// Written by David Culp, started November 2003.
// - davidculp2@comcast.net
//
-// With major additions by Mathias Froehlich & Vivian Meazza 2004-2007
+// With major additions by Mathias Froehlich & Vivian Meazza 2004-2008
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
# include <config.h>
#endif
-#include <simgear/math/point3d.hxx>
#include <simgear/math/sg_random.h>
-#include <simgear/scene/material/mat.hxx>
#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/scene/model/modellib.hxx>
#include <Scenery/scenery.hxx>
#include "AIBallistic.hxx"
-const double FGAIBallistic::slugs_to_kgs = 14.5939029372;
+#include <Main/util.hxx>
+
+using namespace simgear;
-FGAIBallistic::FGAIBallistic() :
- FGAIBase(otBallistic),
- _elevation(0),
- _aero_stabilised(false),
- _drag_area(0.007),
- _life_timer(0.0),
- _gravity(32),
- _buoyancy(0),
- _random(false),
- _ht_agl_ft(0),
- _load_resistance(0),
- _solid(false),
- _report_collision(false),
- _report_impact(false),
- _impact_report_node(fgGetNode("/ai/models/model-impact", true)),
- _external_force(false)
+const double FGAIBallistic::slugs_to_kgs = 14.5939029372;
+const double FGAIBallistic::slugs_to_lbs = 32.1740485564;
+
+FGAIBallistic::FGAIBallistic(object_type ot) :
+FGAIBase(ot),
+_height(0.0),
+_speed(0),
+_ht_agl_ft(0.0),
+_azimuth(0.0),
+_elevation(0.0),
+_rotation(0.0),
+hs(0),
+_elapsed_time(0),
+_aero_stabilised(false),
+_drag_area(0.007),
+_life_timer(0.0),
+_gravity(32.1740485564),
+_buoyancy(0),
+_wind(true),
+_mass(0),
+_random(false),
+_load_resistance(0),
+_solid(false),
+_force_stabilised(false),
+_slave_to_ac(false),
+_slave_load_to_ac(false),
+_contents_lb(0),
+_report_collision(false),
+_report_impact(false),
+_external_force(false),
+_report_expiry(false),
+_impact_report_node(fgGetNode("/ai/models/model-impact", true)),
+_old_height(0)
{
no_roll = false;
}
void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
- if (!scFileNode)
+ if (!scFileNode){
return;
+ }
FGAIBase::readFromScenario(scFileNode);
+ //setPath(scFileNode->getStringValue("model", "Models/Geometry/rocket.ac"));
+ setRandom(scFileNode->getBoolValue("random", false));
setAzimuth(scFileNode->getDoubleValue("azimuth", 0.0));
- setElevation(scFileNode->getDoubleValue("elevation", 0.0));
+ setElevation(scFileNode->getDoubleValue("elevation", 0));
setDragArea(scFileNode->getDoubleValue("eda", 0.007));
setLife(scFileNode->getDoubleValue("life", 900.0));
setBuoyancy(scFileNode->getDoubleValue("buoyancy", 0));
- setWind_from_east(scFileNode->getDoubleValue("wind_from_east", 0));
- setWind_from_north(scFileNode->getDoubleValue("wind_from_north", 0));
+ //setWind_from_east(scFileNode->getDoubleValue("wind_from_east", 0));
+ //setWind_from_north(scFileNode->getDoubleValue("wind_from_north", 0));
setWind(scFileNode->getBoolValue("wind", false));
setRoll(scFileNode->getDoubleValue("roll", 0.0));
setCd(scFileNode->getDoubleValue("cd", 0.029));
- setMass(scFileNode->getDoubleValue("mass", 0.007));
- setStabilisation(scFileNode->getBoolValue("aero_stabilized", false));
+ //setMass(scFileNode->getDoubleValue("mass", 0.007));
+ setWeight(scFileNode->getDoubleValue("weight", 0.25));
+ setStabilisation(scFileNode->getBoolValue("aero-stabilised", false));
