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_ALERT, "Submodel: Impact " << _impact << " hit! " << _hit
 131                                 //<< " exipiry :-( " << _expiry );
 132
 133             submodel_iterator = submodels.begin();
 134
 135             while (submodel_iterator != submodels.end()) {
 136                 int child_ID = (*submodel_iterator)->id;
 137                 //cout << "Impact: parent SubID " << parent_subID << " child_ID " << child_ID << endl;
 138
 139                 if ( parent_subID == child_ID ) {
 140                     _parent_lat = (*sm_list_itr)->_getImpactLat();
 141                     _parent_lon = (*sm_list_itr)->_getImpactLon();
 142                     _parent_elev = (*sm_list_itr)->_getImpactElevFt();
 143                     _parent_hdg = (*sm_list_itr)->_getImpactHdg();
 144                     _parent_pitch = (*sm_list_itr)->_getImpactPitch();
 145                     _parent_roll = (*sm_list_itr)->_getImpactRoll();
 146                     _parent_speed = (*sm_list_itr)->_getImpactSpeed();
 147                     (*submodel_iterator)->first_time = true;
 148                                         //cout << "Impact: parent SubID = child_ID elev " << _parent_elev << endl;
 149
 150                                         if (release(*submodel_iterator, dt))
 151                         (*sm_list_itr)->setDie(true);
 152
 153                 }
 154
 155                 ++submodel_iterator;
 156             }
 157         }
 158     }
 159
 160     _contrail_trigger->setBoolValue(_user_alt_node->getDoubleValue() > contrail_altitude);
 161
 162
 163     bool in_range = true;
 164     bool trigger = false;
 165     int i = -1;
 166
 167     submodel_iterator = submodels.begin();
 168     while (submodel_iterator != submodels.end())  {
 169         i++;
 170         in_range = true;
 171
 172         /*SG_LOG(SG_GENERAL, SG_DEBUG,
 173                 "Submodels:  " << (*submodel_iterator)->id
 174                 << " name " << (*submodel_iterator)->name
 175                 << " in range " << in_range);*/
 176
 177         if ((*submodel_iterator)->trigger_node != 0) {
 178             _trigger_node = (*submodel_iterator)->trigger_node;
 179             trigger = _trigger_node->getBoolValue();
 180             //cout << (*submodel_iterator)->name << "trigger node found " <<  trigger << endl;
 181         } else {
 182             trigger = true;
 183             //cout << (*submodel_iterator)->name << "trigger node not found " << trigger << endl;
 184         }
 185
 186                 if (trigger && (*submodel_iterator)->count != 0) {
 187
 188                         int id = (*submodel_iterator)->id;
 189                         string name = (*submodel_iterator)->name;
 190                         /*SG_LOG(SG_GENERAL, SG_DEBUG,
 191                         "Submodels end:  " << (*submodel_iterator)->id
 192                         << " name " << (*submodel_iterator)->name
 193                         << " count " << (*submodel_iterator)->count
 194                         << " in range " << in_range);*/
 195
 196                         release(*submodel_iterator, dt);
 197                 } else
 198                         (*submodel_iterator)->first_time = true;
 199
 200         ++submodel_iterator;
 201     } // end while
 202 }
 203
 204 bool FGSubmodelMgr::release(submodel *sm, double dt)
 205 {
 206     //cout << "release id " << sm->id << " name " << sm->name
 207     //<< " first time " << sm->first_time  << " repeat " << sm->repeat  <<
