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);
133 void FGAIBallistic::reinit() {
134 _impact_reported = false;
135 _collision_reported = false;
136 _expiry_reported = false;
148 _elapsed_time += (sg_random() * 100);
152 props->setStringValue("material/name", "");
153 props->setStringValue("name", _name.c_str());
154 props->setStringValue("submodels/path", _path.c_str());
157 props->setStringValue("force/path", _force_path.c_str());
158 props->setStringValue("contents/path", _contents_path.c_str());
161 //cout << "init: name " << _name.c_str() << " _life_timer " << _life_timer
168 //setParentNodes(_selected_ac);
170 //props->setStringValue("vector/path", _vector_path.c_str());
172 // start with high value so that animations don't trigger yet
184 setParentNodes(_selected_ac);
189 void FGAIBallistic::bind() {
192 props->tie("sim/time/elapsed-sec",
193 SGRawValueMethods<FGAIBallistic,double>(*this,
194 &FGAIBallistic::_getTime, &FGAIBallistic::setTime));
195 //props->tie("mass-slug",
196 // SGRawValueMethods<FGAIBallistic,double>(*this,
197 // &FGAIBallistic::getMass));
199 props->tie("material/solid",
200 SGRawValuePointer<bool>(&_solid));
201 props->tie("altitude-agl-ft",
202 SGRawValuePointer<double>(&_ht_agl_ft));
203 props->tie("controls/slave-to-ac",
204 SGRawValueMethods<FGAIBallistic,bool>
205 (*this, &FGAIBallistic::getSlaved, &FGAIBallistic::setSlaved));
206 props->tie("controls/invisible",
207 SGRawValuePointer<bool>(&invisible));
209 if(_external_force || _slave_to_ac){
210 props->tie("controls/force_stabilized",
211 SGRawValuePointer<bool>(&_force_stabilised));
212 props->tie("position/global-x",
213 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getCartPosX, 0));
214 props->tie("position/global-y",
215 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getCartPosY, 0));
216 props->tie("position/global-z",
217 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getCartPosZ, 0));
218 props->tie("velocities/vertical-speed-fps",
219 SGRawValuePointer<double>(&vs));
220 props->tie("velocities/true-airspeed-kt",
221 SGRawValuePointer<double>(&speed));
222 props->tie("velocities/horizontal-speed-fps",
223 SGRawValuePointer<double>(&hs));
224 props->tie("position/altitude-ft",
225 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getElevationFt, &FGAIBase::_setAltitude));
226 props->tie("position/latitude-deg",
227 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getLatitude, &FGAIBase::_setLatitude));
228 props->tie("position/longitude-deg",
229 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getLongitude, &FGAIBase::_setLongitude));
230 props->tie("orientation/hdg-deg",
231 SGRawValuePointer<double>(&hdg));
232 props->tie("orientation/pitch-deg",
233 SGRawValuePointer<double>(&pitch));
234 props->tie("orientation/roll-deg",
235 SGRawValuePointer<double>(&roll));
236 props->tie("controls/slave-load-to-ac",
237 SGRawValueMethods<FGAIBallistic,bool>
238 (*this, &FGAIBallistic::getSlavedLoad, &FGAIBallistic::setSlavedLoad));
239 props->tie("position/load-offset",
240 SGRawValueMethods<FGAIBallistic,double>
241 (*this, &FGAIBallistic::getLoadOffset, &FGAIBallistic::setLoadOffset));
242 props->tie("load/distance-to-hitch-ft",
243 SGRawValueMethods<FGAIBallistic,double>
244 (*this, &FGAIBallistic::getDistanceToHitch));
245 props->tie("load/elevation-to-hitch-deg",
246 SGRawValueMethods<FGAIBallistic,double>
247 (*this, &FGAIBallistic::getElevToHitch));
248 props->tie("load/bearing-to-hitch-deg",
249 SGRawValueMethods<FGAIBallistic,double>
250 (*this, &FGAIBallistic::getBearingToHitch));
251 props->tie("material/load-resistance",
252 SGRawValuePointer<double>(&_load_resistance));
257 void FGAIBallistic::unbind() {
258 // FGAIBase::unbind();
260 props->untie("sim/time/elapsed-sec");
261 props->untie("mass-slug");
262 props->untie("material/solid");
