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 using FGXMLAutopilot::InputValue;
  32
  33 const double FGSubmodelMgr::lbs_to_slugs = 0.031080950172;
  34
  35 FGSubmodelMgr::FGSubmodelMgr()
  36 {
  37     x_offset = y_offset = z_offset = 0.0;
  38     pitch_offset = 0.0;
  39     yaw_offset = 0.0;
  40
  41     //out[0] = out[1] = out[2] = 0;
  42     //string contents_node;
  43     contrail_altitude = 30000;
  44     _count = 0;
  45     _found_sub = true;
  46 }
  47
  48 FGSubmodelMgr::~FGSubmodelMgr()
  49 {
  50 }
  51
  52 FGAIManager* FGSubmodelMgr::aiManager()
  53 {
  54    return (FGAIManager*)globals->get_subsystem("ai-model");
  55 }
  56
  57 void FGSubmodelMgr::init()
  58 {
  59     index = 0;
  60
  61     _serviceable_node = fgGetNode("/sim/submodels/serviceable", true);
  62     _serviceable_node->setBoolValue(true);
  63
  64     _user_lat_node = fgGetNode("/position/latitude-deg", true);
  65     _user_lon_node = fgGetNode("/position/longitude-deg", true);
  66     _user_alt_node = fgGetNode("/position/altitude-ft", true);
  67
  68     _user_heading_node = fgGetNode("/orientation/heading-deg", true);
  69     _user_pitch_node =   fgGetNode("/orientation/pitch-deg", true);
  70     _user_roll_node =    fgGetNode("/orientation/roll-deg", true);
  71     _user_yaw_node =     fgGetNode("/orientation/yaw-deg", true);
  72     _user_alpha_node =   fgGetNode("/orientation/alpha-deg", true);
  73
  74     _user_speed_node = fgGetNode("/velocities/uBody-fps", true);
  75
  76     _user_wind_from_east_node  = fgGetNode("/environment/wind-from-east-fps", true);
  77     _user_wind_from_north_node = fgGetNode("/environment/wind-from-north-fps", true);
  78
  79     _user_speed_down_fps_node   = fgGetNode("/velocities/speed-down-fps", true);
  80     _user_speed_east_fps_node   = fgGetNode("/velocities/speed-east-fps", true);
  81     _user_speed_north_fps_node  = fgGetNode("/velocities/speed-north-fps", true);
  82
  83     _contrail_altitude_node = fgGetNode("/environment/params/contrail-altitude", true);
  84     contrail_altitude       = _contrail_altitude_node->getDoubleValue();
  85     _contrail_trigger       = fgGetNode("ai/submodels/contrails", true);
  86     _contrail_trigger->setBoolValue(false);
  87
  88     load();
  89
  90 }
  91
  92 void FGSubmodelMgr::postinit() {
  93     // postinit, so that the AI list is populated
  94
  95         loadAI();
  96
  97     while (_found_sub)
  98         loadSubmodels();
  99
 100     //TODO reload submodels if an MP ac joins
 101
 102     //_model_added_node = fgGetNode("ai/models/model-added", true);
 103     //_model_added_node->addChangeListener(this, false);
 104 }
 105
 106 void FGSubmodelMgr::bind()
 107 {}
 108
 109 void FGSubmodelMgr::unbind()
 110 {
 111     submodel_iterator = submodels.begin();
 112     while (submodel_iterator != submodels.end()) {
 113         (*submodel_iterator)->prop->untie("count");
 114         ++submodel_iterator;
 115     }
 116 }
 117
 118 void FGSubmodelMgr::update(double dt)
 119 {
 120     if (!_serviceable_node->getBoolValue())
 121         return;
 122
 123     _impact = false;
 124     _hit = false;
 125     _expiry = false;
 126
 127     // check if the submodel hit an object or terrain
 128     FGAIManager::ai_list_type sm_list(aiManager()->get_ai_list());
 129     FGAIManager::ai_list_iterator sm_list_itr = sm_list.begin(),
 130       end = sm_list.end();
 131
 132     for (; sm_list_itr != end; ++sm_list_itr) {
 133         FGAIBase::object_type object_type =(*sm_list_itr)->getType();
 134
 135         if (object_type != FGAIBase::otBallistic){// only work on ballistic objects
 136             continue; // so continue
 137         }
 138
 139         int parent_subID = (*sm_list_itr)->_getSubID();
 140         int id = (*sm_list_itr)->getID();
 141
 142         if ( parent_subID == 0 || id == -1) // this entry in the list has no associated submodel
 143             continue;                       // or is invalid so we can continue
 144
 145         //SG_LOG(SG_AI, SG_DEBUG, "Submodel: Impact " << _impact << " hit! "
 146         //        << _hit <<" parent_subID " << parent_subID);
 147
 148         _hit = (*sm_list_itr)->_getCollisionData();
 149         _impact = (*sm_list_itr)->_getImpactData();
 150         _expiry = (*sm_list_itr)->_getExpiryData();
 151
 152         //SG_LOG(SG_AI, SG_ALERT, "Submodel: " << (*sm_list_itr)->_getName()
 153         //    << " Impact " << _impact << " hit! " << _hit
 154         //    << " exipiry :-( " << _expiry );
 155
 156         if (_impact || _hit || _expiry) {
 157     //        SG_LOG(SG_AI, SG_ALERT, "Submodel: Impact " << _impact << " hit! " << _hit
 158                 //<< " exipiry :-( " << _expiry );
 159
 160             submodel_iterator = submodels.begin();
 161
 162             while (submodel_iterator != submodels.end()) {
 163                 int child_ID = (*submodel_iterator)->id;
