src/AIModel/submodel.cxx

   1 //// submodel.cxx - models a releasable submodel.
   2 // Written by Dave Culp, started Aug 2004
   3 // With major additions by Vivian Meaaza 2004 - 2007
   4 //
   5 // This file is in the Public Domain and comes with no warranty.
   6
   7 #ifdef HAVE_CONFIG_H
   8 #  include "config.h"
   9 #endif
  10
  11 #include "submodel.hxx"
  12
  13 #include <simgear/structure/exception.hxx>
  14 #include <simgear/misc/sg_path.hxx>
  15 #include <simgear/math/sg_geodesy.hxx>
  16 #include <simgear/props/props_io.hxx>
  17
  18 #include <Main/fg_props.hxx>
  19 #include <Main/util.hxx>
  20
  21
  22 #include "AIBase.hxx"
  23 #include "AIManager.hxx"
  24 #include "AIBallistic.hxx"
  25
  26
  27 const double FGSubmodelMgr::lbs_to_slugs = 0.031080950172;
  28
  29 FGSubmodelMgr::FGSubmodelMgr()
  30 {
  31     x_offset = y_offset = 0.0;
  32     z_offset = -4.0;
  33     pitch_offset = 2.0;
  34     yaw_offset = 0.0;
  35
  36     out[0] = out[1] = out[2] = 0;
  37     string contents_node;
  38     contrail_altitude = 30000;
  39     _count = 0;
  40         _found_sub = true;
  41 }
  42
  43 FGSubmodelMgr::~FGSubmodelMgr()
  44 {
  45 }
  46
  47 void FGSubmodelMgr::init()
  48 {
  49     index = 0;
  50
  51     _serviceable_node = fgGetNode("/sim/submodels/serviceable", true);
  52     _serviceable_node->setBoolValue(true);
  53
  54     _user_lat_node = fgGetNode("/position/latitude-deg", true);
  55     _user_lon_node = fgGetNode("/position/longitude-deg", true);
  56     _user_alt_node = fgGetNode("/position/altitude-ft", true);
  57
  58     _user_heading_node = fgGetNode("/orientation/heading-deg", true);
  59     _user_pitch_node =   fgGetNode("/orientation/pitch-deg", true);
  60     _user_roll_node =    fgGetNode("/orientation/roll-deg", true);
  61     _user_yaw_node =     fgGetNode("/orientation/yaw-deg", true);
  62     _user_alpha_node =   fgGetNode("/orientation/alpha-deg", true);
  63
  64     _user_speed_node = fgGetNode("/velocities/uBody-fps", true);
  65
  66     _user_wind_from_east_node  = fgGetNode("/environment/wind-from-east-fps", true);
  67     _user_wind_from_north_node = fgGetNode("/environment/wind-from-north-fps", true);
  68
  69     _user_speed_down_fps_node   = fgGetNode("/velocities/speed-down-fps", true);
  70     _user_speed_east_fps_node   = fgGetNode("/velocities/speed-east-fps", true);
  71     _user_speed_north_fps_node  = fgGetNode("/velocities/speed-north-fps", true);
  72
  73     _contrail_altitude_node = fgGetNode("/environment/params/contrail-altitude", true);
  74     contrail_altitude       = _contrail_altitude_node->getDoubleValue();
  75     _contrail_trigger       = fgGetNode("ai/submodels/contrails", true);
  76     _contrail_trigger->setBoolValue(false);
  77
  78     ai = (FGAIManager*)globals->get_subsystem("ai_model");
  79
  80     load();
  81 }
  82
  83 void FGSubmodelMgr::postinit() {
  84     // postinit, so that the AI list is populated
  85     loadAI();
  86
  87         while (_found_sub)
  88                 loadSubmodels();
  89
  90     //TODO reload submodels if an MP ac joins
  91 }
  92
  93 void FGSubmodelMgr::bind()
  94 {}
  95
  96 void FGSubmodelMgr::unbind()
  97 {
  98     submodel_iterator = submodels.begin();
  99     while (submodel_iterator != submodels.end()) {
 100         (*submodel_iterator)->prop->untie("count");
 101         ++submodel_iterator;
 102     }
 103 }
 104
 105 void FGSubmodelMgr::update(double dt)
 106 {
 107     if (!_serviceable_node->getBoolValue())
 108         return;
 109
 110     _impact = false;
 111     _hit = false;
 112         _expiry = false;
 113
 114     // check if the submodel hit an object or terrain
 115     sm_list = ai->get_ai_list();
 116     sm_list_iterator sm_list_itr = sm_list.begin();
 117     sm_list_iterator end = sm_list.end();
 118
 119     for (; sm_list_itr != end; ++sm_list_itr) {
 120         _impact = (*sm_list_itr)->_getImpactData();
 121         _hit = (*sm_list_itr)->_getCollisionData();
 122                 _expiry = (*sm_list_itr)->_getExpiryData();
 123         int parent_subID = (*sm_list_itr)->_getSubID();
