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 using std::cout;
  27 using std::endl;
  28 using std::string;
  29 using std::vector;
  30
  31 const double FGSubmodelMgr::lbs_to_slugs = 0.031080950172;
  32
  33 FGSubmodelMgr::FGSubmodelMgr()
  34 {
  35     x_offset = y_offset = z_offset = 0.0;
  36     pitch_offset = 0.0;
  37     yaw_offset = 0.0;
  38
  39     //out[0] = out[1] = out[2] = 0;
  40     //string contents_node;
  41     contrail_altitude = 30000;
  42     _count = 0;
  43     _found_sub = true;
  44 }
  45
  46 FGSubmodelMgr::~FGSubmodelMgr()
  47 {
  48 }
  49
  50 FGAIManager* FGSubmodelMgr::aiManager()
  51 {
  52    return (FGAIManager*)globals->get_subsystem("ai-model");
  53 }
  54
  55 void FGSubmodelMgr::init()
  56 {
  57     index = 0;
  58
  59     _serviceable_node = fgGetNode("/sim/submodels/serviceable", true);
  60     _serviceable_node->setBoolValue(true);
  61
  62     _user_lat_node = fgGetNode("/position/latitude-deg", true);
  63     _user_lon_node = fgGetNode("/position/longitude-deg", true);
  64     _user_alt_node = fgGetNode("/position/altitude-ft", true);
  65
  66     _user_heading_node = fgGetNode("/orientation/heading-deg", true);
  67     _user_pitch_node =   fgGetNode("/orientation/pitch-deg", true);
  68     _user_roll_node =    fgGetNode("/orientation/roll-deg", true);
  69     _user_yaw_node =     fgGetNode("/orientation/yaw-deg", true);
  70     _user_alpha_node =   fgGetNode("/orientation/alpha-deg", true);
  71
  72     _user_speed_node = fgGetNode("/velocities/uBody-fps", true);
  73
  74     _user_wind_from_east_node  = fgGetNode("/environment/wind-from-east-fps", true);
  75     _user_wind_from_north_node = fgGetNode("/environment/wind-from-north-fps", true);
  76
  77     _user_speed_down_fps_node   = fgGetNode("/velocities/speed-down-fps", true);
  78     _user_speed_east_fps_node   = fgGetNode("/velocities/speed-east-fps", true);
  79     _user_speed_north_fps_node  = fgGetNode("/velocities/speed-north-fps", true);
  80
  81     _contrail_altitude_node = fgGetNode("/environment/params/contrail-altitude", true);
  82     contrail_altitude       = _contrail_altitude_node->getDoubleValue();
  83     _contrail_trigger       = fgGetNode("ai/submodels/contrails", true);
  84     _contrail_trigger->setBoolValue(false);
  85
  86     load();
  87
  88 }
  89
  90 void FGSubmodelMgr::postinit() {
  91     // postinit, so that the AI list is populated
  92
  93         loadAI();
  94
  95     while (_found_sub)
  96         loadSubmodels();
  97
  98     //TODO reload submodels if an MP ac joins
  99
 100     //_model_added_node = fgGetNode("ai/models/model-added", true);
 101     //_model_added_node->addChangeListener(this, false);
 102 }
 103
 104 void FGSubmodelMgr::bind()
 105 {}
 106
 107 void FGSubmodelMgr::unbind()
 108 {
 109     submodel_iterator = submodels.begin();
 110     while (submodel_iterator != submodels.end()) {
 111         (*submodel_iterator)->prop->untie("count");
 112         ++submodel_iterator;
 113     }
 114 }
 115
 116 void FGSubmodelMgr::update(double dt)
 117 {
 118     if (!_serviceable_node->getBoolValue())
 119         return;
 120
 121     _impact = false;
 122     _hit = false;
 123     _expiry = false;
 124
 125     // check if the submodel hit an object or terrain
 126     FGAIManager::ai_list_type sm_list(aiManager()->get_ai_list());
 127     FGAIManager::ai_list_iterator sm_list_itr = sm_list.begin(),
 128       end = sm_list.end();
 129
 130     for (; sm_list_itr != end; ++sm_list_itr) {
 131         FGAIBase::object_type object_type =(*sm_list_itr)->getType();
 132
 133         if (object_type != FGAIBase::otBallistic){// only work on ballistic objects
 134             continue; // so continue
 135         }
 136
 137         int parent_subID = (*sm_list_itr)->_getSubID();
 138         int id = (*sm_list_itr)->getID();
 139
 140         if ( parent_subID == 0 || id == -1) // this entry in the list has no associated submodel
 141             continue;                       // or is invalid so we can continue
 142
 143         //SG_LOG(SG_AI, SG_DEBUG, "Submodel: Impact " << _impact << " hit! "
 144         //        << _hit <<" parent_subID " << parent_subID);
 145
 146         _hit = (*sm_list_itr)->_getCollisionData();
 147         _impact = (*sm_list_itr)->_getImpactData();
 148         _expiry = (*sm_list_itr)->_getExpiryData();
 149
 150         //SG_LOG(SG_AI, SG_ALERT, "Submodel: " << (*sm_list_itr)->_getName()
 151         //    << " Impact " << _impact << " hit! " << _hit
 152         //    << " exipiry :-( " << _expiry );
 153
 154         if (_impact || _hit || _expiry) {
 155     //        SG_LOG(SG_AI, SG_ALERT, "Submodel: Impact " << _impact << " hit! " << _hit
 156                 //<< " exipiry :-( " << _expiry );