 208     //    endl;
 209
 210     // only run if first time or repeat is set to true
 211     if (!sm->first_time && !sm->repeat) {
 212         //cout<< "not first time " << sm->first_time<< " repeat " << sm->repeat <<endl;
 213         return false;
 214     }
 215
 216     sm->timer += dt;
 217
 218     if (sm->timer < sm->delay) {
 219         //cout << "not yet: timer " << sm->timer << " delay " << sm->delay << endl;
 220         return false;
 221     }
 222
 223         //cout << "released timer: " << sm->timer << " delay " << sm->delay << endl;
 224
 225     sm->timer = 0.0;
 226
 227     if (sm->first_time) {
 228         dt = 0.0;
 229         sm->first_time = false;
 230     }
 231
 232     transform(sm);  // calculate submodel's initial conditions in world-coordinates
 233
 234     FGAIBallistic* ballist = new FGAIBallistic;
 235     ballist->setPath(sm->model.c_str());
 236     ballist->setName(sm->name);
 237         ballist->setRandom(sm->random);
 238         ballist->setRandomness(sm->randomness);
 239         ballist->setLatitude(offsetpos.getLatitudeDeg());
 240         ballist->setLongitude(offsetpos.getLongitudeDeg());
 241         ballist->setAltitude(offsetpos.getElevationFt());
 242     ballist->setAzimuth(IC.azimuth);
 243     ballist->setElevation(IC.elevation);
 244     ballist->setRoll(IC.roll);
 245     ballist->setSpeed(IC.speed / SG_KT_TO_FPS);
 246     ballist->setWind_from_east(IC.wind_from_east);
 247     ballist->setWind_from_north(IC.wind_from_north);
 248     ballist->setMass(IC.mass);
 249     ballist->setDragArea(sm->drag_area);
 250     ballist->setLife(sm->life);
 251     ballist->setBuoyancy(sm->buoyancy);
 252     ballist->setWind(sm->wind);
 253     ballist->setCd(sm->cd);
 254     ballist->setStabilisation(sm->aero_stabilised);
 255     ballist->setNoRoll(sm->no_roll);
 256     ballist->setCollision(sm->collision);
 257         ballist->setExpiry(sm->expiry);
 258     ballist->setImpact(sm->impact);
 259     ballist->setImpactReportNode(sm->impact_report);
 260     ballist->setFuseRange(sm->fuse_range);
 261     ballist->setSubmodel(sm->submodel.c_str());
 262     ballist->setSubID(sm->sub_id);
 263     ballist->setForceStabilisation(sm->force_stabilised);
 264     ballist->setExternalForce(sm->ext_force);
 265     ballist->setForcePath(sm->force_path.c_str());
 266     ai->attach(ballist);
 267
 268     if (sm->count > 0)
 269         sm->count--;
 270     return true;
 271 }
 272
 273 void FGSubmodelMgr::load()
 274 {
 275     SGPropertyNode *path = fgGetNode("/sim/submodels/path");
 276
 277     if (path) {
 278         const int id = 0;
 279         string Path = path->getStringValue();
 280         bool Seviceable =_serviceable_node->getBoolValue();
 281         setData(id, Path, Seviceable);
 282     }
 283 }
 284
 285 void FGSubmodelMgr::transform(submodel *sm)
 286 {
 287     // set initial conditions
 288     if (sm->contents_node != 0) {
 289         // get the weight of the contents (lbs) and convert to mass (slugs)
 290         sm->contents = sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue();
 291         //cout << "transform: contents " << sm->contents << endl;
 292         IC.mass = (sm->weight + sm->contents) * lbs_to_slugs;
 293         //cout << "mass inc contents"  << IC.mass << endl;
 294
 295         // set contents to 0 in the parent
 296         sm->contents_node->getChild("level-gal_us",0,1)->setDoubleValue(0);
 297         /*cout << "contents " << sm->contents_node->getChild("level-gal_us")->getDoubleValue()
