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     //_model_added_node = fgGetNode("ai/models/model-added", true);
  82     //_model_added_node->addChangeListener(this, false);
  83
  84 }
  85
  86 void FGSubmodelMgr::postinit() {
  87     // postinit, so that the AI list is populated
  88
  89         loadAI();
  90
  91     while (_found_sub)
  92         loadSubmodels();
  93
  94     //TODO reload submodels if an MP ac joins
  95
  96     //_model_added_node = fgGetNode("ai/models/model-added", true);
  97     //_model_added_node->addChangeListener(this, false);
  98 }
  99
 100 void FGSubmodelMgr::bind()
 101 {}
 102
 103 void FGSubmodelMgr::unbind()
 104 {
 105     submodel_iterator = submodels.begin();
 106     while (submodel_iterator != submodels.end()) {
 107         (*submodel_iterator)->prop->untie("count");
 108         ++submodel_iterator;
 109     }
 110 }
 111
 112 void FGSubmodelMgr::update(double dt)
 113 {
 114     if (!_serviceable_node->getBoolValue())
 115         return;
 116
 117     _impact = false;
 118     _hit = false;
 119     _expiry = false;
 120
 121     // check if the submodel hit an object or terrain
 122     sm_list = ai->get_ai_list();
 123     sm_list_iterator sm_list_itr = sm_list.begin();
 124     sm_list_iterator end = sm_list.end();
 125
 126     for (; sm_list_itr != end; ++sm_list_itr) {
 127         FGAIBase::object_type object_type =(*sm_list_itr)->getType();
 128
 129         if (object_type != FGAIBase::otBallistic){// only work on ballistic objects
 130             continue; // so continue
 131         }
 132
 133         int parent_subID = (*sm_list_itr)->_getSubID();
 134         int id = (*sm_list_itr)->getID();
 135
 136         if ( parent_subID == 0 || id == -1) // this entry in the list has no associated submodel
 137             continue;                       // or is invalid so we can continue
 138
 139         //SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! "
 140         //        << _hit <<" parent_subID " << parent_subID);
 141
 142         _hit = (*sm_list_itr)->_getCollisionData();
 143         _impact = (*sm_list_itr)->_getImpactData();
 144         _expiry = (*sm_list_itr)->_getExpiryData();
 145
 146         //SG_LOG(SG_GENERAL, SG_ALERT, "Submodel: " << (*sm_list_itr)->_getName()
 147         //    << " Impact " << _impact << " hit! " << _hit
 148         //    << " exipiry :-( " << _expiry );
 149
 150         if (_impact || _hit || _expiry) {
 151     //        SG_LOG(SG_GENERAL, SG_ALERT, "Submodel: Impact " << _impact << " hit! " << _hit
 152                 //<< " exipiry :-( " << _expiry );
 153
 154             submodel_iterator = submodels.begin();
 155
 156             while (submodel_iterator != submodels.end()) {
 157                 int child_ID = (*submodel_iterator)->id;
 158                 //cout << "Impact: parent SubID " << parent_subID << " child_ID " << child_ID << endl;
 159
 160                 if ( parent_subID == child_ID ) {
 161                     _parent_lat = (*sm_list_itr)->_getImpactLat();
 162                     _parent_lon = (*sm_list_itr)->_getImpactLon();
 163                     _parent_elev = (*sm_list_itr)->_getImpactElevFt();
 164                     _parent_hdg = (*sm_list_itr)->_getImpactHdg();
 165                     _parent_pitch = (*sm_list_itr)->_getImpactPitch();
 166                     _parent_roll = (*sm_list_itr)->_getImpactRoll();
 167                     _parent_speed = (*sm_list_itr)->_getImpactSpeed();
 168                     (*submodel_iterator)->first_time = true;
 169                     //cout << "Impact: parent SubID = child_ID elev " << _parent_elev << endl;
 170
 171                     if (release(*submodel_iterator, dt)){
 172                         (*sm_list_itr)->setDie(true);
 173                         //cout << "Impact: set die" << (*sm_list_itr)->_getName() << endl;
 174                     }
 175
 176                 }
 177
 178                 ++submodel_iterator;
 179             }
 180         }
 181     }
 182
 183     _contrail_trigger->setBoolValue(_user_alt_node->getDoubleValue() > contrail_altitude);
 184
 185
 186 //    bool in_range = true;
 187     bool trigger = false;
 188     int i = -1;
 189
 190     submodel_iterator = submodels.begin();
 191     while (submodel_iterator != submodels.end())  {
 192         i++;
 193
 194         /*SG_LOG(SG_GENERAL, SG_DEBUG,
 195                 "Submodels:  " << (*submodel_iterator)->id