 164                 //cout << "Impact: parent SubID " << parent_subID << " child_ID " << child_ID << endl;
 165
 166                 if ( parent_subID == child_ID ) {
 167                     _parent_lat = (*sm_list_itr)->_getImpactLat();
 168                     _parent_lon = (*sm_list_itr)->_getImpactLon();
 169                     _parent_elev = (*sm_list_itr)->_getImpactElevFt();
 170                     _parent_hdg = (*sm_list_itr)->_getImpactHdg();
 171                     _parent_pitch = (*sm_list_itr)->_getImpactPitch();
 172                     _parent_roll = (*sm_list_itr)->_getImpactRoll();
 173                     _parent_speed = (*sm_list_itr)->_getImpactSpeed();
 174                     (*submodel_iterator)->first_time = true;
 175                     //cout << "Impact: parent SubID = child_ID elev " << _parent_elev << endl;
 176
 177                     if (release(*submodel_iterator, dt)){
 178                         (*sm_list_itr)->setDie(true);
 179                         //cout << "Impact: set die" << (*sm_list_itr)->_getName() << endl;
 180                     }
 181
 182                 }
 183
 184                 ++submodel_iterator;
 185             }
 186         }
 187     }
 188
 189     _contrail_trigger->setBoolValue(_user_alt_node->getDoubleValue() > contrail_altitude);
 190
 191
 192 //    bool in_range = true;
 193     bool trigger = false;
 194     int i = -1;
 195
 196     submodel_iterator = submodels.begin();
 197     while (submodel_iterator != submodels.end())  {
 198         i++;
 199
 200         /*SG_LOG(SG_AI, SG_DEBUG,
 201                 "Submodels:  " << (*submodel_iterator)->id
 202                 << " name " << (*submodel_iterator)->name
 203                 );*/
 204
 205         if ((*submodel_iterator)->trigger_node != 0) {
 206             _trigger_node = (*submodel_iterator)->trigger_node;
 207             trigger = _trigger_node->getBoolValue();
 208             //cout << (*submodel_iterator)->name << "trigger node found " <<  trigger << endl;
 209         } else {
 210             trigger = false;
 211             //cout << (*submodel_iterator)->name << " trigger node not found " << trigger << endl;
 212         }
 213
 214         if (trigger && (*submodel_iterator)->count != 0) {
 215
 216             //int id = (*submodel_iterator)->id;
 217             //const string& name = (*submodel_iterator)->name;
 218
 219             SG_LOG(SG_AI, SG_DEBUG,
 220             "Submodels release:  " << (*submodel_iterator)->id
 221             << " name " << (*submodel_iterator)->name
 222             << " count " << (*submodel_iterator)->count
 223             << " slaved " << (*submodel_iterator)->slaved
 224             );
 225
 226             release(*submodel_iterator, dt);
 227         } else
 228             (*submodel_iterator)->first_time = true;
 229
 230         ++submodel_iterator;
 231     } // end while
 232 }
 233
 234 bool FGSubmodelMgr::release(submodel *sm, double dt)
 235 {
 236     //cout << "release id " << sm->id
 237     //    << " name " << sm->name
 238     //    << " first time " << sm->first_time
 239     //    << " repeat " << sm->repeat
 240     //    << " slaved " << sm->slaved
 241     //    << endl;
 242
 243     // only run if first time or repeat is set to true
 244     if (!sm->first_time && !sm->repeat) {
 245         //cout<< "returning: "<< sm->name
 246         //    << " not first time " << sm->first_time
 247         //    << " repeat " << sm->repeat
 248         //    << " slaved " << sm->slaved
 249         //    << endl;
 250         return false;
 251     }
 252
 253     sm->timer += dt;
 254
 255     if (sm->timer < sm->delay) {
 256         //cout << "not yet: timer " << sm->timer << " delay " << sm->delay << endl;
 257         return false;
 258     }
 259
 260     //cout << "released timer: " << sm->timer << " delay " << sm->delay << endl;
 261
 262     sm->timer = 0.0;
 263
 264     if (sm->first_time) {
 265         dt = 0.0;
 266         sm->first_time = false;
 267     }
 268
 269     double yaw_offset   = 0.0;
 270     double pitch_offset = 0.0;
 271
 272     if (sm->yaw_node != 0)
 273         yaw_offset = sm->yaw_node->get_value();
 274     if (sm->pitch_node != 0)
 275         pitch_offset = sm->pitch_node->get_value();
 276
 277     transform(sm);  // calculate submodel's initial conditions in world-coordinates
 278
 279     FGAIBallistic* ballist = new FGAIBallistic;
 280     ballist->setPath(sm->model.c_str());
 281     ballist->setName(sm->name);
 282     ballist->setSlaved(sm->slaved);
 283     ballist->setRandom(sm->random);
 284     ballist->setRandomness(sm->randomness);
 285     ballist->setLatitude(offsetpos.getLatitudeDeg());
 286     ballist->setLongitude(offsetpos.getLongitudeDeg());
 287     ballist->setAltitude(offsetpos.getElevationFt());
 288     ballist->setAzimuth(IC.azimuth);
 289     ballist->setElevation(IC.elevation);
