+void FGAIBallistic::setWeight(double w) {
+ _weight_lb = w;
+}
+void FGAIBallistic::setRandom(bool r) {
+ _random = r;
+}
+
+void FGAIBallistic::setImpact(bool i) {
+ _report_impact = i;
+}
+
+void FGAIBallistic::setCollision(bool c) {
+ _report_collision = c;
+}
+
+void FGAIBallistic::setExternalForce(bool f) {
+ _external_force = f;
+}
+
+void FGAIBallistic::setImpactReportNode(const string& path) {
+
+ if (!path.empty())
+ _impact_report_node = fgGetNode(path.c_str(), true);
+}
+
+void FGAIBallistic::setName(const string& n) {
+ _name = n;
+}
+
+void FGAIBallistic::setSMPath(const string& s) {
+ _submodel = s;
+}
+
+void FGAIBallistic::setFuseRange(double f) {
+ _fuse_range = f;
+}
+
+void FGAIBallistic::setSubID(int i) {
+ _subID = i;
+}
+
+void FGAIBallistic::setSubmodel(const string& s) {
+ _submodel = s;
+}
+
+void FGAIBallistic::setGroundOffset(double g) {
+ _ground_offset = g;
+}
+
+void FGAIBallistic::setLoadOffset(double l) {
+ _load_offset = l;
+}
+
+double FGAIBallistic::getLoadOffset() const {
+ return _load_offset;
+}
+
+void FGAIBallistic::setSlaved(bool s) {
+ _slave_to_ac = s;
+}
+
+void FGAIBallistic::setFormate(bool f) {
+ _formate_to_ac = f;
+}
+
+void FGAIBallistic::setContentsNode(const string& path) {
+ if (!path.empty()) {
+ _contents_node = fgGetNode(path.c_str(), true);
+ }
+}
+
+bool FGAIBallistic::getSlaved() const {
+ return _slave_to_ac;
+}
+
+double FGAIBallistic::getMass() const {
+ return _mass;
+}
+
+double FGAIBallistic::getContents() {
+ if(_contents_node)
+ _contents_lb = _contents_node->getChild("level-lbs",0,1)->getDoubleValue();
+ return _contents_lb;
+}
+
+void FGAIBallistic::setContents(double c) {
+ if(_contents_node)
+ _contents_lb = _contents_node->getChild("level-gal_us",0,1)->setDoubleValue(c);
+}
+
+void FGAIBallistic::setSlavedLoad(bool l) {
+ _slave_load_to_ac = l;
+}
+
+bool FGAIBallistic::getSlavedLoad() const {
+ return _slave_load_to_ac;
+}
+
+void FGAIBallistic::setForcePath(const string& p) {
+ _force_path = p;
+ if (!_force_path.empty()) {
+ SGPropertyNode *fnode = fgGetNode(_force_path.c_str(), 0, true );
+ _force_node = fnode->getChild("force-lb", 0, true);
+ _force_azimuth_node = fnode->getChild("force-azimuth-deg", 0, true);
+ _force_elevation_node = fnode->getChild("force-elevation-deg", 0, true);
+ }
+}
+
+bool FGAIBallistic::getHtAGL(){
+
+ if (getGroundElevationM(SGGeod::fromGeodM(pos, 10000),
+ _elevation_m, &_material)) {
+ _ht_agl_ft = pos.getElevationFt() - _elevation_m * SG_METER_TO_FEET;
+ if (_material) {
+ const vector<string>& names = _material->get_names();
+
+ _solid = _material->get_solid();
+ _load_resistance = _material->get_load_resistance();
+ _frictionFactor =_material->get_friction_factor();
+ if (!names.empty())
+ props->setStringValue("material/name", names[0].c_str());
+ else
+ props->setStringValue("material/name", "");
+ /*cout << "material " << mat_name
+ << " solid " << _solid
+ << " load " << _load_resistance
+ << " frictionFactor " << frictionFactor
+ << endl;*/
+ }
+ return true;
+ } else {
+ return false;
+ }
+
+}
+
+double FGAIBallistic::getRecip(double az){
+ // calculate the reciprocal of the input azimuth
+ if(az - 180 < 0){
+ return az + 180;
+ } else {
+ return az - 180;
+ }
+}
+
+void FGAIBallistic::setPch(double e, double dt, double coeff){
+ double c = dt / (coeff + dt);
+ pitch = (e * c) + (pitch * (1 - c));
+}
+
+void FGAIBallistic::setBnk(double r, double dt, double coeff){