 157
 158             submodel_iterator = submodels.begin();
 159
 160             while (submodel_iterator != submodels.end()) {
 161                 int child_ID = (*submodel_iterator)->id;
 162                 //cout << "Impact: parent SubID " << parent_subID << " child_ID " << child_ID << endl;
 163
 164                 if ( parent_subID == child_ID ) {
 165                     _parent_lat = (*sm_list_itr)->_getImpactLat();
 166                     _parent_lon = (*sm_list_itr)->_getImpactLon();
 167                     _parent_elev = (*sm_list_itr)->_getImpactElevFt();
 168                     _parent_hdg = (*sm_list_itr)->_getImpactHdg();
 169                     _parent_pitch = (*sm_list_itr)->_getImpactPitch();
 170                     _parent_roll = (*sm_list_itr)->_getImpactRoll();
 171                     _parent_speed = (*sm_list_itr)->_getImpactSpeed();
 172                     (*submodel_iterator)->first_time = true;
 173                     //cout << "Impact: parent SubID = child_ID elev " << _parent_elev << endl;
 174
 175                     if (release(*submodel_iterator, dt)){
 176                         (*sm_list_itr)->setDie(true);
 177                         //cout << "Impact: set die" << (*sm_list_itr)->_getName() << endl;
 178                     }
 179
 180                 }
 181
 182                 ++submodel_iterator;
 183             }
 184         }
 185     }
 186
 187     _contrail_trigger->setBoolValue(_user_alt_node->getDoubleValue() > contrail_altitude);
 188
 189
 190 //    bool in_range = true;
 191     bool trigger = false;
 192     int i = -1;
 193
 194     submodel_iterator = submodels.begin();
 195     while (submodel_iterator != submodels.end())  {
 196         i++;
 197
 198         /*SG_LOG(SG_AI, SG_DEBUG,
 199                 "Submodels:  " << (*submodel_iterator)->id
 200                 << " name " << (*submodel_iterator)->name
 201                 );*/
 202
 203         if ((*submodel_iterator)->trigger_node != 0) {
 204             _trigger_node = (*submodel_iterator)->trigger_node;
 205             trigger = _trigger_node->getBoolValue();
 206             //cout << (*submodel_iterator)->name << "trigger node found " <<  trigger << endl;
 207         } else {
 208             trigger = false;
 209             //cout << (*submodel_iterator)->name << " trigger node not found " << trigger << endl;
 210         }
 211
 212         if (trigger && (*submodel_iterator)->count != 0) {
 213
 214             //int id = (*submodel_iterator)->id;
 215             //const string& name = (*submodel_iterator)->name;
 216
 217             SG_LOG(SG_AI, SG_DEBUG,
 218             "Submodels release:  " << (*submodel_iterator)->id
 219             << " name " << (*submodel_iterator)->name
 220             << " count " << (*submodel_iterator)->count
 221             << " slaved " << (*submodel_iterator)->slaved
 222             );
 223
 224             release(*submodel_iterator, dt);
 225         } else
 226             (*submodel_iterator)->first_time = true;
 227
 228         ++submodel_iterator;
 229     } // end while
 230 }
 231
 232 bool FGSubmodelMgr::release(submodel *sm, double dt)
 233 {
 234     //cout << "release id " << sm->id
 235     //    << " name " << sm->name
 236     //    << " first time " << sm->first_time
 237     //    << " repeat " << sm->repeat
 238     //    << " slaved " << sm->slaved
 239     //    << endl;
 240
 241     // only run if first time or repeat is set to true
 242     if (!sm->first_time && !sm->repeat) {
 243         //cout<< "returning: "<< sm->name
 244         //    << " not first time " << sm->first_time
 245         //    << " repeat " << sm->repeat
 246         //    << " slaved " << sm->slaved
 247         //    << endl;
 248         return false;
 249     }
 250
 251     sm->timer += dt;
 252
 253     if (sm->timer < sm->delay) {
 254         //cout << "not yet: timer " << sm->timer << " delay " << sm->delay << endl;
 255         return false;
 256     }
 257
 258     //cout << "released timer: " << sm->timer << " delay " << sm->delay << endl;
 259
 260     sm->timer = 0.0;
 261
 262     if (sm->first_time) {
 263         dt = 0.0;
 264         sm->first_time = false;
 265     }
 266
 267     transform(sm);  // calculate submodel's initial conditions in world-coordinates
 268
 269     FGAIBallistic* ballist = new FGAIBallistic;
 270     ballist->setPath(sm->model.c_str());
 271     ballist->setName(sm->name);
 272     ballist->setSlaved(sm->slaved);
 273     ballist->setRandom(sm->random);
 274     ballist->setRandomness(sm->randomness);
 275     ballist->setLatitude(offsetpos.getLatitudeDeg());
 276     ballist->setLongitude(offsetpos.getLongitudeDeg());
 277     ballist->setAltitude(offsetpos.getElevationFt());
