src/AIModel/submodel.cxx

   1 //// submodel.cxx - models a releasable submodel.
   2 // Written by Dave Culp, started Aug 2004
   3 // With major additions by Vivian Meaaza 2004 - 2007
   4 //
   5 // This file is in the Public Domain and comes with no warranty.
   6
   7 #ifdef HAVE_CONFIG_H
   8 #  include "config.h"
   9 #endif
  10
  11 #include "submodel.hxx"
  12
  13 #include <simgear/structure/exception.hxx>
  14 #include <simgear/misc/sg_path.hxx>
  15 #include <simgear/math/sg_geodesy.hxx>
  16 #include <simgear/props/props_io.hxx>
  17
  18 #include <Main/fg_props.hxx>
  19 #include <Main/util.hxx>
  20
  21
  22 #include "AIBase.hxx"
  23 #include "AIManager.hxx"
  24 #include "AIBallistic.hxx"
  25
  26
  27 const double FGSubmodelMgr::lbs_to_slugs = 0.031080950172;
  28
  29 FGSubmodelMgr::FGSubmodelMgr()
  30 {
  31     x_offset = y_offset = 0.0;
  32     z_offset = -4.0;
  33     pitch_offset = 2.0;
  34     yaw_offset = 0.0;
  35
  36     out[0] = out[1] = out[2] = 0;
  37     string contents_node;
  38     contrail_altitude = 30000;
  39     _count = 0;
  40         _found_sub = true;
  41 }
  42
  43 FGSubmodelMgr::~FGSubmodelMgr()
  44 {
  45 }
  46
  47 void FGSubmodelMgr::init()
  48 {
  49     index = 0;
  50
  51     _serviceable_node = fgGetNode("/sim/submodels/serviceable", true);
  52     _serviceable_node->setBoolValue(true);
  53
  54     _user_lat_node = fgGetNode("/position/latitude-deg", true);
  55     _user_lon_node = fgGetNode("/position/longitude-deg", true);
  56     _user_alt_node = fgGetNode("/position/altitude-ft", true);
  57
  58     _user_heading_node = fgGetNode("/orientation/heading-deg", true);
  59     _user_pitch_node =   fgGetNode("/orientation/pitch-deg", true);
  60     _user_roll_node =    fgGetNode("/orientation/roll-deg", true);
  61     _user_yaw_node =     fgGetNode("/orientation/yaw-deg", true);
  62     _user_alpha_node =   fgGetNode("/orientation/alpha-deg", true);
  63
  64     _user_speed_node = fgGetNode("/velocities/uBody-fps", true);
  65
  66     _user_wind_from_east_node  = fgGetNode("/environment/wind-from-east-fps", true);
  67     _user_wind_from_north_node = fgGetNode("/environment/wind-from-north-fps", true);
  68
  69     _user_speed_down_fps_node   = fgGetNode("/velocities/speed-down-fps", true);
  70     _user_speed_east_fps_node   = fgGetNode("/velocities/speed-east-fps", true);
  71     _user_speed_north_fps_node  = fgGetNode("/velocities/speed-north-fps", true);
  72
  73     _contrail_altitude_node = fgGetNode("/environment/params/contrail-altitude", true);
  74     contrail_altitude       = _contrail_altitude_node->getDoubleValue();
  75     _contrail_trigger       = fgGetNode("ai/submodels/contrails", true);
  76     _contrail_trigger->setBoolValue(false);
  77
  78     ai = (FGAIManager*)globals->get_subsystem("ai_model");
  79
  80     load();
  81 }
  82
  83 void FGSubmodelMgr::postinit() {
  84     // postinit, so that the AI list is populated
  85     loadAI();
  86
  87         while (_found_sub)
  88                 loadSubmodels();
  89
  90     //TODO reload submodels if an MP ac joins
  91 }
  92
  93 void FGSubmodelMgr::bind()
  94 {}
  95
  96 void FGSubmodelMgr::unbind()
  97 {
  98     submodel_iterator = submodels.begin();
  99     while (submodel_iterator != submodels.end()) {
 100         (*submodel_iterator)->prop->untie("count");
 101         ++submodel_iterator;
 102     }
 103 }
 104
 105 void FGSubmodelMgr::update(double dt)
 106 {
 107     if (!_serviceable_node->getBoolValue())
 108         return;
 109
 110     _impact = false;
 111     _hit = false;
 112         _expiry = false;
 113
 114     // check if the submodel hit an object or terrain
 115     sm_list = ai->get_ai_list();
 116     sm_list_iterator sm_list_itr = sm_list.begin();
 117     sm_list_iterator end = sm_list.end();
 118
 119     for (; sm_list_itr != end; ++sm_list_itr) {
 120         _impact = (*sm_list_itr)->_getImpactData();
 121         _hit = (*sm_list_itr)->_getCollisionData();
 122                 _expiry = (*sm_list_itr)->_getExpiryData();
