1 //// submodel.cxx - models a releasable submodel.
2 // Written by Dave Culp, started Aug 2004
3 // With major additions by Vivian Meaaza 2004 - 2007
5 // This file is in the Public Domain and comes with no warranty.
11 #include "submodel.hxx"
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>
18 #include <Main/fg_props.hxx>
19 #include <Main/util.hxx>
23 #include "AIManager.hxx"
24 #include "AIBallistic.hxx"
31 const double FGSubmodelMgr::lbs_to_slugs = 0.031080950172;
33 FGSubmodelMgr::FGSubmodelMgr()
35 x_offset = y_offset = z_offset = 0.0;
39 //out[0] = out[1] = out[2] = 0;
40 //string contents_node;
41 contrail_altitude = 30000;
46 FGSubmodelMgr::~FGSubmodelMgr()
50 FGAIManager* FGSubmodelMgr::aiManager()
52 return (FGAIManager*)globals->get_subsystem("ai-model");
55 void FGSubmodelMgr::init()
59 _serviceable_node = fgGetNode("/sim/submodels/serviceable", true);
60 _serviceable_node->setBoolValue(true);
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);
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);
72 _user_speed_node = fgGetNode("/velocities/uBody-fps", true);
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);
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);
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);
89 void FGSubmodelMgr::postinit()
91 // postinit, so that the AI list is populated
97 //TODO reload submodels if an MP ac joins
99 //_model_added_node = fgGetNode("ai/models/model-added", true);
100 //_model_added_node->addChangeListener(this, false);
103 void FGSubmodelMgr::bind()
107 void FGSubmodelMgr::unbind()
109 submodel_iterator = submodels.begin();
110 while (submodel_iterator != submodels.end()) {
111 (*submodel_iterator)->prop->untie("count");
116 void FGSubmodelMgr::update(double dt)
118 if (!_serviceable_node->getBoolValue())
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 FGAIManager::ai_list_iterator end = sm_list.end();
130 for (; sm_list_itr != end; ++sm_list_itr) {
131 FGAIBase::object_type object_type =(*sm_list_itr)->getType();
133 // Continue if object is not ballistic
134 if (object_type != FGAIBase::otBallistic) {
138 int parent_subID = (*sm_list_itr)->_getSubID();
139 int id = (*sm_list_itr)->getID();
141 if (parent_subID == 0 || id == -1) // this entry in the list has no associated submodel
142 continue; // or is invalid so we can continue
144 //SG_LOG(SG_AI, SG_DEBUG, "Submodel: Impact " << _impact << " hit! "
145 // << _hit <<" parent_subID " << parent_subID);
147 _hit = (*sm_list_itr)->_getCollisionData();
148 _impact = (*sm_list_itr)->_getImpactData();
149 _expiry = (*sm_list_itr)->_getExpiryData();
151 //SG_LOG(SG_AI, SG_ALERT, "Submodel: " << (*sm_list_itr)->_getName()
152 // << " Impact " << _impact << " hit! " << _hit
153 // << " exipiry :-( " << _expiry );
155 if (_impact || _hit || _expiry) {
156 // SG_LOG(SG_AI, SG_ALERT, "Submodel: Impact " << _impact << " hit! " << _hit
157 //<< " exipiry :-( " << _expiry );
159 submodel_iterator = submodels.begin();
161 while (submodel_iterator != submodels.end()) {
162 int child_ID = (*submodel_iterator)->id;
163 //cout << "Impact: parent SubID " << parent_subID << " child_ID " << child_ID << endl;
165 if ( parent_subID == child_ID ) {
166 _parent_lat = (*sm_list_itr)->_getImpactLat();
167 _parent_lon = (*sm_list_itr)->_getImpactLon();
168 _parent_elev = (*sm_list_itr)->_getImpactElevFt();
169 _parent_hdg = (*sm_list_itr)->_getImpactHdg();
170 _parent_pitch = (*sm_list_itr)->_getImpactPitch();
171 _parent_roll = (*sm_list_itr)->_getImpactRoll();
172 _parent_speed = (*sm_list_itr)->_getImpactSpeed();
173 (*submodel_iterator)->first_time = true;
174 //cout << "Impact: parent SubID = child_ID elev " << _parent_elev << endl;
176 if (release(*submodel_iterator, dt)) {