 196                 << " name " << (*submodel_iterator)->name
 197                 );*/
 198
 199         if ((*submodel_iterator)->trigger_node != 0) {
 200             _trigger_node = (*submodel_iterator)->trigger_node;
 201             trigger = _trigger_node->getBoolValue();
 202             //cout << (*submodel_iterator)->name << "trigger node found " <<  trigger << endl;
 203         } else {
 204             trigger = false;
 205             //cout << (*submodel_iterator)->name << " trigger node not found " << trigger << endl;
 206         }
 207
 208         if (trigger && (*submodel_iterator)->count != 0) {
 209
 210             int id = (*submodel_iterator)->id;
 211             string name = (*submodel_iterator)->name;
 212
 213             SG_LOG(SG_GENERAL, SG_DEBUG,
 214             "Submodels release:  " << (*submodel_iterator)->id
 215             << " name " << (*submodel_iterator)->name
 216             << " count " << (*submodel_iterator)->count
 217             << " slaved " << (*submodel_iterator)->slaved
 218             );
 219
 220             release(*submodel_iterator, dt);
 221         } else
 222             (*submodel_iterator)->first_time = true;
 223
 224         ++submodel_iterator;
 225     } // end while
 226 }
 227
 228 bool FGSubmodelMgr::release(submodel *sm, double dt)
 229 {
 230     //cout << "release id " << sm->id
 231     //    << " name " << sm->name
 232     //    << " first time " << sm->first_time
 233     //    << " repeat " << sm->repeat
 234     //    << " slaved " << sm->slaved
 235     //    << endl;
 236
 237     // only run if first time or repeat is set to true
 238     if (!sm->first_time && !sm->repeat) {
 239         //cout<< "returning: "<< sm->name
 240         //    << " not first time " << sm->first_time
 241         //    << " repeat " << sm->repeat
 242         //    << " slaved " << sm->slaved
 243         //    << endl;
 244         return false;
 245     }
 246
 247     sm->timer += dt;
 248
 249     if (sm->timer < sm->delay) {
 250         //cout << "not yet: timer " << sm->timer << " delay " << sm->delay << endl;
 251         return false;
 252     }
 253
 254     //cout << "released timer: " << sm->timer << " delay " << sm->delay << endl;
 255
 256     sm->timer = 0.0;
 257
 258     if (sm->first_time) {
 259         dt = 0.0;
 260         sm->first_time = false;
 261     }
 262
 263     transform(sm);  // calculate submodel's initial conditions in world-coordinates
 264
 265     FGAIBallistic* ballist = new FGAIBallistic;
 266     ballist->setPath(sm->model.c_str());
 267     ballist->setName(sm->name);
 268     ballist->setSlaved(sm->slaved);
 269     ballist->setRandom(sm->random);
 270     ballist->setRandomness(sm->randomness);
 271     ballist->setLatitude(offsetpos.getLatitudeDeg());
 272     ballist->setLongitude(offsetpos.getLongitudeDeg());
 273     ballist->setAltitude(offsetpos.getElevationFt());
 274     ballist->setAzimuth(IC.azimuth);
 275     ballist->setElevation(IC.elevation);
 276     ballist->setRoll(IC.roll);
 277     ballist->setSpeed(IC.speed / SG_KT_TO_FPS);
 278     ballist->setWind_from_east(IC.wind_from_east);
 279     ballist->setWind_from_north(IC.wind_from_north);
 280     ballist->setMass(IC.mass);
 281     ballist->setDragArea(sm->drag_area);
 282     ballist->setLife(sm->life);
 283     ballist->setBuoyancy(sm->buoyancy);
 284     ballist->setWind(sm->wind);
 285     ballist->setCd(sm->cd);
 286     ballist->setStabilisation(sm->aero_stabilised);
 287     ballist->setNoRoll(sm->no_roll);
 288     ballist->setCollision(sm->collision);
 289     ballist->setExpiry(sm->expiry);
 290     ballist->setImpact(sm->impact);
 291     ballist->setImpactReportNode(sm->impact_report);
 292     ballist->setFuseRange(sm->fuse_range);
 293     ballist->setSubmodel(sm->submodel.c_str());
 294     ballist->setSubID(sm->sub_id);
 295     ballist->setForceStabilisation(sm->force_stabilised);
 296     ballist->setExternalForce(sm->ext_force);
 297     ballist->setForcePath(sm->force_path.c_str());
 298     ballist->setXoffset(sm->x_offset);
 299     ballist->setYoffset(sm->y_offset);
 300     ballist->setZoffset(sm->z_offset);
 301     ballist->setPitchoffset(sm->pitch_offset);
 302     ballist->setYawoffset(sm->yaw_offset);
 303     ballist->setParentNode(_selected_ac);
 304     ballist->setContentsNode(sm->contents_node);
 305     ballist->setWeight(sm->weight);
 306     ai->attach(ballist);
 307
 308     if (sm->count > 0)
 309         sm->count--;
 310     return true;
