164 //setParentNodes(_selected_ac);
166 //props->setStringValue("vector/path", _vector_path.c_str());
168 // start with high value so that animations don't trigger yet
180 setParentNodes(_selected_ac);
185 void FGAIBallistic::bind() {
188 props->tie("sim/time/elapsed-sec",
189 SGRawValueMethods<FGAIBallistic,double>(*this,
190 &FGAIBallistic::_getTime, &FGAIBallistic::setTime));
191 //props->tie("mass-slug",
192 // SGRawValueMethods<FGAIBallistic,double>(*this,
193 // &FGAIBallistic::getMass));
195 props->tie("material/solid",
196 SGRawValuePointer<bool>(&_solid));
197 props->tie("altitude-agl-ft",
198 SGRawValuePointer<double>(&_ht_agl_ft));
199 props->tie("controls/slave-to-ac",
200 SGRawValueMethods<FGAIBallistic,bool>
201 (*this, &FGAIBallistic::getSlaved, &FGAIBallistic::setSlaved));
202 props->tie("controls/invisible",
203 SGRawValuePointer<bool>(&invisible));
205 if(_external_force || _slave_to_ac){
206 props->tie("controls/force_stabilized",
207 SGRawValuePointer<bool>(&_force_stabilised));
208 props->tie("position/global-x",
209 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getCartPosX, 0));
210 props->tie("position/global-y",
211 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getCartPosY, 0));
212 props->tie("position/global-z",
213 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getCartPosZ, 0));
214 props->tie("velocities/vertical-speed-fps",
215 SGRawValuePointer<double>(&vs));
216 props->tie("velocities/true-airspeed-kt",
217 SGRawValuePointer<double>(&speed));
218 props->tie("velocities/horizontal-speed-fps",
219 SGRawValuePointer<double>(&hs));
220 props->tie("position/altitude-ft",
221 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getElevationFt, &FGAIBase::_setAltitude));
222 props->tie("position/latitude-deg",
223 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getLatitude, &FGAIBase::_setLatitude));
224 props->tie("position/longitude-deg",
225 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getLongitude, &FGAIBase::_setLongitude));
226 props->tie("orientation/hdg-deg",
227 SGRawValuePointer<double>(&hdg));
228 props->tie("orientation/pitch-deg",
229 SGRawValuePointer<double>(&pitch));
230 props->tie("orientation/roll-deg",
231 SGRawValuePointer<double>(&roll));
232 props->tie("controls/slave-load-to-ac",
233 SGRawValueMethods<FGAIBallistic,bool>
234 (*this, &FGAIBallistic::getSlavedLoad, &FGAIBallistic::setSlavedLoad));
235 props->tie("position/load-offset",
236 SGRawValueMethods<FGAIBallistic,double>
237 (*this, &FGAIBallistic::getLoadOffset, &FGAIBallistic::setLoadOffset));
238 props->tie("load/distance-to-hitch-ft",
239 SGRawValueMethods<FGAIBallistic,double>
240 (*this, &FGAIBallistic::getDistanceToHitch));
241 props->tie("load/elevation-to-hitch-deg",
242 SGRawValueMethods<FGAIBallistic,double>
243 (*this, &FGAIBallistic::getElevToHitch));
244 props->tie("load/bearing-to-hitch-deg",
245 SGRawValueMethods<FGAIBallistic,double>
246 (*this, &FGAIBallistic::getBearingToHitch));
247 props->tie("material/load-resistance",
248 SGRawValuePointer<double>(&_load_resistance));
253 void FGAIBallistic::unbind() {
254 // FGAIBase::unbind();
256 props->untie("sim/time/elapsed-sec");
257 props->untie("mass-slug");
258 props->untie("material/solid");
259 props->untie("altitude-agl-ft");
260 props->untie("controls/slave-to-ac");
261 props->untie("controls/invisible");
263 if(_external_force || _slave_to_ac){
264 props->untie("position/global-y");
265 props->untie("position/global-x");
266 props->untie("position/global-z");
267 props->untie("velocities/vertical-speed-fps");
268 props->untie("velocities/true-airspeed-kt");
269 props->untie("velocities/horizontal-speed-fps");
270 props->untie("position/altitude-ft");