 278     ballist->setAzimuth(IC.azimuth);
 279     ballist->setElevation(IC.elevation);
 280     ballist->setRoll(IC.roll);
 281     ballist->setSpeed(IC.speed / SG_KT_TO_FPS);
 282     ballist->setWind_from_east(IC.wind_from_east);
 283     ballist->setWind_from_north(IC.wind_from_north);
 284     ballist->setMass(IC.mass);
 285     ballist->setDragArea(sm->drag_area);
 286     ballist->setLife(sm->life);
 287     ballist->setBuoyancy(sm->buoyancy);
 288     ballist->setWind(sm->wind);
 289     ballist->setCd(sm->cd);
 290     ballist->setStabilisation(sm->aero_stabilised);
 291     ballist->setNoRoll(sm->no_roll);
 292     ballist->setCollision(sm->collision);
 293     ballist->setExpiry(sm->expiry);
 294     ballist->setImpact(sm->impact);
 295     ballist->setImpactReportNode(sm->impact_report);
 296     ballist->setFuseRange(sm->fuse_range);
 297     ballist->setSubmodel(sm->submodel.c_str());
 298     ballist->setSubID(sm->sub_id);
 299     ballist->setForceStabilisation(sm->force_stabilised);
 300     ballist->setExternalForce(sm->ext_force);
 301     ballist->setForcePath(sm->force_path.c_str());
 302     ballist->setXoffset(sm->x_offset);
 303     ballist->setYoffset(sm->y_offset);
 304     ballist->setZoffset(sm->z_offset);
 305     ballist->setPitchoffset(sm->pitch_offset);
 306     ballist->setYawoffset(sm->yaw_offset);
 307     ballist->setParentNodes(_selected_ac);
 308     ballist->setContentsNode(sm->contents_node);
 309     ballist->setWeight(sm->weight);
 310
 311     aiManager()->attach(ballist);
 312
 313     if (sm->count > 0)
 314         sm->count--;
 315     return true;
 316 }
 317
 318 void FGSubmodelMgr::load()
 319 {
 320     SGPropertyNode *path = fgGetNode("/sim/submodels/path");
 321
 322     if (path) {
 323         const int id = 0;
 324         const string& Path = path->getStringValue();
 325         bool Seviceable =_serviceable_node->getBoolValue();
 326         setData(id, Path, Seviceable);
 327     }
 328 }
 329
 330 void FGSubmodelMgr::transform(submodel *sm)
 331 {
 332     // set initial conditions
 333     if (sm->contents_node != 0 && !sm->slaved) {
 334         // get the weight of the contents (lbs) and convert to mass (slugs)
 335         sm->contents = sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue();
 336         //cout << "transform: contents " << sm->contents << endl;
 337         IC.mass = (sm->weight + sm->contents) * lbs_to_slugs;
 338         //cout << "mass inc contents"  << IC.mass << endl;
 339
 340         // set contents to 0 in the parent
 341         sm->contents_node->getChild("level-gal_us",0,1)->setDoubleValue(0);
 342         /*cout << "contents " << sm->contents_node->getChild("level-gal_us")->getDoubleValue()
 343         << " " << sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue()
 344         << endl;*/
 345     } else
 346         IC.mass = sm->weight * lbs_to_slugs;
 347
 348     int id = sm->id;
 349     //int sub_id = sm->sub_id;
 350     //const string& name = sm->name;
 351
 352
 353     if (sm->speed_node != 0)
 354         sm->speed = sm->speed_node->getDoubleValue();
 355
 356
 357     //cout << " name " << name << " id " << id << " sub id" << sub_id << endl;
 358
 359     // set the Initial Conditions for the types of submodel parent
 360
 361     if (_impact || _hit || _expiry) {
 362         // set the data for a submodel tied to a submodel
 363
 364         _count++;
 365
 366         IC.lat             = _parent_lat;
 367         IC.lon             = _parent_lon;
 368         IC.alt             = _parent_elev;
 369         IC.roll            = _parent_roll;    // rotation about x axis
 370         IC.elevation       = _parent_pitch;   // rotation about y axis
 371         IC.azimuth         = _parent_hdg;     // rotation about z axis
 372         IC.speed           = _parent_speed;
 373         IC.speed_down_fps  = 0;
 374         IC.speed_east_fps  = 0;
 375         IC.speed_north_fps = 0;
 376
 377     } else if (id == 0) {
 378         //set the data for a submodel tied to the main model
 379
 380         IC.lat             = _user_lat_node->getDoubleValue();
 381         IC.lon             = _user_lon_node->getDoubleValue();
 382         IC.alt             = _user_alt_node->getDoubleValue();
 383         IC.roll            = _user_roll_node->getDoubleValue();    // rotation about x axis
 384         IC.elevation       = _user_pitch_node->getDoubleValue();   // rotation about y axis
 385         IC.azimuth         = _user_heading_node->getDoubleValue(); // rotation about z axis
 386         IC.speed           = _user_speed_node->getDoubleValue();
 387         IC.speed_down_fps  = _user_speed_down_fps_node->getDoubleValue();
 388         IC.speed_east_fps  = _user_speed_east_fps_node->getDoubleValue();
