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 = z_offset = 0.0;
  32     pitch_offset = 0.0;
  33     yaw_offset = 0.0;
  34
  35     //out[0] = out[1] = out[2] = 0;
  36     string contents_node;
  37     contrail_altitude = 30000;
  38     _count = 0;
  39     _found_sub = true;
  40 }
  41
  42 FGSubmodelMgr::~FGSubmodelMgr()
  43 {
  44 }
  45
  46 void FGSubmodelMgr::init()
  47 {
  48     index = 0;
  49
  50     _serviceable_node = fgGetNode("/sim/submodels/serviceable", true);
  51     _serviceable_node->setBoolValue(true);
  52
  53     _user_lat_node = fgGetNode("/position/latitude-deg", true);
  54     _user_lon_node = fgGetNode("/position/longitude-deg", true);
  55     _user_alt_node = fgGetNode("/position/altitude-ft", true);
  56
  57     _user_heading_node = fgGetNode("/orientation/heading-deg", true);
  58     _user_pitch_node =   fgGetNode("/orientation/pitch-deg", true);
  59     _user_roll_node =    fgGetNode("/orientation/roll-deg", true);
  60     _user_yaw_node =     fgGetNode("/orientation/yaw-deg", true);
  61     _user_alpha_node =   fgGetNode("/orientation/alpha-deg", true);
  62
  63     _user_speed_node = fgGetNode("/velocities/uBody-fps", true);
  64
  65     _user_wind_from_east_node  = fgGetNode("/environment/wind-from-east-fps", true);
  66     _user_wind_from_north_node = fgGetNode("/environment/wind-from-north-fps", true);
  67
  68     _user_speed_down_fps_node   = fgGetNode("/velocities/speed-down-fps", true);
  69     _user_speed_east_fps_node   = fgGetNode("/velocities/speed-east-fps", true);
  70     _user_speed_north_fps_node  = fgGetNode("/velocities/speed-north-fps", true);
  71
  72     _contrail_altitude_node = fgGetNode("/environment/params/contrail-altitude", true);
  73     contrail_altitude       = _contrail_altitude_node->getDoubleValue();
  74     _contrail_trigger       = fgGetNode("ai/submodels/contrails", true);
  75     _contrail_trigger->setBoolValue(false);
  76
  77     ai = (FGAIManager*)globals->get_subsystem("ai_model");
  78
  79     load();
  80
  81 }
  82
  83 void FGSubmodelMgr::postinit() {
  84     // postinit, so that the AI list is populated
  85
  86         loadAI();
  87
  88     while (_found_sub)
  89         loadSubmodels();
  90
  91     //TODO reload submodels if an MP ac joins
  92
  93     //_model_added_node = fgGetNode("ai/models/model-added", true);
  94     //_model_added_node->addChangeListener(this, false);
  95 }
  96
  97 void FGSubmodelMgr::bind()
  98 {}
  99
 100 void FGSubmodelMgr::unbind()
 101 {
 102     submodel_iterator = submodels.begin();
 103     while (submodel_iterator != submodels.end()) {
 104         (*submodel_iterator)->prop->untie("count");
 105         ++submodel_iterator;
 106     }
 107 }
 108
 109 void FGSubmodelMgr::update(double dt)
 110 {
 111     if (!_serviceable_node->getBoolValue())
 112         return;
 113
 114     _impact = false;
 115     _hit = false;
 116     _expiry = false;
 117
 118     // check if the submodel hit an object or terrain
 119     sm_list = ai->get_ai_list();
 120     sm_list_iterator sm_list_itr = sm_list.begin();
 121     sm_list_iterator end = sm_list.end();
 122
 123     for (; sm_list_itr != end; ++sm_list_itr) {
 124         FGAIBase::object_type object_type =(*sm_list_itr)->getType();
 125
 126         if (object_type != FGAIBase::otBallistic){// only work on ballistic objects
 127             continue; // so continue
 128         }
 129
 130         int parent_subID = (*sm_list_itr)->_getSubID();
 131         int id = (*sm_list_itr)->getID();
 132
 133         if ( parent_subID == 0 || id == -1) // this entry in the list has no associated submodel
 134             continue;                       // or is invalid so we can continue
 135
 136         //SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! "
 137         //        << _hit <<" parent_subID " << parent_subID);
 138
 139         _hit = (*sm_list_itr)->_getCollisionData();
 140         _impact = (*sm_list_itr)->_getImpactData();
 141         _expiry = (*sm_list_itr)->_getExpiryData();
 142
 143         //SG_LOG(SG_GENERAL, SG_ALERT, "Submodel: " << (*sm_list_itr)->_getName()
 144         //    << " Impact " << _impact << " hit! " << _hit
 145         //    << " exipiry :-( " << _expiry );
 146
 147         if (_impact || _hit || _expiry) {
 148     //        SG_LOG(SG_GENERAL, SG_ALERT, "Submodel: Impact " << _impact << " hit! " << _hit
 149                 //<< " exipiry :-( " << _expiry );
 150
 151             submodel_iterator = submodels.begin();
 152
 153             while (submodel_iterator != submodels.end()) {
 154                 int child_ID = (*submodel_iterator)->id;
 155                 //cout << "Impact: parent SubID " << parent_subID << " child_ID " << child_ID << endl;