271 props->untie("position/latitude-deg");
272 props->untie("position/longitude-deg");
273 props->untie("position/ht-agl-ft");
274 props->untie("orientation/hdg-deg");
275 props->untie("orientation/pitch-deg");
276 props->untie("orientation/roll-deg");
277 props->untie("controls/force_stabilized");
278 props->untie("position/load-offset");
279 props->untie("load/distance-to-hitch-ft");
280 props->untie("load/elevation-to-hitch-deg");
281 props->untie("load/bearing-to-hitch-deg");
282 props->untie("material/load-resistance");
286 void FGAIBallistic::update(double dt) {
287 FGAIBase::update(dt);
293 } else if (!invisible){
300 void FGAIBallistic::setAzimuth(double az) {
303 hdg = _azimuth = (az - 5 ) + (10 * sg_random());
307 //cout << _name << " init hdg " << hdg << " random " << _random << endl;
310 void FGAIBallistic::setElevation(double el) {
311 pitch = _elevation = el;
314 void FGAIBallistic::setRoll(double rl) {
315 roll = _rotation = rl;
318 void FGAIBallistic::setStabilisation(bool val) {
319 _aero_stabilised = val;
322 void FGAIBallistic::setForceStabilisation(bool val) {
323 _force_stabilised = val;
326 void FGAIBallistic::setNoRoll(bool nr) {
330 void FGAIBallistic::setDragArea(double a) {
334 void FGAIBallistic::setLife(double seconds) {
337 life = seconds * _randomness + (seconds * (1 -_randomness) * sg_random());
338 //cout << " set life " << life << endl;
343 void FGAIBallistic::setBuoyancy(double fpss) {
347 void FGAIBallistic::setWind_from_east(double fps) {
348 _wind_from_east = fps;
351 void FGAIBallistic::setWind_from_north(double fps) {
352 _wind_from_north = fps;
355 void FGAIBallistic::setWind(bool val) {
359 void FGAIBallistic::setCd(double c) {
363 void FGAIBallistic::setMass(double m) {
367 void FGAIBallistic::setWeight(double w) {
371 void FGAIBallistic::setRandomness(double r) {
375 void FGAIBallistic::setRandom(bool r) {
379 void FGAIBallistic::setImpact(bool i) {
383 void FGAIBallistic::setCollision(bool c) {
384 _report_collision = c;
387 void FGAIBallistic::setExpiry(bool e) {
391 void FGAIBallistic::setExternalForce(bool f) {
395 void FGAIBallistic::setImpactReportNode(const string& path) {
398 _impact_report_node = fgGetNode(path.c_str(), true);
401 void FGAIBallistic::setSMPath(const string& s) {
403 //cout << "submodel path " << _path << endl;
406 void FGAIBallistic::setFuseRange(double f) {
410 void FGAIBallistic::setSubID(int i) {
414 void FGAIBallistic::setSubmodel(const string& s) {
418 void FGAIBallistic::setGroundOffset(double g) {
422 void FGAIBallistic::setLoadOffset(double l) {
426 double FGAIBallistic::getLoadOffset() const {
430 void FGAIBallistic::setSlaved(bool s) {
434 void FGAIBallistic::setContentsPath(const string& path) {
436 _contents_path = path;
439 _contents_node = fgGetNode(path.c_str(), true);
443 void FGAIBallistic::setContentsNode(SGPropertyNode_ptr node) {
446 _contents_node = node;
447 _contents_path = _contents_node->getDisplayName();
451 void FGAIBallistic::setParentNodes(SGPropertyNode_ptr node) {
455 _p_pos_node = _pnode->getChild("position", 0, true);
456 _p_lat_node = _p_pos_node->getChild("latitude-deg", 0, true);
457 _p_lon_node = _p_pos_node->getChild("longitude-deg", 0, true);
458 _p_alt_node = _p_pos_node->getChild("altitude-ft", 0, true);
459 _p_agl_node = _p_pos_node->getChild("altitude-agl-ft", 0, true);
462 _p_ori_node = _pnode->getChild("orientation", 0, true);
463 _p_pch_node = _p_ori_node->getChild("pitch-deg", 0, true);
464 _p_rll_node = _p_ori_node->getChild("roll-deg", 0, true);
465 _p_hdg_node = _p_ori_node->getChild("true-heading-deg",0, true);
467 _p_vel_node = _pnode->getChild("velocities", 0, true);
468 _p_spd_node = _p_vel_node->getChild("true-airspeed-kt", 0, true);
473 void FGAIBallistic::setParentPos() {