+ double c = dt / (coeff + dt);
+ roll = (r * c) + (roll * (1 - c));
+}
+
+void FGAIBallistic::setHt(double h, double dt, double coeff){
+ double c = dt / (coeff + dt);
+ _height = (h * c) + (_height * (1 - c));
+}
+
+void FGAIBallistic::setHdg(double az, double dt, double coeff){
+ double recip = getRecip(hdg);
+ double c = dt / (coeff + dt);
+ //we need to ensure that we turn the short way to the new hdg
+ if (az < recip && az < hdg && hdg > 180) {
+ hdg = ((az + 360) * c) + (hdg * (1 - c));
+ } else if (az > recip && az > hdg && hdg <= 180){
+ hdg = ((az - 360) * c) + (hdg * (1 - c));
+ } else {
+ hdg = (az * c) + (hdg * (1 - c));
+ }
+ }
+
+double FGAIBallistic::getTgtXOffset() const {
+ return _tgt_x_offset;
+}
+
+double FGAIBallistic::getTgtYOffset() const {
+ return _tgt_y_offset;
+}
+
+double FGAIBallistic::getTgtZOffset() const {
+ return _tgt_z_offset;
+}
+
+void FGAIBallistic::setTgtXOffset(double x){
+ _tgt_x_offset = x;
+}
+
+void FGAIBallistic::setTgtYOffset(double y){
+ _tgt_y_offset = y;
+}
+
+void FGAIBallistic::setTgtZOffset(double z){
+ _tgt_z_offset = z;
+}
+
+void FGAIBallistic::slaveToAC(double dt){
+
+ setHitchPos();
+ pos.setLatitudeDeg(hitchpos.getLatitudeDeg());
+ pos.setLongitudeDeg(hitchpos.getLongitudeDeg());
+ pos.setElevationFt(hitchpos.getElevationFt());
+ setHeading(manager->get_user_heading());
+ setPitch(manager->get_user_pitch() + _pitch_offset);
+ setBank(manager->get_user_roll() + _roll_offset);
+ setSpeed(manager->get_user_speed());
+ //update the mass (slugs)
+ _mass = (_weight_lb + getContents()) / slugs_to_lbs;
+
+ /*cout <<"_mass "<<_mass <<" " << getContents()
+ <<" " << getContents() / slugs_to_lbs << endl;*/
+}
+
+void FGAIBallistic::Run(double dt) {
+ _life_timer += dt;
+
+ // if life = -1 the object does not die
+ if (_life_timer > life && life != -1)
+ setDie(true);
+
+ //set the contents in the appropriate tank or other property in the parent to zero
+ setContents(0);
+
+ //randomise Cd by +- 5%
+ if (_random)
+ _Cd = _Cd * 0.95 + (0.05 * sg_random());
+
+ // Adjust Cd by Mach number. The equations are based on curves
+ // for a conventional shell/bullet (no boat-tail).
+ double Cdm;
+
+ if (Mach < 0.7)
+ Cdm = 0.0125 * Mach + _Cd;
+ else if (Mach < 1.2 )
+ Cdm = 0.3742 * pow(Mach, 2) - 0.252 * Mach + 0.0021 + _Cd;
+ else
+ Cdm = 0.2965 * pow(Mach, -1.1506) + _Cd;
+
+ //cout << "Mach " << Mach << " Cdm " << Cdm << "// ballistic speed kts "<< speed << endl;
+
+ // drag = Cd * 0.5 * rho * speed * speed * drag_area;
+ // rho is adjusted for altitude in void FGAIBase::update,
+ // using Standard Atmosphere (sealevel temperature 15C)
+ // acceleration = drag/mass;
+ // adjust speed by drag
+ speed -= (Cdm * 0.5 * rho * speed * speed * _drag_area/_mass) * dt;
+
+ // don't let speed become negative
+ if ( speed < 0.0 )
+ speed = 0.0;
+
+ double speed_fps = speed * SG_KT_TO_FPS;
+ //double hs;
+
+ // calculate vertical and horizontal speed components
+ if (speed == 0.0) {
+ hs = vs = 0.0;
+ } else {
+ vs = sin( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps;
+ hs = cos( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps;
+ }
+
+ //resolve horizontal speed into north and east components:
+ double speed_north_fps = cos(_azimuth / SG_RADIANS_TO_DEGREES) * hs;
+ double speed_east_fps = sin(_azimuth / SG_RADIANS_TO_DEGREES) * hs;
+
+ // convert horizontal speed (fps) to degrees per second
+ double speed_north_deg_sec = speed_north_fps / ft_per_deg_lat;