263 props->untie("altitude-agl-ft");
264 props->untie("controls/slave-to-ac");
265 props->untie("controls/invisible");
267 if(_external_force || _slave_to_ac){
268 props->untie("position/global-y");
269 props->untie("position/global-x");
270 props->untie("position/global-z");
271 props->untie("velocities/vertical-speed-fps");
272 props->untie("velocities/true-airspeed-kt");
273 props->untie("velocities/horizontal-speed-fps");
274 props->untie("position/altitude-ft");
275 props->untie("position/latitude-deg");
276 props->untie("position/longitude-deg");
277 props->untie("position/ht-agl-ft");
278 props->untie("orientation/hdg-deg");
279 props->untie("orientation/pitch-deg");
280 props->untie("orientation/roll-deg");
281 props->untie("controls/force_stabilized");
282 props->untie("position/load-offset");
283 props->untie("load/distance-to-hitch-ft");
284 props->untie("load/elevation-to-hitch-deg");
285 props->untie("load/bearing-to-hitch-deg");
286 props->untie("material/load-resistance");
290 void FGAIBallistic::update(double dt) {
291 FGAIBase::update(dt);
297 } else if (!invisible){
304 void FGAIBallistic::setAzimuth(double az) {
307 hdg = _azimuth = (az - 5 ) + (10 * sg_random());
311 //cout << _name << " init hdg " << hdg << " random " << _random << endl;
314 void FGAIBallistic::setElevation(double el) {
315 pitch = _elevation = el;
318 void FGAIBallistic::setRoll(double rl) {
319 roll = _rotation = rl;
322 void FGAIBallistic::setStabilisation(bool val) {
323 _aero_stabilised = val;
326 void FGAIBallistic::setForceStabilisation(bool val) {
327 _force_stabilised = val;
330 void FGAIBallistic::setNoRoll(bool nr) {
334 void FGAIBallistic::setDragArea(double a) {
338 void FGAIBallistic::setLife(double seconds) {
341 life = seconds * _randomness + (seconds * (1 -_randomness) * sg_random());
342 //cout << " set life " << life << endl;
347 void FGAIBallistic::setBuoyancy(double fpss) {
351 void FGAIBallistic::setWind_from_east(double fps) {
352 _wind_from_east = fps;
355 void FGAIBallistic::setWind_from_north(double fps) {
356 _wind_from_north = fps;
359 void FGAIBallistic::setWind(bool val) {
363 void FGAIBallistic::setCd(double c) {
367 void FGAIBallistic::setMass(double m) {
371 void FGAIBallistic::setWeight(double w) {
375 void FGAIBallistic::setRandomness(double r) {
379 void FGAIBallistic::setRandom(bool r) {
383 void FGAIBallistic::setImpact(bool i) {
387 void FGAIBallistic::setCollision(bool c) {
388 _report_collision = c;
391 void FGAIBallistic::setExpiry(bool e) {
395 void FGAIBallistic::setExternalForce(bool f) {
399 void FGAIBallistic::setImpactReportNode(const string& path) {
402 _impact_report_node = fgGetNode(path.c_str(), true);
405 void FGAIBallistic::setSMPath(const string& s) {
407 //cout << "submodel path " << _path << endl;
410 void FGAIBallistic::setFuseRange(double f) {
414 void FGAIBallistic::setSubID(int i) {
418 void FGAIBallistic::setSubmodel(const string& s) {
422 void FGAIBallistic::setGroundOffset(double g) {
426 void FGAIBallistic::setLoadOffset(double l) {
430 double FGAIBallistic::getLoadOffset() const {
434 void FGAIBallistic::setSlaved(bool s) {
438 void FGAIBallistic::setContentsPath(const string& path) {
440 _contents_path = path;
443 _contents_node = fgGetNode(path.c_str(), true);
447 void FGAIBallistic::setContentsNode(SGPropertyNode_ptr node) {
450 _contents_node = node;
451 _contents_path = _contents_node->getDisplayName();
455 void FGAIBallistic::setParentNodes(SGPropertyNode_ptr node) {
459 _p_pos_node = _pnode->getChild("position", 0, true);
460 _p_lat_node = _p_pos_node->getChild("latitude-deg", 0, true);
461 _p_lon_node = _p_pos_node->getChild("longitude-deg", 0, true);
462 _p_alt_node = _p_pos_node->getChild("altitude-ft", 0, true);
463 _p_agl_node = _p_pos_node->getChild("altitude-agl-ft", 0, true);