 156
 157                 if ( parent_subID == child_ID ) {
 158                     _parent_lat = (*sm_list_itr)->_getImpactLat();
 159                     _parent_lon = (*sm_list_itr)->_getImpactLon();
 160                     _parent_elev = (*sm_list_itr)->_getImpactElevFt();
 161                     _parent_hdg = (*sm_list_itr)->_getImpactHdg();
 162                     _parent_pitch = (*sm_list_itr)->_getImpactPitch();
 163                     _parent_roll = (*sm_list_itr)->_getImpactRoll();
 164                     _parent_speed = (*sm_list_itr)->_getImpactSpeed();
 165                     (*submodel_iterator)->first_time = true;
 166                     //cout << "Impact: parent SubID = child_ID elev " << _parent_elev << endl;
 167
 168                     if (release(*submodel_iterator, dt)){
 169                         (*sm_list_itr)->setDie(true);
 170                         //cout << "Impact: set die" << (*sm_list_itr)->_getName() << endl;
 171                     }
 172
 173                 }
 174
 175                 ++submodel_iterator;
 176             }
 177         }
 178     }
 179
 180     _contrail_trigger->setBoolValue(_user_alt_node->getDoubleValue() > contrail_altitude);
 181
 182
 183 //    bool in_range = true;
 184     bool trigger = false;
 185     int i = -1;
 186
 187     submodel_iterator = submodels.begin();
 188     while (submodel_iterator != submodels.end())  {
 189         i++;
 190
 191         /*SG_LOG(SG_GENERAL, SG_DEBUG,
 192                 "Submodels:  " << (*submodel_iterator)->id
 193                 << " name " << (*submodel_iterator)->name
 194                 );*/
 195
 196         if ((*submodel_iterator)->trigger_node != 0) {
 197             _trigger_node = (*submodel_iterator)->trigger_node;
 198             trigger = _trigger_node->getBoolValue();
 199             //cout << (*submodel_iterator)->name << "trigger node found " <<  trigger << endl;
 200         } else {
 201             trigger = false;
 202             //cout << (*submodel_iterator)->name << " trigger node not found " << trigger << endl;
 203         }
 204
 205         if (trigger && (*submodel_iterator)->count != 0) {
 206
 207             //int id = (*submodel_iterator)->id;
 208             string name = (*submodel_iterator)->name;
 209
 210             SG_LOG(SG_GENERAL, SG_DEBUG,
 211             "Submodels release:  " << (*submodel_iterator)->id
 212             << " name " << (*submodel_iterator)->name
 213             << " count " << (*submodel_iterator)->count
 214             << " slaved " << (*submodel_iterator)->slaved
 215             );
 216
 217             release(*submodel_iterator, dt);
 218         } else
 219             (*submodel_iterator)->first_time = true;
 220
 221         ++submodel_iterator;
 222     } // end while
 223 }
 224
 225 bool FGSubmodelMgr::release(submodel *sm, double dt)
 226 {
 227     //cout << "release id " << sm->id
 228     //    << " name " << sm->name
 229     //    << " first time " << sm->first_time
 230     //    << " repeat " << sm->repeat
 231     //    << " slaved " << sm->slaved
 232     //    << endl;
 233
 234     // only run if first time or repeat is set to true
 235     if (!sm->first_time && !sm->repeat) {
 236         //cout<< "returning: "<< sm->name
 237         //    << " not first time " << sm->first_time
 238         //    << " repeat " << sm->repeat
 239         //    << " slaved " << sm->slaved
 240         //    << endl;
 241         return false;
 242     }
 243
 244     sm->timer += dt;
 245
 246     if (sm->timer < sm->delay) {
 247         //cout << "not yet: timer " << sm->timer << " delay " << sm->delay << endl;
 248         return false;
 249     }
 250
 251     //cout << "released timer: " << sm->timer << " delay " << sm->delay << endl;
 252
 253     sm->timer = 0.0;
 254
 255     if (sm->first_time) {
 256         dt = 0.0;
 257         sm->first_time = false;
 258     }
 259
 260     transform(sm);  // calculate submodel's initial conditions in world-coordinates
 261
 262     FGAIBallistic* ballist = new FGAIBallistic;
 263     ballist->setPath(sm->model.c_str());
 264     ballist->setName(sm->name);
 265     ballist->setSlaved(sm->slaved);
 266     ballist->setRandom(sm->random);
 267     ballist->setRandomness(sm->randomness);
 268     ballist->setLatitude(offsetpos.getLatitudeDeg());
 269     ballist->setLongitude(offsetpos.getLongitudeDeg());
 270     ballist->setAltitude(offsetpos.getElevationFt());
 271     ballist->setAzimuth(IC.azimuth);
 272     ballist->setElevation(IC.elevation);
 273     ballist->setRoll(IC.roll);
 274     ballist->setSpeed(IC.speed / SG_KT_TO_FPS);
 275     ballist->setWind_from_east(IC.wind_from_east);