 311 }
 312
 313 void FGSubmodelMgr::load()
 314 {
 315     SGPropertyNode *path = fgGetNode("/sim/submodels/path");
 316
 317     if (path) {
 318         const int id = 0;
 319         string Path = path->getStringValue();
 320         bool Seviceable =_serviceable_node->getBoolValue();
 321         setData(id, Path, Seviceable);
 322     }
 323 }
 324
 325 void FGSubmodelMgr::transform(submodel *sm)
 326 {
 327     // set initial conditions
 328     if (sm->contents_node != 0 && !sm->slaved) {
 329         // get the weight of the contents (lbs) and convert to mass (slugs)
 330         sm->contents = sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue();
 331         //cout << "transform: contents " << sm->contents << endl;
 332         IC.mass = (sm->weight + sm->contents) * lbs_to_slugs;
 333         //cout << "mass inc contents"  << IC.mass << endl;
 334
 335         // set contents to 0 in the parent
 336         sm->contents_node->getChild("level-gal_us",0,1)->setDoubleValue(0);
 337         /*cout << "contents " << sm->contents_node->getChild("level-gal_us")->getDoubleValue()
 338         << " " << sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue()
 339         << endl;*/
 340     } else
 341         IC.mass = sm->weight * lbs_to_slugs;
 342
 343     int id = sm->id;
 344     int sub_id = sm->sub_id;
 345     string name = sm->name;
 346
 347
 348     if (sm->speed_node != 0)
 349         sm->speed = sm->speed_node->getDoubleValue();
 350
 351
 352     //cout << " name " << name << " id " << id << " sub id" << sub_id << endl;
 353
 354     // set the Initial Conditions for the types of submodel parent
 355
 356     if (_impact || _hit || _expiry) {
 357         // set the data for a submodel tied to a submodel
 358
 359         _count++;
 360
 361         IC.lat             = _parent_lat;
 362         IC.lon             = _parent_lon;
 363         IC.alt             = _parent_elev;
 364         IC.roll            = _parent_roll;    // rotation about x axis
 365         IC.elevation       = _parent_pitch;   // rotation about y axis
 366         IC.azimuth         = _parent_hdg;     // rotation about z axis
 367         IC.speed           = _parent_speed;
 368         IC.speed_down_fps  = 0;
 369         IC.speed_east_fps  = 0;
 370         IC.speed_north_fps = 0;
 371
 372     } else if (id == 0) {
 373         //set the data for a submodel tied to the main model
 374
 375         IC.lat             = _user_lat_node->getDoubleValue();
 376         IC.lon             = _user_lon_node->getDoubleValue();
 377         IC.alt             = _user_alt_node->getDoubleValue();
 378         IC.roll            = _user_roll_node->getDoubleValue();    // rotation about x axis
 379         IC.elevation       = _user_pitch_node->getDoubleValue();   // rotation about y axis
 380         IC.azimuth         = _user_heading_node->getDoubleValue(); // rotation about z axis
 381         IC.speed           = _user_speed_node->getDoubleValue();
 382         IC.speed_down_fps  = _user_speed_down_fps_node->getDoubleValue();
 383         IC.speed_east_fps  = _user_speed_east_fps_node->getDoubleValue();
 384         IC.speed_north_fps = _user_speed_north_fps_node->getDoubleValue();
 385
 386     } else {
 387         // set the data for a submodel tied to an AI Object
 388         //cout << " set the data for a submodel tied to an AI Object " << id << endl;
 389         sm_list_iterator sm_list_itr = sm_list.begin();
 390         sm_list_iterator end = sm_list.end();
 391         setParentNode(id);
 392     }
 393
 394     //cout << "Submodel: setting IC "<< name << endl;
 395     //cout << "heading " << IC.azimuth << endl ;
 396     //cout << "speed down " << IC.speed_down_fps << endl ;
 397     //cout << "speed east " << IC.speed_east_fps << endl ;
 398     //cout << "speed north " << IC.speed_north_fps << endl ;
 399     //cout << "parent speed fps in " << IC.speed << "sm speed in " << sm->speed << endl ;
 400     //cout << "lat " << IC.lat;
 401     //cout << "alt " << IC.alt <<  endl ;
 402
 403
 404     // Set the Initial Conditions that are common to all types of parent
 405     IC.wind_from_east =  _user_wind_from_east_node->getDoubleValue();
 406     IC.wind_from_north = _user_wind_from_north_node->getDoubleValue();
 407
 408 //cout << "wind e " << IC.wind_from_east << " n " << IC.wind_from_north << endl;
 409
 410     userpos.setLatitudeDeg(IC.lat);
 411     userpos.setLongitudeDeg(IC.lon);
 412     userpos.setElevationFt(IC.alt);