177 (*sm_list_itr)->setDie(true);
178 //cout << "Impact: set die" << (*sm_list_itr)->_getName() << endl;
188 _contrail_trigger->setBoolValue(_user_alt_node->getDoubleValue() > contrail_altitude);
190 bool trigger = false;
193 submodel_iterator = submodels.begin();
194 while (submodel_iterator != submodels.end()) {
197 /*SG_LOG(SG_AI, SG_DEBUG,
198 "Submodels: " << (*submodel_iterator)->id
199 << " name " << (*submodel_iterator)->name
202 if ((*submodel_iterator)->trigger_node != 0) {
203 _trigger_node = (*submodel_iterator)->trigger_node;
204 trigger = _trigger_node->getBoolValue();
205 //cout << (*submodel_iterator)->name << "trigger node found " << trigger << endl;
209 //cout << (*submodel_iterator)->name << " trigger node not found " << trigger << endl;
212 if (trigger && (*submodel_iterator)->count != 0) {
213 //int id = (*submodel_iterator)->id;
214 //const string& name = (*submodel_iterator)->name;
216 SG_LOG(SG_AI, SG_DEBUG,
217 "Submodels release: " << (*submodel_iterator)->id
218 << " name " << (*submodel_iterator)->name
219 << " count " << (*submodel_iterator)->count
220 << " slaved " << (*submodel_iterator)->slaved
223 release(*submodel_iterator, dt);
225 (*submodel_iterator)->first_time = true;
231 bool FGSubmodelMgr::release(submodel *sm, double dt)
233 // Only run if first time or repeat is set to true
234 if (!sm->first_time && !sm->repeat) {
240 if (sm->timer < sm->delay) {
241 //cout << "not yet: timer " << sm->timer << " delay " << sm->delay << endl;
245 //cout << "released timer: " << sm->timer << " delay " << sm->delay << endl;
249 if (sm->first_time) {
251 sm->first_time = false;
254 // Calculate submodel's initial conditions in world-coordinates
257 FGAIBallistic* ballist = new FGAIBallistic;
258 ballist->setPath(sm->model.c_str());
259 ballist->setName(sm->name);
260 ballist->setSlaved(sm->slaved);
261 ballist->setRandom(sm->random);
262 ballist->setLifeRandomness(sm->randomness);
263 ballist->setLatitude(offsetpos.getLatitudeDeg());
264 ballist->setLongitude(offsetpos.getLongitudeDeg());
265 ballist->setAltitude(offsetpos.getElevationFt());
266 ballist->setAzimuth(IC.azimuth);
267 ballist->setElevation(IC.elevation);
268 ballist->setRoll(IC.roll);
269 ballist->setSpeed(IC.speed / SG_KT_TO_FPS);
270 ballist->setWind_from_east(IC.wind_from_east);
271 ballist->setWind_from_north(IC.wind_from_north);
272 ballist->setMass(IC.mass);
273 ballist->setDragArea(sm->drag_area);
274 ballist->setLife(sm->life);
275 ballist->setBuoyancy(sm->buoyancy);
276 ballist->setWind(sm->wind);
277 ballist->setCd(sm->cd);
278 ballist->setStabilisation(sm->aero_stabilised);
279 ballist->setNoRoll(sm->no_roll);
280 ballist->setCollision(sm->collision);
281 ballist->setExpiry(sm->expiry);
282 ballist->setImpact(sm->impact);
283 ballist->setImpactReportNode(sm->impact_report);
284 ballist->setFuseRange(sm->fuse_range);
285 ballist->setSubmodel(sm->submodel.c_str());
286 ballist->setSubID(sm->sub_id);
287 ballist->setForceStabilisation(sm->force_stabilised);
288 ballist->setExternalForce(sm->ext_force);
289 ballist->setForcePath(sm->force_path.c_str());
290 ballist->setXoffset(sm->x_offset);
291 ballist->setYoffset(sm->y_offset);
292 ballist->setZoffset(sm->z_offset);
293 ballist->setPitchoffset(sm->pitch_offset->get_value());
294 ballist->setYawoffset(sm->yaw_offset->get_value());
295 ballist->setParentNodes(_selected_ac);
296 ballist->setContentsNode(sm->contents_node);
297 ballist->setWeight(sm->weight);
299 aiManager()->attach(ballist);
306 void FGSubmodelMgr::load()
308 SGPropertyNode_ptr path_node = fgGetNode("/sim/submodels/path");
312 const string& path = path_node->getStringValue();
313 bool serviceable =_serviceable_node->getBoolValue();
314 setData(id, path, serviceable, "/ai/submodels/submodel", submodels);