466 _p_ori_node = _pnode->getChild("orientation", 0, true);
467 _p_pch_node = _p_ori_node->getChild("pitch-deg", 0, true);
468 _p_rll_node = _p_ori_node->getChild("roll-deg", 0, true);
469 _p_hdg_node = _p_ori_node->getChild("true-heading-deg",0, true);
471 _p_vel_node = _pnode->getChild("velocities", 0, true);
472 _p_spd_node = _p_vel_node->getChild("true-airspeed-kt", 0, true);
477 void FGAIBallistic::setParentPos() {
480 //cout << "set parent pos" << endl;
482 double lat = _p_lat_node->getDoubleValue();
483 double lon = _p_lon_node->getDoubleValue();
484 double alt = _p_alt_node->getDoubleValue();
486 _parentpos.setLongitudeDeg(lon);
487 _parentpos.setLatitudeDeg(lat);
488 _parentpos.setElevationFt(alt);
494 bool FGAIBallistic::getSlaved() const {
498 double FGAIBallistic::getMass() const {
502 double FGAIBallistic::getContents() {
504 _contents_lb = _contents_node->getChild("level-lbs",0,1)->getDoubleValue();
509 void FGAIBallistic::setContents(double c) {
511 _contents_lb = _contents_node->getChild("level-gal_us",0,1)->setDoubleValue(c);
514 void FGAIBallistic::setSlavedLoad(bool l) {
515 _slave_load_to_ac = l;
518 bool FGAIBallistic::getSlavedLoad() const {
519 return _slave_load_to_ac;
522 void FGAIBallistic::setForcePath(const string& p) {
524 if (!_force_path.empty()) {
525 SGPropertyNode *fnode = fgGetNode(_force_path.c_str(), 0, true );
526 _force_node = fnode->getChild("force-lb", 0, true);
527 _force_azimuth_node = fnode->getChild("force-azimuth-deg", 0, true);
528 _force_elevation_node = fnode->getChild("force-elevation-deg", 0, true);
532 bool FGAIBallistic::getHtAGL(double start){
534 if (getGroundElevationM(SGGeod::fromGeodM(pos, start),
535 _elevation_m, &_material)) {
536 _ht_agl_ft = pos.getElevationFt() - _elevation_m * SG_METER_TO_FEET;
539 const vector<string>& names = _material->get_names();
540 _solid = _material->get_solid();
541 _load_resistance = _material->get_load_resistance();
542 _frictionFactor =_material->get_friction_factor();
545 props->setStringValue("material/name", names[0].c_str());
547 props->setStringValue("material/name", "");
549 _mat_name = names[0];
551 //cout << "material " << _mat_name
552 //<< " solid " << _solid
553 //<< " load " << _load_resistance
554 //<< " frictionFactor " << _frictionFactor
566 double FGAIBallistic::getRecip(double az){
567 // calculate the reciprocal of the input azimuth
575 void FGAIBallistic::setPch(double e, double dt, double coeff){
576 double c = dt / (coeff + dt);
577 pitch = (e * c) + (pitch * (1 - c));
580 void FGAIBallistic::setBnk(double r, double dt, double coeff){
581 double c = dt / (coeff + dt);
582 roll = (r * c) + (roll * (1 - c));
585 void FGAIBallistic::setSpd(double s, double dt, double coeff){
586 double c = dt / (coeff + dt);
587 _speed = (s * c) + (_speed * (1 - c));
590 void FGAIBallistic::setHt(double h, double dt, double coeff){
591 double c = dt / (coeff + dt);
592 _height = (h * c) + (_height * (1 - c));
595 int FGAIBallistic::setHdg(double tgt_hdg, double dt, double coeff){
596 double recip = getRecip(hdg);
597 double c = dt / (coeff + dt);
598 //cout << "set heading " << tgt_hdg << endl;
599 //we need to ensure that we turn the short way to the new hdg
600 if (tgt_hdg < recip && tgt_hdg < hdg && hdg > 180) {
601 hdg = ((tgt_hdg + 360) * c) + (hdg * (1 - c));
602 // cout << "case 1: right turn" << endl;
603 } else if (tgt_hdg > recip && tgt_hdg > hdg && hdg <= 180){
604 hdg = ((tgt_hdg - 360) * c) + (hdg * (1 - c));
605 // cout << "case 2: left turn" << endl;
607 hdg = (tgt_hdg * c) + (hdg * (1 - c));
608 // cout << "case 4: left turn" << endl;
613 double FGAIBallistic::getTgtXOffset() const {
614 return _tgt_x_offset;
617 double FGAIBallistic::getTgtYOffset() const {
618 return _tgt_y_offset;
621 double FGAIBallistic::getTgtZOffset() const {
622 return _tgt_z_offset;