 123         int parent_subID = (*sm_list_itr)->_getSubID();
 124         //SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! "
 125         //        << _hit <<" parent_subID " << parent_subID);
 126         if ( parent_subID == 0) // this entry in the list has no associated submodel
 127             continue;           // so we can continue
 128
 129         if (_impact || _hit || _expiry) {
 130             //SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! " << _hit );
 131
 132             submodel_iterator = submodels.begin();
 133
 134             while (submodel_iterator != submodels.end()) {
 135                 int child_ID = (*submodel_iterator)->id;
 136                 //cout << "Impact: parent SubID " << parent_subID << " child_ID " << child_ID << endl;
 137
 138                 if ( parent_subID == child_ID ) {
 139                     _parent_lat = (*sm_list_itr)->_getImpactLat();
 140                     _parent_lon = (*sm_list_itr)->_getImpactLon();
 141                     _parent_elev = (*sm_list_itr)->_getImpactElevFt();
 142                     _parent_hdg = (*sm_list_itr)->_getImpactHdg();
 143                     _parent_pitch = (*sm_list_itr)->_getImpactPitch();
 144                     _parent_roll = (*sm_list_itr)->_getImpactRoll();
 145                     _parent_speed = (*sm_list_itr)->_getImpactSpeed();
 146                     (*submodel_iterator)->first_time = true;
 147
 148                     if (release(*submodel_iterator, dt))
 149                         (*sm_list_itr)->setDie(true);
 150                 }
 151
 152                 ++submodel_iterator;
 153             }
 154         }
 155     }
 156
 157     _contrail_trigger->setBoolValue(_user_alt_node->getDoubleValue() > contrail_altitude);
 158
 159
 160     bool in_range = true;
 161     bool trigger = false;
 162     int i = -1;
 163
 164     submodel_iterator = submodels.begin();
 165     while (submodel_iterator != submodels.end())  {
 166         i++;
 167         in_range = true;
 168
 169         /*SG_LOG(SG_GENERAL, SG_DEBUG,
 170                 "Submodels:  " << (*submodel_iterator)->id
 171                 << " name " << (*submodel_iterator)->name
 172                 << " in range " << in_range);*/
 173
 174         if ((*submodel_iterator)->trigger_node != 0) {
 175             _trigger_node = (*submodel_iterator)->trigger_node;
 176             trigger = _trigger_node->getBoolValue();
 177             //cout << "trigger node found " <<  trigger << endl;
 178         } else {
 179             trigger = true;
 180             //cout << (*submodel_iterator)->name << "trigger node not found " << trigger << endl;
 181         }
 182
 183                 if (trigger && (*submodel_iterator)->count != 0) {
 184
 185                         //int id = (*submodel_iterator)->id;
 186                         //string name = (*submodel_iterator)->name;
 187                         /*SG_LOG(SG_GENERAL, SG_DEBUG,
 188                         "Submodels end:  " << (*submodel_iterator)->id
 189                         << " name " << (*submodel_iterator)->name
 190                         << " count " << (*submodel_iterator)->count
 191                         << " in range " << in_range);*/
 192
 193                         release(*submodel_iterator, dt);
 194                 } else
 195                         (*submodel_iterator)->first_time = true;
 196
 197         ++submodel_iterator;
 198     } // end while
 199 }
 200
 201 bool FGSubmodelMgr::release(submodel *sm, double dt)
 202 {
 203     //cout << "release id " << sm->id << " name " << sm->name
 204     //<< " first time " << sm->first_time  << " repeat " << sm->repeat  <<
 205     //    endl;
 206
 207     // only run if first time or repeat is set to true
 208     if (!sm->first_time && !sm->repeat) {
 209         //cout<< "not first time " << sm->first_time<< " repeat " << sm->repeat <<endl;
 210         return false;
 211     }
 212
 213     sm->timer += dt;
 214
 215     if (sm->timer < sm->delay) {