476 //cout << "set parent pos" << endl;
478 double lat = _p_lat_node->getDoubleValue();
479 double lon = _p_lon_node->getDoubleValue();
480 double alt = _p_alt_node->getDoubleValue();
482 _parentpos.setLongitudeDeg(lon);
483 _parentpos.setLatitudeDeg(lat);
484 _parentpos.setElevationFt(alt);
490 bool FGAIBallistic::getSlaved() const {
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::setSpd(double s, double dt, double coeff){
582 double c = dt / (coeff + dt);
583 _speed = (s * c) + (_speed * (1 - c));
586 void FGAIBallistic::setHt(double h, double dt, double coeff){
587 double c = dt / (coeff + dt);
588 _height = (h * c) + (_height * (1 - c));
591 int FGAIBallistic::setHdg(double tgt_hdg, double dt, double coeff){
592 double recip = getRecip(hdg);
593 double c = dt / (coeff + dt);
594 //cout << "set heading " << tgt_hdg << endl;
595 //we need to ensure that we turn the short way to the new hdg
596 if (tgt_hdg < recip && tgt_hdg < hdg && hdg > 180) {
597 hdg = ((tgt_hdg + 360) * c) + (hdg * (1 - c));
598 // cout << "case 1: right turn" << endl;
599 } else if (tgt_hdg > recip && tgt_hdg > hdg && hdg <= 180){
600 hdg = ((tgt_hdg - 360) * c) + (hdg * (1 - c));
601 // cout << "case 2: left turn" << endl;
603 hdg = (tgt_hdg * c) + (hdg * (1 - c));
604 // cout << "case 4: left turn" << endl;
609 double FGAIBallistic::getTgtXOffset() const {
610 return _tgt_x_offset;
613 double FGAIBallistic::getTgtYOffset() const {
614 return _tgt_y_offset;
617 double FGAIBallistic::getTgtZOffset() const {
618 return _tgt_z_offset;
621 void FGAIBallistic::setTgtXOffset(double x){
625 void FGAIBallistic::setTgtYOffset(double y){
629 void FGAIBallistic::setTgtZOffset(double z){
633 void FGAIBallistic::slaveToAC(double dt){
638 double hdg, pch, rll, agl = 0;
642 hdg = _p_hdg_node->getDoubleValue();
643 pch = _p_pch_node->getDoubleValue();
644 rll = _p_rll_node->getDoubleValue();
645 agl = _p_agl_node->getDoubleValue();
646 setOffsetPos(_parentpos, hdg, pch, rll);
647 setSpeed(_p_spd_node->getDoubleValue());
649 hdg = manager->get_user_heading();
650 pch = manager->get_user_pitch();
651 rll = manager->get_user_roll();
652 agl = manager->get_user_agl();
653 setOffsetPos(userpos, hdg, pch, rll);
654 setSpeed(manager->get_user_speed());
657 pos.setLatitudeDeg(_offsetpos.getLatitudeDeg());
658 pos.setLongitudeDeg(_offsetpos.getLongitudeDeg());
659 pos.setElevationFt(_offsetpos.getElevationFt());
661 setPitch(pch + _pitch_offset);
662 setBank(rll + _roll_offset);
663 setOffsetVelocity(dt, pos);
666 //update the mass (slugs)
667 _mass = (_weight_lb + getContents()) / slugs_to_lbs;
669 _impact_reported = false;
671 //cout << _name << " _mass "<<_mass <<" " << getContents()
672 //<< " " << getContents() / slugs_to_lbs << " weight " << _weight_lb << endl;
673 // cout << _name << " update hs " << hs << " vs " << vs << endl;
676 void FGAIBallistic::Run(double dt) {
680 //cout<<"AIBallistic run: name " << _name.c_str()
681 // << " dt " << dt << " _life_timer " << _life_timer << " pass " << _pass << endl;
683 // if life = -1 the object does not die
684 if (_life_timer > life && life != -1){
686 if (_report_expiry && !_expiry_reported && !_impact_reported && !_collision_reported){
687 //cout<<"AIBallistic run: name " << _name.c_str() << " expiry "
688 //<< " _life_timer " << _life_timer<< endl;
691 //cout<<"AIBallistic run: name " << _name.c_str()
692 // << " die " << " _life_timer " << _life_timer << endl;
699 //set the contents in the appropriate tank or other property in the parent to zero
702 //randomise Cd by +- 10%
704 _Cd = _Cd * 0.90 + (0.10 * sg_random());
706 // Adjust Cd by Mach number. The equations are based on curves
707 // for a conventional shell/bullet (no boat-tail).