 413
 414     _x_offset = sm->x_offset;
 415     _y_offset = sm->y_offset;
 416     _z_offset = sm->z_offset;
 417
 418     setOffsetPos();
 419
 420     //IC.elevation += sm->pitch_offset;
 421     //IC.azimuth   += sm->yaw_offset ;
 422
 423     // pre-process the trig functions
 424     cosRx = cos(-IC.roll * SG_DEGREES_TO_RADIANS);
 425     sinRx = sin(-IC.roll * SG_DEGREES_TO_RADIANS);
 426     cosRy = cos(-IC.elevation * SG_DEGREES_TO_RADIANS);
 427     sinRy = sin(-IC.elevation * SG_DEGREES_TO_RADIANS);
 428     cosRz = cos(IC.azimuth * SG_DEGREES_TO_RADIANS);
 429     sinRz = sin(IC.azimuth * SG_DEGREES_TO_RADIANS);
 430
 431
 432     // Get submodel initial velocity vector angles in XZ and XY planes.
 433     // This vector should be added to aircraft's vector.
 434     IC.elevation += (sm->yaw_offset * sinRx) + (sm->pitch_offset * cosRx);
 435     IC.azimuth   += (sm->yaw_offset * cosRx) - (sm->pitch_offset * sinRx);
 436
 437     // calculate the total speed north
 438     IC.total_speed_north = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS)
 439             * cos(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_north_fps;
 440
 441     // calculate the total speed east
 442     IC.total_speed_east = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS)
 443             * sin(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_east_fps;
 444
 445     // calculate the total speed down
 446     IC.total_speed_down = sm->speed * -sin(IC.elevation * SG_DEGREES_TO_RADIANS)
 447             + IC.speed_down_fps;
 448
 449     // re-calculate speed, elevation and azimuth
 450     IC.speed = sqrt(IC.total_speed_north * IC.total_speed_north
 451             + IC.total_speed_east * IC.total_speed_east
 452             + IC.total_speed_down * IC.total_speed_down);
 453
 454     // if speeds are low this calculation can become unreliable
 455     if (IC.speed > 1) {
 456         IC.azimuth = atan2(IC.total_speed_east, IC.total_speed_north) * SG_RADIANS_TO_DEGREES;
 457         //        cout << "azimuth1 " << IC.azimuth<<endl;
 458
 459         // rationalise the output
 460         if (IC.azimuth < 0)
 461             IC.azimuth += 360;
 462         else if (IC.azimuth >= 360)
 463             IC.azimuth -= 360;
 464         // cout << "azimuth2 " << IC.azimuth<<endl;
 465
 466         IC.elevation = -atan(IC.total_speed_down / sqrt(IC.total_speed_north
 467             * IC.total_speed_north + IC.total_speed_east * IC.total_speed_east))
 468             * SG_RADIANS_TO_DEGREES;
 469     }
 470     //cout << "IC.speed " << IC.speed / SG_KT_TO_FPS << endl;
 471 }
 472
 473 void FGSubmodelMgr::updatelat(double lat)
 474 {
 475     ft_per_deg_latitude = 366468.96 - 3717.12 * cos(lat / SG_RADIANS_TO_DEGREES);
 476     ft_per_deg_longitude = 365228.16 * cos(lat / SG_RADIANS_TO_DEGREES);
 477 }
 478
 479 void FGSubmodelMgr::loadAI()
 480 {
 481     SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Loading AI submodels ");
 482
 483     sm_list = ai->get_ai_list();
 484
 485     if (sm_list.empty()) {
 486         SG_LOG(SG_GENERAL, SG_ALERT, "Submodels: Unable to read AI submodel list");
 487         return;
 488     }
 489
 490     sm_list_iterator sm_list_itr = sm_list.begin();
 491     sm_list_iterator end = sm_list.end();
 492
 493     while (sm_list_itr != end) {
 494         string path = (*sm_list_itr)->_getSMPath();
 495
 496         if (path.empty()) {
 497             ++sm_list_itr;
 498             continue;
 499         }
 500
 501         int id = (*sm_list_itr)->getID();
 502         string type = (*sm_list_itr)->getTypeString();
 503         bool serviceable = (*sm_list_itr)->_getServiceable();
 504
 505         //cout << "loadAI: type " << type << " path "<< path << " serviceable " << serviceable << endl;
 506
 507         setData(id, path, serviceable);
 508         ++sm_list_itr;
 509     }
 510 }
 511
 512
 513
 514 void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
 515 {
 516     SGPropertyNode root;
 517
 518     SGPath config(globals->get_fg_root());
 519     config.append(path);
 520     SG_LOG(SG_GENERAL, SG_DEBUG, "setData: path " << path);
 521     try {
 522         SG_LOG(SG_GENERAL, SG_DEBUG,
 523                 "Submodels: Trying to read AI submodels file: " << config.str());
 524         readProperties(config.str(), &root);
 525     } catch (const sg_exception &) {
 526         SG_LOG(SG_GENERAL, SG_ALERT,
 527                 "Submodels: Unable to read AI submodels file: " << config.str());