 216         //cout << "not yet: timer" << sm->timer << " delay " << sm->delay<< endl;
 217         return false;
 218     }
 219
 220     sm->timer = 0.0;
 221
 222     if (sm->first_time) {
 223         dt = 0.0;
 224         sm->first_time = false;
 225     }
 226
 227     transform(sm);  // calculate submodel's initial conditions in world-coordinates
 228
 229     FGAIBallistic* ballist = new FGAIBallistic;
 230     ballist->setPath(sm->model.c_str());
 231     ballist->setLatitude(IC.lat);
 232     ballist->setLongitude(IC.lon);
 233     ballist->setAltitude(IC.alt);
 234     ballist->setAzimuth(IC.azimuth);
 235     ballist->setElevation(IC.elevation);
 236     ballist->setRoll(IC.roll);
 237     ballist->setSpeed(IC.speed / SG_KT_TO_FPS);
 238     ballist->setWind_from_east(IC.wind_from_east);
 239     ballist->setWind_from_north(IC.wind_from_north);
 240     ballist->setMass(IC.mass);
 241     ballist->setDragArea(sm->drag_area);
 242     ballist->setLife(sm->life);
 243     ballist->setBuoyancy(sm->buoyancy);
 244     ballist->setWind(sm->wind);
 245     ballist->setCd(sm->cd);
 246     ballist->setStabilisation(sm->aero_stabilised);
 247     ballist->setNoRoll(sm->no_roll);
 248     ballist->setName(sm->name);
 249     ballist->setCollision(sm->collision);
 250         ballist->setExpiry(sm->expiry);
 251     ballist->setImpact(sm->impact);
 252     ballist->setImpactReportNode(sm->impact_report);
 253     ballist->setFuseRange(sm->fuse_range);
 254     ballist->setSubmodel(sm->submodel.c_str());
 255     ballist->setSubID(sm->sub_id);
 256     ballist->setForceStabilisation(sm->force_stabilised);
 257     ballist->setExternalForce(sm->ext_force);
 258     ballist->setForcePath(sm->force_path.c_str());
 259     ai->attach(ballist);
 260
 261     if (sm->count > 0)
 262         sm->count--;
 263
 264     return true;
 265 }
 266
 267 void FGSubmodelMgr::load()
 268 {
 269     SGPropertyNode *path = fgGetNode("/sim/submodels/path");
 270
 271     if (path) {
 272         const int id = 0;
 273         string Path = path->getStringValue();
 274         bool Seviceable =_serviceable_node->getBoolValue();
 275         setData(id, Path, Seviceable);
 276     }
 277 }
 278
 279 void FGSubmodelMgr::transform(submodel *sm)
 280 {
 281     // set initial conditions
 282     if (sm->contents_node != 0) {
 283         // get the weight of the contents (lbs) and convert to mass (slugs)
 284         sm->contents = sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue();
 285         //cout << "transform: contents " << sm->contents << endl;
 286         IC.mass = (sm->weight + sm->contents) * lbs_to_slugs;
 287         //cout << "mass inc contents"  << IC.mass << endl;
 288
 289         // set contents to 0 in the parent
 290         sm->contents_node->getChild("level-gal_us",0,1)->setDoubleValue(0);
 291         /*cout << "contents " << sm->contents_node->getChild("level-gal_us")->getDoubleValue()
 292         << " " << sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue()
 293         << endl;*/
 294     } else
 295         IC.mass = sm->weight * lbs_to_slugs;
 296
 297     // cout << "mass "  << IC.mass << endl;
 298
 299     if (sm->speed_node != 0)
 300         sm->speed = sm->speed_node->getDoubleValue();
 301
 302     int id = sm->id;
 303     //int sub_id = (*submodel)->sub_id;
 304     string name = sm->name;
 305
 306     //cout << " name " << name << " id " << id << " sub id" << sub_id << endl;
 307
 308     if (_impact || _hit) {
 309         // set the data for a submodel tied to a submodel
 310         _count++;
 311         //cout << "Submodels: release sub sub " << _count<< endl;
 312         //cout << " id " << sm->id
 313         //    << " lat " << _parent_lat
 314         //    << " lon " << _parent_lon
 315         //    << " elev " << _parent_elev
 316         //    << " name " << sm->name
 317         //    << endl;
 318
 319         IC.lat             = _parent_lat;
 320         IC.lon             = _parent_lon;
 321         IC.alt             = _parent_elev;
 322         IC.roll            = _parent_roll;    // rotation about x axis