 298         << " " << sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue()
 299         << endl;*/
 300     } else
 301         IC.mass = sm->weight * lbs_to_slugs;
 302
 303     // cout << "mass "  << IC.mass << endl;
 304
 305     if (sm->speed_node != 0)
 306         sm->speed = sm->speed_node->getDoubleValue();
 307
 308     int id = sm->id;
 309     //int sub_id = (*submodel)->sub_id;
 310     string name = sm->name;
 311
 312     //cout << " name " << name << " id " << id << " sub id" << sub_id << endl;
 313
 314         // set the Initial Conditions for the types of submodel parent
 315
 316     if (_impact || _hit || _expiry) {
 317         // set the data for a submodel tied to a submodel
 318         _count++;
 319         //cout << "Submodels: release sub sub " << _count<< endl;
 320         //cout << " id " << sm->id
 321         //    << " lat " << _parent_lat
 322         //    << " lon " << _parent_lon
 323         //    << " elev " << _parent_elev
 324         //    << " name " << sm->name
 325         //    << endl;
 326
 327         IC.lat             = _parent_lat;
 328         IC.lon             = _parent_lon;
 329         IC.alt             = _parent_elev;
 330         IC.roll            = _parent_roll;    // rotation about x axis
 331         IC.elevation       = _parent_pitch;   // rotation about y axis
 332         IC.azimuth         = _parent_hdg;     // rotation about z axis
 333         IC.speed           = _parent_speed;
 334         IC.speed_down_fps  = 0;
 335         IC.speed_east_fps  = 0;
 336         IC.speed_north_fps = 0;
 337
 338     } else if (id == 0) {
 339         //set the data for a submodel tied to the main model
 340         /*cout << "Submodels: release main sub " << endl;
 341         cout << " name " << sm->name
 342         << " id" << sm->id
 343         << endl;*/
 344         IC.lat             = _user_lat_node->getDoubleValue();
 345         IC.lon             = _user_lon_node->getDoubleValue();
 346         IC.alt             = _user_alt_node->getDoubleValue();
 347         IC.roll            = _user_roll_node->getDoubleValue();    // rotation about x axis
 348         IC.elevation       = _user_pitch_node->getDoubleValue();   // rotation about y axis
 349         IC.azimuth         = _user_heading_node->getDoubleValue(); // rotation about z axis
 350         IC.speed           = _user_speed_node->getDoubleValue();
 351         IC.speed_down_fps  = _user_speed_down_fps_node->getDoubleValue();
 352         IC.speed_east_fps  = _user_speed_east_fps_node->getDoubleValue();
 353         IC.speed_north_fps = _user_speed_north_fps_node->getDoubleValue();
 354
 355     } else {
 356         // set the data for a submodel tied to an AI Object
 357         sm_list_iterator sm_list_itr = sm_list.begin();
 358         sm_list_iterator end = sm_list.end();
 359
 360         while (sm_list_itr != end) {
 361             int parent_id = (*sm_list_itr)->getID();
 362
 363             if (id != parent_id) {
 364                 ++sm_list_itr;
 365                 continue;
 366             }
 367
 368             //cout << "found id " << id << endl;
 369             IC.lat             = (*sm_list_itr)->_getLatitude();
 370             IC.lon             = (*sm_list_itr)->_getLongitude();
 371             IC.alt             = (*sm_list_itr)->_getAltitude();
 372             IC.roll            = (*sm_list_itr)->_getRoll();
 373             IC.elevation       = (*sm_list_itr)->_getPitch();