 389         IC.speed_north_fps = _user_speed_north_fps_node->getDoubleValue();
 390
 391     } else {
 392         // set the data for a submodel tied to an AI Object
 393         //cout << " set the data for a submodel tied to an AI Object " << id << endl;
 394         setParentNode(id);
 395     }
 396
 397     //cout << "Submodel: setting IC "<< name << endl;
 398     //cout << "heading " << IC.azimuth << endl ;
 399     //cout << "speed down " << IC.speed_down_fps << endl ;
 400     //cout << "speed east " << IC.speed_east_fps << endl ;
 401     //cout << "speed north " << IC.speed_north_fps << endl ;
 402     //cout << "parent speed fps in " << IC.speed << "sm speed in " << sm->speed << endl ;
 403     //cout << "lat " << IC.lat;
 404     //cout << "alt " << IC.alt <<  endl ;
 405
 406
 407     // Set the Initial Conditions that are common to all types of parent
 408     IC.wind_from_east =  _user_wind_from_east_node->getDoubleValue();
 409     IC.wind_from_north = _user_wind_from_north_node->getDoubleValue();
 410
 411 //cout << "wind e " << IC.wind_from_east << " n " << IC.wind_from_north << endl;
 412
 413     userpos.setLatitudeDeg(IC.lat);
 414     userpos.setLongitudeDeg(IC.lon);
 415     userpos.setElevationFt(IC.alt);
 416
 417     _x_offset = sm->x_offset;
 418     _y_offset = sm->y_offset;
 419     _z_offset = sm->z_offset;
 420
 421     setOffsetPos();
 422
 423     //IC.elevation += sm->pitch_offset;
 424     //IC.azimuth   += sm->yaw_offset ;
 425
 426     // pre-process the trig functions
 427     cosRx = cos(-IC.roll * SG_DEGREES_TO_RADIANS);
 428     sinRx = sin(-IC.roll * SG_DEGREES_TO_RADIANS);
 429     cosRy = cos(-IC.elevation * SG_DEGREES_TO_RADIANS);
 430     sinRy = sin(-IC.elevation * SG_DEGREES_TO_RADIANS);
 431     cosRz = cos(IC.azimuth * SG_DEGREES_TO_RADIANS);
 432     sinRz = sin(IC.azimuth * SG_DEGREES_TO_RADIANS);
 433
 434
 435     // Get submodel initial velocity vector angles in XZ and XY planes.
 436     // This vector should be added to aircraft's vector.
 437     IC.elevation += (sm->yaw_offset * sinRx) + (sm->pitch_offset * cosRx);
 438     IC.azimuth   += (sm->yaw_offset * cosRx) - (sm->pitch_offset * sinRx);
 439
 440     // calculate the total speed north
 441     IC.total_speed_north = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS)
 442             * cos(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_north_fps;
 443
 444     // calculate the total speed east
 445     IC.total_speed_east = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS)
 446             * sin(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_east_fps;
 447
 448     // calculate the total speed down
 449     IC.total_speed_down = sm->speed * -sin(IC.elevation * SG_DEGREES_TO_RADIANS)
 450             + IC.speed_down_fps;
 451
 452     // re-calculate speed, elevation and azimuth
 453     IC.speed = sqrt(IC.total_speed_north * IC.total_speed_north
 454             + IC.total_speed_east * IC.total_speed_east
 455             + IC.total_speed_down * IC.total_speed_down);
 456
 457     // if speeds are low this calculation can become unreliable
 458     if (IC.speed > 1) {
 459         IC.azimuth = atan2(IC.total_speed_east, IC.total_speed_north) * SG_RADIANS_TO_DEGREES;
 460         //        cout << "azimuth1 " << IC.azimuth<<endl;
 461
 462         // rationalise the output
 463         if (IC.azimuth < 0)
 464             IC.azimuth += 360;
 465         else if (IC.azimuth >= 360)
 466             IC.azimuth -= 360;
 467         // cout << "azimuth2 " << IC.azimuth<<endl;
 468
 469         IC.elevation = -atan(IC.total_speed_down / sqrt(IC.total_speed_north
 470             * IC.total_speed_north + IC.total_speed_east * IC.total_speed_east))
 471             * SG_RADIANS_TO_DEGREES;
 472     }
 473     //cout << "IC.speed " << IC.speed / SG_KT_TO_FPS << endl;
 474 }
 475
 476 void FGSubmodelMgr::updatelat(double lat)
 477 {
 478     ft_per_deg_latitude = 366468.96 - 3717.12 * cos(lat / SG_RADIANS_TO_DEGREES);
 479     ft_per_deg_longitude = 365228.16 * cos(lat / SG_RADIANS_TO_DEGREES);
 480 }
 481
 482 void FGSubmodelMgr::loadAI()
 483 {
 484     SG_LOG(SG_AI, SG_DEBUG, "Submodels: Loading AI submodels ");
 485
 486     FGAIManager::ai_list_type sm_list(aiManager()->get_ai_list());
 487
 488     if (sm_list.empty()) {
 489         SG_LOG(SG_AI, SG_ALERT, "Submodels: Unable to read AI submodel list");
 490         return;
 491     }
 492
 493     FGAIManager::ai_list_iterator sm_list_itr = sm_list.begin(),
 494       end = sm_list.end();
 495
 496     while (sm_list_itr != end) {
 497         string path = (*sm_list_itr)->_getSMPath();
 498
 499         if (path.empty()) {
 500             ++sm_list_itr;
 501             continue;
 502         }