 323         IC.elevation       = _parent_pitch;   // rotation about y axis
 324         IC.azimuth         = _parent_hdg;     // rotation about z axis
 325         IC.speed           = _parent_speed;
 326         IC.speed_down_fps  = 0;
 327         IC.speed_east_fps  = 0;
 328         IC.speed_north_fps = 0;
 329
 330     } else if (id == 0) {
 331         //set the data for a submodel tied to the main model
 332         /*cout << "Submodels: release main sub " << endl;
 333         cout << " name " << sm->name
 334         << " id" << sm->id
 335         << endl;*/
 336         IC.lat             = _user_lat_node->getDoubleValue();
 337         IC.lon             = _user_lon_node->getDoubleValue();
 338         IC.alt             = _user_alt_node->getDoubleValue();
 339         IC.roll            = _user_roll_node->getDoubleValue();    // rotation about x axis
 340         IC.elevation       = _user_pitch_node->getDoubleValue();   // rotation about y axis
 341         IC.azimuth         = _user_heading_node->getDoubleValue(); // rotation about z axis
 342         IC.speed           = _user_speed_node->getDoubleValue();
 343         IC.speed_down_fps  = _user_speed_down_fps_node->getDoubleValue();
 344         IC.speed_east_fps  = _user_speed_east_fps_node->getDoubleValue();
 345         IC.speed_north_fps = _user_speed_north_fps_node->getDoubleValue();
 346
 347     } else {
 348         // set the data for a submodel tied to an AI Object
 349         sm_list_iterator sm_list_itr = sm_list.begin();
 350         sm_list_iterator end = sm_list.end();
 351
 352         while (sm_list_itr != end) {
 353             int parent_id = (*sm_list_itr)->getID();
 354
 355             if (id != parent_id) {
 356                 ++sm_list_itr;
 357                 continue;
 358             }
 359
 360             //cout << "found id " << id << endl;
 361             IC.lat             = (*sm_list_itr)->_getLatitude();
 362             IC.lon             = (*sm_list_itr)->_getLongitude();
 363             IC.alt             = (*sm_list_itr)->_getAltitude();
 364             IC.roll            = (*sm_list_itr)->_getRoll();
 365             IC.elevation       = (*sm_list_itr)->_getPitch();
 366             IC.azimuth         = (*sm_list_itr)->_getHeading();
 367             IC.alt             = (*sm_list_itr)->_getAltitude();
 368             IC.speed           = (*sm_list_itr)->_getSpeed() * SG_KT_TO_FPS;
 369             IC.speed_down_fps  = -(*sm_list_itr)->_getVS_fps();
 370             IC.speed_east_fps  = (*sm_list_itr)->_get_speed_east_fps();
 371             IC.speed_north_fps = (*sm_list_itr)->_get_speed_north_fps();
 372
 373             ++sm_list_itr;
 374         }
 375     }
 376
 377     /*cout << "heading " << IC.azimuth << endl ;
 378     cout << "speed down " << IC.speed_down_fps << endl ;
 379     cout << "speed east " << IC.speed_east_fps << endl ;
 380     cout << "speed north " << IC.speed_north_fps << endl ;
 381     cout << "parent speed fps in" << IC.speed << "sm speed in " << sm->speed << endl ;*/
 382
 383     IC.wind_from_east =  _user_wind_from_east_node->getDoubleValue();
 384     IC.wind_from_north = _user_wind_from_north_node->getDoubleValue();
 385
 386     in[0] = sm->x_offset;
 387     in[1] = sm->y_offset;
 388     in[2] = sm->z_offset;
 389
 390     // pre-process the trig functions
 391     cosRx = cos(-IC.roll * SG_DEGREES_TO_RADIANS);
 392     sinRx = sin(-IC.roll * SG_DEGREES_TO_RADIANS);
 393     cosRy = cos(-IC.elevation * SG_DEGREES_TO_RADIANS);
 394     sinRy = sin(-IC.elevation * SG_DEGREES_TO_RADIANS);
 395     cosRz = cos(IC.azimuth * SG_DEGREES_TO_RADIANS);
 396     sinRz = sin(IC.azimuth * SG_DEGREES_TO_RADIANS);
 397
 398     // set up the transform matrix
 399     trans[0][0] =  cosRy * cosRz;
 400     trans[0][1] =  -1 * cosRx * sinRz + sinRx * sinRy * cosRz ;
 401     trans[0][2] =  sinRx * sinRz + cosRx * sinRy * cosRz;
 402
 403     trans[1][0] =  cosRy * sinRz;
 404     trans[1][1] =  cosRx * cosRz + sinRx * sinRy * sinRz;