318 void FGSubmodelMgr::transform(submodel *sm)
320 // Set initial conditions
321 if (sm->contents_node != 0 && !sm->slaved) {
322 // Get the weight of the contents (lbs) and convert to mass (slugs)
323 sm->contents = sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue();
324 //cout << "transform: contents " << sm->contents << endl;
325 IC.mass = (sm->weight + sm->contents) * lbs_to_slugs;
326 //cout << "mass inc contents" << IC.mass << endl;
328 // Set contents to 0 in the parent
329 sm->contents_node->getChild("level-gal_us",0,1)->setDoubleValue(0);
330 /*cout << "contents " << sm->contents_node->getChild("level-gal_us")->getDoubleValue()
331 << " " << sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue()
335 IC.mass = sm->weight * lbs_to_slugs;
339 //int sub_id = sm->sub_id;
340 //const string& name = sm->name;
342 if (sm->speed_node != 0)
343 sm->speed = sm->speed_node->getDoubleValue();
345 double yaw_offset = sm->yaw_offset->get_value();
346 double pitch_offset = sm->pitch_offset->get_value();
348 //cout << " name " << name << " id " << id << " sub id" << sub_id << endl;
350 // set the Initial Conditions for the types of submodel parent
352 if (_impact || _hit || _expiry) {
355 // Set the data for a submodel tied to a submodel
356 IC.lat = _parent_lat;
357 IC.lon = _parent_lon;
358 IC.alt = _parent_elev;
359 IC.roll = _parent_roll; // rotation about x axis
360 IC.elevation = _parent_pitch; // rotation about y axis
361 IC.azimuth = _parent_hdg; // rotation about z axis
362 IC.speed = _parent_speed;
363 IC.speed_down_fps = 0;
364 IC.speed_east_fps = 0;
365 IC.speed_north_fps = 0;
368 // Set the data for a submodel tied to the main model
369 IC.lat = _user_lat_node->getDoubleValue();
370 IC.lon = _user_lon_node->getDoubleValue();
371 IC.alt = _user_alt_node->getDoubleValue();
372 IC.roll = _user_roll_node->getDoubleValue(); // rotation about x axis
373 IC.elevation = _user_pitch_node->getDoubleValue(); // rotation about y axis
374 IC.azimuth = _user_heading_node->getDoubleValue(); // rotation about z axis
375 IC.speed = _user_speed_node->getDoubleValue();
376 IC.speed_down_fps = _user_speed_down_fps_node->getDoubleValue();
377 IC.speed_east_fps = _user_speed_east_fps_node->getDoubleValue();
378 IC.speed_north_fps = _user_speed_north_fps_node->getDoubleValue();
381 // Set the data for a submodel tied to an AI Object
385 //cout << "Submodel: setting IC "<< name << endl;
386 //cout << "heading " << IC.azimuth << endl ;
387 //cout << "speed down " << IC.speed_down_fps << endl ;
388 //cout << "speed east " << IC.speed_east_fps << endl ;
389 //cout << "speed north " << IC.speed_north_fps << endl ;
390 //cout << "parent speed fps in " << IC.speed << "sm speed in " << sm->speed << endl ;
391 //cout << "lat " << IC.lat;
392 //cout << "alt " << IC.alt << endl ;
394 // Set the Initial Conditions that are common to all types of parent
395 IC.wind_from_east = _user_wind_from_east_node->getDoubleValue();
396 IC.wind_from_north = _user_wind_from_north_node->getDoubleValue();
398 //cout << "wind e " << IC.wind_from_east << " n " << IC.wind_from_north << endl;
400 userpos.setLatitudeDeg(IC.lat);
401 userpos.setLongitudeDeg(IC.lon);
402 userpos.setElevationFt(IC.alt);
404 _x_offset = sm->x_offset;
405 _y_offset = sm->y_offset;
406 _z_offset = sm->z_offset;
410 // Pre-process the trig functions
411 cosRx = cos(-IC.roll * SG_DEGREES_TO_RADIANS);
412 sinRx = sin(-IC.roll * SG_DEGREES_TO_RADIANS);
413 cosRy = cos(-IC.elevation * SG_DEGREES_TO_RADIANS);
414 sinRy = sin(-IC.elevation * SG_DEGREES_TO_RADIANS);
415 cosRz = cos(IC.azimuth * SG_DEGREES_TO_RADIANS);
416 sinRz = sin(IC.azimuth * SG_DEGREES_TO_RADIANS);
419 // Get submodel initial velocity vector angles in XZ and XY planes.