 124
 125         //SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! "
 126         //        << _hit <<" parent_subID " << parent_subID);
 127
 128         if ( parent_subID == 0) // this entry in the list has no associated submodel
 129             continue;           // so we can continue
 130
 131         if (_impact || _hit || _expiry) {
 132     //        SG_LOG(SG_GENERAL, SG_ALERT, "Submodel: Impact " << _impact << " hit! " << _hit
 133                                 //<< " exipiry :-( " << _expiry );
 134
 135             submodel_iterator = submodels.begin();
 136
 137             while (submodel_iterator != submodels.end()) {
 138                 int child_ID = (*submodel_iterator)->id;
 139                 //cout << "Impact: parent SubID " << parent_subID << " child_ID " << child_ID << endl;
 140
 141                 if ( parent_subID == child_ID ) {
 142                     _parent_lat = (*sm_list_itr)->_getImpactLat();
 143                     _parent_lon = (*sm_list_itr)->_getImpactLon();
 144                     _parent_elev = (*sm_list_itr)->_getImpactElevFt();
 145                     _parent_hdg = (*sm_list_itr)->_getImpactHdg();
 146                     _parent_pitch = (*sm_list_itr)->_getImpactPitch();
 147                     _parent_roll = (*sm_list_itr)->_getImpactRoll();
 148                     _parent_speed = (*sm_list_itr)->_getImpactSpeed();
 149                     (*submodel_iterator)->first_time = true;
 150                                         //cout << "Impact: parent SubID = child_ID elev " << _parent_elev << endl;
 151
 152                                         if (release(*submodel_iterator, dt))
 153                         (*sm_list_itr)->setDie(true);
 154
 155                 }
 156
 157                 ++submodel_iterator;
 158             }
 159         }
 160     }
 161
 162     _contrail_trigger->setBoolValue(_user_alt_node->getDoubleValue() > contrail_altitude);
 163
 164
 165     bool in_range = true;
 166     bool trigger = false;
 167     int i = -1;
 168
 169     submodel_iterator = submodels.begin();
 170     while (submodel_iterator != submodels.end())  {
 171         i++;
 172         in_range = true;
 173
 174         /*SG_LOG(SG_GENERAL, SG_DEBUG,
 175                 "Submodels:  " << (*submodel_iterator)->id
 176                 << " name " << (*submodel_iterator)->name
 177                 << " in range " << in_range);*/
 178
 179         if ((*submodel_iterator)->trigger_node != 0) {
 180             _trigger_node = (*submodel_iterator)->trigger_node;
 181             trigger = _trigger_node->getBoolValue();
 182             //cout << (*submodel_iterator)->name << "trigger node found " <<  trigger << endl;
 183         } else {
 184             trigger = true;
 185             //cout << (*submodel_iterator)->name << "trigger node not found " << trigger << endl;
 186         }
 187
 188                 if (trigger && (*submodel_iterator)->count != 0) {
 189
 190                         int id = (*submodel_iterator)->id;
 191                         string name = (*submodel_iterator)->name;
 192
 193                         /*SG_LOG(SG_GENERAL, SG_DEBUG,
 194                         "Submodels end:  " << (*submodel_iterator)->id
 195                         << " name " << (*submodel_iterator)->name
 196                         << " count " << (*submodel_iterator)->count
 197                         << " in range " << in_range);*/
 198
 199                         release(*submodel_iterator, dt);
 200                 } else
 201                         (*submodel_iterator)->first_time = true;
 202
 203         ++submodel_iterator;
 204     } // end while
 205 }
 206
 207 bool FGSubmodelMgr::release(submodel *sm, double dt)
 208 {
 209     //cout << "release id " << sm->id << " name " << sm->name
 210     //<< " first time " << sm->first_time  << " repeat " << sm->repeat  <<
 211     //    endl;
 212
 213     // only run if first time or repeat is set to true
 214     if (!sm->first_time && !sm->repeat) {
 215         //cout<< "not first time " << sm->first_time<< " repeat " << sm->repeat <<endl;