 290     ballist->setRoll(IC.roll);
 291     ballist->setSpeed(IC.speed / SG_KT_TO_FPS);
 292     ballist->setWind_from_east(IC.wind_from_east);
 293     ballist->setWind_from_north(IC.wind_from_north);
 294     ballist->setMass(IC.mass);
 295     ballist->setDragArea(sm->drag_area);
 296     ballist->setLife(sm->life);
 297     ballist->setBuoyancy(sm->buoyancy);
 298     ballist->setWind(sm->wind);
 299     ballist->setCd(sm->cd);
 300     ballist->setStabilisation(sm->aero_stabilised);
 301     ballist->setNoRoll(sm->no_roll);
 302     ballist->setCollision(sm->collision);
 303     ballist->setExpiry(sm->expiry);
 304     ballist->setImpact(sm->impact);
 305     ballist->setImpactReportNode(sm->impact_report);
 306     ballist->setFuseRange(sm->fuse_range);
 307     ballist->setSubmodel(sm->submodel.c_str());
 308     ballist->setSubID(sm->sub_id);
 309     ballist->setForceStabilisation(sm->force_stabilised);
 310     ballist->setExternalForce(sm->ext_force);
 311     ballist->setForcePath(sm->force_path.c_str());
 312     ballist->setXoffset(sm->x_offset);
 313     ballist->setYoffset(sm->y_offset);
 314     ballist->setZoffset(sm->z_offset);
 315     ballist->setPitchoffset(pitch_offset);
 316     ballist->setYawoffset(yaw_offset);
 317     ballist->setParentNodes(_selected_ac);
 318     ballist->setContentsNode(sm->contents_node);
 319     ballist->setWeight(sm->weight);
 320
 321     aiManager()->attach(ballist);
 322
 323     if (sm->count > 0)
 324         sm->count--;
 325     return true;
 326 }
 327
 328 void FGSubmodelMgr::load()
 329 {
 330     SGPropertyNode *path = fgGetNode("/sim/submodels/path");
 331
 332     if (path) {
 333         const int id = 0;
 334         const string& Path = path->getStringValue();
 335         bool Seviceable =_serviceable_node->getBoolValue();
 336         setData(id, Path, Seviceable);
 337     }
 338 }
 339
 340 void FGSubmodelMgr::transform(submodel *sm)
 341 {
 342     // set initial conditions
 343     if (sm->contents_node != 0 && !sm->slaved) {
 344         // get the weight of the contents (lbs) and convert to mass (slugs)
 345         sm->contents = sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue();
 346         //cout << "transform: contents " << sm->contents << endl;
 347         IC.mass = (sm->weight + sm->contents) * lbs_to_slugs;
 348         //cout << "mass inc contents"  << IC.mass << endl;
 349
 350         // set contents to 0 in the parent
 351         sm->contents_node->getChild("level-gal_us",0,1)->setDoubleValue(0);
 352         /*cout << "contents " << sm->contents_node->getChild("level-gal_us")->getDoubleValue()
 353         << " " << sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue()
 354         << endl;*/
 355     } else
 356         IC.mass = sm->weight * lbs_to_slugs;
 357
 358     int id = sm->id;
 359     //int sub_id = sm->sub_id;
 360     //const string& name = sm->name;
 361
 362
 363     if (sm->speed_node != 0)
 364         sm->speed = sm->speed_node->getDoubleValue();
 365
 366     double yaw_offset   = 0.0;
 367     double pitch_offset = 0.0;
 368
 369     if (sm->yaw_node != 0)
 370         yaw_offset = sm->yaw_node->get_value();
 371     if (sm->pitch_node != 0)
 372         pitch_offset = sm->pitch_node->get_value();
 373
 374     //cout << " name " << name << " id " << id << " sub id" << sub_id << endl;
 375
 376     // set the Initial Conditions for the types of submodel parent
 377
 378     if (_impact || _hit || _expiry) {
 379         // set the data for a submodel tied to a submodel
 380
 381         _count++;
 382
 383         IC.lat             = _parent_lat;
 384         IC.lon             = _parent_lon;
 385         IC.alt             = _parent_elev;
 386         IC.roll            = _parent_roll;    // rotation about x axis
 387         IC.elevation       = _parent_pitch;   // rotation about y axis
 388         IC.azimuth         = _parent_hdg;     // rotation about z axis
 389         IC.speed           = _parent_speed;
 390         IC.speed_down_fps  = 0;
 391         IC.speed_east_fps  = 0;
 392         IC.speed_north_fps = 0;
 393
 394     } else if (id == 0) {
 395         //set the data for a submodel tied to the main model
 396
 397         IC.lat             = _user_lat_node->getDoubleValue();
 398         IC.lon             = _user_lon_node->getDoubleValue();
 399         IC.alt             = _user_alt_node->getDoubleValue();
 400         IC.roll            = _user_roll_node->getDoubleValue();    // rotation about x axis
 401         IC.elevation       = _user_pitch_node->getDoubleValue();   // rotation about y axis
 402         IC.azimuth         = _user_heading_node->getDoubleValue(); // rotation about z axis
 403         IC.speed           = _user_speed_node->getDoubleValue();
 404         IC.speed_down_fps  = _user_speed_down_fps_node->getDoubleValue();
 405         IC.speed_east_fps  = _user_speed_east_fps_node->getDoubleValue();