 405     trans[1][2] =  -1 * sinRx * cosRx + cosRx * sinRy * sinRz;
 406
 407     trans[2][0] =  -1 * sinRy;
 408     trans[2][1] =  sinRx * cosRy;
 409     trans[2][2] =  cosRx * cosRy;
 410
 411
 412     // multiply the input and transform matrices
 413     out[0] = in[0] * trans[0][0] + in[1] * trans[0][1] + in[2] * trans[0][2];
 414     out[1] = in[0] * trans[1][0] + in[1] * trans[1][1] + in[2] * trans[1][2];
 415     out[2] = in[0] * trans[2][0] + in[1] * trans[2][1] + in[2] * trans[2][2];
 416
 417     // convert ft to degrees of latitude
 418     out[0] = out[0] / (366468.96 - 3717.12 * cos(IC.lat * SG_DEGREES_TO_RADIANS));
 419
 420     // convert ft to degrees of longitude
 421     out[1] = out[1] / (365228.16 * cos(IC.lat * SG_DEGREES_TO_RADIANS));
 422
 423     // set submodel initial position
 424     IC.lat += out[0];
 425     IC.lon += out[1];
 426     IC.alt += out[2];
 427
 428     // get aircraft velocity vector angles in XZ and XY planes
 429     //double alpha = _user_alpha_node->getDoubleValue();
 430     //double velXZ = IC.elevation - alpha * cosRx;
 431     //double velXY = IC.azimuth - (IC.elevation - alpha * sinRx);
 432
 433     // Get submodel initial velocity vector angles in XZ and XY planes.
 434     // This needs to be fixed. This vector should be added to aircraft's vector.
 435     IC.elevation += (sm->yaw_offset * sinRx) + (sm->pitch_offset * cosRx);
 436     IC.azimuth   += (sm->yaw_offset * cosRx) - (sm->pitch_offset * sinRx);
 437
 438     // calculate the total speed north
 439     IC.total_speed_north = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS)
 440             * cos(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_north_fps;
 441
 442     // calculate the total speed east
 443     IC.total_speed_east = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS)
 444             * sin(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_east_fps;
 445
 446     // calculate the total speed down
 447     IC.total_speed_down = sm->speed * -sin(IC.elevation * SG_DEGREES_TO_RADIANS)
 448             + IC.speed_down_fps;
 449
 450     // re-calculate speed, elevation and azimuth
 451     IC.speed = sqrt(IC.total_speed_north * IC.total_speed_north
 452             + IC.total_speed_east * IC.total_speed_east
 453             + IC.total_speed_down * IC.total_speed_down);
 454
 455     // if speeds are low this calculation can become unreliable
 456     if (IC.speed > 1) {
 457         IC.azimuth = atan2(IC.total_speed_east , IC.total_speed_north) * SG_RADIANS_TO_DEGREES;
 458         //        cout << "azimuth1 " << IC.azimuth<<endl;
 459
 460         // rationalise the output
 461         if (IC.azimuth < 0)
 462             IC.azimuth += 360;
 463         else if (IC.azimuth >= 360)
 464             IC.azimuth -= 360;
 465         // cout << "azimuth2 " << IC.azimuth<<endl;
 466
 467         IC.elevation = -atan(IC.total_speed_down / sqrt(IC.total_speed_north
 468             * IC.total_speed_north + IC.total_speed_east * IC.total_speed_east))
 469             * SG_RADIANS_TO_DEGREES;
 470     }
 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_DEBUG, "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         bool serviceable = (*sm_list_itr)->_getServiceable();
 503         setData(id, path, serviceable);
 504         ++sm_list_itr;
 505     }
 506 }
 507
 508
 509 double FGSubmodelMgr::getRange(double lat, double lon, double lat2, double lon2) const
 510 {
 511     double course, distance, az2;
 512
 513     //calculate the bearing and range of the second pos from the first
 514     geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
 515     distance *= SG_METER_TO_NM;
 516     return distance;
 517 }
 518
 519 void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
 520 {
 521     SGPropertyNode root;
 522
 523     SGPath config(globals->get_fg_root());
 524     config.append(path);
 525     SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: path " << path);
 526     try {
 527         SG_LOG(SG_GENERAL, SG_DEBUG,
 528                 "Submodels: Trying to read AI submodels file: " << config.str());