 216         return false;
 217     }
 218
 219     sm->timer += dt;
 220
 221     if (sm->timer < sm->delay) {
 222         //cout << "not yet: timer " << sm->timer << " delay " << sm->delay << endl;
 223         return false;
 224     }
 225
 226         //cout << "released timer: " << sm->timer << " delay " << sm->delay << endl;
 227
 228     sm->timer = 0.0;
 229
 230     if (sm->first_time) {
 231         dt = 0.0;
 232         sm->first_time = false;
 233     }
 234
 235     transform(sm);  // calculate submodel's initial conditions in world-coordinates
 236
 237     FGAIBallistic* ballist = new FGAIBallistic;
 238     ballist->setPath(sm->model.c_str());
 239     ballist->setName(sm->name);
 240         ballist->setRandom(sm->random);
 241         ballist->setRandomness(sm->randomness);
 242         ballist->setLatitude(offsetpos.getLatitudeDeg());
 243         ballist->setLongitude(offsetpos.getLongitudeDeg());
 244         ballist->setAltitude(offsetpos.getElevationFt());
 245     ballist->setAzimuth(IC.azimuth);
 246     ballist->setElevation(IC.elevation);
 247     ballist->setRoll(IC.roll);
 248     ballist->setSpeed(IC.speed / SG_KT_TO_FPS);
 249     ballist->setWind_from_east(IC.wind_from_east);
 250     ballist->setWind_from_north(IC.wind_from_north);
 251     ballist->setMass(IC.mass);
 252     ballist->setDragArea(sm->drag_area);
 253     ballist->setLife(sm->life);
 254     ballist->setBuoyancy(sm->buoyancy);
 255     ballist->setWind(sm->wind);
 256     ballist->setCd(sm->cd);
 257     ballist->setStabilisation(sm->aero_stabilised);
 258     ballist->setNoRoll(sm->no_roll);
 259     ballist->setCollision(sm->collision);
 260         ballist->setExpiry(sm->expiry);
 261     ballist->setImpact(sm->impact);
 262     ballist->setImpactReportNode(sm->impact_report);
 263     ballist->setFuseRange(sm->fuse_range);
 264     ballist->setSubmodel(sm->submodel.c_str());
 265     ballist->setSubID(sm->sub_id);
 266     ballist->setForceStabilisation(sm->force_stabilised);
 267     ballist->setExternalForce(sm->ext_force);
 268     ballist->setForcePath(sm->force_path.c_str());
 269     ai->attach(ballist);
 270
 271     if (sm->count > 0)
 272         sm->count--;
 273     return true;
 274 }
 275
 276 void FGSubmodelMgr::load()
 277 {
 278     SGPropertyNode *path = fgGetNode("/sim/submodels/path");
 279
 280     if (path) {
 281         const int id = 0;
 282         string Path = path->getStringValue();
 283         bool Seviceable =_serviceable_node->getBoolValue();
 284         setData(id, Path, Seviceable);
 285     }
 286 }
 287
 288 void FGSubmodelMgr::transform(submodel *sm)
 289 {
 290     // set initial conditions
 291     if (sm->contents_node != 0) {
 292         // get the weight of the contents (lbs) and convert to mass (slugs)
 293         sm->contents = sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue();
 294         //cout << "transform: contents " << sm->contents << endl;
 295         IC.mass = (sm->weight + sm->contents) * lbs_to_slugs;
 296         //cout << "mass inc contents"  << IC.mass << endl;
 297
 298         // set contents to 0 in the parent
 299         sm->contents_node->getChild("level-gal_us",0,1)->setDoubleValue(0);
 300         /*cout << "contents " << sm->contents_node->getChild("level-gal_us")->getDoubleValue()
 301         << " " << sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue()
 302         << endl;*/
 303     } else
 304         IC.mass = sm->weight * lbs_to_slugs;
 305
 306     // cout << "mass "  << IC.mass << endl;
 307
 308     if (sm->speed_node != 0)
 309         sm->speed = sm->speed_node->getDoubleValue();
 310
 311     int id = sm->id;
 312     //int sub_id = (*submodel)->sub_id;
 313     string name = sm->name;
 314
 315     //cout << " name " << name << " id " << id << " sub id" << sub_id << endl;
 316
 317         // set the Initial Conditions for the types of submodel parent
 318
 319     if (_impact || _hit || _expiry) {
 320         // set the data for a submodel tied to a submodel
 321         _count++;
 322
 323         IC.lat             = _parent_lat;
 324         IC.lon             = _parent_lon;