 374             IC.azimuth         = (*sm_list_itr)->_getHeading();
 375             IC.alt             = (*sm_list_itr)->_getAltitude();
 376             IC.speed           = (*sm_list_itr)->_getSpeed() * SG_KT_TO_FPS;
 377             IC.speed_down_fps  = -(*sm_list_itr)->_getVS_fps();
 378             IC.speed_east_fps  = (*sm_list_itr)->_get_speed_east_fps();
 379             IC.speed_north_fps = (*sm_list_itr)->_get_speed_north_fps();
 380
 381             ++sm_list_itr;
 382         }
 383     }
 384
 385     /*cout << "heading " << IC.azimuth << endl ;
 386     cout << "speed down " << IC.speed_down_fps << endl ;
 387     cout << "speed east " << IC.speed_east_fps << endl ;
 388     cout << "speed north " << IC.speed_north_fps << endl ;
 389     cout << "parent speed fps in" << IC.speed << "sm speed in " << sm->speed << endl ;*/
 390
 391         // Set the Initial Conditions that are common to all types of parent
 392     IC.wind_from_east =  _user_wind_from_east_node->getDoubleValue();
 393     IC.wind_from_north = _user_wind_from_north_node->getDoubleValue();
 394
 395         userpos.setLatitudeDeg(IC.lat);
 396         userpos.setLongitudeDeg(IC.lon);
 397         userpos.setElevationFt(IC.alt);
 398
 399     _x_offset = sm->x_offset;
 400     _y_offset = sm->y_offset;
 401     _z_offset = sm->z_offset;
 402
 403         setOffsetPos();
 404
 405         //IC.elevation += sm->pitch_offset;
 406         //IC.azimuth   += sm->yaw_offset ;
 407
 408     // pre-process the trig functions
 409     cosRx = cos(-IC.roll * SG_DEGREES_TO_RADIANS);
 410     sinRx = sin(-IC.roll * SG_DEGREES_TO_RADIANS);
 411     cosRy = cos(-IC.elevation * SG_DEGREES_TO_RADIANS);
 412     sinRy = sin(-IC.elevation * SG_DEGREES_TO_RADIANS);
 413     cosRz = cos(IC.azimuth * SG_DEGREES_TO_RADIANS);
 414     sinRz = sin(IC.azimuth * SG_DEGREES_TO_RADIANS);
 415
 416     //// set up the transform matrix
 417     //trans[0][0] =  cosRy * cosRz;
 418     //trans[0][1] =  -1 * cosRx * sinRz + sinRx * sinRy * cosRz ;
 419     //trans[0][2] =  sinRx * sinRz + cosRx * sinRy * cosRz;
 420
 421     //trans[1][0] =  cosRy * sinRz;
 422     //trans[1][1] =  cosRx * cosRz + sinRx * sinRy * sinRz;
 423     //trans[1][2] =  -1 * sinRx * cosRx + cosRx * sinRy * sinRz;
 424
 425     //trans[2][0] =  -1 * sinRy;
 426     //trans[2][1] =  sinRx * cosRy;
 427     //trans[2][2] =  cosRx * cosRy;
 428
 429
 430     //// multiply the input and transform matrices
 431     //out[0] = in[0] * trans[0][0] + in[1] * trans[0][1] + in[2] * trans[0][2];
 432     //out[1] = in[0] * trans[1][0] + in[1] * trans[1][1] + in[2] * trans[1][2];
 433     //out[2] = in[0] * trans[2][0] + in[1] * trans[2][1] + in[2] * trans[2][2];
 434
 435     //// convert ft to degrees of latitude
 436     //out[0] = out[0] / (366468.96 - 3717.12 * cos(IC.lat * SG_DEGREES_TO_RADIANS));
 437
 438     //// convert ft to degrees of longitude
 439     //out[1] = out[1] / (365228.16 * cos(IC.lat * SG_DEGREES_TO_RADIANS));
 440
 441     //// set submodel initial position
 442     //IC.lat += out[0];
 443     //IC.lon += out[1];
 444     //IC.alt += out[2];
 445
 446     // get aircraft velocity vector angles in XZ and XY planes
 447     //double alpha = _user_alpha_node->getDoubleValue();
 448     //double velXZ = IC.elevation - alpha * cosRx;
 449     //double velXY = IC.azimuth - (IC.elevation - alpha * sinRx);
 450
 451     // Get submodel initial velocity vector angles in XZ and XY planes.
 452     // This vector should be added to aircraft's vector.