 528         return;
 529     }
 530
 531     vector<SGPropertyNode_ptr> children = root.getChildren("submodel");
 532     vector<SGPropertyNode_ptr>::iterator it = children.begin();
 533     vector<SGPropertyNode_ptr>::iterator end = children.end();
 534
 535     for (int i = 0; it != end; ++it, i++) {
 536         //cout << "Reading AI submodel " << (*it)->getPath() << endl;
 537         submodel* sm = new submodel;
 538         SGPropertyNode * entry_node = *it;
 539         sm->name            = entry_node->getStringValue("name", "none_defined");
 540         sm->model           = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
 541         sm->speed           = entry_node->getDoubleValue("speed", 2329.4);
 542         sm->repeat          = entry_node->getBoolValue("repeat", false);
 543         sm->delay           = entry_node->getDoubleValue("delay", 0.25);
 544         sm->count           = entry_node->getIntValue("count", 1);
 545         sm->slaved          = entry_node->getBoolValue("slaved", false);
 546         sm->x_offset        = entry_node->getDoubleValue("x-offset", 0.0);
 547         sm->y_offset        = entry_node->getDoubleValue("y-offset", 0.0);
 548         sm->z_offset        = entry_node->getDoubleValue("z-offset", 0.0);
 549         sm->yaw_offset      = entry_node->getDoubleValue("yaw-offset", 0.0);
 550         sm->pitch_offset    = entry_node->getDoubleValue("pitch-offset", 0.0);
 551         sm->drag_area       = entry_node->getDoubleValue("eda", 0.034);
 552         sm->life            = entry_node->getDoubleValue("life", 900.0);
 553         sm->buoyancy        = entry_node->getDoubleValue("buoyancy", 0);
 554         sm->wind            = entry_node->getBoolValue("wind", false);
 555         sm->cd              = entry_node->getDoubleValue("cd", 0.193);
 556         sm->weight          = entry_node->getDoubleValue("weight", 0.25);
 557         sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
 558         sm->no_roll         = entry_node->getBoolValue("no-roll", false);
 559         sm->collision       = entry_node->getBoolValue("collision", false);
 560         sm->expiry                      = entry_node->getBoolValue("expiry", false);
 561         sm->impact          = entry_node->getBoolValue("impact", false);
 562         sm->impact_report   = entry_node->getStringValue("impact-reports");
 563         sm->fuse_range      = entry_node->getDoubleValue("fuse-range", 0.0);
 564         sm->contents_node   = fgGetNode(entry_node->getStringValue("contents", "none"), false);
 565         sm->speed_node      = fgGetNode(entry_node->getStringValue("speed-prop", "none"), false);
 566         sm->submodel        = entry_node->getStringValue("submodel-path", "");
 567         sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
 568         sm->ext_force       = entry_node->getBoolValue("external-force", false);
 569         sm->force_path      = entry_node->getStringValue("force-path", "");
 570         sm->random                      = entry_node->getBoolValue("random", false);
 571         sm->randomness          = entry_node->getDoubleValue("randomness", 0.5);
 572
 573         if (sm->contents_node != 0)
 574             sm->contents = sm->contents_node->getDoubleValue();
 575
 576         const char *trigger_path = entry_node->getStringValue("trigger", 0);
 577         if (trigger_path) {
 578             sm->trigger_node = fgGetNode(trigger_path, true);
 579             sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue());
 580         } else {
 581             sm->trigger_node = 0;
 582         }
 583
 584         if (sm->speed_node != 0)
 585             sm->speed = sm->speed_node->getDoubleValue();
 586
 587         sm->timer = sm->delay;
 588         sm->id = id;
 589         sm->first_time = false;
 590         sm->serviceable = serviceable;
 591         sm->sub_id = 0;
 592
 593         sm->prop = fgGetNode("/ai/submodels/submodel", index, true);
 594         sm->prop->tie("delay", SGRawValuePointer<double>(&(sm->delay)));
 595         sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
 596         sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
 597         sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
 598         sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
 599         sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
 600         sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