 276     ballist->setWind_from_north(IC.wind_from_north);
 277     ballist->setMass(IC.mass);
 278     ballist->setDragArea(sm->drag_area);
 279     ballist->setLife(sm->life);
 280     ballist->setBuoyancy(sm->buoyancy);
 281     ballist->setWind(sm->wind);
 282     ballist->setCd(sm->cd);
 283     ballist->setStabilisation(sm->aero_stabilised);
 284     ballist->setNoRoll(sm->no_roll);
 285     ballist->setCollision(sm->collision);
 286     ballist->setExpiry(sm->expiry);
 287     ballist->setImpact(sm->impact);
 288     ballist->setImpactReportNode(sm->impact_report);
 289     ballist->setFuseRange(sm->fuse_range);
 290     ballist->setSubmodel(sm->submodel.c_str());
 291     ballist->setSubID(sm->sub_id);
 292     ballist->setForceStabilisation(sm->force_stabilised);
 293     ballist->setExternalForce(sm->ext_force);
 294     ballist->setForcePath(sm->force_path.c_str());
 295     ballist->setXoffset(sm->x_offset);
 296     ballist->setYoffset(sm->y_offset);
 297     ballist->setZoffset(sm->z_offset);
 298     ballist->setPitchoffset(sm->pitch_offset);
 299     ballist->setYawoffset(sm->yaw_offset);
 300     ballist->setParentNodes(_selected_ac);
 301     ballist->setContentsNode(sm->contents_node);
 302     ballist->setWeight(sm->weight);
 303     ai->attach(ballist);
 304
 305     if (sm->count > 0)
 306         sm->count--;
 307     return true;
 308 }
 309
 310 void FGSubmodelMgr::load()
 311 {
 312     SGPropertyNode *path = fgGetNode("/sim/submodels/path");
 313
 314     if (path) {
 315         const int id = 0;
 316         string Path = path->getStringValue();
 317         bool Seviceable =_serviceable_node->getBoolValue();
 318         setData(id, Path, Seviceable);
 319     }
 320 }
 321
 322 void FGSubmodelMgr::transform(submodel *sm)
 323 {
 324     // set initial conditions
 325     if (sm->contents_node != 0 && !sm->slaved) {
 326         // get the weight of the contents (lbs) and convert to mass (slugs)
 327         sm->contents = sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue();
 328         //cout << "transform: contents " << sm->contents << endl;
 329         IC.mass = (sm->weight + sm->contents) * lbs_to_slugs;
 330         //cout << "mass inc contents"  << IC.mass << endl;
 331
 332         // set contents to 0 in the parent
 333         sm->contents_node->getChild("level-gal_us",0,1)->setDoubleValue(0);
 334         /*cout << "contents " << sm->contents_node->getChild("level-gal_us")->getDoubleValue()
 335         << " " << sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue()
 336         << endl;*/
 337     } else
 338         IC.mass = sm->weight * lbs_to_slugs;
 339
 340     int id = sm->id;
 341     //int sub_id = sm->sub_id;
 342     string name = sm->name;
 343
 344
 345     if (sm->speed_node != 0)
 346         sm->speed = sm->speed_node->getDoubleValue();
 347
 348
 349     //cout << " name " << name << " id " << id << " sub id" << sub_id << endl;
 350
 351     // set the Initial Conditions for the types of submodel parent
 352
 353     if (_impact || _hit || _expiry) {
 354         // set the data for a submodel tied to a submodel
 355
 356         _count++;
 357
 358         IC.lat             = _parent_lat;
 359         IC.lon             = _parent_lon;
 360         IC.alt             = _parent_elev;
 361         IC.roll            = _parent_roll;    // rotation about x axis
 362         IC.elevation       = _parent_pitch;   // rotation about y axis
 363         IC.azimuth         = _parent_hdg;     // rotation about z axis
 364         IC.speed           = _parent_speed;
 365         IC.speed_down_fps  = 0;
 366         IC.speed_east_fps  = 0;
 367         IC.speed_north_fps = 0;
 368
 369     } else if (id == 0) {
 370         //set the data for a submodel tied to the main model
 371
 372         IC.lat             = _user_lat_node->getDoubleValue();
 373         IC.lon             = _user_lon_node->getDoubleValue();
 374         IC.alt             = _user_alt_node->getDoubleValue();
 375         IC.roll            = _user_roll_node->getDoubleValue();    // rotation about x axis
 376         IC.elevation       = _user_pitch_node->getDoubleValue();   // rotation about y axis
 377         IC.azimuth         = _user_heading_node->getDoubleValue(); // rotation about z axis
 378         IC.speed           = _user_speed_node->getDoubleValue();
 379         IC.speed_down_fps  = _user_speed_down_fps_node->getDoubleValue();
 380         IC.speed_east_fps  = _user_speed_east_fps_node->getDoubleValue();
 381         IC.speed_north_fps = _user_speed_north_fps_node->getDoubleValue();
 382
 383     } else {
 384         // set the data for a submodel tied to an AI Object