625 void FGAIBallistic::setTgtXOffset(double x){
629 void FGAIBallistic::setTgtYOffset(double y){
633 void FGAIBallistic::setTgtZOffset(double z){
637 void FGAIBallistic::slaveToAC(double dt){
642 double hdg, pch, rll;//, agl = 0;
646 hdg = _p_hdg_node->getDoubleValue();
647 pch = _p_pch_node->getDoubleValue();
648 rll = _p_rll_node->getDoubleValue();
649 // agl = _p_agl_node->getDoubleValue();
650 setOffsetPos(_parentpos, hdg, pch, rll);
651 setSpeed(_p_spd_node->getDoubleValue());
653 hdg = manager->get_user_heading();
654 pch = manager->get_user_pitch();
655 rll = manager->get_user_roll();
656 // agl = manager->get_user_agl();
657 setOffsetPos(userpos, hdg, pch, rll);
658 setSpeed(manager->get_user_speed());
661 pos.setLatitudeDeg(_offsetpos.getLatitudeDeg());
662 pos.setLongitudeDeg(_offsetpos.getLongitudeDeg());
663 pos.setElevationFt(_offsetpos.getElevationFt());
665 setPitch(pch + _pitch_offset);
666 setBank(rll + _roll_offset);
667 setOffsetVelocity(dt, pos);
670 //update the mass (slugs)
671 _mass = (_weight_lb + getContents()) / slugs_to_lbs;
673 _impact_reported = false;
675 //cout << _name << " _mass "<<_mass <<" " << getContents()
676 //<< " " << getContents() / slugs_to_lbs << " weight " << _weight_lb << endl;
677 // cout << _name << " update hs " << hs << " vs " << vs << endl;
680 void FGAIBallistic::Run(double dt) {
684 //cout<<"AIBallistic run: name " << _name.c_str()
685 // << " dt " << dt << " _life_timer " << _life_timer << " pass " << _pass << endl;
687 // if life = -1 the object does not die
688 if (_life_timer > life && life != -1){
690 if (_report_expiry && !_expiry_reported && !_impact_reported && !_collision_reported){
691 //cout<<"AIBallistic run: name " << _name.c_str() << " expiry "
692 //<< " _life_timer " << _life_timer<< endl;
695 //cout<<"AIBallistic run: name " << _name.c_str()
696 // << " die " << " _life_timer " << _life_timer << endl;
703 //set the contents in the appropriate tank or other property in the parent to zero
706 //randomise Cd by +- 10%
708 _Cd = _Cd * 0.90 + (0.10 * sg_random());
710 // Adjust Cd by Mach number. The equations are based on curves
711 // for a conventional shell/bullet (no boat-tail).
715 Cdm = 0.0125 * Mach + _Cd;
716 else if (Mach < 1.2 )
717 Cdm = 0.3742 * pow(Mach, 2) - 0.252 * Mach + 0.0021 + _Cd;
719 Cdm = 0.2965 * pow(Mach, -1.1506) + _Cd;
721 //cout <<_name << " Mach " << Mach << " Cdm " << Cdm
722 // << " ballistic speed kts "<< speed << endl;
724 // drag = Cd * 0.5 * rho * speed * speed * drag_area;
725 // rho is adjusted for altitude in void FGAIBase::update,
726 // using Standard Atmosphere (sealevel temperature 15C)
727 // acceleration = drag/mass;
728 // adjust speed by drag
729 speed -= (Cdm * 0.5 * rho * speed * speed * _drag_area/_mass) * dt;
731 // don't let speed become negative
735 // double speed_fps = speed * SG_KT_TO_FPS;
737 // calculate vertical and horizontal speed components
740 //resolve horizontal speed into north and east components:
741 //and convert horizontal speed (fps) to degrees per second
744 // if wind not required, set to zero
746 _wind_from_north = 0;
749 _wind_from_north = manager->get_wind_from_north();
750 _wind_from_east = manager->get_wind_from_east();
753 //calculate velocity due to external force
754 double force_speed_north_deg_sec = 0;
755 double force_speed_east_deg_sec = 0;
756 // double vs_force_fps = 0;
757 double hs_force_fps = 0;
758 double v_force_acc_fpss = 0;
759 double force_speed_north_fps = 0;
760 double force_speed_east_fps = 0;
761 double h_force_lbs = 0;
762 double normal_force_lbs = 0;
763 double normal_force_fpss = 0;
764 double static_friction_force_lbs = 0;
765 double dynamic_friction_force_lbs = 0;
766 double friction_force_speed_north_fps = 0;
767 double friction_force_speed_east_fps = 0;
768 double friction_force_speed_north_deg_sec = 0;