 503
 504         int id = (*sm_list_itr)->getID();
 505         bool serviceable = (*sm_list_itr)->_getServiceable();
 506
 507         //string type = (*sm_list_itr)->getTypeString();
 508         //cout << "loadAI: type " << type << " path "<< path << " serviceable " << serviceable << endl;
 509
 510         setData(id, path, serviceable);
 511         ++sm_list_itr;
 512     }
 513 }
 514
 515
 516
 517 void FGSubmodelMgr::setData(int id, const string& path, bool serviceable)
 518 {
 519     SGPropertyNode root;
 520
 521     SGPath config = globals->resolve_aircraft_path(path);
 522     try {
 523         SG_LOG(SG_AI, SG_DEBUG,
 524                 "Submodels: Trying to read AI submodels file: " << config.str());
 525         readProperties(config.str(), &root);
 526     } catch (const sg_exception &) {
 527         SG_LOG(SG_AI, SG_ALERT,
 528                 "Submodels: Unable to read AI submodels file: " << config.str());
 529         return;
 530     }
 531
 532     vector<SGPropertyNode_ptr> children = root.getChildren("submodel");
 533     vector<SGPropertyNode_ptr>::iterator it = children.begin();
 534     vector<SGPropertyNode_ptr>::iterator end = children.end();
 535
 536     for (int i = 0; it != end; ++it, i++) {
 537         //cout << "Reading AI submodel " << (*it)->getPath() << endl;
 538         submodel* sm = new submodel;
 539         SGPropertyNode * entry_node = *it;
 540         sm->name            = entry_node->getStringValue("name", "none_defined");
 541         sm->model           = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
 542         sm->speed           = entry_node->getDoubleValue("speed", 2329.4);
 543         sm->repeat          = entry_node->getBoolValue("repeat", false);
 544         sm->delay           = entry_node->getDoubleValue("delay", 0.25);
 545         sm->count           = entry_node->getIntValue("count", 1);
 546         sm->slaved          = entry_node->getBoolValue("slaved", false);
 547         sm->x_offset        = entry_node->getDoubleValue("x-offset", 0.0);
 548         sm->y_offset        = entry_node->getDoubleValue("y-offset", 0.0);
 549         sm->z_offset        = entry_node->getDoubleValue("z-offset", 0.0);
 550         sm->yaw_offset      = entry_node->getDoubleValue("yaw-offset", 0.0);
 551         sm->pitch_offset    = entry_node->getDoubleValue("pitch-offset", 0.0);
 552         sm->drag_area       = entry_node->getDoubleValue("eda", 0.034);
 553         sm->life            = entry_node->getDoubleValue("life", 900.0);
 554         sm->buoyancy        = entry_node->getDoubleValue("buoyancy", 0);
 555         sm->wind            = entry_node->getBoolValue("wind", false);
 556         sm->cd              = entry_node->getDoubleValue("cd", 0.193);
 557         sm->weight          = entry_node->getDoubleValue("weight", 0.25);
 558         sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
 559         sm->no_roll         = entry_node->getBoolValue("no-roll", false);
 560         sm->collision       = entry_node->getBoolValue("collision", false);
 561         sm->expiry                      = entry_node->getBoolValue("expiry", false);
 562         sm->impact          = entry_node->getBoolValue("impact", false);
 563         sm->impact_report   = entry_node->getStringValue("impact-reports");
 564         sm->fuse_range      = entry_node->getDoubleValue("fuse-range", 0.0);
 565         sm->contents_node   = fgGetNode(entry_node->getStringValue("contents", "none"), false);
 566         sm->speed_node      = fgGetNode(entry_node->getStringValue("speed-prop", "none"), false);
 567         sm->submodel        = entry_node->getStringValue("submodel-path", "");
 568         sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
 569         sm->ext_force       = entry_node->getBoolValue("external-force", false);
 570         sm->force_path      = entry_node->getStringValue("force-path", "");
 571         sm->random                      = entry_node->getBoolValue("random", false);
 572         sm->randomness          = entry_node->getDoubleValue("randomness", 0.5);
 573
 574         if (sm->contents_node != 0)
 575             sm->contents = sm->contents_node->getDoubleValue();
 576
 577         const char *trigger_path = entry_node->getStringValue("trigger", 0);
 578         if (trigger_path) {
 579             sm->trigger_node = fgGetNode(trigger_path, true);
 580             sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue());
 581         } else {
 582             sm->trigger_node = 0;
 583         }
 584
 585         if (sm->speed_node != 0)
 586             sm->speed = sm->speed_node->getDoubleValue();
 587
 588         sm->timer = sm->delay;
 589         sm->id = id;
 590         sm->first_time = false;