 325         IC.alt             = _parent_elev;
 326         IC.roll            = _parent_roll;    // rotation about x axis
 327         IC.elevation       = _parent_pitch;   // rotation about y axis
 328         IC.azimuth         = _parent_hdg;     // rotation about z axis
 329         IC.speed           = _parent_speed;
 330         IC.speed_down_fps  = 0;
 331         IC.speed_east_fps  = 0;
 332         IC.speed_north_fps = 0;
 333
 334     } else if (id == 0) {
 335         //set the data for a submodel tied to the main model
 336
 337         IC.lat             = _user_lat_node->getDoubleValue();
 338         IC.lon             = _user_lon_node->getDoubleValue();
 339         IC.alt             = _user_alt_node->getDoubleValue();
 340         IC.roll            = _user_roll_node->getDoubleValue();    // rotation about x axis
 341         IC.elevation       = _user_pitch_node->getDoubleValue();   // rotation about y axis
 342         IC.azimuth         = _user_heading_node->getDoubleValue(); // rotation about z axis
 343         IC.speed           = _user_speed_node->getDoubleValue();
 344         IC.speed_down_fps  = _user_speed_down_fps_node->getDoubleValue();
 345         IC.speed_east_fps  = _user_speed_east_fps_node->getDoubleValue();
 346         IC.speed_north_fps = _user_speed_north_fps_node->getDoubleValue();
 347
 348     } else {
 349         // set the data for a submodel tied to an AI Object
 350         sm_list_iterator sm_list_itr = sm_list.begin();
 351         sm_list_iterator end = sm_list.end();
 352
 353         while (sm_list_itr != end) {
 354             int parent_id = (*sm_list_itr)->getID();
 355
 356             if (id != parent_id) {
 357                 ++sm_list_itr;
 358                 continue;
 359             }
 360
 361             //cout << "found id " << id << endl;
 362             IC.lat             = (*sm_list_itr)->_getLatitude();
 363             IC.lon             = (*sm_list_itr)->_getLongitude();
 364             IC.alt             = (*sm_list_itr)->_getAltitude();
 365             IC.roll            = (*sm_list_itr)->_getRoll();
 366             IC.elevation       = (*sm_list_itr)->_getPitch();
 367             IC.azimuth         = (*sm_list_itr)->_getHeading();
 368             IC.alt             = (*sm_list_itr)->_getAltitude();
 369             IC.speed           = (*sm_list_itr)->_getSpeed() * SG_KT_TO_FPS;
 370             IC.speed_down_fps  = -(*sm_list_itr)->_getVS_fps();
 371             IC.speed_east_fps  = (*sm_list_itr)->_get_speed_east_fps();
 372             IC.speed_north_fps = (*sm_list_itr)->_get_speed_north_fps();
 373
 374             ++sm_list_itr;
 375         }
 376     }
 377
 378     /*cout << "heading " << IC.azimuth << endl ;
 379     cout << "speed down " << IC.speed_down_fps << endl ;
 380     cout << "speed east " << IC.speed_east_fps << endl ;
 381     cout << "speed north " << IC.speed_north_fps << endl ;
 382     cout << "parent speed fps in" << IC.speed << "sm speed in " << sm->speed << endl ;*/
 383
 384         // Set the Initial Conditions that are common to all types of parent
 385     IC.wind_from_east =  _user_wind_from_east_node->getDoubleValue();
 386     IC.wind_from_north = _user_wind_from_north_node->getDoubleValue();
 387
 388         userpos.setLatitudeDeg(IC.lat);
 389         userpos.setLongitudeDeg(IC.lon);
 390         userpos.setElevationFt(IC.alt);
 391
 392     _x_offset = sm->x_offset;
 393     _y_offset = sm->y_offset;
 394     _z_offset = sm->z_offset;
 395
 396         setOffsetPos();
 397
 398         //IC.elevation += sm->pitch_offset;
 399         //IC.azimuth   += sm->yaw_offset ;
 400
 401     // pre-process the trig functions
 402     cosRx = cos(-IC.roll * SG_DEGREES_TO_RADIANS);
 403     sinRx = sin(-IC.roll * SG_DEGREES_TO_RADIANS);
 404     cosRy = cos(-IC.elevation * SG_DEGREES_TO_RADIANS);
 405     sinRy = sin(-IC.elevation * SG_DEGREES_TO_RADIANS);
 406     cosRz = cos(IC.azimuth * SG_DEGREES_TO_RADIANS);
 407     sinRz = sin(IC.azimuth * SG_DEGREES_TO_RADIANS);
 408
 409
 410     // Get submodel initial velocity vector angles in XZ and XY planes.