769 double friction_force_speed_east_deg_sec = 0;
770 double force_elevation_deg = 0;
771 double force_azimuth_deg = 0;
772 double force_lbs = 0;
774 if (_external_force) {
775 //cout << _name << " external force " << hdg << " az " << _azimuth << endl;
777 SGPropertyNode *n = fgGetNode(_force_path.c_str(), true);
778 force_lbs = n->getChild("force-lb", 0, true)->getDoubleValue();
779 force_elevation_deg = n->getChild("force-elevation-deg", 0, true)->getDoubleValue();
780 force_azimuth_deg = n->getChild("force-azimuth-deg", 0, true)->getDoubleValue();
782 //resolve force into vertical and horizontal components:
783 double v_force_lbs = force_lbs * sin( force_elevation_deg * SG_DEGREES_TO_RADIANS );
784 h_force_lbs = force_lbs * cos( force_elevation_deg * SG_DEGREES_TO_RADIANS );
787 //we don't do this if impacts are calculated
790 if (getHtAGL(10000)){
791 double deadzone = 0.1;
793 if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){
794 normal_force_lbs = (_mass * slugs_to_lbs) - v_force_lbs;
796 if ( normal_force_lbs < 0 )
797 normal_force_lbs = 0;
799 pos.setElevationFt(0 + _ground_offset);
803 // calculate friction
804 // we assume a static Coefficient of Friction (mu) of 0.62 (wood on concrete)
807 static_friction_force_lbs = mu * normal_force_lbs * _frictionFactor;
809 //adjust horizontal force. We assume that a speed of <= 5 fps is static
810 if (h_force_lbs <= static_friction_force_lbs && hs <= 5){
811 h_force_lbs = hs = 0;
812 _speed_north_fps = _speed_east_fps = 0;
814 dynamic_friction_force_lbs = (static_friction_force_lbs * 0.95);
816 //ignore wind when on the ground for now
818 _wind_from_north = 0;
827 //acceleration = (force(lbsf)/mass(slugs))
828 v_force_acc_fpss = v_force_lbs/_mass;
829 normal_force_fpss = normal_force_lbs/_mass;
830 double h_force_acc_fpss = h_force_lbs/_mass;
831 double dynamic_friction_acc_fpss = dynamic_friction_force_lbs/_mass;
833 // velocity = acceleration * dt
834 hs_force_fps = h_force_acc_fpss * dt;
835 double friction_force_fps = dynamic_friction_acc_fpss * dt;
837 //resolve horizontal speeds into north and east components:
838 force_speed_north_fps = cos(force_azimuth_deg * SG_DEGREES_TO_RADIANS) * hs_force_fps;
839 force_speed_east_fps = sin(force_azimuth_deg * SG_DEGREES_TO_RADIANS) * hs_force_fps;
841 friction_force_speed_north_fps = cos(getRecip(hdg) * SG_DEGREES_TO_RADIANS) * friction_force_fps;
842 friction_force_speed_east_fps = sin(getRecip(hdg) * SG_DEGREES_TO_RADIANS) * friction_force_fps;
844 // convert horizontal speed (fps) to degrees per second
845 force_speed_north_deg_sec = force_speed_north_fps / ft_per_deg_lat;
846 force_speed_east_deg_sec = force_speed_east_fps / ft_per_deg_lon;
848 friction_force_speed_north_deg_sec = friction_force_speed_north_fps / ft_per_deg_lat;
849 friction_force_speed_east_deg_sec = friction_force_speed_east_fps / ft_per_deg_lon;
852 // convert wind speed (fps) to degrees lat/lon per second
853 double wind_speed_from_north_deg_sec = _wind_from_north / ft_per_deg_lat;
854 double wind_speed_from_east_deg_sec = _wind_from_east / ft_per_deg_lon;
856 //recombine the horizontal velocity components
857 hs = sqrt(((_speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps)
858 * (_speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps))
859 + ((_speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps)
860 * (_speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps)));
865 // adjust vertical speed for acceleration of gravity, buoyancy, and vertical force
866 double gravity = SG_METER_TO_FEET * (Environment::Gravity::instance()->getGravity(pos));
867 vs -= (gravity - _buoyancy - v_force_acc_fpss - normal_force_fpss) * dt;
869 if (vs <= 0.00001 && vs >= -0.00001)
873 if(_slave_load_to_ac) {
875 manager->get_user_heading(),
876 manager->get_user_pitch(),
877 manager->get_user_roll()