 406         IC.speed_north_fps = _user_speed_north_fps_node->getDoubleValue();
 407
 408     } else {
 409         // set the data for a submodel tied to an AI Object
 410         //cout << " set the data for a submodel tied to an AI Object " << id << endl;
 411         setParentNode(id);
 412     }
 413
 414     //cout << "Submodel: setting IC "<< name << endl;
 415     //cout << "heading " << IC.azimuth << endl ;
 416     //cout << "speed down " << IC.speed_down_fps << endl ;
 417     //cout << "speed east " << IC.speed_east_fps << endl ;
 418     //cout << "speed north " << IC.speed_north_fps << endl ;
 419     //cout << "parent speed fps in " << IC.speed << "sm speed in " << sm->speed << endl ;
 420     //cout << "lat " << IC.lat;
 421     //cout << "alt " << IC.alt <<  endl ;
 422
 423
 424     // Set the Initial Conditions that are common to all types of parent
 425     IC.wind_from_east =  _user_wind_from_east_node->getDoubleValue();
 426     IC.wind_from_north = _user_wind_from_north_node->getDoubleValue();
 427
 428 //cout << "wind e " << IC.wind_from_east << " n " << IC.wind_from_north << endl;
 429
 430     userpos.setLatitudeDeg(IC.lat);
 431     userpos.setLongitudeDeg(IC.lon);
 432     userpos.setElevationFt(IC.alt);
 433
 434     _x_offset = sm->x_offset;
 435     _y_offset = sm->y_offset;
 436     _z_offset = sm->z_offset;
 437
 438     setOffsetPos();
 439
 440     //IC.elevation += sm->pitch_offset;
 441     //IC.azimuth   += sm->yaw_offset ;
 442
 443     // pre-process the trig functions
 444     cosRx = cos(-IC.roll * SG_DEGREES_TO_RADIANS);
 445     sinRx = sin(-IC.roll * SG_DEGREES_TO_RADIANS);
 446     cosRy = cos(-IC.elevation * SG_DEGREES_TO_RADIANS);
 447     sinRy = sin(-IC.elevation * SG_DEGREES_TO_RADIANS);
 448     cosRz = cos(IC.azimuth * SG_DEGREES_TO_RADIANS);
 449     sinRz = sin(IC.azimuth * SG_DEGREES_TO_RADIANS);
 450
 451
 452     // Get submodel initial velocity vector angles in XZ and XY planes.
 453     // This vector should be added to aircraft's vector.
 454     IC.elevation += (yaw_offset * sinRx) + (pitch_offset * cosRx);
 455     IC.azimuth   += (yaw_offset * cosRx) - (pitch_offset * sinRx);
 456
 457     // calculate the total speed north
 458     IC.total_speed_north = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS)
 459             * cos(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_north_fps;
 460
 461     // calculate the total speed east
 462     IC.total_speed_east = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS)
 463             * sin(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_east_fps;
 464
 465     // calculate the total speed down
 466     IC.total_speed_down = sm->speed * -sin(IC.elevation * SG_DEGREES_TO_RADIANS)
 467             + IC.speed_down_fps;
 468
 469     // re-calculate speed, elevation and azimuth
 470     IC.speed = sqrt(IC.total_speed_north * IC.total_speed_north
 471             + IC.total_speed_east * IC.total_speed_east
 472             + IC.total_speed_down * IC.total_speed_down);
 473
 474     // if speeds are low this calculation can become unreliable
 475     if (IC.speed > 1) {
 476         IC.azimuth = atan2(IC.total_speed_east, IC.total_speed_north) * SG_RADIANS_TO_DEGREES;
 477         //        cout << "azimuth1 " << IC.azimuth<<endl;
 478
 479         // rationalise the output
 480         if (IC.azimuth < 0)
 481             IC.azimuth += 360;
 482         else if (IC.azimuth >= 360)
 483             IC.azimuth -= 360;
 484         // cout << "azimuth2 " << IC.azimuth<<endl;
 485
 486         IC.elevation = -atan(IC.total_speed_down / sqrt(IC.total_speed_north
 487             * IC.total_speed_north + IC.total_speed_east * IC.total_speed_east))
 488             * SG_RADIANS_TO_DEGREES;
 489     }
 490     //cout << "IC.speed " << IC.speed / SG_KT_TO_FPS << endl;
 491 }
 492
 493 void FGSubmodelMgr::updatelat(double lat)
 494 {
 495     ft_per_deg_latitude = 366468.96 - 3717.12 * cos(lat / SG_RADIANS_TO_DEGREES);
 496     ft_per_deg_longitude = 365228.16 * cos(lat / SG_RADIANS_TO_DEGREES);
 497 }
 498
 499 void FGSubmodelMgr::loadAI()
 500 {
 501     SG_LOG(SG_AI, SG_DEBUG, "Submodels: Loading AI submodels ");
 502
 503     FGAIManager::ai_list_type sm_list(aiManager()->get_ai_list());
 504
 505     if (sm_list.empty()) {
 506         SG_LOG(SG_AI, SG_ALERT, "Submodels: Unable to read AI submodel list");
 507         return;
 508     }
 509
 510     FGAIManager::ai_list_iterator sm_list_itr = sm_list.begin(),
 511       end = sm_list.end();
 512
 513     while (sm_list_itr != end) {
 514         string path = (*sm_list_itr)->_getSMPath();
 515
 516         if (path.empty()) {
 517             ++sm_list_itr;
 518             continue;
 519         }
 520
 521         int id = (*sm_list_itr)->getID();
 522         bool serviceable = (*sm_list_itr)->_getServiceable();
 523
 524         //string type = (*sm_list_itr)->getTypeString();