 591         sm->serviceable = serviceable;
 592         sm->sub_id = 0;
 593
 594         sm->prop = fgGetNode("/ai/submodels/submodel", index, true);
 595         sm->prop->tie("delay", SGRawValuePointer<double>(&(sm->delay)));
 596         sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
 597         sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
 598         sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
 599         sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
 600         sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
 601         sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
 602         sm->prop->tie("slaved", SGRawValuePointer<bool>(&(sm->slaved)));
 603         const string& name = sm->name;
 604         sm->prop->setStringValue("name", name.c_str());
 605
 606         const string& submodel = sm->submodel;
 607         sm->prop->setStringValue("submodel", submodel.c_str());
 608
 609         const string& force_path = sm->force_path;
 610         sm->prop->setStringValue("force_path", force_path.c_str());
 611         //cout << "set force_path Sub " << force_path << endl;
 612
 613         if (sm->contents_node != 0)
 614             sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
 615
 616         index++;
 617         submodels.push_back(sm);
 618     }
 619 }
 620
 621 void FGSubmodelMgr::setSubData(int id, const string& path, bool serviceable)
 622 {
 623     SGPropertyNode root;
 624     SGPath config = globals->resolve_aircraft_path(path);
 625
 626     try {
 627         SG_LOG(SG_AI, SG_DEBUG,
 628                 "Submodels: Trying to read AI submodels file: " << config.str());
 629         readProperties(config.str(), &root);
 630
 631     } catch (const sg_exception &) {
 632         SG_LOG(SG_AI, SG_ALERT,
 633                 "Submodels: Unable to read AI submodels file: " << config.str());
 634         return;
 635     }
 636
 637     vector<SGPropertyNode_ptr> children = root.getChildren("submodel");
 638     vector<SGPropertyNode_ptr>::iterator it = children.begin();
 639     vector<SGPropertyNode_ptr>::iterator end = children.end();
 640
 641     for (int i = 0; it != end; ++it, i++) {
 642         //cout << "Reading AI submodel " << (*it)->getPath() << endl;
 643         submodel* sm = new submodel;
 644         SGPropertyNode * entry_node = *it;
 645         sm->name            = entry_node->getStringValue("name", "none_defined");
 646         sm->model           = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
 647         sm->speed           = entry_node->getDoubleValue("speed", 2329.4);
 648         sm->repeat          = entry_node->getBoolValue("repeat", false);
 649         sm->delay           = entry_node->getDoubleValue("delay", 0.25);
 650         sm->count           = entry_node->getIntValue("count", 1);
 651         sm->slaved          = entry_node->getBoolValue("slaved", false);
 652         sm->x_offset        = entry_node->getDoubleValue("x-offset", 0.0);
 653         sm->y_offset        = entry_node->getDoubleValue("y-offset", 0.0);
 654         sm->z_offset        = entry_node->getDoubleValue("z-offset", 0.0);
 655         sm->yaw_offset      = entry_node->getDoubleValue("yaw-offset", 0.0);
 656         sm->pitch_offset    = entry_node->getDoubleValue("pitch-offset", 0.0);
 657         sm->drag_area       = entry_node->getDoubleValue("eda", 0.034);
 658         sm->life            = entry_node->getDoubleValue("life", 900.0);
 659         sm->buoyancy        = entry_node->getDoubleValue("buoyancy", 0);
 660         sm->wind            = entry_node->getBoolValue("wind", false);
 661         sm->cd              = entry_node->getDoubleValue("cd", 0.193);
 662         sm->weight          = entry_node->getDoubleValue("weight", 0.25);
 663         sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
 664         sm->no_roll         = entry_node->getBoolValue("no-roll", false);
 665         sm->collision       = entry_node->getBoolValue("collision", false);
 666         sm->expiry          = entry_node->getBoolValue("expiry", false);
 667         sm->impact          = entry_node->getBoolValue("impact", false);
 668         sm->impact_report   = entry_node->getStringValue("impact-reports");
 669         sm->fuse_range      = entry_node->getDoubleValue("fuse-range", 0.0);
 670         sm->contents_node   = fgGetNode(entry_node->getStringValue("contents", "none"), false);
 671         sm->speed_node      = fgGetNode(entry_node->getStringValue("speed-prop", "none"), false);
 672         sm->submodel        = entry_node->getStringValue("submodel-path", "");
 673         sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
 674         sm->ext_force       = entry_node->getBoolValue("external-force", false);