 453     IC.elevation += (sm->yaw_offset * sinRx) + (sm->pitch_offset * cosRx);
 454     IC.azimuth   += (sm->yaw_offset * cosRx) - (sm->pitch_offset * sinRx);
 455
 456     // calculate the total speed north
 457     IC.total_speed_north = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS)
 458             * cos(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_north_fps;
 459
 460     // calculate the total speed east
 461     IC.total_speed_east = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS)
 462             * sin(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_east_fps;
 463
 464     // calculate the total speed down
 465     IC.total_speed_down = sm->speed * -sin(IC.elevation * SG_DEGREES_TO_RADIANS)
 466             + IC.speed_down_fps;
 467
 468     // re-calculate speed, elevation and azimuth
 469     IC.speed = sqrt(IC.total_speed_north * IC.total_speed_north
 470             + IC.total_speed_east * IC.total_speed_east
 471             + IC.total_speed_down * IC.total_speed_down);
 472
 473     // if speeds are low this calculation can become unreliable
 474     if (IC.speed > 1) {
 475         //IC.azimuth = atan2(IC.total_speed_east, IC.total_speed_north) * SG_RADIANS_TO_DEGREES;
 476         //        cout << "azimuth1 " << IC.azimuth<<endl;
 477
 478         // rationalise the output
 479         if (IC.azimuth < 0)
 480             IC.azimuth += 360;
 481         else if (IC.azimuth >= 360)
 482             IC.azimuth -= 360;
 483         // cout << "azimuth2 " << IC.azimuth<<endl;
 484
 485         IC.elevation = -atan(IC.total_speed_down / sqrt(IC.total_speed_north
 486             * IC.total_speed_north + IC.total_speed_east * IC.total_speed_east))
 487             * SG_RADIANS_TO_DEGREES;
 488     }
 489 }
 490
 491 void FGSubmodelMgr::updatelat(double lat)
 492 {
 493     ft_per_deg_latitude = 366468.96 - 3717.12 * cos(lat / SG_RADIANS_TO_DEGREES);
 494     ft_per_deg_longitude = 365228.16 * cos(lat / SG_RADIANS_TO_DEGREES);
 495 }
 496
 497 void FGSubmodelMgr::loadAI()
 498 {
 499     SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Loading AI submodels ");
 500
 501     sm_list = ai->get_ai_list();
 502
 503     if (sm_list.empty()) {
 504         SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Unable to read AI submodel list");
 505         return;
 506     }
 507
 508     sm_list_iterator sm_list_itr = sm_list.begin();
 509     sm_list_iterator end = sm_list.end();
 510
 511     while (sm_list_itr != end) {
 512         string path = (*sm_list_itr)->_getSMPath();
 513
 514         if (path.empty()) {
 515             ++sm_list_itr;
 516             continue;
 517         }
 518
 519         int id = (*sm_list_itr)->getID();
 520         bool serviceable = (*sm_list_itr)->_getServiceable();
 521         setData(id, path, serviceable);
 522         ++sm_list_itr;
 523     }
 524 }
 525
 526
 527
 528 void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
 529 {
 530     SGPropertyNode root;
 531
 532     SGPath config(globals->get_fg_root());
 533     config.append(path);
 534     SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: path " << path);
 535     try {
 536         SG_LOG(SG_GENERAL, SG_DEBUG,
 537                 "Submodels: Trying to read AI submodels file: " << config.str());
 538         readProperties(config.str(), &root);
 539     } catch (const sg_exception &) {
 540         SG_LOG(SG_GENERAL, SG_DEBUG,
 541                 "Submodels: Unable to read AI submodels file: " << config.str());
 542         return;
 543     }
 544
 545     vector<SGPropertyNode_ptr> children = root.getChildren("submodel");
 546     vector<SGPropertyNode_ptr>::iterator it = children.begin();
 547     vector<SGPropertyNode_ptr>::iterator end = children.end();
 548
 549     for (int i = 0; it != end; ++it, i++) {
 550         //cout << "Reading AI submodel " << (*it)->getPath() << endl;
 551         submodel* sm = new submodel;
 552         SGPropertyNode * entry_node = *it;
 553         sm->name            = entry_node->getStringValue("name", "none_defined");
 554         sm->model           = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
 555         sm->speed           = entry_node->getDoubleValue("speed", 2329.4);
 556         sm->repeat          = entry_node->getBoolValue("repeat", false);
 557         sm->delay           = entry_node->getDoubleValue("delay", 0.25);
 558         sm->count           = entry_node->getIntValue("count", 1);
 559         sm->slaved          = entry_node->getBoolValue("slaved", false);