 525         //cout << "loadAI: type " << type << " path "<< path << " serviceable " << serviceable << endl;
 526
 527         setData(id, path, serviceable);
 528         ++sm_list_itr;
 529     }
 530 }
 531
 532
 533
 534 void FGSubmodelMgr::setData(int id, const string& path, bool serviceable)
 535 {
 536     SGPropertyNode root;
 537
 538     SGPath config = globals->resolve_aircraft_path(path);
 539     try {
 540         SG_LOG(SG_AI, SG_DEBUG,
 541                 "Submodels: Trying to read AI submodels file: " << config.str());
 542         readProperties(config.str(), &root);
 543     } catch (const sg_exception &) {
 544         SG_LOG(SG_AI, SG_ALERT,
 545                 "Submodels: Unable to read AI submodels file: " << config.str());
 546         return;
 547     }
 548
 549     vector<SGPropertyNode_ptr> children = root.getChildren("submodel");
 550     vector<SGPropertyNode_ptr>::iterator it = children.begin();
 551     vector<SGPropertyNode_ptr>::iterator end = children.end();
 552
 553     for (int i = 0; it != end; ++it, i++) {
 554         //cout << "Reading AI submodel " << (*it)->getPath() << endl;
 555         submodel* sm = new submodel;
 556         SGPropertyNode * entry_node = *it;
 557         sm->name            = entry_node->getStringValue("name", "none_defined");
 558         sm->model           = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
 559         sm->speed           = entry_node->getDoubleValue("speed", 2329.4);
 560         sm->repeat          = entry_node->getBoolValue("repeat", false);
 561         sm->delay           = entry_node->getDoubleValue("delay", 0.25);
 562         sm->count           = entry_node->getIntValue("count", 1);
 563         sm->slaved          = entry_node->getBoolValue("slaved", false);
 564         sm->x_offset        = entry_node->getDoubleValue("x-offset", 0.0);
 565         sm->y_offset        = entry_node->getDoubleValue("y-offset", 0.0);
 566         sm->z_offset        = entry_node->getDoubleValue("z-offset", 0.0);
 567         sm->drag_area       = entry_node->getDoubleValue("eda", 0.034);
 568         sm->life            = entry_node->getDoubleValue("life", 900.0);
 569         sm->buoyancy        = entry_node->getDoubleValue("buoyancy", 0);
 570         sm->wind            = entry_node->getBoolValue("wind", false);
 571         sm->cd              = entry_node->getDoubleValue("cd", 0.193);
 572         sm->weight          = entry_node->getDoubleValue("weight", 0.25);
 573         sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
 574         sm->no_roll         = entry_node->getBoolValue("no-roll", false);
 575         sm->collision       = entry_node->getBoolValue("collision", false);
 576         sm->expiry                      = entry_node->getBoolValue("expiry", false);
 577         sm->impact          = entry_node->getBoolValue("impact", false);
 578         sm->impact_report   = entry_node->getStringValue("impact-reports");
 579         sm->fuse_range      = entry_node->getDoubleValue("fuse-range", 0.0);
 580         sm->contents_node   = fgGetNode(entry_node->getStringValue("contents", "none"), false);
 581         sm->speed_node      = fgGetNode(entry_node->getStringValue("speed-prop", "none"), false);
 582         sm->submodel        = entry_node->getStringValue("submodel-path", "");
 583         sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
 584         sm->ext_force       = entry_node->getBoolValue("external-force", false);
 585         sm->force_path      = entry_node->getStringValue("force-path", "");
 586         sm->random                      = entry_node->getBoolValue("random", false);
 587         sm->randomness          = entry_node->getDoubleValue("randomness", 0.5);
 588
 589         SGPropertyNode_ptr a = entry_node->getNode("yaw-offset");
 590         SGPropertyNode_ptr b = entry_node->getNode("pitch-offset");
 591         SGPropertyNode_ptr prop_root = fgGetNode("/", true);
 592         sm->yaw_node        = 0;
 593         sm->pitch_node      = 0;
 594         if (a != 0)
 595             sm->yaw_node    = new InputValue(*prop_root, *a);
 596         if (b != 0)
 597             sm->pitch_node  = new InputValue(*prop_root, *b);
 598
 599         if (sm->contents_node != 0)
 600             sm->contents = sm->contents_node->getDoubleValue();
 601
 602         const char *trigger_path = entry_node->getStringValue("trigger", 0);
 603         if (trigger_path) {
 604             sm->trigger_node = fgGetNode(trigger_path, true);
 605             sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue());
 606         } else {
 607             sm->trigger_node = 0;
 608         }
 609
 610         if (sm->speed_node != 0)
 611             sm->speed = sm->speed_node->getDoubleValue();
 612
 613         sm->timer = sm->delay;
 614         sm->id = id;
 615         sm->first_time = false;
 616         sm->serviceable = serviceable;