 675         sm->force_path      = entry_node->getStringValue("force-path", "");
 676         sm->random          = entry_node->getBoolValue("random", false);
 677         sm->randomness      = entry_node->getDoubleValue("randomness", 0.5);
 678
 679         if (sm->contents_node != 0)
 680             sm->contents = sm->contents_node->getDoubleValue();
 681
 682         const char *trigger_path = entry_node->getStringValue("trigger", 0);
 683         if (trigger_path) {
 684             sm->trigger_node = fgGetNode(trigger_path, true);
 685             sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue());
 686         } else {
 687             sm->trigger_node = 0;
 688         }
 689
 690         if (sm->speed_node != 0)
 691             sm->speed = sm->speed_node->getDoubleValue();
 692
 693         sm->timer = sm->delay;
 694         sm->id = index;
 695         sm->first_time = false;
 696         sm->serviceable = serviceable;
 697         sm->sub_id = 0;
 698
 699         sm->prop = fgGetNode("/ai/submodels/subsubmodel", index, true);
 700         sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
 701         sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
 702         sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
 703         sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
 704         sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
 705         sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
 706         sm->prop->tie("slaved", SGRawValuePointer<bool>(&(sm->slaved)));
 707
 708         const string& name = sm->name;
 709         sm->prop->setStringValue("name", name.c_str());
 710
 711         const string& submodel = sm->submodel;
 712         sm->prop->setStringValue("submodel-path", submodel.c_str());
 713         // cout << " set submodel path AI" << submodel<< endl;
 714
 715         const string& force_path = sm->force_path;
 716         sm->prop->setStringValue("force_path", force_path.c_str());
 717         //cout << "set force_path  AI" << force_path << endl;
 718
 719         if (sm->contents_node != 0)
 720             sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
 721
 722         index++;
 723         subsubmodels.push_back(sm);
 724     }
 725 }
 726
 727 void FGSubmodelMgr::loadSubmodels()
 728 {
 729     SG_LOG(SG_AI, SG_DEBUG, "Submodels: Loading sub submodels");
 730
 731     _found_sub = false;
 732
 733     submodel_iterator = submodels.begin();
 734
 735     while (submodel_iterator != submodels.end()) {
 736         const string& submodel  = (*submodel_iterator)->submodel;
 737         if (!submodel.empty()) {
 738             //int id = (*submodel_iterator)->id;
 739             bool serviceable = true;
 740             SG_LOG(SG_AI, SG_DEBUG, "found path sub sub "
 741                     << submodel
 742                     << " index " << index
 743                     << " name " << (*submodel_iterator)->name);
 744
 745             if ((*submodel_iterator)->sub_id == 0){
 746                 (*submodel_iterator)->sub_id = index;
 747                 _found_sub = true;
 748                 setSubData(index, submodel, serviceable);
 749             }
 750         }
 751
 752         ++submodel_iterator;
 753     } // end while
 754
 755     subsubmodel_iterator = subsubmodels.begin();
 756
 757     while (subsubmodel_iterator != subsubmodels.end()) {
 758
 759         submodels.push_back(*subsubmodel_iterator);
 760         ++subsubmodel_iterator;
 761     } // end while
 762
 763     subsubmodels.clear();
 764
 765     //submodel_iterator = submodels.begin();
 766
 767     //int subcount = 0;
 768
 769     //while (submodel_iterator != submodels.end()) {
 770     //    int id = (*submodel_iterator)->id;
 771     //    subcount++;
 772
 773     //    SG_LOG(SG_AI, SG_ALERT,"after pushback "
 774     //            << " parent id " << id
 775     //            << " name " << (*submodel_iterator)->name
 776     //            << " sub id " << (*submodel_iterator)->sub_id
 777     //            << " subcount "<< subcount);
 778
 779     //    ++submodel_iterator;
 780     //}
 781 }
 782
 783 SGVec3d FGSubmodelMgr::getCartOffsetPos() const{
 784
 785     // convert geodetic positions to geocentered
 786     SGVec3d cartuserPos = SGVec3d::fromGeod(userpos);
 787     // Transform to the right coordinate frame, configuration is done in
 788     // the x-forward, y-right, z-up coordinates (feet), computation
 789     // in the simulation usual body x-forward, y-right, z-down coordinates
 790     // (meters) )
 791
 792     SGVec3d _off(_x_offset * SG_FEET_TO_METER,
 793         _y_offset * SG_FEET_TO_METER,
 794         -_z_offset * SG_FEET_TO_METER);
 795
 796     // Transform the user position to the horizontal local coordinate system.