 385         //cout << " set the data for a submodel tied to an AI Object " << id << endl;
 386         sm_list_iterator sm_list_itr = sm_list.begin();
 387         sm_list_iterator end = sm_list.end();
 388         setParentNode(id);
 389     }
 390
 391     //cout << "Submodel: setting IC "<< name << endl;
 392     //cout << "heading " << IC.azimuth << endl ;
 393     //cout << "speed down " << IC.speed_down_fps << endl ;
 394     //cout << "speed east " << IC.speed_east_fps << endl ;
 395     //cout << "speed north " << IC.speed_north_fps << endl ;
 396     //cout << "parent speed fps in " << IC.speed << "sm speed in " << sm->speed << endl ;
 397     //cout << "lat " << IC.lat;
 398     //cout << "alt " << IC.alt <<  endl ;
 399
 400
 401     // Set the Initial Conditions that are common to all types of parent
 402     IC.wind_from_east =  _user_wind_from_east_node->getDoubleValue();
 403     IC.wind_from_north = _user_wind_from_north_node->getDoubleValue();
 404
 405 //cout << "wind e " << IC.wind_from_east << " n " << IC.wind_from_north << endl;
 406
 407     userpos.setLatitudeDeg(IC.lat);
 408     userpos.setLongitudeDeg(IC.lon);
 409     userpos.setElevationFt(IC.alt);
 410
 411     _x_offset = sm->x_offset;
 412     _y_offset = sm->y_offset;
 413     _z_offset = sm->z_offset;
 414
 415     setOffsetPos();
 416
 417     //IC.elevation += sm->pitch_offset;
 418     //IC.azimuth   += sm->yaw_offset ;
 419
 420     // pre-process the trig functions
 421     cosRx = cos(-IC.roll * SG_DEGREES_TO_RADIANS);
 422     sinRx = sin(-IC.roll * SG_DEGREES_TO_RADIANS);
 423     cosRy = cos(-IC.elevation * SG_DEGREES_TO_RADIANS);
 424     sinRy = sin(-IC.elevation * SG_DEGREES_TO_RADIANS);
 425     cosRz = cos(IC.azimuth * SG_DEGREES_TO_RADIANS);
 426     sinRz = sin(IC.azimuth * SG_DEGREES_TO_RADIANS);
 427
 428
 429     // Get submodel initial velocity vector angles in XZ and XY planes.
 430     // This vector should be added to aircraft's vector.
 431     IC.elevation += (sm->yaw_offset * sinRx) + (sm->pitch_offset * cosRx);
 432     IC.azimuth   += (sm->yaw_offset * cosRx) - (sm->pitch_offset * sinRx);
 433
 434     // calculate the total speed north
 435     IC.total_speed_north = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS)
 436             * cos(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_north_fps;
 437
 438     // calculate the total speed east
 439     IC.total_speed_east = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS)
 440             * sin(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_east_fps;
 441
 442     // calculate the total speed down
 443     IC.total_speed_down = sm->speed * -sin(IC.elevation * SG_DEGREES_TO_RADIANS)
 444             + IC.speed_down_fps;
 445
 446     // re-calculate speed, elevation and azimuth
 447     IC.speed = sqrt(IC.total_speed_north * IC.total_speed_north
 448             + IC.total_speed_east * IC.total_speed_east
 449             + IC.total_speed_down * IC.total_speed_down);
 450
 451     // if speeds are low this calculation can become unreliable
 452     if (IC.speed > 1) {
 453         IC.azimuth = atan2(IC.total_speed_east, IC.total_speed_north) * SG_RADIANS_TO_DEGREES;
 454         //        cout << "azimuth1 " << IC.azimuth<<endl;
 455
 456         // rationalise the output
 457         if (IC.azimuth < 0)
 458             IC.azimuth += 360;
 459         else if (IC.azimuth >= 360)
 460             IC.azimuth -= 360;
 461         // cout << "azimuth2 " << IC.azimuth<<endl;
 462
 463         IC.elevation = -atan(IC.total_speed_down / sqrt(IC.total_speed_north
 464             * IC.total_speed_north + IC.total_speed_east * IC.total_speed_east))
 465             * SG_RADIANS_TO_DEGREES;
 466     }
 467     //cout << "IC.speed " << IC.speed / SG_KT_TO_FPS << endl;
 468 }
 469
 470 void FGSubmodelMgr::updatelat(double lat)
 471 {
 472     ft_per_deg_latitude = 366468.96 - 3717.12 * cos(lat / SG_RADIANS_TO_DEGREES);
 473     ft_per_deg_longitude = 365228.16 * cos(lat / SG_RADIANS_TO_DEGREES);
 474 }
 475
 476 void FGSubmodelMgr::loadAI()
 477 {
 478     SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Loading AI submodels ");
 479
 480     sm_list = ai->get_ai_list();
 481
 482     if (sm_list.empty()) {
 483         SG_LOG(SG_GENERAL, SG_ALERT, "Submodels: Unable to read AI submodel list");
 484         return;
 485     }
 486
 487     sm_list_iterator sm_list_itr = sm_list.begin();
 488     sm_list_iterator end = sm_list.end();
 489
 490     while (sm_list_itr != end) {
 491         string path = (*sm_list_itr)->_getSMPath();
 492
 493         if (path.empty()) {
 494             ++sm_list_itr;
 495             continue;
 496         }
 497
 498         int id = (*sm_list_itr)->getID();
 499         string type = (*sm_list_itr)->getTypeString();