 617         sm->sub_id = 0;
 618
 619         sm->prop = fgGetNode("/ai/submodels/submodel", index, true);
 620         sm->prop->tie("delay", SGRawValuePointer<double>(&(sm->delay)));
 621         sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
 622         sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
 623         sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
 624         sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
 625         sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
 626         sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
 627         sm->prop->tie("slaved", SGRawValuePointer<bool>(&(sm->slaved)));
 628         const string& name = sm->name;
 629         sm->prop->setStringValue("name", name.c_str());
 630
 631         const string& submodel = sm->submodel;
 632         sm->prop->setStringValue("submodel", submodel.c_str());
 633
 634         const string& force_path = sm->force_path;
 635         sm->prop->setStringValue("force_path", force_path.c_str());
 636         //cout << "set force_path Sub " << force_path << endl;
 637
 638         if (sm->contents_node != 0)
 639             sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
 640
 641         index++;
 642         submodels.push_back(sm);
 643     }
 644 }
 645
 646 void FGSubmodelMgr::setSubData(int id, const string& path, bool serviceable)
 647 {
 648     SGPropertyNode root;
 649     SGPath config = globals->resolve_aircraft_path(path);
 650
 651     try {
 652         SG_LOG(SG_AI, SG_DEBUG,
 653                 "Submodels: Trying to read AI submodels file: " << config.str());
 654         readProperties(config.str(), &root);
 655
 656     } catch (const sg_exception &) {
 657         SG_LOG(SG_AI, SG_ALERT,
 658                 "Submodels: Unable to read AI submodels file: " << config.str());
 659         return;
 660     }
 661
 662     vector<SGPropertyNode_ptr> children = root.getChildren("submodel");
 663     vector<SGPropertyNode_ptr>::iterator it = children.begin();
 664     vector<SGPropertyNode_ptr>::iterator end = children.end();
 665
 666     for (int i = 0; it != end; ++it, i++) {
 667         //cout << "Reading AI submodel " << (*it)->getPath() << endl;
 668         submodel* sm = new submodel;
 669         SGPropertyNode * entry_node = *it;
 670         sm->name            = entry_node->getStringValue("name", "none_defined");
 671         sm->model           = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
 672         sm->speed           = entry_node->getDoubleValue("speed", 2329.4);
 673         sm->repeat          = entry_node->getBoolValue("repeat", false);
 674         sm->delay           = entry_node->getDoubleValue("delay", 0.25);
 675         sm->count           = entry_node->getIntValue("count", 1);
 676         sm->slaved          = entry_node->getBoolValue("slaved", false);
 677         sm->x_offset        = entry_node->getDoubleValue("x-offset", 0.0);
 678         sm->y_offset        = entry_node->getDoubleValue("y-offset", 0.0);
 679         sm->z_offset        = entry_node->getDoubleValue("z-offset", 0.0);
 680         sm->drag_area       = entry_node->getDoubleValue("eda", 0.034);
 681         sm->life            = entry_node->getDoubleValue("life", 900.0);
 682         sm->buoyancy        = entry_node->getDoubleValue("buoyancy", 0);
 683         sm->wind            = entry_node->getBoolValue("wind", false);
 684         sm->cd              = entry_node->getDoubleValue("cd", 0.193);
 685         sm->weight          = entry_node->getDoubleValue("weight", 0.25);
 686         sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
 687         sm->no_roll         = entry_node->getBoolValue("no-roll", false);
 688         sm->collision       = entry_node->getBoolValue("collision", false);
 689         sm->expiry          = entry_node->getBoolValue("expiry", false);
 690         sm->impact          = entry_node->getBoolValue("impact", false);
 691         sm->impact_report   = entry_node->getStringValue("impact-reports");
 692         sm->fuse_range      = entry_node->getDoubleValue("fuse-range", 0.0);
 693         sm->contents_node   = fgGetNode(entry_node->getStringValue("contents", "none"), false);
 694         sm->speed_node      = fgGetNode(entry_node->getStringValue("speed-prop", "none"), false);
 695         sm->submodel        = entry_node->getStringValue("submodel-path", "");
 696         sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
 697         sm->ext_force       = entry_node->getBoolValue("external-force", false);
 698         sm->force_path      = entry_node->getStringValue("force-path", "");
 699         sm->random          = entry_node->getBoolValue("random", false);
 700         sm->randomness      = entry_node->getDoubleValue("randomness", 0.5);
 701
 702         SGPropertyNode_ptr a = entry_node->getNode("yaw-offset");