 529         readProperties(config.str(), &root);
 530     } catch (const sg_exception &) {
 531         SG_LOG(SG_GENERAL, SG_DEBUG,
 532                 "Submodels: Unable to read AI submodels file: " << config.str());
 533         return;
 534     }
 535
 536     vector<SGPropertyNode_ptr> children = root.getChildren("submodel");
 537     vector<SGPropertyNode_ptr>::iterator it = children.begin();
 538     vector<SGPropertyNode_ptr>::iterator end = children.end();
 539
 540     for (int i = 0; it != end; ++it, i++) {
 541         //cout << "Reading AI submodel " << (*it)->getPath() << endl;
 542         submodel* sm = new submodel;
 543         SGPropertyNode * entry_node = *it;
 544         sm->name            = entry_node->getStringValue("name", "none_defined");
 545         sm->model           = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
 546         sm->speed           = entry_node->getDoubleValue("speed", 2329.4);
 547         sm->repeat          = entry_node->getBoolValue("repeat", false);
 548         sm->delay           = entry_node->getDoubleValue("delay", 0.25);
 549         sm->count           = entry_node->getIntValue("count", 1);
 550         sm->slaved          = entry_node->getBoolValue("slaved", false);
 551         sm->x_offset        = entry_node->getDoubleValue("x-offset", 0.0);
 552         sm->y_offset        = entry_node->getDoubleValue("y-offset", 0.0);
 553         sm->z_offset        = entry_node->getDoubleValue("z-offset", 0.0);
 554         sm->yaw_offset      = entry_node->getDoubleValue("yaw-offset", 0.0);
 555         sm->pitch_offset    = entry_node->getDoubleValue("pitch-offset", 0.0);
 556         sm->drag_area       = entry_node->getDoubleValue("eda", 0.034);
 557         sm->life            = entry_node->getDoubleValue("life", 900.0);
 558         sm->buoyancy        = entry_node->getDoubleValue("buoyancy", 0);
 559         sm->wind            = entry_node->getBoolValue("wind", false);
 560         sm->cd              = entry_node->getDoubleValue("cd", 0.193);
 561         sm->weight          = entry_node->getDoubleValue("weight", 0.25);
 562         sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
 563         sm->no_roll         = entry_node->getBoolValue("no-roll", false);
 564         sm->collision       = entry_node->getBoolValue("collision", false);
 565                 sm->expiry                      = entry_node->getBoolValue("expiry", false);
 566         sm->impact          = entry_node->getBoolValue("impact", false);
 567         sm->impact_report   = entry_node->getStringValue("impact-reports");
 568         sm->fuse_range      = entry_node->getDoubleValue("fuse-range", 0.0);
 569         sm->contents_node   = fgGetNode(entry_node->getStringValue("contents", "none"), false);
 570         sm->speed_node      = fgGetNode(entry_node->getStringValue("speed-node", "none"), false);
 571         sm->submodel        = entry_node->getStringValue("submodel-path", "");
 572         sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
 573         sm->ext_force       = entry_node->getBoolValue("external-force", false);
 574         sm->force_path      = entry_node->getStringValue("force-path", "");
 575         //cout <<  "sm->contents_node " << sm->contents_node << endl;
 576         if (sm->contents_node != 0)
 577             sm->contents = sm->contents_node->getDoubleValue();
 578
 579         const char *trigger_path = entry_node->getStringValue("trigger", 0);
 580         if (trigger_path) {
 581             sm->trigger_node = fgGetNode(trigger_path, true);
 582             sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue());
 583         } else {
 584             sm->trigger_node = 0;
 585         }
 586
 587         if (sm->speed_node != 0)
 588             sm->speed = sm->speed_node->getDoubleValue();
 589
 590         sm->timer = sm->delay;
 591         sm->id = id;
 592         sm->first_time = false;
 593         sm->serviceable = serviceable;
 594         sm->sub_id = 0;
 595