 500         bool serviceable = (*sm_list_itr)->_getServiceable();
 501
 502         //cout << "loadAI: type " << type << " path "<< path << " serviceable " << serviceable << endl;
 503
 504         setData(id, path, serviceable);
 505         ++sm_list_itr;
 506     }
 507 }
 508
 509
 510
 511 void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
 512 {
 513     SGPropertyNode root;
 514
 515     SGPath config = globals->resolve_aircraft_path(path);
 516     try {
 517         SG_LOG(SG_GENERAL, SG_DEBUG,
 518                 "Submodels: Trying to read AI submodels file: " << config.str());
 519         readProperties(config.str(), &root);
 520     } catch (const sg_exception &) {
 521         SG_LOG(SG_GENERAL, SG_ALERT,
 522                 "Submodels: Unable to read AI submodels file: " << config.str());
 523         return;
 524     }
 525
 526     vector<SGPropertyNode_ptr> children = root.getChildren("submodel");
 527     vector<SGPropertyNode_ptr>::iterator it = children.begin();
 528     vector<SGPropertyNode_ptr>::iterator end = children.end();
 529
 530     for (int i = 0; it != end; ++it, i++) {
 531         //cout << "Reading AI submodel " << (*it)->getPath() << endl;
 532         submodel* sm = new submodel;
 533         SGPropertyNode * entry_node = *it;
 534         sm->name            = entry_node->getStringValue("name", "none_defined");
 535         sm->model           = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
 536         sm->speed           = entry_node->getDoubleValue("speed", 2329.4);
 537         sm->repeat          = entry_node->getBoolValue("repeat", false);
 538         sm->delay           = entry_node->getDoubleValue("delay", 0.25);
 539         sm->count           = entry_node->getIntValue("count", 1);
 540         sm->slaved          = entry_node->getBoolValue("slaved", false);
 541         sm->x_offset        = entry_node->getDoubleValue("x-offset", 0.0);
 542         sm->y_offset        = entry_node->getDoubleValue("y-offset", 0.0);
 543         sm->z_offset        = entry_node->getDoubleValue("z-offset", 0.0);
 544         sm->yaw_offset      = entry_node->getDoubleValue("yaw-offset", 0.0);
 545         sm->pitch_offset    = entry_node->getDoubleValue("pitch-offset", 0.0);
 546         sm->drag_area       = entry_node->getDoubleValue("eda", 0.034);
 547         sm->life            = entry_node->getDoubleValue("life", 900.0);
 548         sm->buoyancy        = entry_node->getDoubleValue("buoyancy", 0);
 549         sm->wind            = entry_node->getBoolValue("wind", false);
 550         sm->cd              = entry_node->getDoubleValue("cd", 0.193);
 551         sm->weight          = entry_node->getDoubleValue("weight", 0.25);
 552         sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
 553         sm->no_roll         = entry_node->getBoolValue("no-roll", false);
 554         sm->collision       = entry_node->getBoolValue("collision", false);
 555         sm->expiry                      = entry_node->getBoolValue("expiry", false);
 556         sm->impact          = entry_node->getBoolValue("impact", false);
 557         sm->impact_report   = entry_node->getStringValue("impact-reports");
 558         sm->fuse_range      = entry_node->getDoubleValue("fuse-range", 0.0);
 559         sm->contents_node   = fgGetNode(entry_node->getStringValue("contents", "none"), false);
 560         sm->speed_node      = fgGetNode(entry_node->getStringValue("speed-prop", "none"), false);
 561         sm->submodel        = entry_node->getStringValue("submodel-path", "");
 562         sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
 563         sm->ext_force       = entry_node->getBoolValue("external-force", false);
 564         sm->force_path      = entry_node->getStringValue("force-path", "");
 565         sm->random                      = entry_node->getBoolValue("random", false);
 566         sm->randomness          = entry_node->getDoubleValue("randomness", 0.5);
 567
 568         if (sm->contents_node != 0)
 569             sm->contents = sm->contents_node->getDoubleValue();
 570
 571         const char *trigger_path = entry_node->getStringValue("trigger", 0);
 572         if (trigger_path) {
 573             sm->trigger_node = fgGetNode(trigger_path, true);
 574             sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue());
 575         } else {
 576             sm->trigger_node = 0;
 577         }
 578
 579         if (sm->speed_node != 0)
 580             sm->speed = sm->speed_node->getDoubleValue();
 581
 582         sm->timer = sm->delay;
 583         sm->id = id;
 584         sm->first_time = false;
 585         sm->serviceable = serviceable;
 586         sm->sub_id = 0;
 587