 560         sm->x_offset        = entry_node->getDoubleValue("x-offset", 0.0);
 561         sm->y_offset        = entry_node->getDoubleValue("y-offset", 0.0);
 562         sm->z_offset        = entry_node->getDoubleValue("z-offset", 0.0);
 563         sm->yaw_offset      = entry_node->getDoubleValue("yaw-offset", 0.0);
 564         sm->pitch_offset    = entry_node->getDoubleValue("pitch-offset", 0.0);
 565         sm->drag_area       = entry_node->getDoubleValue("eda", 0.034);
 566         sm->life            = entry_node->getDoubleValue("life", 900.0);
 567         sm->buoyancy        = entry_node->getDoubleValue("buoyancy", 0);
 568         sm->wind            = entry_node->getBoolValue("wind", false);
 569         sm->cd              = entry_node->getDoubleValue("cd", 0.193);
 570         sm->weight          = entry_node->getDoubleValue("weight", 0.25);
 571         sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
 572         sm->no_roll         = entry_node->getBoolValue("no-roll", false);
 573         sm->collision       = entry_node->getBoolValue("collision", false);
 574                 sm->expiry                      = entry_node->getBoolValue("expiry", false);
 575         sm->impact          = entry_node->getBoolValue("impact", false);
 576         sm->impact_report   = entry_node->getStringValue("impact-reports");
 577         sm->fuse_range      = entry_node->getDoubleValue("fuse-range", 0.0);
 578         sm->contents_node   = fgGetNode(entry_node->getStringValue("contents", "none"), false);
 579         sm->speed_node      = fgGetNode(entry_node->getStringValue("speed-node", "none"), false);
 580         sm->submodel        = entry_node->getStringValue("submodel-path", "");
 581         sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
 582         sm->ext_force       = entry_node->getBoolValue("external-force", false);
 583         sm->force_path      = entry_node->getStringValue("force-path", "");
 584                 sm->random                      = entry_node->getBoolValue("random", false);
 585                 sm->randomness          = entry_node->getDoubleValue("randomness", 0.5);
 586
 587
 588         //cout <<  "sm->contents_node " << sm->contents_node << endl;
 589         if (sm->contents_node != 0)
 590             sm->contents = sm->contents_node->getDoubleValue();
 591
 592         const char *trigger_path = entry_node->getStringValue("trigger", 0);
 593         if (trigger_path) {
 594             sm->trigger_node = fgGetNode(trigger_path, true);
 595             sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue());
 596         } else {
 597             sm->trigger_node = 0;
 598         }
 599
 600         if (sm->speed_node != 0)
 601             sm->speed = sm->speed_node->getDoubleValue();
 602
 603         sm->timer = sm->delay;
 604         sm->id = id;
 605         sm->first_time = false;
 606         sm->serviceable = serviceable;
 607         sm->sub_id = 0;
 608
 609         sm->prop = fgGetNode("/ai/submodels/submodel", index, true);
 610                 sm->prop->tie("delay", SGRawValuePointer<double>(&(sm->delay)));
 611         sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
 612         sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
 613         sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
 614         sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
 615         sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
 616         sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
 617         string name = sm->name;
 618         sm->prop->setStringValue("name", name.c_str());
 619
 620         string submodel = sm->submodel;
 621         sm->prop->setStringValue("submodel", submodel.c_str());
 622         //cout << " set submodel path " << submodel << endl;
 623
 624         string force_path = sm->force_path;
 625         sm->prop->setStringValue("force_path", force_path.c_str());
 626         //cout << "set force_path Sub " << force_path << endl;
 627
 628         if (sm->contents_node != 0)
 629             sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
 630
 631         index++;
 632         submodels.push_back(sm);
 633     }
 634 }
 635
 636 void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable)
 637 {
 638     SGPropertyNode root;
 639
 640     SGPath config(globals->get_fg_root());
 641     config.append(path);
 642     SG_LOG(SG_GENERAL, SG_DEBUG,
 643         "Submodels: path " << path);
 644     try {