420 // This vector should be added to aircraft's vector.
421 IC.elevation += (yaw_offset * sinRx) + (pitch_offset * cosRx);
422 IC.azimuth += (yaw_offset * cosRx) - (pitch_offset * sinRx);
424 // Calculate the total speed north
425 IC.total_speed_north = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS)
426 * cos(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_north_fps;
428 // Calculate the total speed east
429 IC.total_speed_east = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS)
430 * sin(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_east_fps;
432 // Calculate the total speed down
433 IC.total_speed_down = sm->speed * -sin(IC.elevation * SG_DEGREES_TO_RADIANS)
436 // Re-calculate speed, elevation and azimuth
437 IC.speed = sqrt(IC.total_speed_north * IC.total_speed_north
438 + IC.total_speed_east * IC.total_speed_east
439 + IC.total_speed_down * IC.total_speed_down);
441 // If speeds are low this calculation can become unreliable
443 IC.azimuth = atan2(IC.total_speed_east, IC.total_speed_north) * SG_RADIANS_TO_DEGREES;
444 // cout << "azimuth1 " << IC.azimuth<<endl;
446 // Rationalize the output
449 else if (IC.azimuth >= 360)
451 // cout << "azimuth2 " << IC.azimuth<<endl;
453 IC.elevation = -atan(IC.total_speed_down / sqrt(IC.total_speed_north
454 * IC.total_speed_north + IC.total_speed_east * IC.total_speed_east))
455 * SG_RADIANS_TO_DEGREES;
457 //cout << "IC.speed " << IC.speed / SG_KT_TO_FPS << endl;
460 void FGSubmodelMgr::updatelat(double lat)
462 ft_per_deg_latitude = 366468.96 - 3717.12 * cos(lat / SG_RADIANS_TO_DEGREES);
463 ft_per_deg_longitude = 365228.16 * cos(lat / SG_RADIANS_TO_DEGREES);
466 void FGSubmodelMgr::loadAI()
468 SG_LOG(SG_AI, SG_DEBUG, "Submodels: Loading AI submodels");
470 FGAIManager::ai_list_type sm_list(aiManager()->get_ai_list());
472 if (sm_list.empty()) {
473 SG_LOG(SG_AI, SG_ALERT, "Submodels: Unable to read AI submodel list");
477 FGAIManager::ai_list_iterator sm_list_itr = sm_list.begin();
478 FGAIManager::ai_list_iterator end = sm_list.end();
480 while (sm_list_itr != end) {
481 string path = (*sm_list_itr)->_getSMPath();
488 int id = (*sm_list_itr)->getID();
489 bool serviceable = (*sm_list_itr)->_getServiceable();
491 //string type = (*sm_list_itr)->getTypeString();
492 //cout << "loadAI: type " << type << " path "<< path << " serviceable " << serviceable << endl;
494 setData(id, path, serviceable, "/ai/submodels/submodel", submodels);
499 void FGSubmodelMgr::setData(int id, const string& path, bool serviceable, const string& property_path, submodel_vector_type& models)
503 SGPath config = globals->resolve_aircraft_path(path);
505 SG_LOG(SG_AI, SG_DEBUG,
506 "Submodels: Trying to read AI submodels file: " << config.str());
507 readProperties(config.str(), &root);
509 catch (const sg_exception &) {
510 SG_LOG(SG_AI, SG_ALERT,
511 "Submodels: Unable to read AI submodels file: " << config.str());
515 vector<SGPropertyNode_ptr> children = root.getChildren("submodel");
516 vector<SGPropertyNode_ptr>::iterator it = children.begin();
517 vector<SGPropertyNode_ptr>::iterator end = children.end();
519 for (int i = 0; it != end; ++it, i++) {
520 //cout << "Reading AI submodel " << (*it)->getPath() << endl;
521 submodel *sm = new submodel;
522 SGPropertyNode_ptr entry_node = *it;
523 sm->name = entry_node->getStringValue("name", "none_defined");
524 sm->model = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
525 sm->speed = entry_node->getDoubleValue("speed", 2329.4);
526 sm->repeat = entry_node->getBoolValue("repeat", false);
527 sm->delay = entry_node->getDoubleValue("delay", 0.25);
528 sm->count = entry_node->getIntValue("count", 1);
529 sm->slaved = entry_node->getBoolValue("slaved", false);
530 sm->x_offset = entry_node->getDoubleValue("x-offset", 0.0);
531 sm->y_offset = entry_node->getDoubleValue("y-offset", 0.0);
532 sm->z_offset = entry_node->getDoubleValue("z-offset", 0.0);
533 sm->drag_area = entry_node->getDoubleValue("eda", 0.034);
534 sm->life = entry_node->getDoubleValue("life", 900.0);
535 sm->buoyancy = entry_node->getDoubleValue("buoyancy", 0);
536 sm->wind = entry_node->getBoolValue("wind", false);
537 sm->cd = entry_node->getDoubleValue("cd", 0.193);
538 sm->weight = entry_node->getDoubleValue("weight", 0.25);
539 sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