711 Cdm = 0.0125 * Mach + _Cd;
712 else if (Mach < 1.2 )
713 Cdm = 0.3742 * pow(Mach, 2) - 0.252 * Mach + 0.0021 + _Cd;
715 Cdm = 0.2965 * pow(Mach, -1.1506) + _Cd;
717 //cout <<_name << " Mach " << Mach << " Cdm " << Cdm
718 // << " ballistic speed kts "<< speed << endl;
720 // drag = Cd * 0.5 * rho * speed * speed * drag_area;
721 // rho is adjusted for altitude in void FGAIBase::update,
722 // using Standard Atmosphere (sealevel temperature 15C)
723 // acceleration = drag/mass;
724 // adjust speed by drag
725 speed -= (Cdm * 0.5 * rho * speed * speed * _drag_area/_mass) * dt;
727 // don't let speed become negative
731 // double speed_fps = speed * SG_KT_TO_FPS;
733 // calculate vertical and horizontal speed components
736 //resolve horizontal speed into north and east components:
737 //and convert horizontal speed (fps) to degrees per second
740 // if wind not required, set to zero
742 _wind_from_north = 0;
745 _wind_from_north = manager->get_wind_from_north();
746 _wind_from_east = manager->get_wind_from_east();
749 //calculate velocity due to external force
750 double force_speed_north_deg_sec = 0;
751 double force_speed_east_deg_sec = 0;
752 // double vs_force_fps = 0;
753 double hs_force_fps = 0;
754 double v_force_acc_fpss = 0;
755 double force_speed_north_fps = 0;
756 double force_speed_east_fps = 0;
757 double h_force_lbs = 0;
758 double normal_force_lbs = 0;
759 double normal_force_fpss = 0;
760 double static_friction_force_lbs = 0;
761 double dynamic_friction_force_lbs = 0;
762 double friction_force_speed_north_fps = 0;
763 double friction_force_speed_east_fps = 0;
764 double friction_force_speed_north_deg_sec = 0;
765 double friction_force_speed_east_deg_sec = 0;
766 double force_elevation_deg = 0;
767 double force_azimuth_deg = 0;
768 double force_lbs = 0;
770 if (_external_force) {
771 //cout << _name << " external force " << hdg << " az " << _azimuth << endl;
773 SGPropertyNode *n = fgGetNode(_force_path.c_str(), true);
774 force_lbs = n->getChild("force-lb", 0, true)->getDoubleValue();
775 force_elevation_deg = n->getChild("force-elevation-deg", 0, true)->getDoubleValue();
776 force_azimuth_deg = n->getChild("force-azimuth-deg", 0, true)->getDoubleValue();
778 //resolve force into vertical and horizontal components:
779 double v_force_lbs = force_lbs * sin( force_elevation_deg * SG_DEGREES_TO_RADIANS );
780 h_force_lbs = force_lbs * cos( force_elevation_deg * SG_DEGREES_TO_RADIANS );
783 //we don't do this if impacts are calculated
786 if (getHtAGL(10000)){
787 double deadzone = 0.1;
789 if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){
790 normal_force_lbs = (_mass * slugs_to_lbs) - v_force_lbs;
792 if ( normal_force_lbs < 0 )
793 normal_force_lbs = 0;
795 pos.setElevationFt(0 + _ground_offset);
799 // calculate friction
800 // we assume a static Coefficient of Friction (mu) of 0.62 (wood on concrete)
803 static_friction_force_lbs = mu * normal_force_lbs * _frictionFactor;
805 //adjust horizontal force. We assume that a speed of <= 5 fps is static
806 if (h_force_lbs <= static_friction_force_lbs && hs <= 5){
807 h_force_lbs = hs = 0;
808 _speed_north_fps = _speed_east_fps = 0;
810 dynamic_friction_force_lbs = (static_friction_force_lbs * 0.95);
812 //ignore wind when on the ground for now
814 _wind_from_north = 0;
823 //acceleration = (force(lbsf)/mass(slugs))
824 v_force_acc_fpss = v_force_lbs/_mass;
825 normal_force_fpss = normal_force_lbs/_mass;
826 double h_force_acc_fpss = h_force_lbs/_mass;
827 double dynamic_friction_acc_fpss = dynamic_friction_force_lbs/_mass;