 596         sm->prop = fgGetNode("/ai/submodels/submodel", index, true);
 597         sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
 598         sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
 599         sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
 600         sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
 601         sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
 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         //cout << " set submodel path " << submodel << endl;
 608
 609         string force_path = sm->force_path;
 610         sm->prop->setStringValue("force_path", force_path.c_str());
 611         //cout << "set force_path " << 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, string& path, bool serviceable)
 622 {
 623     SGPropertyNode root;
 624
 625     SGPath config(globals->get_fg_root());
 626     config.append(path);
 627     SG_LOG(SG_GENERAL, SG_DEBUG,
 628         "Submodels: path " << path);
 629     try {
 630         SG_LOG(SG_GENERAL, SG_DEBUG,
 631                 "Submodels: Trying to read AI submodels file: " << config.str());
 632         readProperties(config.str(), &root);
 633
 634     } catch (const sg_exception &) {
 635         SG_LOG(SG_GENERAL, SG_DEBUG,
 636                 "Submodels: Unable to read AI submodels file: " << config.str());
 637         return;
 638     }
 639
 640     vector<SGPropertyNode_ptr> children = root.getChildren("submodel");
 641     vector<SGPropertyNode_ptr>::iterator it = children.begin();
 642     vector<SGPropertyNode_ptr>::iterator end = children.end();
 643
 644     for (int i = 0; it != end; ++it, i++) {
 645         //cout << "Reading AI submodel " << (*it)->getPath() << endl;
 646         submodel* sm = new submodel;
 647         SGPropertyNode * entry_node = *it;
 648         sm->name            = entry_node->getStringValue("name", "none_defined");
 649         sm->model           = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
 650         sm->speed           = entry_node->getDoubleValue("speed", 2329.4);
 651         sm->repeat          = entry_node->getBoolValue("repeat", false);
 652         sm->delay           = entry_node->getDoubleValue("delay", 0.25);
 653         sm->count           = entry_node->getIntValue("count", 1);
 654         sm->slaved          = entry_node->getBoolValue("slaved", false);
 655         sm->x_offset        = entry_node->getDoubleValue("x-offset", 0.0);
 656         sm->y_offset        = entry_node->getDoubleValue("y-offset", 0.0);
 657         sm->z_offset        = entry_node->getDoubleValue("z-offset", 0.0);
 658         sm->yaw_offset      = entry_node->getDoubleValue("yaw-offset", 0.0);
 659         sm->pitch_offset    = entry_node->getDoubleValue("pitch-offset", 0.0);
 660         sm->drag_area       = entry_node->getDoubleValue("eda", 0.034);
 661         sm->life            = entry_node->getDoubleValue("life", 900.0);
 662         sm->buoyancy        = entry_node->getDoubleValue("buoyancy", 0);
 663         sm->wind            = entry_node->getBoolValue("wind", false);
 664         sm->cd              = entry_node->getDoubleValue("cd", 0.193);
 665         sm->weight          = entry_node->getDoubleValue("weight", 0.25);
 666         sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
 667         sm->no_roll         = entry_node->getBoolValue("no-roll", false);
 668         sm->collision       = entry_node->getBoolValue("collision", false);
 669                 sm->expiry                      = entry_node->getBoolValue("expiry", false);
 670         sm->impact          = entry_node->getBoolValue("impact", false);
 671         sm->impact_report   = entry_node->getStringValue("impact-reports");
 672         sm->fuse_range      = entry_node->getDoubleValue("fuse-range", 0.0);
 673         sm->contents_node   = fgGetNode(entry_node->getStringValue("contents", "none"), false);
 674         sm->speed_node      = fgGetNode(entry_node->getStringValue("speed-node", "none"), false);
 675         sm->submodel        = entry_node->getStringValue("submodel-path", "");