879 pos.setLatitudeDeg(_offsetpos.getLatitudeDeg());
880 pos.setLongitudeDeg(_offsetpos.getLongitudeDeg());
881 pos.setElevationFt(_offsetpos.getElevationFt());
883 if (getHtAGL(10000)){
884 double deadzone = 0.1;
886 if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){
887 pos.setElevationFt(0 + _ground_offset);
889 pos.setElevationFt(_offsetpos.getElevationFt() + _load_offset);
894 pos.setLatitudeDeg( pos.getLatitudeDeg()
895 + (speed_north_deg_sec - wind_speed_from_north_deg_sec
896 + force_speed_north_deg_sec + friction_force_speed_north_deg_sec) * dt );
897 pos.setLongitudeDeg( pos.getLongitudeDeg()
898 + (speed_east_deg_sec - wind_speed_from_east_deg_sec
899 + force_speed_east_deg_sec + friction_force_speed_east_deg_sec) * dt );
900 pos.setElevationFt(pos.getElevationFt() + vs * dt);
903 // cout << _name << " run hs " << hs << " vs " << vs << endl;
905 // recalculate total speed
906 if ( vs == 0 && hs == 0)
909 speed = sqrt( vs * vs + hs * hs) / SG_KT_TO_FPS;
911 // recalculate elevation and azimuth (velocity vectors)
912 _elevation = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
913 _azimuth = atan2((_speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps),
914 (_speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps))
915 * SG_RADIANS_TO_DEGREES;
917 // rationalise azimuth
921 if (_aero_stabilised) { // we simulate rotational moment of inertia by using a filter
922 //cout<< "_aero_stabilised " << hdg << " az " << _azimuth << endl;
923 const double coeff = 0.9;
925 // we assume a symetrical MI about the pitch and yaw axis
926 setPch(_elevation, dt, coeff);
927 setHdg(_azimuth, dt, coeff);
928 } else if (_force_stabilised) { // we simulate rotational moment of inertia by using a filter
929 //cout<< "_force_stabilised "<< endl;
931 const double coeff = 0.9;
932 double ratio = h_force_lbs/(_mass * slugs_to_lbs);
934 if (ratio > 1) ratio = 1;
935 if (ratio < -1) ratio = -1;
937 double force_pitch = acos(ratio) * SG_RADIANS_TO_DEGREES;
939 if (force_pitch <= force_elevation_deg)
940 force_pitch = force_elevation_deg;
942 // we assume a symetrical MI about the pitch and yaw axis
943 setPch(force_pitch,dt, coeff);
944 setHdg(_azimuth, dt, coeff);
947 //do impacts and collisions
948 if (_report_impact && !_impact_reported)
951 if (_report_collision && !_collision_reported)
954 // set destruction flag if altitude less than sea level -1000
955 if (altitude_ft < -1000.0 && life != -1)
960 double FGAIBallistic::_getTime() const {
964 void FGAIBallistic::setTime(double s){
968 void FGAIBallistic::handle_impact() {
970 // try terrain intersection
971 double start = pos.getElevationM() + 100;
976 if (_ht_agl_ft <= 0) {
977 SG_LOG(SG_AI, SG_DEBUG, "AIBallistic: terrain impact material" << _mat_name);
978 report_impact(_elevation_m);
979 _impact_reported = true;
983 } else if (_subID == 0) // kill the AIObject if there is no subsubmodel
988 void FGAIBallistic::handle_expiry() {
990 //SG_LOG(SG_AI, SG_DEBUG, "AIBallistic: handle_expiry " << pos.getElevationM());
992 report_impact(pos.getElevationM());
993 _expiry_reported = true;
997 } else if (_subID == 0){ // kill the AIObject if there is no subsubmodel
1003 void FGAIBallistic::handle_collision()
1005 const FGAIBase *object = manager->calcCollision(pos.getElevationFt(),
1006 pos.getLatitudeDeg(),pos.getLongitudeDeg(), _fuse_range);
1009 report_impact(pos.getElevationM(), object);
1010 _collision_reported = true;
1014 void FGAIBallistic::report_impact(double elevation, const FGAIBase *object)
1016 _impact_lat = pos.getLatitudeDeg();
1017 _impact_lon = pos.getLongitudeDeg();
1018 _impact_elev = elevation;
1019 _impact_speed = speed * SG_KT_TO_MPS;
1021 _impact_pitch = pitch;
1022 _impact_roll = roll;
1024 SGPropertyNode *n = props->getNode("impact", true);
1027 n->setStringValue("type", object->getTypeString());