 588         sm->prop = fgGetNode("/ai/submodels/submodel", index, true);
 589         sm->prop->tie("delay", SGRawValuePointer<double>(&(sm->delay)));
 590         sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
 591         sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
 592         sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
 593         sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
 594         sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
 595         sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
 596         sm->prop->tie("slaved", SGRawValuePointer<bool>(&(sm->slaved)));
 597         string name = sm->name;
 598         sm->prop->setStringValue("name", name.c_str());
 599
 600         string submodel = sm->submodel;
 601         sm->prop->setStringValue("submodel", submodel.c_str());
 602
 603         string force_path = sm->force_path;
 604         sm->prop->setStringValue("force_path", force_path.c_str());
 605         //cout << "set force_path Sub " << force_path << endl;
 606
 607         if (sm->contents_node != 0)
 608             sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
 609
 610         index++;
 611         submodels.push_back(sm);
 612     }
 613 }
 614
 615 void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable)
 616 {
 617     SGPropertyNode root;
 618     SGPath config = globals->resolve_aircraft_path(path);
 619
 620     try {
 621         SG_LOG(SG_GENERAL, SG_DEBUG,
 622                 "Submodels: Trying to read AI submodels file: " << config.str());
 623         readProperties(config.str(), &root);
 624
 625     } catch (const sg_exception &) {
 626         SG_LOG(SG_GENERAL, SG_ALERT,
 627                 "Submodels: Unable to read AI submodels file: " << config.str());
 628         return;
 629     }
 630
 631     vector<SGPropertyNode_ptr> children = root.getChildren("submodel");
 632     vector<SGPropertyNode_ptr>::iterator it = children.begin();
 633     vector<SGPropertyNode_ptr>::iterator end = children.end();
 634
 635     for (int i = 0; it != end; ++it, i++) {
 636         //cout << "Reading AI submodel " << (*it)->getPath() << endl;
 637         submodel* sm = new submodel;
 638         SGPropertyNode * entry_node = *it;
 639         sm->name            = entry_node->getStringValue("name", "none_defined");
 640         sm->model           = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
 641         sm->speed           = entry_node->getDoubleValue("speed", 2329.4);
 642         sm->repeat          = entry_node->getBoolValue("repeat", false);
 643         sm->delay           = entry_node->getDoubleValue("delay", 0.25);
 644         sm->count           = entry_node->getIntValue("count", 1);
 645         sm->slaved          = entry_node->getBoolValue("slaved", false);
 646         sm->x_offset        = entry_node->getDoubleValue("x-offset", 0.0);
 647         sm->y_offset        = entry_node->getDoubleValue("y-offset", 0.0);
 648         sm->z_offset        = entry_node->getDoubleValue("z-offset", 0.0);
 649         sm->yaw_offset      = entry_node->getDoubleValue("yaw-offset", 0.0);
 650         sm->pitch_offset    = entry_node->getDoubleValue("pitch-offset", 0.0);
 651         sm->drag_area       = entry_node->getDoubleValue("eda", 0.034);
 652         sm->life            = entry_node->getDoubleValue("life", 900.0);
 653         sm->buoyancy        = entry_node->getDoubleValue("buoyancy", 0);
 654         sm->wind            = entry_node->getBoolValue("wind", false);
 655         sm->cd              = entry_node->getDoubleValue("cd", 0.193);
 656         sm->weight          = entry_node->getDoubleValue("weight", 0.25);
 657         sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
 658         sm->no_roll         = entry_node->getBoolValue("no-roll", false);
 659         sm->collision       = entry_node->getBoolValue("collision", false);
 660         sm->expiry          = entry_node->getBoolValue("expiry", false);
 661         sm->impact          = entry_node->getBoolValue("impact", false);
 662         sm->impact_report   = entry_node->getStringValue("impact-reports");
 663         sm->fuse_range      = entry_node->getDoubleValue("fuse-range", 0.0);
 664         sm->contents_node   = fgGetNode(entry_node->getStringValue("contents", "none"), false);
 665         sm->speed_node      = fgGetNode(entry_node->getStringValue("speed-prop", "none"), false);
 666         sm->submodel        = entry_node->getStringValue("submodel-path", "");
 667         sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
 668         sm->ext_force       = entry_node->getBoolValue("external-force", false);
 669         sm->force_path      = entry_node->getStringValue("force-path", "");