+ double speed_east_deg_sec = speed_east_fps / ft_per_deg_lon;
+
+ // if wind not required, set to zero
+ if (!_wind) {
+ _wind_from_north = 0;
+ _wind_from_east = 0;
+ } else {
+ _wind_from_north = manager->get_wind_from_north();
+ _wind_from_east = manager->get_wind_from_east();
+ }
+
+ //calculate velocity due to external force
+ double force_speed_north_deg_sec = 0;
+ double force_speed_east_deg_sec = 0;
+// double vs_force_fps = 0;
+ double hs_force_fps = 0;
+ double v_force_acc_fpss = 0;
+ double force_speed_north_fps = 0;
+ double force_speed_east_fps = 0;
+ double h_force_lbs = 0;
+ double normal_force_lbs = 0;
+ double normal_force_fpss = 0;
+ double static_friction_force_lbs = 0;
+ double dynamic_friction_force_lbs = 0;
+ double friction_force_speed_north_fps = 0;
+ double friction_force_speed_east_fps = 0;
+ double friction_force_speed_north_deg_sec = 0;
+ double friction_force_speed_east_deg_sec = 0;
+ double force_elevation_deg = 0;
+
+ if (_external_force) {
+ SGPropertyNode *n = fgGetNode(_force_path.c_str(), true);
+ double force_lbs = n->getChild("force-lb", 0, true)->getDoubleValue();
+ force_elevation_deg = n->getChild("force-elevation-deg", 0, true)->getDoubleValue();
+ double force_azimuth_deg = n->getChild("force-azimuth-deg", 0, true)->getDoubleValue();
+
+ //resolve force into vertical and horizontal components:
+ double v_force_lbs = force_lbs * sin( force_elevation_deg * SG_DEGREES_TO_RADIANS );
+ h_force_lbs = force_lbs * cos( force_elevation_deg * SG_DEGREES_TO_RADIANS );
+
+ //ground interaction
+
+ if (getHtAGL()){
+ double deadzone = 0.1;
+
+ if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){
+ normal_force_lbs = (_mass * slugs_to_lbs) - v_force_lbs;
+
+ if ( normal_force_lbs < 0 )
+ normal_force_lbs = 0;
+
+ pos.setElevationFt(0 + _ground_offset);
+ if (vs < 0)
+ vs = -vs * 0.5;
+
+ // calculate friction
+ // we assume a static Coefficient of Friction (mu) of 0.62 (wood on concrete)
+ double mu = 0.62;
+
+ static_friction_force_lbs = mu * normal_force_lbs * _frictionFactor;
+
+ //adjust horizontal force. We assume that a speed of <= 5 fps is static
+ if (h_force_lbs <= static_friction_force_lbs && hs <= 5){
+ h_force_lbs = hs = 0;
+ speed_north_fps = speed_east_fps = 0;
+ } else
+ dynamic_friction_force_lbs = (static_friction_force_lbs * 0.95);
+
+ //ignore wind when on the ground for now
+ //TODO fix this
+ _wind_from_north = 0;
+ _wind_from_east = 0;
+
+ }
+
+ }
+
+ //acceleration = (force(lbsf)/mass(slugs))
+ v_force_acc_fpss = v_force_lbs/_mass;
+ normal_force_fpss = normal_force_lbs/_mass;
+ double h_force_acc_fpss = h_force_lbs/_mass;
+ double dynamic_friction_acc_fpss = dynamic_friction_force_lbs/_mass;
+
+ // velocity = acceleration * dt
+ hs_force_fps = h_force_acc_fpss * dt;
+ double friction_force_fps = dynamic_friction_acc_fpss * dt;
+
+ //resolve horizontal speeds into north and east components:
+ force_speed_north_fps = cos(force_azimuth_deg * SG_DEGREES_TO_RADIANS) * hs_force_fps;
+ force_speed_east_fps = sin(force_azimuth_deg * SG_DEGREES_TO_RADIANS) * hs_force_fps;
+
+ friction_force_speed_north_fps = cos(getRecip(hdg) * SG_DEGREES_TO_RADIANS) * friction_force_fps;
+ friction_force_speed_east_fps = sin(getRecip(hdg) * SG_DEGREES_TO_RADIANS) * friction_force_fps;
+
+ // convert horizontal speed (fps) to degrees per second
+ force_speed_north_deg_sec = force_speed_north_fps / ft_per_deg_lat;