1029 n->setStringValue("type", "terrain");
1031 SG_LOG(SG_AI, SG_DEBUG, "AIBallistic: object impact " << _name
1032 << " lon " <<_impact_lon << " lat " <<_impact_lat << " sec " << _life_timer);
1034 n->setDoubleValue("longitude-deg", _impact_lon);
1035 n->setDoubleValue("latitude-deg", _impact_lat);
1036 n->setDoubleValue("elevation-m", _impact_elev);
1037 n->setDoubleValue("heading-deg", _impact_hdg);
1038 n->setDoubleValue("pitch-deg", _impact_pitch);
1039 n->setDoubleValue("roll-deg", _impact_roll);
1040 n->setDoubleValue("speed-mps", _impact_speed);
1042 _impact_report_node->setStringValue(props->getPath());
1045 SGVec3d FGAIBallistic::getCartUserPos() const {
1046 SGVec3d cartUserPos = SGVec3d::fromGeod(userpos);
1050 SGVec3d FGAIBallistic::getCartHitchPos() const{
1052 // convert geodetic positions to geocentered
1053 SGVec3d cartuserPos = SGVec3d::fromGeod(userpos);
1054 //SGVec3d cartPos = getCartPos();
1056 // Transform to the right coordinate frame, configuration is done in
1057 // the x-forward, y-right, z-up coordinates (feet), computation
1058 // in the simulation usual body x-forward, y-right, z-down coordinates
1060 SGVec3d _off(_x_offset * SG_FEET_TO_METER,
1061 _y_offset * SG_FEET_TO_METER,
1062 -_z_offset * SG_FEET_TO_METER);
1064 // Transform the user position to the horizontal local coordinate system.
1065 SGQuatd hlTrans = SGQuatd::fromLonLat(userpos);
1067 // and postrotate the orientation of the user model wrt the horizontal
1069 hlTrans *= SGQuatd::fromYawPitchRollDeg(
1070 manager->get_user_heading(),
1071 manager->get_user_pitch(),
1072 manager->get_user_roll());
1074 // The offset converted to the usual body fixed coordinate system
1075 // rotated to the earth-fixed coordinates axis
1076 SGVec3d off = hlTrans.backTransform(_off);
1078 // Add the position offset of the user model to get the geocentered position
1079 SGVec3d offsetPos = cartuserPos + off;
1084 void FGAIBallistic::setOffsetPos(SGGeod inpos, double heading, double pitch, double roll){
1085 // convert the hitch geocentered position to geodetic
1087 SGVec3d cartoffsetPos = getCartOffsetPos(inpos, heading, pitch, roll);
1089 //SGVec3d cartoffsetPos = getCartHitchPos();
1091 //SGGeodesy::SGCartToGeod(cartoffsetPos, hitchpos);
1092 SGGeodesy::SGCartToGeod(cartoffsetPos, _offsetpos);
1096 double FGAIBallistic::getDistanceToHitch() const {
1097 //calculate the distance load to hitch
1098 SGVec3d carthitchPos = getCartHitchPos();
1099 SGVec3d cartPos = getCartPos();
1101 SGVec3d diff = carthitchPos - cartPos;
1102 double distance = norm(diff);
1103 return distance * SG_METER_TO_FEET;
1106 double FGAIBallistic::getElevToHitch() const {
1107 // now the angle, positive angles are upwards
1108 double distance = getDistanceToHitch() * SG_FEET_TO_METER;
1110 double daltM = _offsetpos.getElevationM() - pos.getElevationM();
1112 if (fabs(distance) < SGLimits<float>::min()) {
1115 double sAngle = daltM/distance;
1116 sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
1117 angle = SGMiscd::rad2deg(asin(sAngle));
1123 double FGAIBallistic::getBearingToHitch() const {
1124 //calculate the bearing and range of the second pos from the first
1125 double distance = getDistanceToHitch() * SG_FEET_TO_METER;
1128 geo_inverse_wgs_84(pos, _offsetpos, &az1, &az2, &distance);
1133 double FGAIBallistic::getRelBrgHitchToUser() const {
1134 //calculate the relative bearing
1135 double az1, az2, distance;
1137 geo_inverse_wgs_84(_offsetpos, userpos, &az1, &az2, &distance);
1139 double rel_brg = az1 - hdg;
1141 SG_NORMALIZE_RANGE(rel_brg, -180.0, 180.0);
1146 double FGAIBallistic::getElevHitchToUser() const {
1148 //calculate the distance from the user position
1149 SGVec3d carthitchPos = getCartHitchPos();
1150 SGVec3d cartuserPos = getCartUserPos();
1152 SGVec3d diff = cartuserPos - carthitchPos;