 411     // This vector should be added to aircraft's vector.
 412     IC.elevation += (sm->yaw_offset * sinRx) + (sm->pitch_offset * cosRx);
 413     IC.azimuth   += (sm->yaw_offset * cosRx) - (sm->pitch_offset * sinRx);
 414
 415     // calculate the total speed north
 416     IC.total_speed_north = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS)
 417             * cos(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_north_fps;
 418
 419     // calculate the total speed east
 420     IC.total_speed_east = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS)
 421             * sin(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_east_fps;
 422
 423     // calculate the total speed down
 424     IC.total_speed_down = sm->speed * -sin(IC.elevation * SG_DEGREES_TO_RADIANS)
 425             + IC.speed_down_fps;
 426
 427     // re-calculate speed, elevation and azimuth
 428     IC.speed = sqrt(IC.total_speed_north * IC.total_speed_north
 429             + IC.total_speed_east * IC.total_speed_east
 430             + IC.total_speed_down * IC.total_speed_down);
 431
 432     // if speeds are low this calculation can become unreliable
 433     if (IC.speed > 1) {
 434         //IC.azimuth = atan2(IC.total_speed_east, IC.total_speed_north) * SG_RADIANS_TO_DEGREES;
 435         //        cout << "azimuth1 " << IC.azimuth<<endl;
 436
 437         // rationalise the output
 438         if (IC.azimuth < 0)
 439             IC.azimuth += 360;
 440         else if (IC.azimuth >= 360)
 441             IC.azimuth -= 360;
 442         // cout << "azimuth2 " << IC.azimuth<<endl;
 443
 444         IC.elevation = -atan(IC.total_speed_down / sqrt(IC.total_speed_north
 445             * IC.total_speed_north + IC.total_speed_east * IC.total_speed_east))
 446             * SG_RADIANS_TO_DEGREES;
 447     }
 448 }
 449
 450 void FGSubmodelMgr::updatelat(double lat)
 451 {
 452     ft_per_deg_latitude = 366468.96 - 3717.12 * cos(lat / SG_RADIANS_TO_DEGREES);
 453     ft_per_deg_longitude = 365228.16 * cos(lat / SG_RADIANS_TO_DEGREES);
 454 }
 455
 456 void FGSubmodelMgr::loadAI()
 457 {
 458     SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Loading AI submodels ");
 459
 460     sm_list = ai->get_ai_list();
 461
 462     if (sm_list.empty()) {
 463         SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Unable to read AI submodel list");
 464         return;
 465     }
 466
 467     sm_list_iterator sm_list_itr = sm_list.begin();
 468     sm_list_iterator end = sm_list.end();
 469
 470     while (sm_list_itr != end) {
 471         string path = (*sm_list_itr)->_getSMPath();
 472
 473         if (path.empty()) {
 474             ++sm_list_itr;
 475             continue;
 476         }
 477
 478         int id = (*sm_list_itr)->getID();
 479         bool serviceable = (*sm_list_itr)->_getServiceable();
 480         setData(id, path, serviceable);
 481         ++sm_list_itr;
 482     }
 483 }
 484
 485
 486
 487 void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
 488 {
 489     SGPropertyNode root;
 490
 491     SGPath config(globals->get_fg_root());
 492     config.append(path);
 493     SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: path " << path);
 494     try {
 495         SG_LOG(SG_GENERAL, SG_DEBUG,
 496                 "Submodels: Trying to read AI submodels file: " << config.str());
 497         readProperties(config.str(), &root);
 498     } catch (const sg_exception &) {
 499         SG_LOG(SG_GENERAL, SG_DEBUG,
 500                 "Submodels: Unable to read AI submodels file: " << config.str());
 501         return;
 502     }
 503
 504     vector<SGPropertyNode_ptr> children = root.getChildren("submodel");
 505     vector<SGPropertyNode_ptr>::iterator it = children.begin();
 506     vector<SGPropertyNode_ptr>::iterator end = children.end();
 507
 508     for (int i = 0; it != end; ++it, i++) {
 509         //cout << "Reading AI submodel " << (*it)->getPath() << endl;
 510         submodel* sm = new submodel;
 511         SGPropertyNode * entry_node = *it;
 512         sm->name            = entry_node->getStringValue("name", "none_defined");
 513         sm->model           = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
 514         sm->speed           = entry_node->getDoubleValue("speed", 2329.4);
 515         sm->repeat          = entry_node->getBoolValue("repeat", false);
 516         sm->delay           = entry_node->getDoubleValue("delay", 0.25);
 517         sm->count           = entry_node->getIntValue("count", 1);