829 // velocity = acceleration * dt
830 hs_force_fps = h_force_acc_fpss * dt;
831 double friction_force_fps = dynamic_friction_acc_fpss * dt;
833 //resolve horizontal speeds into north and east components:
834 force_speed_north_fps = cos(force_azimuth_deg * SG_DEGREES_TO_RADIANS) * hs_force_fps;
835 force_speed_east_fps = sin(force_azimuth_deg * SG_DEGREES_TO_RADIANS) * hs_force_fps;
837 friction_force_speed_north_fps = cos(getRecip(hdg) * SG_DEGREES_TO_RADIANS) * friction_force_fps;
838 friction_force_speed_east_fps = sin(getRecip(hdg) * SG_DEGREES_TO_RADIANS) * friction_force_fps;
840 // convert horizontal speed (fps) to degrees per second
841 force_speed_north_deg_sec = force_speed_north_fps / ft_per_deg_lat;
842 force_speed_east_deg_sec = force_speed_east_fps / ft_per_deg_lon;
844 friction_force_speed_north_deg_sec = friction_force_speed_north_fps / ft_per_deg_lat;
845 friction_force_speed_east_deg_sec = friction_force_speed_east_fps / ft_per_deg_lon;
848 // convert wind speed (fps) to degrees lat/lon per second
849 double wind_speed_from_north_deg_sec = _wind_from_north / ft_per_deg_lat;
850 double wind_speed_from_east_deg_sec = _wind_from_east / ft_per_deg_lon;
852 //recombine the horizontal velocity components
853 hs = sqrt(((_speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps)
854 * (_speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps))
855 + ((_speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps)
856 * (_speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps)));
861 // adjust vertical speed for acceleration of gravity, buoyancy, and vertical force
862 double gravity = SG_METER_TO_FEET * (Environment::Gravity::instance()->getGravity(pos));
863 vs -= (gravity - _buoyancy - v_force_acc_fpss - normal_force_fpss) * dt;
865 if (vs <= 0.00001 && vs >= -0.00001)
869 if(_slave_load_to_ac) {
871 manager->get_user_heading(),
872 manager->get_user_pitch(),
873 manager->get_user_roll()
875 pos.setLatitudeDeg(_offsetpos.getLatitudeDeg());
876 pos.setLongitudeDeg(_offsetpos.getLongitudeDeg());
877 pos.setElevationFt(_offsetpos.getElevationFt());
879 if (getHtAGL(10000)){
880 double deadzone = 0.1;
882 if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){
883 pos.setElevationFt(0 + _ground_offset);
885 pos.setElevationFt(_offsetpos.getElevationFt() + _load_offset);
890 pos.setLatitudeDeg( pos.getLatitudeDeg()
891 + (speed_north_deg_sec - wind_speed_from_north_deg_sec
892 + force_speed_north_deg_sec + friction_force_speed_north_deg_sec) * dt );
893 pos.setLongitudeDeg( pos.getLongitudeDeg()
894 + (speed_east_deg_sec - wind_speed_from_east_deg_sec
895 + force_speed_east_deg_sec + friction_force_speed_east_deg_sec) * dt );
896 pos.setElevationFt(pos.getElevationFt() + vs * dt);
899 // cout << _name << " run hs " << hs << " vs " << vs << endl;
901 // recalculate total speed
902 if ( vs == 0 && hs == 0)
905 speed = sqrt( vs * vs + hs * hs) / SG_KT_TO_FPS;
907 // recalculate elevation and azimuth (velocity vectors)
908 _elevation = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
909 _azimuth = atan2((_speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps),
910 (_speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps))
911 * SG_RADIANS_TO_DEGREES;
913 // rationalise azimuth
917 if (_aero_stabilised) { // we simulate rotational moment of inertia by using a filter
918 //cout<< "_aero_stabilised " << hdg << " az " << _azimuth << endl;
919 const double coeff = 0.9;
921 // we assume a symetrical MI about the pitch and yaw axis
922 setPch(_elevation, dt, coeff);