540 sm->no_roll = entry_node->getBoolValue("no-roll", false);
541 sm->collision = entry_node->getBoolValue("collision", false);
542 sm->expiry = entry_node->getBoolValue("expiry", false);
543 sm->impact = entry_node->getBoolValue("impact", false);
544 sm->impact_report = entry_node->getStringValue("impact-reports");
545 sm->fuse_range = entry_node->getDoubleValue("fuse-range", 0.0);
546 sm->contents_node = fgGetNode(entry_node->getStringValue("contents", "none"), false);
547 sm->speed_node = fgGetNode(entry_node->getStringValue("speed-prop", "none"), false);
548 sm->submodel = entry_node->getStringValue("submodel-path", "");
549 sm->force_stabilised = entry_node->getBoolValue("force-stabilised", false);
550 sm->ext_force = entry_node->getBoolValue("external-force", false);
551 sm->force_path = entry_node->getStringValue("force-path", "");
552 sm->random = entry_node->getBoolValue("random", false);
553 sm->randomness = entry_node->getDoubleValue("randomness", 0.5);
555 SGPropertyNode_ptr prop_root = fgGetNode("/", true);
558 SGPropertyNode_ptr a = entry_node->getNode("yaw-offset");
559 sm->yaw_offset = new FGXMLAutopilot::InputValue(*prop_root, a ? *a : n );
561 a = entry_node->getNode("pitch-offset");
562 sm->pitch_offset = new FGXMLAutopilot::InputValue(*prop_root, a ? *a : n );
564 if (sm->contents_node != 0)
565 sm->contents = sm->contents_node->getDoubleValue();
567 const char *trigger_path = entry_node->getStringValue("trigger", 0);
569 sm->trigger_node = fgGetNode(trigger_path, true);
570 sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue());
573 sm->trigger_node = 0;
576 if (sm->speed_node != 0)
577 sm->speed = sm->speed_node->getDoubleValue();
579 sm->timer = sm->delay;
581 sm->first_time = false;
582 sm->serviceable = serviceable;
585 sm->prop = fgGetNode(property_path, index, true);
586 sm->prop->tie("delay", SGRawValuePointer<double>(&(sm->delay)));
587 sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
588 sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
589 sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
590 sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
591 sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
592 sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
593 sm->prop->tie("slaved", SGRawValuePointer<bool>(&(sm->slaved)));
594 const string& name = sm->name;
595 sm->prop->setStringValue("name", name.c_str());
597 const string& submodel = sm->submodel;
598 sm->prop->setStringValue("submodel", submodel.c_str());
600 const string& force_path = sm->force_path;
601 sm->prop->setStringValue("force_path", force_path.c_str());
603 if (sm->contents_node != 0)
604 sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
607 models.push_back(sm);
611 void FGSubmodelMgr::loadSubmodels()
613 SG_LOG(SG_AI, SG_DEBUG, "Submodels: Loading sub submodels");
617 submodel_iterator = submodels.begin();
619 while (submodel_iterator != submodels.end()) {
620 const string& submodel = (*submodel_iterator)->submodel;
621 if (!submodel.empty()) {
622 //int id = (*submodel_iterator)->id;
623 bool serviceable = true;
624 SG_LOG(SG_AI, SG_DEBUG, "found path sub sub "
626 << " index " << index
627 << " name " << (*submodel_iterator)->name);
629 if ((*submodel_iterator)->sub_id == 0) {
630 (*submodel_iterator)->sub_id = index;
632 setData(index, submodel, serviceable, "/ai/submodels/subsubmodel", subsubmodels);
639 submodels.reserve(submodels.size() + subsubmodels.size());
641 // Add all elements from subsubmodels to submodels
642 subsubmodel_iterator = subsubmodels.begin();
643 while (subsubmodel_iterator != subsubmodels.end()) {
644 submodels.push_back(*subsubmodel_iterator);
645 ++subsubmodel_iterator;
648 subsubmodels.clear();
651 SGVec3d FGSubmodelMgr::getCartOffsetPos() const
653 // Convert geodetic positions to geocentered
654 SGVec3d cartuserPos = SGVec3d::fromGeod(userpos);
656 // Transform to the right coordinate frame, configuration is done in
657 // the x-forward, y-right, z-up coordinates (feet), computation
658 // in the simulation usual body x-forward, y-right, z-down coordinates
660 SGVec3d _off(_x_offset * SG_FEET_TO_METER,
661 _y_offset * SG_FEET_TO_METER,
662 -_z_offset * SG_FEET_TO_METER);
664 // Transform the user position to the horizontal local coordinate system.