 518         sm->slaved          = entry_node->getBoolValue("slaved", false);
 519         sm->x_offset        = entry_node->getDoubleValue("x-offset", 0.0);
 520         sm->y_offset        = entry_node->getDoubleValue("y-offset", 0.0);
 521         sm->z_offset        = entry_node->getDoubleValue("z-offset", 0.0);
 522         sm->yaw_offset      = entry_node->getDoubleValue("yaw-offset", 0.0);
 523         sm->pitch_offset    = entry_node->getDoubleValue("pitch-offset", 0.0);
 524         sm->drag_area       = entry_node->getDoubleValue("eda", 0.034);
 525         sm->life            = entry_node->getDoubleValue("life", 900.0);
 526         sm->buoyancy        = entry_node->getDoubleValue("buoyancy", 0);
 527         sm->wind            = entry_node->getBoolValue("wind", false);
 528         sm->cd              = entry_node->getDoubleValue("cd", 0.193);
 529         sm->weight          = entry_node->getDoubleValue("weight", 0.25);
 530         sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
 531         sm->no_roll         = entry_node->getBoolValue("no-roll", false);
 532         sm->collision       = entry_node->getBoolValue("collision", false);
 533                 sm->expiry                      = entry_node->getBoolValue("expiry", false);
 534         sm->impact          = entry_node->getBoolValue("impact", false);
 535         sm->impact_report   = entry_node->getStringValue("impact-reports");
 536         sm->fuse_range      = entry_node->getDoubleValue("fuse-range", 0.0);
 537         sm->contents_node   = fgGetNode(entry_node->getStringValue("contents", "none"), false);
 538         sm->speed_node      = fgGetNode(entry_node->getStringValue("speed-node", "none"), false);
 539         sm->submodel        = entry_node->getStringValue("submodel-path", "");
 540         sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
 541         sm->ext_force       = entry_node->getBoolValue("external-force", false);
 542         sm->force_path      = entry_node->getStringValue("force-path", "");
 543                 sm->random                      = entry_node->getBoolValue("random", false);
 544                 sm->randomness          = entry_node->getDoubleValue("randomness", 0.5);
 545
 546
 547         //cout <<  "sm->contents_node " << sm->contents_node << endl;
 548         if (sm->contents_node != 0)
 549             sm->contents = sm->contents_node->getDoubleValue();
 550
 551         const char *trigger_path = entry_node->getStringValue("trigger", 0);
 552         if (trigger_path) {
 553             sm->trigger_node = fgGetNode(trigger_path, true);
 554             sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue());
 555         } else {
 556             sm->trigger_node = 0;
 557         }
 558
 559         if (sm->speed_node != 0)
 560             sm->speed = sm->speed_node->getDoubleValue();
 561
 562         sm->timer = sm->delay;
 563         sm->id = id;
 564         sm->first_time = false;
 565         sm->serviceable = serviceable;
 566         sm->sub_id = 0;
 567
 568         sm->prop = fgGetNode("/ai/submodels/submodel", index, true);
 569                 sm->prop->tie("delay", SGRawValuePointer<double>(&(sm->delay)));
 570         sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
 571         sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
 572         sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
 573         sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
 574         sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
 575         sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
 576         string name = sm->name;
 577         sm->prop->setStringValue("name", name.c_str());
 578
 579         string submodel = sm->submodel;
 580         sm->prop->setStringValue("submodel", submodel.c_str());
 581         //cout << " set submodel path " << submodel << endl;
 582
 583         string force_path = sm->force_path;
 584         sm->prop->setStringValue("force_path", force_path.c_str());
 585         //cout << "set force_path Sub " << force_path << endl;
 586
 587         if (sm->contents_node != 0)
 588             sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
 589
 590         index++;
 591         submodels.push_back(sm);
 592     }
 593 }
 594
 595 void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable)
 596 {
 597     SGPropertyNode root;
 598
 599     SGPath config(globals->get_fg_root());
 600     config.append(path);
 601     SG_LOG(SG_GENERAL, SG_DEBUG,
 602         "Submodels: path " << path);