923 setHdg(_azimuth, dt, coeff);
924 } else if (_force_stabilised) { // we simulate rotational moment of inertia by using a filter
925 //cout<< "_force_stabilised "<< endl;
927 const double coeff = 0.9;
928 double ratio = h_force_lbs/(_mass * slugs_to_lbs);
930 if (ratio > 1) ratio = 1;
931 if (ratio < -1) ratio = -1;
933 double force_pitch = acos(ratio) * SG_RADIANS_TO_DEGREES;
935 if (force_pitch <= force_elevation_deg)
936 force_pitch = force_elevation_deg;
938 // we assume a symetrical MI about the pitch and yaw axis
939 setPch(force_pitch,dt, coeff);
940 setHdg(_azimuth, dt, coeff);
943 //do impacts and collisions
944 if (_report_impact && !_impact_reported)
947 if (_report_collision && !_collision_reported)
950 // set destruction flag if altitude less than sea level -1000
951 if (altitude_ft < -1000.0 && life != -1)
956 double FGAIBallistic::_getTime() const {
960 void FGAIBallistic::setTime(double s){
964 void FGAIBallistic::handle_impact() {
966 // try terrain intersection
967 double start = pos.getElevationM() + 100;
972 if (_ht_agl_ft <= 0) {
973 SG_LOG(SG_AI, SG_DEBUG, "AIBallistic: terrain impact material" << _mat_name);
974 report_impact(_elevation_m);
975 _impact_reported = true;
979 } else if (_subID == 0) // kill the AIObject if there is no subsubmodel
984 void FGAIBallistic::handle_expiry() {
986 //SG_LOG(SG_AI, SG_DEBUG, "AIBallistic: handle_expiry " << pos.getElevationM());
988 report_impact(pos.getElevationM());
989 _expiry_reported = true;
993 } else if (_subID == 0){ // kill the AIObject if there is no subsubmodel
999 void FGAIBallistic::handle_collision()
1001 const FGAIBase *object = manager->calcCollision(pos.getElevationFt(),
1002 pos.getLatitudeDeg(),pos.getLongitudeDeg(), _fuse_range);
1005 report_impact(pos.getElevationM(), object);
1006 _collision_reported = true;
1010 void FGAIBallistic::report_impact(double elevation, const FGAIBase *object)
1012 _impact_lat = pos.getLatitudeDeg();
1013 _impact_lon = pos.getLongitudeDeg();
1014 _impact_elev = elevation;
1015 _impact_speed = speed * SG_KT_TO_MPS;
1017 _impact_pitch = pitch;
1018 _impact_roll = roll;
1020 SGPropertyNode *n = props->getNode("impact", true);
1023 n->setStringValue("type", object->getTypeString());
1025 n->setStringValue("type", "terrain");
1027 SG_LOG(SG_AI, SG_DEBUG, "AIBallistic: object impact " << _name
1028 << " lon " <<_impact_lon << " lat " <<_impact_lat << " sec " << _life_timer);
1030 n->setDoubleValue("longitude-deg", _impact_lon);
1031 n->setDoubleValue("latitude-deg", _impact_lat);
1032 n->setDoubleValue("elevation-m", _impact_elev);
1033 n->setDoubleValue("heading-deg", _impact_hdg);
1034 n->setDoubleValue("pitch-deg", _impact_pitch);
1035 n->setDoubleValue("roll-deg", _impact_roll);
1036 n->setDoubleValue("speed-mps", _impact_speed);
1038 _impact_report_node->setStringValue(props->getPath());
1041 SGVec3d FGAIBallistic::getCartUserPos() const {
1042 SGVec3d cartUserPos = SGVec3d::fromGeod(userpos);
1046 SGVec3d FGAIBallistic::getCartHitchPos() const{
1048 // convert geodetic positions to geocentered
1049 SGVec3d cartuserPos = SGVec3d::fromGeod(userpos);
1050 //SGVec3d cartPos = getCartPos();
1052 // Transform to the right coordinate frame, configuration is done in
1053 // the x-forward, y-right, z-up coordinates (feet), computation
1054 // in the simulation usual body x-forward, y-right, z-down coordinates
1056 SGVec3d _off(_x_offset * SG_FEET_TO_METER,
1057 _y_offset * SG_FEET_TO_METER,
1058 -_z_offset * SG_FEET_TO_METER);
1060 // Transform the user position to the horizontal local coordinate system.