 797     SGQuatd hlTrans = SGQuatd::fromLonLat(userpos);
 798
 799     // and postrotate the orientation of the user model wrt the horizontal
 800     // local frame
 801     hlTrans *= SGQuatd::fromYawPitchRollDeg(
 802        IC.azimuth,
 803        IC.elevation,
 804        IC.roll);
 805
 806     // The offset converted to the usual body fixed coordinate system
 807     // rotated to the earth-fixed coordinates axis
 808     SGVec3d off = hlTrans.backTransform(_off);
 809
 810     // Add the position offset of the user model to get the geocentered position
 811     SGVec3d offsetPos = cartuserPos + off;
 812     return offsetPos;
 813 }
 814
 815 void FGSubmodelMgr::setOffsetPos(){
 816     // convert the offset geocentered position to geodetic
 817     SGVec3d cartoffsetPos = getCartOffsetPos();
 818
 819     SGGeodesy::SGCartToGeod(cartoffsetPos, offsetpos);
 820
 821     //cout << "OFFSET POS" << offsetpos.getElevationFt();
 822
 823 }
 824
 825 void FGSubmodelMgr::valueChanged(SGPropertyNode *prop)
 826 {
 827     return; // this isn't working atm
 828
 829     const char* _model_added = _model_added_node->getStringValue();
 830
 831     std::basic_string <char>::size_type indexCh2b;
 832
 833     string str2 = _model_added;
 834     const char *cstr2b = "multiplayer";
 835     indexCh2b = str2.find( cstr2b, 0 );
 836
 837     if (indexCh2b != string::npos ){        // we will ignore Ballistic Objects - there are potentially too many
 838
 839         //cout << "Submodels: model added - " << str2 <<" read path "<< endl;
 840         //return;
 841         SGPropertyNode *a_node = fgGetNode(_model_added, true);
 842         SGPropertyNode *sub_node = a_node->getChild("sim", 0, true);
 843         SGPropertyNode_ptr path_node = sub_node->getChild("path", 0, true);
 844         SGPropertyNode_ptr callsign_node = a_node->getChild("callsign", 0, true);
 845
 846         //const string& callsign = callsign_node->getStringValue();
 847         //cout << "Submodels: model added - " << callsign <<" read callsign "<< endl;
 848             return;
 849
 850         } else {
 851             cout << "model added - " << str2 <<" returning "<< endl;
 852         return;
 853         }
 854
 855 }
 856
 857 void FGSubmodelMgr::setParentNode(int id) {
 858
 859     const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
 860
 861     for (int i = ai->nChildren() - 1; i >= -1; i--) {
 862         SGPropertyNode_ptr model;
 863
 864         if (i < 0) { // last iteration: selected model
 865             model = _selected_ac;
 866         } else {
 867             model = ai->getChild(i);
 868             //const string& path = ai->getPath();
 869             //const string& name = model->getStringValue("name");
 870             int parent_id = model->getIntValue("id");
 871             if (!model->nChildren()){
 872                 continue;
 873             }
 874             if (parent_id == id) {
 875                 _selected_ac = model;  // save selected model for last iteration
 876                 break;
 877             }
 878
 879         }
 880         if (!model)
 881             continue;
 882
 883     }// end for loop
 884
 885     if (_selected_ac != 0){
 886
 887         //cout << " parent node found"<< endl;
 888
 889         const string name  = _selected_ac->getStringValue("name");
 890         IC.lat             = _selected_ac->getDoubleValue("position/latitude-deg");
 891         IC.lon             = _selected_ac->getDoubleValue("position/longitude-deg");
 892         IC.alt             = _selected_ac->getDoubleValue("position/altitude-ft");
 893         IC.roll            = _selected_ac->getDoubleValue("orientation/roll-deg");
 894         IC.elevation       = _selected_ac->getDoubleValue("orientation/pitch-deg");
 895         IC.azimuth         = _selected_ac->getDoubleValue("orientation/true-heading-deg");
 896         IC.speed           = _selected_ac->getDoubleValue("velocities/true-airspeed-kt") * SG_KT_TO_FPS;
 897         IC.speed_down_fps  = -_selected_ac->getDoubleValue("velocities/vertical-speed-fps");
 898         IC.speed_east_fps  = _selected_ac->getDoubleValue("velocities/speed-east-fps");
 899         IC.speed_north_fps = _selected_ac->getDoubleValue("velocities/speed-north-fps");
 900
 901         //cout << name << " IC.speed " << IC.speed << endl;
 902
 903     } else {
 904         SG_LOG(SG_AI, SG_ALERT, "AISubmodel: parent node not found ");
 905     }
 906
 907 }
 908 // end of submodel.cxx