 645         SG_LOG(SG_GENERAL, SG_DEBUG,
 646                 "Submodels: Trying to read AI submodels file: " << config.str());
 647         readProperties(config.str(), &root);
 648
 649     } catch (const sg_exception &) {
 650         SG_LOG(SG_GENERAL, SG_DEBUG,
 651                 "Submodels: Unable to read AI submodels file: " << config.str());
 652         return;
 653     }
 654
 655     vector<SGPropertyNode_ptr> children = root.getChildren("submodel");
 656     vector<SGPropertyNode_ptr>::iterator it = children.begin();
 657     vector<SGPropertyNode_ptr>::iterator end = children.end();
 658
 659     for (int i = 0; it != end; ++it, i++) {
 660         //cout << "Reading AI submodel " << (*it)->getPath() << endl;
 661         submodel* sm = new submodel;
 662         SGPropertyNode * entry_node = *it;
 663         sm->name            = entry_node->getStringValue("name", "none_defined");
 664         sm->model           = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
 665         sm->speed           = entry_node->getDoubleValue("speed", 2329.4);
 666         sm->repeat          = entry_node->getBoolValue("repeat", false);
 667         sm->delay           = entry_node->getDoubleValue("delay", 0.25);
 668         sm->count           = entry_node->getIntValue("count", 1);
 669         sm->slaved          = entry_node->getBoolValue("slaved", false);
 670         sm->x_offset        = entry_node->getDoubleValue("x-offset", 0.0);
 671         sm->y_offset        = entry_node->getDoubleValue("y-offset", 0.0);
 672         sm->z_offset        = entry_node->getDoubleValue("z-offset", 0.0);
 673         sm->yaw_offset      = entry_node->getDoubleValue("yaw-offset", 0.0);
 674         sm->pitch_offset    = entry_node->getDoubleValue("pitch-offset", 0.0);
 675         sm->drag_area       = entry_node->getDoubleValue("eda", 0.034);
 676         sm->life            = entry_node->getDoubleValue("life", 900.0);
 677         sm->buoyancy        = entry_node->getDoubleValue("buoyancy", 0);
 678         sm->wind            = entry_node->getBoolValue("wind", false);
 679         sm->cd              = entry_node->getDoubleValue("cd", 0.193);
 680         sm->weight          = entry_node->getDoubleValue("weight", 0.25);
 681         sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
 682         sm->no_roll         = entry_node->getBoolValue("no-roll", false);
 683         sm->collision       = entry_node->getBoolValue("collision", false);
 684                 sm->expiry                      = entry_node->getBoolValue("expiry", false);
 685         sm->impact          = entry_node->getBoolValue("impact", false);
 686         sm->impact_report   = entry_node->getStringValue("impact-reports");
 687         sm->fuse_range      = entry_node->getDoubleValue("fuse-range", 0.0);
 688         sm->contents_node   = fgGetNode(entry_node->getStringValue("contents", "none"), false);
 689         sm->speed_node      = fgGetNode(entry_node->getStringValue("speed-node", "none"), false);
 690         sm->submodel        = entry_node->getStringValue("submodel-path", "");
 691                 sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
 692         sm->ext_force       = entry_node->getBoolValue("external-force", false);
 693         sm->force_path      = entry_node->getStringValue("force-path", "");
 694                 sm->random                      = entry_node->getBoolValue("random", false);
 695                 sm->randomness          = entry_node->getDoubleValue("randomness", 0.5);
 696
 697         //cout <<  "sm->contents_node " << sm->contents_node << endl;
 698         if (sm->contents_node != 0)
 699             sm->contents = sm->contents_node->getDoubleValue();
 700
 701         const char *trigger_path = entry_node->getStringValue("trigger", 0);
 702         if (trigger_path) {
 703             sm->trigger_node = fgGetNode(trigger_path, true);
 704             sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue());
 705         } else {
 706             sm->trigger_node = 0;
 707         }
 708
 709         if (sm->speed_node != 0)
 710             sm->speed = sm->speed_node->getDoubleValue();
 711
 712         sm->timer = sm->delay;
 713         sm->id = index;
 714         sm->first_time = false;
 715         sm->serviceable = serviceable;
 716         sm->sub_id = 0;
 717
 718         sm->prop = fgGetNode("/ai/submodels/subsubmodel", index, true);
 719         sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
 720         sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