1061 SGQuatd hlTrans = SGQuatd::fromLonLat(userpos);
1063 // and postrotate the orientation of the user model wrt the horizontal
1065 hlTrans *= SGQuatd::fromYawPitchRollDeg(
1066 manager->get_user_heading(),
1067 manager->get_user_pitch(),
1068 manager->get_user_roll());
1070 // The offset converted to the usual body fixed coordinate system
1071 // rotated to the earth-fixed coordinates axis
1072 SGVec3d off = hlTrans.backTransform(_off);
1074 // Add the position offset of the user model to get the geocentered position
1075 SGVec3d offsetPos = cartuserPos + off;
1080 void FGAIBallistic::setOffsetPos(SGGeod inpos, double heading, double pitch, double roll){
1081 // convert the hitch geocentered position to geodetic
1083 SGVec3d cartoffsetPos = getCartOffsetPos(inpos, heading, pitch, roll);
1085 //SGVec3d cartoffsetPos = getCartHitchPos();
1087 //SGGeodesy::SGCartToGeod(cartoffsetPos, hitchpos);
1088 SGGeodesy::SGCartToGeod(cartoffsetPos, _offsetpos);
1092 double FGAIBallistic::getDistanceToHitch() const {
1093 //calculate the distance load to hitch
1094 SGVec3d carthitchPos = getCartHitchPos();
1095 SGVec3d cartPos = getCartPos();
1097 SGVec3d diff = carthitchPos - cartPos;
1098 double distance = norm(diff);
1099 return distance * SG_METER_TO_FEET;
1102 double FGAIBallistic::getElevToHitch() const {
1103 // now the angle, positive angles are upwards
1104 double distance = getDistanceToHitch() * SG_FEET_TO_METER;
1106 double daltM = _offsetpos.getElevationM() - pos.getElevationM();
1108 if (fabs(distance) < SGLimits<float>::min()) {
1111 double sAngle = daltM/distance;
1112 sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
1113 angle = SGMiscd::rad2deg(asin(sAngle));
1119 double FGAIBallistic::getBearingToHitch() const {
1120 //calculate the bearing and range of the second pos from the first
1121 double distance = getDistanceToHitch() * SG_FEET_TO_METER;
1124 geo_inverse_wgs_84(pos, _offsetpos, &az1, &az2, &distance);
1129 double FGAIBallistic::getRelBrgHitchToUser() const {
1130 //calculate the relative bearing
1131 double az1, az2, distance;
1133 geo_inverse_wgs_84(_offsetpos, userpos, &az1, &az2, &distance);
1135 double rel_brg = az1 - hdg;
1137 SG_NORMALIZE_RANGE(rel_brg, -180.0, 180.0);
1142 double FGAIBallistic::getElevHitchToUser() const {
1144 //calculate the distance from the user position
1145 SGVec3d carthitchPos = getCartHitchPos();
1146 SGVec3d cartuserPos = getCartUserPos();
1148 SGVec3d diff = cartuserPos - carthitchPos;
1150 double distance = norm(diff);
1153 double daltM = userpos.getElevationM() - _offsetpos.getElevationM();
1155 // now the angle, positive angles are upwards
1156 if (fabs(distance) < SGLimits<float>::min()) {
1159 double sAngle = daltM/distance;
1160 sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
1161 angle = SGMiscd::rad2deg(asin(sAngle));
1167 void FGAIBallistic::setTgtOffsets(double dt, double coeff){
1168 double c = dt / (coeff + dt);
1170 _x_offset = (_tgt_x_offset * c) + (_x_offset * (1 - c));
1171 _y_offset = (_tgt_y_offset * c) + (_y_offset * (1 - c));
1172 _z_offset = (_tgt_z_offset * c) + (_z_offset * (1 - c));
1176 void FGAIBallistic::calcVSHS(){