 603     try {
 604         SG_LOG(SG_GENERAL, SG_DEBUG,
 605                 "Submodels: Trying to read AI submodels file: " << config.str());
 606         readProperties(config.str(), &root);
 607
 608     } catch (const sg_exception &) {
 609         SG_LOG(SG_GENERAL, SG_DEBUG,
 610                 "Submodels: Unable to read AI submodels file: " << config.str());
 611         return;
 612     }
 613
 614     vector<SGPropertyNode_ptr> children = root.getChildren("submodel");
 615     vector<SGPropertyNode_ptr>::iterator it = children.begin();
 616     vector<SGPropertyNode_ptr>::iterator end = children.end();
 617
 618     for (int i = 0; it != end; ++it, i++) {
 619         //cout << "Reading AI submodel " << (*it)->getPath() << endl;
 620         submodel* sm = new submodel;
 621         SGPropertyNode * entry_node = *it;
 622         sm->name            = entry_node->getStringValue("name", "none_defined");
 623         sm->model           = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
 624         sm->speed           = entry_node->getDoubleValue("speed", 2329.4);
 625         sm->repeat          = entry_node->getBoolValue("repeat", false);
 626         sm->delay           = entry_node->getDoubleValue("delay", 0.25);
 627         sm->count           = entry_node->getIntValue("count", 1);
 628         sm->slaved          = entry_node->getBoolValue("slaved", false);
 629         sm->x_offset        = entry_node->getDoubleValue("x-offset", 0.0);
 630         sm->y_offset        = entry_node->getDoubleValue("y-offset", 0.0);
 631         sm->z_offset        = entry_node->getDoubleValue("z-offset", 0.0);
 632         sm->yaw_offset      = entry_node->getDoubleValue("yaw-offset", 0.0);
 633         sm->pitch_offset    = entry_node->getDoubleValue("pitch-offset", 0.0);
 634         sm->drag_area       = entry_node->getDoubleValue("eda", 0.034);
 635         sm->life            = entry_node->getDoubleValue("life", 900.0);
 636         sm->buoyancy        = entry_node->getDoubleValue("buoyancy", 0);
 637         sm->wind            = entry_node->getBoolValue("wind", false);
 638         sm->cd              = entry_node->getDoubleValue("cd", 0.193);
 639         sm->weight          = entry_node->getDoubleValue("weight", 0.25);
 640         sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
 641         sm->no_roll         = entry_node->getBoolValue("no-roll", false);
 642         sm->collision       = entry_node->getBoolValue("collision", false);
 643                 sm->expiry                      = entry_node->getBoolValue("expiry", false);
 644         sm->impact          = entry_node->getBoolValue("impact", false);
 645         sm->impact_report   = entry_node->getStringValue("impact-reports");
 646         sm->fuse_range      = entry_node->getDoubleValue("fuse-range", 0.0);
 647         sm->contents_node   = fgGetNode(entry_node->getStringValue("contents", "none"), false);
 648         sm->speed_node      = fgGetNode(entry_node->getStringValue("speed-node", "none"), false);
 649         sm->submodel        = entry_node->getStringValue("submodel-path", "");
 650                 sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
 651         sm->ext_force       = entry_node->getBoolValue("external-force", false);
 652         sm->force_path      = entry_node->getStringValue("force-path", "");
 653                 sm->random                      = entry_node->getBoolValue("random", false);
 654                 sm->randomness          = entry_node->getDoubleValue("randomness", 0.5);
 655
 656         //cout <<  "sm->contents_node " << sm->contents_node << endl;
 657         if (sm->contents_node != 0)
 658             sm->contents = sm->contents_node->getDoubleValue();
 659
 660         const char *trigger_path = entry_node->getStringValue("trigger", 0);
 661         if (trigger_path) {
 662             sm->trigger_node = fgGetNode(trigger_path, true);
 663             sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue());
 664         } else {
 665             sm->trigger_node = 0;
 666         }
 667
 668         if (sm->speed_node != 0)
 669             sm->speed = sm->speed_node->getDoubleValue();
 670
 671         sm->timer = sm->delay;
 672         sm->id = index;
 673         sm->first_time = false;
 674         sm->serviceable = serviceable;
 675         sm->sub_id = 0;
 676
 677         sm->prop = fgGetNode("/ai/submodels/subsubmodel", index, true);
 678         sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