setNoRoll(scFileNode->getBoolValue("no-roll", false));
- setRandom(scFileNode->getBoolValue("random", false));
setImpact(scFileNode->getBoolValue("impact", false));
+ setExpiry(scFileNode->getBoolValue("expiry", false));
+ setCollision(scFileNode->getBoolValue("collision", false));
setImpactReportNode(scFileNode->getStringValue("impact-reports"));
- setName(scFileNode->getStringValue("name", "Bomb"));
+ setName(scFileNode->getStringValue("name", "Rocket"));
setFuseRange(scFileNode->getDoubleValue("fuse-range", 0.0));
setSMPath(scFileNode->getStringValue("submodel-path", ""));
setSubID(scFileNode->getIntValue("SubID", 0));
+ setExternalForce(scFileNode->getBoolValue("external-force", false));
+ setForcePath(scFileNode->getStringValue("force-path", ""));
+ setForceStabilisation(scFileNode->getBoolValue("force-stabilised", false));
+ setXoffset(scFileNode->getDoubleValue("x-offset", 0.0));
+ setYoffset(scFileNode->getDoubleValue("y-offset", 0.0));
+ setZoffset(scFileNode->getDoubleValue("z-offset", 0.0));
+ setPitchoffset(scFileNode->getDoubleValue("pitch-offset", 0.0));
+ setRolloffset(scFileNode->getDoubleValue("roll-offset", 0.0));
+ setYawoffset(scFileNode->getDoubleValue("yaw-offset", 0.0));
+ setGroundOffset(scFileNode->getDoubleValue("ground-offset", 0.0));
+ setLoadOffset(scFileNode->getDoubleValue("load-offset", 0.0));
+ setSlaved(scFileNode->getBoolValue("slaved", false));
+ setSlavedLoad(scFileNode->getBoolValue("slaved-load", false));
+ setContentsPath(scFileNode->getStringValue("contents"));
+ setParentName(scFileNode->getStringValue("parent"));
}
bool FGAIBallistic::init(bool search_in_AI_path) {
FGAIBase::init(search_in_AI_path);
+ _impact_reported = false;
+ _collision_reported = false;
+ _expiry_reported = false;
+
+ _impact_lat = 0;
+ _impact_lon = 0;
+ _impact_elev = 0;
+ _impact_hdg = 0;
+ _impact_pitch = 0;
+ _impact_roll = 0;
+ _impact_speed = 0;
+
+ invisible = false;
+
+ _elapsed_time += (sg_random() * 100);
+
props->setStringValue("material/name", "");
props->setStringValue("name", _name.c_str());
- props->setStringValue("submodels/path", _submodel.c_str());
+ props->setStringValue("submodels/path", _path.c_str());
+
+ if (_slave_to_ac){
+ props->setStringValue("force/path", _force_path.c_str());
+ props->setStringValue("contents/path", _contents_path.c_str());
+ }
+
+ //if(_parent != ""){
+ // setParentNode();
+ //}
+
+ //setParentNodes(_selected_ac);
+
+ //props->setStringValue("vector/path", _vector_path.c_str());
// start with high value so that animations don't trigger yet
_ht_agl_ft = 1e10;
hdg = _azimuth;
pitch = _elevation;
roll = _rotation;
+
Transform();
+ if(_parent != ""){
+ setParentNode();
+ }
+
+ setParentNodes(_selected_ac);
+
return true;
}
void FGAIBallistic::bind() {
// FGAIBase::bind();
+
props->tie("sim/time/elapsed-sec",
SGRawValueMethods<FGAIBallistic,double>(*this,
&FGAIBallistic::_getTime));
- props->tie("material/load-resistance",
- SGRawValuePointer<double>(&_load_resistance));
+ //props->tie("mass-slug",
+ // SGRawValueMethods<FGAIBallistic,double>(*this,
+ // &FGAIBallistic::getMass));
+
props->tie("material/solid",
- SGRawValuePointer<bool>(&_solid));
+ SGRawValuePointer<bool>(&_solid));
props->tie("altitude-agl-ft",