1154 double distance = norm(diff);
1157 double daltM = userpos.getElevationM() - _offsetpos.getElevationM();
1159 // now the angle, positive angles are upwards
1160 if (fabs(distance) < SGLimits<float>::min()) {
1163 double sAngle = daltM/distance;
1164 sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
1165 angle = SGMiscd::rad2deg(asin(sAngle));
1171 void FGAIBallistic::setTgtOffsets(double dt, double coeff){
1172 double c = dt / (coeff + dt);
1174 _x_offset = (_tgt_x_offset * c) + (_x_offset * (1 - c));
1175 _y_offset = (_tgt_y_offset * c) + (_y_offset * (1 - c));
1176 _z_offset = (_tgt_z_offset * c) + (_z_offset * (1 - c));
1180 void FGAIBallistic::calcVSHS(){
1181 // calculate vertical and horizontal speed components
1182 double speed_fps = speed * SG_KT_TO_FPS;
1187 vs = sin( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps;
1188 hs = cos( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps;
1192 void FGAIBallistic::calcNE(){
1193 //resolve horizontal speed into north and east components:
1194 _speed_north_fps = cos(_azimuth / SG_RADIANS_TO_DEGREES) * hs;
1195 _speed_east_fps = sin(_azimuth / SG_RADIANS_TO_DEGREES) * hs;
1197 // convert horizontal speed (fps) to degrees per second
1198 speed_north_deg_sec = _speed_north_fps / ft_per_deg_lat;
1199 speed_east_deg_sec = _speed_east_fps / ft_per_deg_lon;
1203 SGVec3d FGAIBallistic::getCartOffsetPos(SGGeod inpos, double user_heading,
1204 double user_pitch, double user_roll
1207 // convert geodetic positions to geocentered
1208 SGVec3d cartuserPos = SGVec3d::fromGeod(inpos);
1209 //SGVec3d cartuserPos = getCartUserPos();
1210 //SGVec3d cartPos = getCartPos();
1212 // Transform to the right coordinate frame, configuration is done in
1213 // the x-forward, y-right, z-up coordinates (feet), computation
1214 // in the simulation usual body x-forward, y-right, z-down coordinates
1216 SGVec3d _off(_x_offset * SG_FEET_TO_METER,
1217 _y_offset * SG_FEET_TO_METER,
1218 -_z_offset * SG_FEET_TO_METER);
1220 // Transform the user position to the horizontal local coordinate system.
1221 SGQuatd hlTrans = SGQuatd::fromLonLat(inpos);
1223 // and postrotate the orientation of the user model wrt the horizontal
1225 hlTrans *= SGQuatd::fromYawPitchRollDeg(
1230 // The offset converted to the usual body fixed coordinate system
1231 // rotated to the earth-fixed coordinates axis
1232 SGVec3d off = hlTrans.backTransform(_off);
1234 // Add the position offset of the user model to get the geocentered position
1235 SGVec3d offsetPos = cartuserPos + off;
1240 void FGAIBallistic::setOffsetVelocity(double dt, SGGeod offsetpos) {
1241 //calculate the distance from the previous offset position
1242 SGVec3d cartoffsetPos = SGVec3d::fromGeod(offsetpos);
1243 SGVec3d diff = cartoffsetPos - _oldcartoffsetPos;
1245 double distance = norm(diff);
1246 //calculate speed knots
1247 speed = (distance/dt) * SG_MPS_TO_KT;
1249 //now calulate the angle between the old and current postion positions (degrees)
1251 double daltM = offsetpos.getElevationM() - _oldoffsetpos.getElevationM();
1253 if (fabs(distance) < SGLimits<float>::min()) {
1256 double sAngle = daltM/distance;
1257 sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
1258 angle = SGMiscd::rad2deg(asin(sAngle));
1263 //calculate vertical and horizontal speed components
1266 //calculate the bearing of the new offset position from the old
1267 //don't do this if speed is low
1268 //cout << "speed " << speed << endl;
1270 double az1, az2, dist;
1271 geo_inverse_wgs_84(_oldoffsetpos, offsetpos, &az1, &az2, &dist);
1273 //cout << "offset az " << _azimuth << endl;
1276 //cout << " slow offset az " << _azimuth << endl;
1279 //resolve horizontal speed into north and east components:
1282 // and finally store the new values
1283 _oldcartoffsetPos = cartoffsetPos;
1284 _oldoffsetpos = offsetpos;