 601         sm->prop->tie("slaved", SGRawValuePointer<bool>(&(sm->slaved)));
 602         string name = sm->name;
 603         sm->prop->setStringValue("name", name.c_str());
 604
 605         string submodel = sm->submodel;
 606         sm->prop->setStringValue("submodel", submodel.c_str());
 607
 608         string force_path = sm->force_path;
 609         sm->prop->setStringValue("force_path", force_path.c_str());
 610         //cout << "set force_path Sub " << force_path << endl;
 611
 612         if (sm->contents_node != 0)
 613             sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
 614
 615         index++;
 616         submodels.push_back(sm);
 617     }
 618 }
 619
 620 void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable)
 621 {
 622     SGPropertyNode root;
 623
 624     SGPath config(globals->get_fg_root());
 625     config.append(path);
 626     SG_LOG(SG_GENERAL, SG_DEBUG, "setSubData: path " << path);
 627
 628     try {
 629         SG_LOG(SG_GENERAL, SG_DEBUG,
 630                 "Submodels: Trying to read AI submodels file: " << config.str());
 631         readProperties(config.str(), &root);
 632
 633     } catch (const sg_exception &) {
 634         SG_LOG(SG_GENERAL, SG_ALERT,
 635                 "Submodels: Unable to read AI submodels file: " << config.str());
 636         return;
 637     }
 638
 639     vector<SGPropertyNode_ptr> children = root.getChildren("submodel");
 640     vector<SGPropertyNode_ptr>::iterator it = children.begin();
 641     vector<SGPropertyNode_ptr>::iterator end = children.end();
 642
 643     for (int i = 0; it != end; ++it, i++) {
 644         //cout << "Reading AI submodel " << (*it)->getPath() << endl;
 645         submodel* sm = new submodel;
 646         SGPropertyNode * entry_node = *it;
 647         sm->name            = entry_node->getStringValue("name", "none_defined");
 648         sm->model           = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
 649         sm->speed           = entry_node->getDoubleValue("speed", 2329.4);
 650         sm->repeat          = entry_node->getBoolValue("repeat", false);
 651         sm->delay           = entry_node->getDoubleValue("delay", 0.25);
 652         sm->count           = entry_node->getIntValue("count", 1);
 653         sm->slaved          = entry_node->getBoolValue("slaved", false);
 654         sm->x_offset        = entry_node->getDoubleValue("x-offset", 0.0);
 655         sm->y_offset        = entry_node->getDoubleValue("y-offset", 0.0);
 656         sm->z_offset        = entry_node->getDoubleValue("z-offset", 0.0);
 657         sm->yaw_offset      = entry_node->getDoubleValue("yaw-offset", 0.0);
 658         sm->pitch_offset    = entry_node->getDoubleValue("pitch-offset", 0.0);
 659         sm->drag_area       = entry_node->getDoubleValue("eda", 0.034);
 660         sm->life            = entry_node->getDoubleValue("life", 900.0);
 661         sm->buoyancy        = entry_node->getDoubleValue("buoyancy", 0);
 662         sm->wind            = entry_node->getBoolValue("wind", false);
 663         sm->cd              = entry_node->getDoubleValue("cd", 0.193);
 664         sm->weight          = entry_node->getDoubleValue("weight", 0.25);
 665         sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
 666         sm->no_roll         = entry_node->getBoolValue("no-roll", false);
 667         sm->collision       = entry_node->getBoolValue("collision", false);
 668         sm->expiry          = entry_node->getBoolValue("expiry", false);
 669         sm->impact          = entry_node->getBoolValue("impact", false);
 670         sm->impact_report   = entry_node->getStringValue("impact-reports");
 671         sm->fuse_range      = entry_node->getDoubleValue("fuse-range", 0.0);
 672         sm->contents_node   = fgGetNode(entry_node->getStringValue("contents", "none"), false);
 673         sm->speed_node      = fgGetNode(entry_node->getStringValue("speed-prop", "none"), false);
 674         sm->submodel        = entry_node->getStringValue("submodel-path", "");
 675         sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
 676         sm->ext_force       = entry_node->getBoolValue("external-force", false);
 677         sm->force_path      = entry_node->getStringValue("force-path", "");
 678         sm->random          = entry_node->getBoolValue("random", false);
 679         sm->randomness      = entry_node->getDoubleValue("randomness", 0.5);
 680
 681         if (sm->contents_node != 0)