 670         sm->random          = entry_node->getBoolValue("random", false);
 671         sm->randomness      = entry_node->getDoubleValue("randomness", 0.5);
 672
 673         if (sm->contents_node != 0)
 674             sm->contents = sm->contents_node->getDoubleValue();
 675
 676         const char *trigger_path = entry_node->getStringValue("trigger", 0);
 677         if (trigger_path) {
 678             sm->trigger_node = fgGetNode(trigger_path, true);
 679             sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue());
 680         } else {
 681             sm->trigger_node = 0;
 682         }
 683
 684         if (sm->speed_node != 0)
 685             sm->speed = sm->speed_node->getDoubleValue();
 686
 687         sm->timer = sm->delay;
 688         sm->id = index;
 689         sm->first_time = false;
 690         sm->serviceable = serviceable;
 691         sm->sub_id = 0;
 692
 693         sm->prop = fgGetNode("/ai/submodels/subsubmodel", index, true);
 694         sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
 695         sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
 696         sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
 697         sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
 698         sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
 699         sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
 700         sm->prop->tie("slaved", SGRawValuePointer<bool>(&(sm->slaved)));
 701
 702         string name = sm->name;
 703         sm->prop->setStringValue("name", name.c_str());
 704
 705         string submodel = sm->submodel;
 706         sm->prop->setStringValue("submodel-path", submodel.c_str());
 707         // cout << " set submodel path AI" << submodel<< endl;
 708
 709         string force_path = sm->force_path;
 710         sm->prop->setStringValue("force_path", force_path.c_str());
 711         //cout << "set force_path  AI" << force_path << endl;
 712
 713         if (sm->contents_node != 0)
 714             sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
 715
 716         index++;
 717         subsubmodels.push_back(sm);
 718     }
 719 }
 720
 721 void FGSubmodelMgr::loadSubmodels()
 722 {
 723     SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Loading sub submodels");
 724
 725     _found_sub = false;
 726
 727     submodel_iterator = submodels.begin();
 728
 729     while (submodel_iterator != submodels.end()) {
 730         string submodel  = (*submodel_iterator)->submodel;
 731         if (!submodel.empty()) {
 732             //int id = (*submodel_iterator)->id;
 733             bool serviceable = true;
 734             SG_LOG(SG_GENERAL, SG_DEBUG, "found path sub sub "
 735                     << submodel
 736                     << " index " << index
 737                     << " name " << (*submodel_iterator)->name);
 738
 739             if ((*submodel_iterator)->sub_id == 0){
 740                 (*submodel_iterator)->sub_id = index;
 741                 _found_sub = true;
 742                 setSubData(index, submodel, serviceable);
 743             }
 744         }
 745
 746         ++submodel_iterator;
 747     } // end while
 748
 749     subsubmodel_iterator = subsubmodels.begin();
 750
 751     while (subsubmodel_iterator != subsubmodels.end()) {
 752
 753         submodels.push_back(*subsubmodel_iterator);
 754         ++subsubmodel_iterator;
 755     } // end while
 756
 757     subsubmodels.clear();
 758
 759     //submodel_iterator = submodels.begin();
 760
 761     //int subcount = 0;
 762
 763     //while (submodel_iterator != submodels.end()) {
 764     //    int id = (*submodel_iterator)->id;
 765     //    subcount++;
 766
 767     //    SG_LOG(SG_GENERAL, SG_ALERT,"after pushback "
 768     //            << " parent id " << id
 769     //            << " name " << (*submodel_iterator)->name
 770     //            << " sub id " << (*submodel_iterator)->sub_id
 771     //            << " subcount "<< subcount);
 772
 773     //    ++submodel_iterator;
 774     //}
 775 }
 776
 777 SGVec3d FGSubmodelMgr::getCartOffsetPos() const{
 778
 779     // convert geodetic positions to geocentered
 780     SGVec3d cartuserPos = SGVec3d::fromGeod(userpos);
 781     // Transform to the right coordinate frame, configuration is done in
 782     // the x-forward, y-right, z-up coordinates (feet), computation
 783     // in the simulation usual body x-forward, y-right, z-down coordinates
 784     // (meters) )
 785
 786     SGVec3d _off(_x_offset * SG_FEET_TO_METER,
 787         _y_offset * SG_FEET_TO_METER,
 788         -_z_offset * SG_FEET_TO_METER);
 789
 790     // Transform the user position to the horizontal local coordinate system.