 679         sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
 680         sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
 681         sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
 682         sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
 683                 sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
 684         string name = sm->name;
 685         sm->prop->setStringValue("name", name.c_str());
 686
 687         string submodel = sm->submodel;
 688         sm->prop->setStringValue("submodel", submodel.c_str());
 689         // cout << " set submodel path AI" << submodel<< endl;
 690
 691         string force_path = sm->force_path;
 692         sm->prop->setStringValue("force_path", force_path.c_str());
 693         //cout << "set force_path  AI" << force_path << endl;
 694
 695         if (sm->contents_node != 0)
 696             sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
 697
 698         index++;
 699         subsubmodels.push_back(sm);
 700     }
 701 }
 702
 703 void FGSubmodelMgr::loadSubmodels()
 704 {
 705     SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Loading sub submodels");
 706
 707         _found_sub = false;
 708
 709     submodel_iterator = submodels.begin();
 710
 711         while (submodel_iterator != submodels.end()) {
 712                 string submodel  = (*submodel_iterator)->submodel;
 713                 if (!submodel.empty()) {
 714                         //int id = (*submodel_iterator)->id;
 715                         bool serviceable = true;
 716                         //SG_LOG(SG_GENERAL, SG_DEBUG, "found path sub sub "
 717                         //        << submodel
 718                         //        << " index " << index
 719                         //        << "name " << (*submodel_iterator)->name);
 720
 721                         if ((*submodel_iterator)->sub_id == 0){
 722                                 (*submodel_iterator)->sub_id = index;
 723                                 _found_sub = true;
 724                                 setSubData(index, submodel, serviceable);
 725                         }
 726                 }
 727
 728                 ++submodel_iterator;
 729         } // end while
 730
 731     subsubmodel_iterator = subsubmodels.begin();
 732
 733     while (subsubmodel_iterator != subsubmodels.end()) {
 734         submodels.push_back(*subsubmodel_iterator);
 735         ++subsubmodel_iterator;
 736     } // end while
 737
 738         subsubmodels.clear();
 739
 740     //submodel_iterator = submodels.begin();
 741
 742     //while (submodel_iterator != submodels.end()) {
 743         //int id = (*submodel_iterator)->id;
 744         //SG_LOG(SG_GENERAL, SG_DEBUG,"after pushback "
 745         //        << " id " << id
 746         //        << " name " << (*submodel_iterator)->name
 747         //        << " sub id " << (*submodel_iterator)->sub_id);
 748
 749         //++submodel_iterator;
 750     //}
 751 }
 752
 753 SGVec3d FGSubmodelMgr::getCartOffsetPos() const{
 754
 755     // convert geodetic positions to geocentered
 756     SGVec3d cartuserPos = SGVec3d::fromGeod(userpos);
 757
 758     // Transform to the right coordinate frame, configuration is done in
 759     // the x-forward, y-right, z-up coordinates (feet), computation
 760     // in the simulation usual body x-forward, y-right, z-down coordinates
 761     // (meters) )
 762
 763         SGVec3d _off(_x_offset * SG_FEET_TO_METER,
 764         _y_offset * SG_FEET_TO_METER,
 765         -_z_offset * SG_FEET_TO_METER);
 766
 767     // Transform the user position to the horizontal local coordinate system.
 768     SGQuatd hlTrans = SGQuatd::fromLonLat(userpos);
 769
 770     // and postrotate the orientation of the user model wrt the horizontal
 771     // local frame
 772     hlTrans *= SGQuatd::fromYawPitchRollDeg(
 773        IC.azimuth,
 774        IC.elevation,
 775        IC.roll);
 776
 777     // The offset converted to the usual body fixed coordinate system
 778     // rotated to the earth-fixed coordinates axis
 779     SGVec3d off = hlTrans.backTransform(_off);
 780
 781     // Add the position offset of the user model to get the geocentered position
 782     SGVec3d offsetPos = cartuserPos + off;
 783
 784     return offsetPos;
 785 }
 786
 787 void FGSubmodelMgr::setOffsetPos(){
 788     // convert the offset geocentered position to geodetic
 789     SGVec3d cartoffsetPos = getCartOffsetPos();
 790
 791     SGGeodesy::SGCartToGeod(cartoffsetPos, offsetpos);
 792 }
 793 // end of submodel.cxx