 682             sm->contents = sm->contents_node->getDoubleValue();
 683
 684         const char *trigger_path = entry_node->getStringValue("trigger", 0);
 685         if (trigger_path) {
 686             sm->trigger_node = fgGetNode(trigger_path, true);
 687             sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue());
 688         } else {
 689             sm->trigger_node = 0;
 690         }
 691
 692         if (sm->speed_node != 0)
 693             sm->speed = sm->speed_node->getDoubleValue();
 694
 695         sm->timer = sm->delay;
 696         sm->id = index;
 697         sm->first_time = false;
 698         sm->serviceable = serviceable;
 699         sm->sub_id = 0;
 700
 701         sm->prop = fgGetNode("/ai/submodels/subsubmodel", index, true);
 702         sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
 703         sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
 704         sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
 705         sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
 706         sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
 707         sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
 708         sm->prop->tie("slaved", SGRawValuePointer<bool>(&(sm->slaved)));
 709
 710         string name = sm->name;
 711         sm->prop->setStringValue("name", name.c_str());
 712
 713         string submodel = sm->submodel;
 714         sm->prop->setStringValue("submodel-path", submodel.c_str());
 715         // cout << " set submodel path AI" << submodel<< endl;
 716
 717         string force_path = sm->force_path;
 718         sm->prop->setStringValue("force_path", force_path.c_str());
 719         //cout << "set force_path  AI" << force_path << endl;
 720
 721         if (sm->contents_node != 0)
 722             sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
 723
 724         index++;
 725         subsubmodels.push_back(sm);
 726     }
 727 }
 728
 729 void FGSubmodelMgr::loadSubmodels()
 730 {
 731     SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Loading sub submodels");
 732
 733     _found_sub = false;
 734
 735     submodel_iterator = submodels.begin();
 736
 737     while (submodel_iterator != submodels.end()) {
 738         string submodel  = (*submodel_iterator)->submodel;
 739         if (!submodel.empty()) {
 740             //int id = (*submodel_iterator)->id;
 741             bool serviceable = true;
 742             SG_LOG(SG_GENERAL, SG_DEBUG, "found path sub sub "
 743                     << submodel
 744                     << " index " << index
 745                     << " name " << (*submodel_iterator)->name);
 746
 747             if ((*submodel_iterator)->sub_id == 0){
 748                 (*submodel_iterator)->sub_id = index;
 749                 _found_sub = true;
 750                 setSubData(index, submodel, serviceable);
 751             }
 752         }
 753
 754         ++submodel_iterator;
 755     } // end while
 756
 757     subsubmodel_iterator = subsubmodels.begin();
 758
 759     while (subsubmodel_iterator != subsubmodels.end()) {
 760
 761         submodels.push_back(*subsubmodel_iterator);
 762         ++subsubmodel_iterator;
 763     } // end while
 764
 765     subsubmodels.clear();
 766
 767     //submodel_iterator = submodels.begin();
 768
 769     //int subcount = 0;
 770
 771     //while (submodel_iterator != submodels.end()) {
 772     //    int id = (*submodel_iterator)->id;
 773     //    subcount++;
 774
 775     //    SG_LOG(SG_GENERAL, SG_ALERT,"after pushback "
 776     //            << " parent id " << id
 777     //            << " name " << (*submodel_iterator)->name
 778     //            << " sub id " << (*submodel_iterator)->sub_id
 779     //            << " subcount "<< subcount);
 780
 781     //    ++submodel_iterator;
 782     //}
 783 }
 784
 785 SGVec3d FGSubmodelMgr::getCartOffsetPos() const{
 786
 787     // convert geodetic positions to geocentered
 788     SGVec3d cartuserPos = SGVec3d::fromGeod(userpos);
 789     // Transform to the right coordinate frame, configuration is done in
 790     // the x-forward, y-right, z-up coordinates (feet), computation
 791     // in the simulation usual body x-forward, y-right, z-down coordinates
 792     // (meters) )
 793
 794     SGVec3d _off(_x_offset * SG_FEET_TO_METER,
 795         _y_offset * SG_FEET_TO_METER,
 796         -_z_offset * SG_FEET_TO_METER);
 797
 798     // Transform the user position to the horizontal local coordinate system.