 703         SGPropertyNode_ptr b = entry_node->getNode("pitch-offset");
 704         SGPropertyNode_ptr prop_root = fgGetNode("/", true);
 705         sm->yaw_node        = 0;
 706         sm->pitch_node      = 0;
 707         if (a != 0)
 708             sm->yaw_node    = new InputValue(*prop_root, *a);
 709         if (b != 0)
 710             sm->pitch_node  = new InputValue(*prop_root, *b);
 711
 712         if (sm->contents_node != 0)
 713             sm->contents = sm->contents_node->getDoubleValue();
 714
 715         const char *trigger_path = entry_node->getStringValue("trigger", 0);
 716         if (trigger_path) {
 717             sm->trigger_node = fgGetNode(trigger_path, true);
 718             sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue());
 719         } else {
 720             sm->trigger_node = 0;
 721         }
 722
 723         if (sm->speed_node != 0)
 724             sm->speed = sm->speed_node->getDoubleValue();
 725
 726         sm->timer = sm->delay;
 727         sm->id = index;
 728         sm->first_time = false;
 729         sm->serviceable = serviceable;
 730         sm->sub_id = 0;
 731
 732         sm->prop = fgGetNode("/ai/submodels/subsubmodel", index, true);
 733         sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
 734         sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
 735         sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
 736         sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
 737         sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
 738         sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
 739         sm->prop->tie("slaved", SGRawValuePointer<bool>(&(sm->slaved)));
 740
 741         const string& name = sm->name;
 742         sm->prop->setStringValue("name", name.c_str());
 743
 744         const string& submodel = sm->submodel;
 745         sm->prop->setStringValue("submodel-path", submodel.c_str());
 746         // cout << " set submodel path AI" << submodel<< endl;
 747
 748         const string& force_path = sm->force_path;
 749         sm->prop->setStringValue("force_path", force_path.c_str());
 750         //cout << "set force_path  AI" << force_path << endl;
 751
 752         if (sm->contents_node != 0)
 753             sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
 754
 755         index++;
 756         subsubmodels.push_back(sm);
 757     }
 758 }
 759
 760 void FGSubmodelMgr::loadSubmodels()
 761 {
 762     SG_LOG(SG_AI, SG_DEBUG, "Submodels: Loading sub submodels");
 763
 764     _found_sub = false;
 765
 766     submodel_iterator = submodels.begin();
 767
 768     while (submodel_iterator != submodels.end()) {
 769         const string& submodel  = (*submodel_iterator)->submodel;
 770         if (!submodel.empty()) {
 771             //int id = (*submodel_iterator)->id;
 772             bool serviceable = true;
 773             SG_LOG(SG_AI, SG_DEBUG, "found path sub sub "
 774                     << submodel
 775                     << " index " << index
 776                     << " name " << (*submodel_iterator)->name);
 777
 778             if ((*submodel_iterator)->sub_id == 0){
 779                 (*submodel_iterator)->sub_id = index;
 780                 _found_sub = true;
 781                 setSubData(index, submodel, serviceable);
 782             }
 783         }
 784
 785         ++submodel_iterator;
 786     } // end while
 787
 788     subsubmodel_iterator = subsubmodels.begin();
 789
 790     while (subsubmodel_iterator != subsubmodels.end()) {
 791
 792         submodels.push_back(*subsubmodel_iterator);
 793         ++subsubmodel_iterator;
 794     } // end while
 795
 796     subsubmodels.clear();
 797
 798     //submodel_iterator = submodels.begin();
 799
 800     //int subcount = 0;
 801
 802     //while (submodel_iterator != submodels.end()) {
 803     //    int id = (*submodel_iterator)->id;
 804     //    subcount++;
 805
 806     //    SG_LOG(SG_AI, SG_ALERT,"after pushback "
 807     //            << " parent id " << id
 808     //            << " name " << (*submodel_iterator)->name
 809     //            << " sub id " << (*submodel_iterator)->sub_id
 810     //            << " subcount "<< subcount);
 811
 812     //    ++submodel_iterator;
 813     //}
 814 }
 815
 816 SGVec3d FGSubmodelMgr::getCartOffsetPos() const{
 817
 818     // convert geodetic positions to geocentered
 819     SGVec3d cartuserPos = SGVec3d::fromGeod(userpos);
 820     // Transform to the right coordinate frame, configuration is done in
 821     // the x-forward, y-right, z-up coordinates (feet), computation
 822     // in the simulation usual body x-forward, y-right, z-down coordinates
 823     // (meters) )
 824
 825     SGVec3d _off(_x_offset * SG_FEET_TO_METER,
 826         _y_offset * SG_FEET_TO_METER,
 827         -_z_offset * SG_FEET_TO_METER);
 828
 829     // Transform the user position to the horizontal local coordinate system.