 721         sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
 722         sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
 723         sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
 724                 sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
 725         string name = sm->name;
 726         sm->prop->setStringValue("name", name.c_str());
 727
 728         string submodel = sm->submodel;
 729         sm->prop->setStringValue("submodel", submodel.c_str());
 730         // cout << " set submodel path AI" << submodel<< endl;
 731
 732         string force_path = sm->force_path;
 733         sm->prop->setStringValue("force_path", force_path.c_str());
 734         cout << "set force_path  AI" << force_path << endl;
 735
 736         if (sm->contents_node != 0)
 737             sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
 738
 739         index++;
 740         subsubmodels.push_back(sm);
 741     }
 742 }
 743
 744 void FGSubmodelMgr::loadSubmodels()
 745 {
 746     SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Loading sub submodels");
 747
 748         _found_sub = false;
 749
 750     submodel_iterator = submodels.begin();
 751
 752         while (submodel_iterator != submodels.end()) {
 753                 string submodel  = (*submodel_iterator)->submodel;
 754                 if (!submodel.empty()) {
 755                         //int id = (*submodel_iterator)->id;
 756                         bool serviceable = true;
 757                         //SG_LOG(SG_GENERAL, SG_DEBUG, "found path sub sub "
 758                         //        << submodel
 759                         //        << " index " << index
 760                         //        << "name " << (*submodel_iterator)->name);
 761
 762                         if ((*submodel_iterator)->sub_id == 0){
 763                                 (*submodel_iterator)->sub_id = index;
 764                                 _found_sub = true;
 765                                 setSubData(index, submodel, serviceable);
 766                         }
 767                 }
 768
 769                 ++submodel_iterator;
 770         } // end while
 771
 772     subsubmodel_iterator = subsubmodels.begin();
 773
 774     while (subsubmodel_iterator != subsubmodels.end()) {
 775         submodels.push_back(*subsubmodel_iterator);
 776         ++subsubmodel_iterator;
 777     } // end while
 778
 779         subsubmodels.clear();
 780
 781     //submodel_iterator = submodels.begin();
 782
 783     //while (submodel_iterator != submodels.end()) {
 784         //int id = (*submodel_iterator)->id;
 785         //SG_LOG(SG_GENERAL, SG_DEBUG,"after pushback "
 786         //        << " id " << id
 787         //        << " name " << (*submodel_iterator)->name
 788         //        << " sub id " << (*submodel_iterator)->sub_id);
 789
 790         //++submodel_iterator;
 791     //}
 792 }
 793
 794 SGVec3d FGSubmodelMgr::getCartOffsetPos() const{
 795
 796     // convert geodetic positions to geocentered
 797     SGVec3d cartuserPos = SGVec3d::fromGeod(userpos);
 798
 799     // Transform to the right coordinate frame, configuration is done in
 800     // the x-forward, y-right, z-up coordinates (feet), computation
 801     // in the simulation usual body x-forward, y-right, z-down coordinates
 802     // (meters) )
 803
 804         SGVec3d _off(_x_offset * SG_FEET_TO_METER,
 805         _y_offset * SG_FEET_TO_METER,
 806         -_z_offset * SG_FEET_TO_METER);
 807
 808     // Transform the user position to the horizontal local coordinate system.
 809     SGQuatd hlTrans = SGQuatd::fromLonLat(userpos);
 810
 811     // and postrotate the orientation of the user model wrt the horizontal
 812     // local frame
 813     hlTrans *= SGQuatd::fromYawPitchRollDeg(
 814        IC.azimuth,
 815        IC.elevation,
 816        IC.roll);
 817
 818     // The offset converted to the usual body fixed coordinate system
 819     // rotated to the earth-fixed coordinates axis
 820     SGVec3d off = hlTrans.backTransform(_off);
 821
 822     // Add the position offset of the user model to get the geocentered position
 823     SGVec3d offsetPos = cartuserPos + off;
 824
 825     return offsetPos;
 826 }
 827
 828 void FGSubmodelMgr::setOffsetPos(){
 829     // convert the offset geocentered position to geodetic
 830     SGVec3d cartoffsetPos = getCartOffsetPos();
 831
 832     SGGeodesy::SGCartToGeod(cartoffsetPos, offsetpos);
 833 }
 834 // end of submodel.cxx