 799     SGQuatd hlTrans = SGQuatd::fromLonLat(userpos);
 800
 801     // and postrotate the orientation of the user model wrt the horizontal
 802     // local frame
 803     hlTrans *= SGQuatd::fromYawPitchRollDeg(
 804        IC.azimuth,
 805        IC.elevation,
 806        IC.roll);
 807
 808     // The offset converted to the usual body fixed coordinate system
 809     // rotated to the earth-fixed coordinates axis
 810     SGVec3d off = hlTrans.backTransform(_off);
 811
 812     // Add the position offset of the user model to get the geocentered position
 813     SGVec3d offsetPos = cartuserPos + off;
 814     return offsetPos;
 815 }
 816
 817 void FGSubmodelMgr::setOffsetPos(){
 818     // convert the offset geocentered position to geodetic
 819     SGVec3d cartoffsetPos = getCartOffsetPos();
 820
 821     SGGeodesy::SGCartToGeod(cartoffsetPos, offsetpos);
 822
 823     //cout << "OFFSET POS" << offsetpos.getElevationFt();
 824
 825 }
 826
 827 void FGSubmodelMgr::valueChanged(SGPropertyNode *prop)
 828 {
 829 //    cout << "LISTENER: " << endl;
 830
 831     const char* _model_added = _model_added_node->getStringValue();
 832
 833     basic_string <char>::size_type indexCh2b;
 834
 835     string str2 = _model_added;
 836     const char *cstr2b = "ballistic";
 837     indexCh2b = str2.find( cstr2b, 0 );
 838
 839 //    cout << "model added - " << str2 <<" now do something "<< endl;
 840
 841     if (indexCh2b != string::npos ){        // we will ignore Ballistic Objects - there are potentially too many
 842         return;
 843     } else {
 844
 845         SGPropertyNode *a_node = fgGetNode(_model_added, true );
 846         SGPropertyNode *sub_node = a_node->getChild("submodels", 0, true);
 847         SGPropertyNode_ptr path_node = sub_node->getChild("path", 0, true);
 848
 849         string path = path_node->getStringValue();
 850
 851         if (path.empty()){
 852             // nothing to do - return
 853             //cout << "subpath empty - return"  << endl << endl;
 854             return;
 855         } else {
 856             //cout << "subpath found - loading"  << endl << endl;
 857             SGPropertyNode_ptr ident_node = a_node->getChild("id", 0, true);
 858             int id = ident_node->getIntValue();
 859
 860             setData(id, path, true);
 861
 862             _found_sub = true;
 863
 864             while (_found_sub)
 865                 loadSubmodels();
 866
 867         }
 868
 869     }
 870
 871 }
 872
 873 void FGSubmodelMgr::setParentNode(int id) {
 874
 875     const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
 876
 877     for (int i = ai->nChildren() - 1; i >= -1; i--) {
 878         SGPropertyNode_ptr model;
 879
 880         if (i < 0) { // last iteration: selected model
 881             model = _selected_ac;
 882         } else {
 883             model = ai->getChild(i);
 884             string path = ai->getPath();
 885             const string name = model->getStringValue("name");
 886             int parent_id = model->getIntValue("id");
 887             if (!model->nChildren()){
 888                 continue;
 889             }
 890             if (parent_id == id) {
 891                 _selected_ac = model;  // save selected model for last iteration
 892                 break;
 893             }
 894
 895         }
 896         if (!model)
 897             continue;
 898
 899     }// end for loop
 900
 901     if (_selected_ac != 0){
 902
 903         //cout << " parent node found"<< endl;
 904
 905         const string name  = _selected_ac->getStringValue("name");
 906         IC.lat             = _selected_ac->getDoubleValue("position/latitude-deg");
 907         IC.lon             = _selected_ac->getDoubleValue("position/longitude-deg");
 908         IC.alt             = _selected_ac->getDoubleValue("position/altitude-ft");
 909         IC.roll            = _selected_ac->getDoubleValue("orientation/roll-deg");
 910         IC.elevation       = _selected_ac->getDoubleValue("orientation/pitch-deg");
 911         IC.azimuth         = _selected_ac->getDoubleValue("orientation/true-heading-deg");
 912         IC.speed           = _selected_ac->getDoubleValue("velocities/true-airspeed-kt") * SG_KT_TO_FPS;
 913         IC.speed_down_fps  = -_selected_ac->getDoubleValue("velocities/vertical-speed-fps");
 914         IC.speed_east_fps  = _selected_ac->getDoubleValue("velocities/speed-east-fps");
 915         IC.speed_north_fps = _selected_ac->getDoubleValue("velocities/speed-north-fps");
 916
 917         //cout << name << " IC.speed " << IC.speed << endl;
 918
 919     } else {
 920         SG_LOG(SG_GENERAL, SG_ALERT, "AISubmodel: parent node not found ");
 921     }
 922
 923 }
 924 // end of submodel.cxx