 830     SGQuatd hlTrans = SGQuatd::fromLonLat(userpos);
 831
 832     // and postrotate the orientation of the user model wrt the horizontal
 833     // local frame
 834     hlTrans *= SGQuatd::fromYawPitchRollDeg(
 835        IC.azimuth,
 836        IC.elevation,
 837        IC.roll);
 838
 839     // The offset converted to the usual body fixed coordinate system
 840     // rotated to the earth-fixed coordinates axis
 841     SGVec3d off = hlTrans.backTransform(_off);
 842
 843     // Add the position offset of the user model to get the geocentered position
 844     SGVec3d offsetPos = cartuserPos + off;
 845     return offsetPos;
 846 }
 847
 848 void FGSubmodelMgr::setOffsetPos(){
 849     // convert the offset geocentered position to geodetic
 850     SGVec3d cartoffsetPos = getCartOffsetPos();
 851
 852     SGGeodesy::SGCartToGeod(cartoffsetPos, offsetpos);
 853
 854     //cout << "OFFSET POS" << offsetpos.getElevationFt();
 855
 856 }
 857
 858 void FGSubmodelMgr::valueChanged(SGPropertyNode *prop)
 859 {
 860     return; // this isn't working atm
 861
 862     const char* _model_added = _model_added_node->getStringValue();
 863
 864     std::basic_string <char>::size_type indexCh2b;
 865
 866     string str2 = _model_added;
 867     const char *cstr2b = "multiplayer";
 868     indexCh2b = str2.find( cstr2b, 0 );
 869
 870     if (indexCh2b != string::npos ){        // we will ignore Ballistic Objects - there are potentially too many
 871
 872         //cout << "Submodels: model added - " << str2 <<" read path "<< endl;
 873         //return;
 874         SGPropertyNode *a_node = fgGetNode(_model_added, true);
 875         SGPropertyNode *sub_node = a_node->getChild("sim", 0, true);
 876         SGPropertyNode_ptr path_node = sub_node->getChild("path", 0, true);
 877         SGPropertyNode_ptr callsign_node = a_node->getChild("callsign", 0, true);
 878
 879         //const string& callsign = callsign_node->getStringValue();
 880         //cout << "Submodels: model added - " << callsign <<" read callsign "<< endl;
 881             return;
 882
 883         } else {
 884             cout << "model added - " << str2 <<" returning "<< endl;
 885         return;
 886         }
 887
 888 }
 889
 890 void FGSubmodelMgr::setParentNode(int id) {
 891
 892     const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
 893
 894     for (int i = ai->nChildren() - 1; i >= -1; i--) {
 895         SGPropertyNode_ptr model;
 896
 897         if (i < 0) { // last iteration: selected model
 898             model = _selected_ac;
 899         } else {
 900             model = ai->getChild(i);
 901             //const string& path = ai->getPath();
 902             //const string& name = model->getStringValue("name");
 903             int parent_id = model->getIntValue("id");
 904             if (!model->nChildren()){
 905                 continue;
 906             }
 907             if (parent_id == id) {
 908                 _selected_ac = model;  // save selected model for last iteration
 909                 break;
 910             }
 911
 912         }
 913         if (!model)
 914             continue;
 915
 916     }// end for loop
 917
 918     if (_selected_ac != 0){
 919
 920         //cout << " parent node found"<< endl;
 921
 922         const string name  = _selected_ac->getStringValue("name");
 923         IC.lat             = _selected_ac->getDoubleValue("position/latitude-deg");
 924         IC.lon             = _selected_ac->getDoubleValue("position/longitude-deg");
 925         IC.alt             = _selected_ac->getDoubleValue("position/altitude-ft");
 926         IC.roll            = _selected_ac->getDoubleValue("orientation/roll-deg");
 927         IC.elevation       = _selected_ac->getDoubleValue("orientation/pitch-deg");
 928         IC.azimuth         = _selected_ac->getDoubleValue("orientation/true-heading-deg");
 929         IC.speed           = _selected_ac->getDoubleValue("velocities/true-airspeed-kt") * SG_KT_TO_FPS;
 930         IC.speed_down_fps  = -_selected_ac->getDoubleValue("velocities/vertical-speed-fps");
 931         IC.speed_east_fps  = _selected_ac->getDoubleValue("velocities/speed-east-fps");
 932         IC.speed_north_fps = _selected_ac->getDoubleValue("velocities/speed-north-fps");
 933
 934         //cout << name << " IC.speed " << IC.speed << endl;
 935
 936     } else {
 937         SG_LOG(SG_AI, SG_ALERT, "AISubmodel: parent node not found ");
 938     }
 939
 940 }
 941 // end of submodel.cxx