 791     SGQuatd hlTrans = SGQuatd::fromLonLat(userpos);
 792
 793     // and postrotate the orientation of the user model wrt the horizontal
 794     // local frame
 795     hlTrans *= SGQuatd::fromYawPitchRollDeg(
 796        IC.azimuth,
 797        IC.elevation,
 798        IC.roll);
 799
 800     // The offset converted to the usual body fixed coordinate system
 801     // rotated to the earth-fixed coordinates axis
 802     SGVec3d off = hlTrans.backTransform(_off);
 803
 804     // Add the position offset of the user model to get the geocentered position
 805     SGVec3d offsetPos = cartuserPos + off;
 806     return offsetPos;
 807 }
 808
 809 void FGSubmodelMgr::setOffsetPos(){
 810     // convert the offset geocentered position to geodetic
 811     SGVec3d cartoffsetPos = getCartOffsetPos();
 812
 813     SGGeodesy::SGCartToGeod(cartoffsetPos, offsetpos);
 814
 815     //cout << "OFFSET POS" << offsetpos.getElevationFt();
 816
 817 }
 818
 819 void FGSubmodelMgr::valueChanged(SGPropertyNode *prop)
 820 {
 821     return; // this isn't working atm
 822
 823     const char* _model_added = _model_added_node->getStringValue();
 824
 825     basic_string <char>::size_type indexCh2b;
 826
 827     string str2 = _model_added;
 828     const char *cstr2b = "multiplayer";
 829     indexCh2b = str2.find( cstr2b, 0 );
 830
 831     if (indexCh2b != string::npos ){        // we will ignore Ballistic Objects - there are potentially too many
 832
 833         //cout << "Submodels: model added - " << str2 <<" read path "<< endl;
 834         //return;
 835         SGPropertyNode *a_node = fgGetNode(_model_added, true);
 836         SGPropertyNode *sub_node = a_node->getChild("sim", 0, true);
 837         SGPropertyNode_ptr path_node = sub_node->getChild("path", 0, true);
 838         SGPropertyNode_ptr callsign_node = a_node->getChild("callsign", 0, true);
 839
 840         string callsign = callsign_node->getStringValue();
 841
 842         //cout << "Submodels: model added - " << callsign <<" read callsign "<< endl;
 843             return;
 844
 845         } else {
 846             cout << "model added - " << str2 <<" returning "<< endl;
 847         return;
 848         }
 849
 850 }
 851
 852 void FGSubmodelMgr::setParentNode(int id) {
 853
 854     const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
 855
 856     for (int i = ai->nChildren() - 1; i >= -1; i--) {
 857         SGPropertyNode_ptr model;
 858
 859         if (i < 0) { // last iteration: selected model
 860             model = _selected_ac;
 861         } else {
 862             model = ai->getChild(i);
 863             string path = ai->getPath();
 864             const string name = model->getStringValue("name");
 865             int parent_id = model->getIntValue("id");
 866             if (!model->nChildren()){
 867                 continue;
 868             }
 869             if (parent_id == id) {
 870                 _selected_ac = model;  // save selected model for last iteration
 871                 break;
 872             }
 873
 874         }
 875         if (!model)
 876             continue;
 877
 878     }// end for loop
 879
 880     if (_selected_ac != 0){
 881
 882         //cout << " parent node found"<< endl;
 883
 884         const string name  = _selected_ac->getStringValue("name");
 885         IC.lat             = _selected_ac->getDoubleValue("position/latitude-deg");
 886         IC.lon             = _selected_ac->getDoubleValue("position/longitude-deg");
 887         IC.alt             = _selected_ac->getDoubleValue("position/altitude-ft");
 888         IC.roll            = _selected_ac->getDoubleValue("orientation/roll-deg");
 889         IC.elevation       = _selected_ac->getDoubleValue("orientation/pitch-deg");
 890         IC.azimuth         = _selected_ac->getDoubleValue("orientation/true-heading-deg");
 891         IC.speed           = _selected_ac->getDoubleValue("velocities/true-airspeed-kt") * SG_KT_TO_FPS;
 892         IC.speed_down_fps  = -_selected_ac->getDoubleValue("velocities/vertical-speed-fps");
 893         IC.speed_east_fps  = _selected_ac->getDoubleValue("velocities/speed-east-fps");
 894         IC.speed_north_fps = _selected_ac->getDoubleValue("velocities/speed-north-fps");
 895
 896         //cout << name << " IC.speed " << IC.speed << endl;
 897
 898     } else {
 899         SG_LOG(SG_GENERAL, SG_ALERT, "AISubmodel: parent node not found ");
 900     }
 901
 902 }
 903 // end of submodel.cxx