 676         sm->ext_force       = entry_node->getBoolValue("external-force", false);
 677         sm->force_path      = entry_node->getStringValue("force-path", "");
 678
 679         //cout <<  "sm->contents_node " << sm->contents_node << endl;
 680         if (sm->contents_node != 0)
 681             sm->contents = sm->contents_node->getDoubleValue();
 682
 683         const char *trigger_path = entry_node->getStringValue("trigger", 0);
 684         if (trigger_path) {
 685             sm->trigger_node = fgGetNode(trigger_path, true);
 686             sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue());
 687         } else {
 688             sm->trigger_node = 0;
 689         }
 690
 691         if (sm->speed_node != 0)
 692             sm->speed = sm->speed_node->getDoubleValue();
 693
 694         sm->timer = sm->delay;
 695         sm->id = index;
 696         sm->first_time = false;
 697         sm->serviceable = serviceable;
 698         sm->sub_id = 0;
 699
 700         sm->prop = fgGetNode("/ai/submodels/subsubmodel", index, true);
 701         sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
 702         sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
 703         sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
 704         sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
 705         sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
 706         string name = sm->name;
 707         sm->prop->setStringValue("name", name.c_str());
 708
 709         string submodel = sm->submodel;
 710         sm->prop->setStringValue("submodel", submodel.c_str());
 711         // cout << " set submodel path " << submodel<< endl;
 712
 713         string force_path = sm->force_path;
 714         sm->prop->setStringValue("force_path", force_path.c_str());
 715         //cout << "set force_path " << force_path << endl;
 716
 717         if (sm->contents_node != 0)
 718             sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
 719
 720         index++;
 721         subsubmodels.push_back(sm);
 722     }
 723 }
 724
 725 void FGSubmodelMgr::loadSubmodels()
 726 {
 727     SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Loading sub submodels");
 728
 729         _found_sub = false;
 730
 731     submodel_iterator = submodels.begin();
 732
 733         while (submodel_iterator != submodels.end()) {
 734                 string submodel  = (*submodel_iterator)->submodel;
 735                 if (!submodel.empty()) {
 736                         //int id = (*submodel_iterator)->id;
 737                         bool serviceable = true;
 738                         //SG_LOG(SG_GENERAL, SG_DEBUG, "found path sub sub "
 739                         //        << submodel
 740                         //        << " index " << index
 741                         //        << "name " << (*submodel_iterator)->name);
 742
 743                         if ((*submodel_iterator)->sub_id == 0){
 744                                 (*submodel_iterator)->sub_id = index;
 745                                 _found_sub = true;
 746                                 setSubData(index, submodel, serviceable);
 747                         }
 748                 }
 749
 750                 ++submodel_iterator;
 751         } // end while
 752
 753     subsubmodel_iterator = subsubmodels.begin();
 754
 755     while (subsubmodel_iterator != subsubmodels.end()) {
 756         submodels.push_back(*subsubmodel_iterator);
 757         ++subsubmodel_iterator;
 758     } // end while
 759
 760         subsubmodels.clear();
 761
 762     //submodel_iterator = submodels.begin();
 763
 764     //while (submodel_iterator != submodels.end()) {
 765         //int id = (*submodel_iterator)->id;
 766         //SG_LOG(SG_GENERAL, SG_DEBUG,"after pushback "
 767         //        << " id " << id
 768         //        << " name " << (*submodel_iterator)->name
 769         //        << " sub id " << (*submodel_iterator)->sub_id);
 770
 771         //++submodel_iterator;
 772     //}
 773 }
 774
 775 // end of submodel.cxx