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