665 SGQuatd hlTrans = SGQuatd::fromLonLat(userpos);
667 // And postrotate the orientation of the user model wrt the horizontal
669 hlTrans *= SGQuatd::fromYawPitchRollDeg(
674 // The offset converted to the usual body fixed coordinate system
675 // rotated to the earth-fixed coordinates axis
676 SGVec3d off = hlTrans.backTransform(_off);
678 // Add the position offset of the user model to get the geocentered position
679 SGVec3d offsetPos = cartuserPos + off;
683 void FGSubmodelMgr::setOffsetPos()
685 // Convert the offset geocentered position to geodetic
686 SGVec3d cartoffsetPos = getCartOffsetPos();
687 SGGeodesy::SGCartToGeod(cartoffsetPos, offsetpos);
690 void FGSubmodelMgr::valueChanged(SGPropertyNode *prop)
692 return; // this isn't working atm
694 const char* _model_added = _model_added_node->getStringValue();
696 std::basic_string <char>::size_type indexCh2b;
698 string str2 = _model_added;
699 const char *cstr2b = "multiplayer";
700 indexCh2b = str2.find(cstr2b, 0);
702 // Ignoring Ballistic Objects; there are potentially too many
703 if (indexCh2b != string::npos ) {
704 //cout << "Submodels: model added - " << str2 <<" read path "<< endl;
706 SGPropertyNode *a_node = fgGetNode(_model_added, true);
707 SGPropertyNode *sub_node = a_node->getChild("sim", 0, true);
708 SGPropertyNode_ptr path_node = sub_node->getChild("path", 0, true);
709 SGPropertyNode_ptr callsign_node = a_node->getChild("callsign", 0, true);
711 //const string& callsign = callsign_node->getStringValue();
712 //cout << "Submodels: model added - " << callsign <<" read callsign "<< endl;
715 cout << "model added - " << str2 <<" returning " << endl;
719 void FGSubmodelMgr::setParentNode(int id)
721 const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
723 for (int i = ai->nChildren() - 1; i >= -1; i--) {
724 SGPropertyNode_ptr model;
727 // Last iteration: selected model
728 model = _selected_ac;
731 model = ai->getChild(i);
732 int parent_id = model->getIntValue("id");
733 if (!model->nChildren()) {
736 if (parent_id == id) {
737 // Save selected model for last iteration
738 _selected_ac = model;
746 if (_selected_ac != 0) {
747 const string name = _selected_ac->getStringValue("name");
748 IC.lat = _selected_ac->getDoubleValue("position/latitude-deg");
749 IC.lon = _selected_ac->getDoubleValue("position/longitude-deg");
750 IC.alt = _selected_ac->getDoubleValue("position/altitude-ft");
751 IC.roll = _selected_ac->getDoubleValue("orientation/roll-deg");
752 IC.elevation = _selected_ac->getDoubleValue("orientation/pitch-deg");
753 IC.azimuth = _selected_ac->getDoubleValue("orientation/true-heading-deg");
754 IC.speed = _selected_ac->getDoubleValue("velocities/true-airspeed-kt") * SG_KT_TO_FPS;
755 IC.speed_down_fps = -_selected_ac->getDoubleValue("velocities/vertical-speed-fps");
756 IC.speed_east_fps = _selected_ac->getDoubleValue("velocities/speed-east-fps");
757 IC.speed_north_fps = _selected_ac->getDoubleValue("velocities/speed-north-fps");
760 SG_LOG(SG_AI, SG_ALERT, "AISubmodel: parent node not found ");