1177 // calculate vertical and horizontal speed components
1178 double speed_fps = speed * SG_KT_TO_FPS;
1183 vs = sin( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps;
1184 hs = cos( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps;
1188 void FGAIBallistic::calcNE(){
1189 //resolve horizontal speed into north and east components:
1190 _speed_north_fps = cos(_azimuth / SG_RADIANS_TO_DEGREES) * hs;
1191 _speed_east_fps = sin(_azimuth / SG_RADIANS_TO_DEGREES) * hs;
1193 // convert horizontal speed (fps) to degrees per second
1194 speed_north_deg_sec = _speed_north_fps / ft_per_deg_lat;
1195 speed_east_deg_sec = _speed_east_fps / ft_per_deg_lon;
1199 SGVec3d FGAIBallistic::getCartOffsetPos(SGGeod inpos, double user_heading,
1200 double user_pitch, double user_roll
1203 // convert geodetic positions to geocentered
1204 SGVec3d cartuserPos = SGVec3d::fromGeod(inpos);
1205 //SGVec3d cartuserPos = getCartUserPos();
1206 //SGVec3d cartPos = getCartPos();
1208 // Transform to the right coordinate frame, configuration is done in
1209 // the x-forward, y-right, z-up coordinates (feet), computation
1210 // in the simulation usual body x-forward, y-right, z-down coordinates
1212 SGVec3d _off(_x_offset * SG_FEET_TO_METER,
1213 _y_offset * SG_FEET_TO_METER,
1214 -_z_offset * SG_FEET_TO_METER);
1216 // Transform the user position to the horizontal local coordinate system.
1217 SGQuatd hlTrans = SGQuatd::fromLonLat(inpos);
1219 // and postrotate the orientation of the user model wrt the horizontal
1221 hlTrans *= SGQuatd::fromYawPitchRollDeg(
1226 // The offset converted to the usual body fixed coordinate system
1227 // rotated to the earth-fixed coordinates axis
1228 SGVec3d off = hlTrans.backTransform(_off);
1230 // Add the position offset of the user model to get the geocentered position
1231 SGVec3d offsetPos = cartuserPos + off;
1236 void FGAIBallistic::setOffsetVelocity(double dt, SGGeod offsetpos) {
1237 //calculate the distance from the previous offset position
1238 SGVec3d cartoffsetPos = SGVec3d::fromGeod(offsetpos);
1239 SGVec3d diff = cartoffsetPos - _oldcartoffsetPos;
1241 double distance = norm(diff);
1242 //calculate speed knots
1243 speed = (distance/dt) * SG_MPS_TO_KT;
1245 //now calulate the angle between the old and current postion positions (degrees)
1247 double daltM = offsetpos.getElevationM() - _oldoffsetpos.getElevationM();
1249 if (fabs(distance) < SGLimits<float>::min()) {
1252 double sAngle = daltM/distance;
1253 sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
1254 angle = SGMiscd::rad2deg(asin(sAngle));
1259 //calculate vertical and horizontal speed components
1262 //calculate the bearing of the new offset position from the old
1263 //don't do this if speed is low
1264 //cout << "speed " << speed << endl;
1266 double az1, az2, dist;
1267 geo_inverse_wgs_84(_oldoffsetpos, offsetpos, &az1, &az2, &dist);
1269 //cout << "offset az " << _azimuth << endl;
1272 //cout << " slow offset az " << _azimuth << endl;
1275 //resolve horizontal speed into north and east components:
1278 // and finally store the new values
1279 _oldcartoffsetPos = cartoffsetPos;
1280 _oldoffsetpos = offsetpos;