+ force_speed_east_deg_sec = force_speed_east_fps / ft_per_deg_lon;
+
+ friction_force_speed_north_deg_sec = friction_force_speed_north_fps / ft_per_deg_lat;
+ friction_force_speed_east_deg_sec = friction_force_speed_east_fps / ft_per_deg_lon;
+ }
+
+ // convert wind speed (fps) to degrees lat/lon per second
+ double wind_speed_from_north_deg_sec = _wind_from_north / ft_per_deg_lat;
+ double wind_speed_from_east_deg_sec = _wind_from_east / ft_per_deg_lon;
+
+ //recombine the horizontal velocity components
+ hs = sqrt(((speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps)
+ * (speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps))
+ + ((speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps)
+ * (speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps)));
+
+ if (hs <= 0.00001)
+ hs = 0;
+
+ // adjust vertical speed for acceleration of gravity, buoyancy, and vertical force
+ vs -= (_gravity - _buoyancy - v_force_acc_fpss - normal_force_fpss) * dt;
+
+ if (vs <= 0.00001 && vs >= -0.00001)
+ vs = 0;
+
+ // set new position
+ if(_slave_load_to_ac) {
+ setHitchPos();
+ pos.setLatitudeDeg(hitchpos.getLatitudeDeg());
+ pos.setLongitudeDeg(hitchpos.getLongitudeDeg());
+ pos.setElevationFt(hitchpos.getElevationFt());
+
+ if (getHtAGL()){
+ double deadzone = 0.1;
+
+ if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){
+ pos.setElevationFt(0 + _ground_offset);
+ } else {
+ pos.setElevationFt(hitchpos.getElevationFt() + _load_offset);
+ }
+
+ }
+ } else {
+ pos.setLatitudeDeg( pos.getLatitudeDeg()
+ + (speed_north_deg_sec - wind_speed_from_north_deg_sec
+ + force_speed_north_deg_sec + friction_force_speed_north_deg_sec) * dt );
+ pos.setLongitudeDeg( pos.getLongitudeDeg()
+ + (speed_east_deg_sec - wind_speed_from_east_deg_sec
+ + force_speed_east_deg_sec + friction_force_speed_east_deg_sec) * dt );
+ pos.setElevationFt(pos.getElevationFt() + vs * dt);
+ }
+
+ // recalculate total speed
+ if ( vs == 0 && hs == 0)
+ speed = 0;
+ else
+ speed = sqrt( vs * vs + hs * hs) / SG_KT_TO_FPS;
+
+ // recalculate elevation and azimuth (velocity vectors)
+ _elevation = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
+ _azimuth = atan2((speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps),
+ (speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps))
+ * SG_RADIANS_TO_DEGREES;
+
+ // rationalise azimuth
+ if (_azimuth < 0)
+ _azimuth += 360;
+
+ if (_aero_stabilised) { // we simulate rotational moment of inertia by using a filter
+ const double coeff = 0.9;
+
+ // we assume a symetrical MI about the pitch and yaw axis
+ setPch(_elevation, dt, coeff);
+ setHdg(_azimuth, dt, coeff);
+ } else if (_force_stabilised) { // we simulate rotational moment of inertia by using a filter
+ const double coeff = 0.9;
+ double ratio = h_force_lbs/(_mass * slugs_to_lbs);
+
+ if (ratio > 1) ratio = 1;
+ if (ratio < -1) ratio = -1;
+
+ double force_pitch = acos(ratio) * SG_RADIANS_TO_DEGREES;
+
+ if (force_pitch <= force_elevation_deg)
+ force_pitch = force_elevation_deg;
+
+ // we assume a symetrical MI about the pitch and yaw axis
+ setPch(force_pitch,dt, coeff);
+ setHdg(_azimuth, dt, coeff);
+ }
+
+ //do impacts and collisions
+ if (_report_impact && !_impact_reported)
+ handle_impact();
+
+ if (_report_collision && !_collision_reported)
+ handle_collision();
+
+ // set destruction flag if altitude less than sea level -1000
+ if (altitude_ft < -1000.0 && life != -1)
+ setDie(true);
+
+} // end Run
+