- SGRawValuePointer<double>(&_ht_agl_ft));
+ SGRawValuePointer<double>(&_ht_agl_ft));
+ props->tie("controls/slave-to-ac",
+ SGRawValueMethods<FGAIBallistic,bool>
+ (*this, &FGAIBallistic::getSlaved, &FGAIBallistic::setSlaved));
+ props->tie("controls/invisible",
+ SGRawValuePointer<bool>(&invisible));
+
+ if(_external_force || _slave_to_ac){
+ props->tie("controls/force_stabilized",
+ SGRawValuePointer<bool>(&_force_stabilised));
+ props->tie("position/global-x",
+ SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getCartPosX, 0));
+ props->tie("position/global-y",
+ SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getCartPosY, 0));
+ props->tie("position/global-z",
+ SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getCartPosZ, 0));
+ props->tie("velocities/vertical-speed-fps",
+ SGRawValuePointer<double>(&vs));
+ props->tie("velocities/true-airspeed-kt",
+ SGRawValuePointer<double>(&speed));
+ props->tie("velocities/horizontal-speed-fps",
+ SGRawValuePointer<double>(&hs));
+ props->tie("position/altitude-ft",
+ SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getElevationFt, &FGAIBase::_setAltitude));
+ props->tie("position/latitude-deg",
+ SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getLatitude, &FGAIBase::_setLatitude));
+ props->tie("position/longitude-deg",
+ SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getLongitude, &FGAIBase::_setLongitude));
+ props->tie("orientation/hdg-deg",
+ SGRawValuePointer<double>(&hdg));
+ props->tie("orientation/pitch-deg",
+ SGRawValuePointer<double>(&pitch));
+ props->tie("orientation/roll-deg",
+ SGRawValuePointer<double>(&roll));
+ props->tie("controls/slave-load-to-ac",
+ SGRawValueMethods<FGAIBallistic,bool>
+ (*this, &FGAIBallistic::getSlavedLoad, &FGAIBallistic::setSlavedLoad));
+ props->tie("position/load-offset",
+ SGRawValueMethods<FGAIBallistic,double>
+ (*this, &FGAIBallistic::getLoadOffset, &FGAIBallistic::setLoadOffset));
+ props->tie("load/distance-to-hitch-ft",
+ SGRawValueMethods<FGAIBallistic,double>
+ (*this, &FGAIBallistic::getDistanceToHitch));
+ props->tie("load/elevation-to-hitch-deg",
+ SGRawValueMethods<FGAIBallistic,double>
+ (*this, &FGAIBallistic::getElevToHitch));
+ props->tie("load/bearing-to-hitch-deg",
+ SGRawValueMethods<FGAIBallistic,double>
+ (*this, &FGAIBallistic::getBearingToHitch));
+ props->tie("material/load-resistance",
+ SGRawValuePointer<double>(&_load_resistance));
+ }
+
}
void FGAIBallistic::unbind() {
- // FGAIBase::unbind();
+// FGAIBase::unbind();
+
props->untie("sim/time/elapsed-sec");
- props->untie("material/load-resistance");
+ props->untie("mass-slug");
props->untie("material/solid");
props->untie("altitude-agl-ft");
+ props->untie("controls/slave-to-ac");
+ props->untie("controls/invisible");
+
+ if(_external_force || _slave_to_ac){
+ props->untie("position/global-y");
+ props->untie("position/global-x");
+ props->untie("position/global-z");
+ props->untie("velocities/vertical-speed-fps");
+ props->untie("velocities/true-airspeed-kt");
+ props->untie("velocities/horizontal-speed-fps");
+ props->untie("position/altitude-ft");
+ props->untie("position/latitude-deg");
+ props->untie("position/longitude-deg");
+ props->untie("position/ht-agl-ft");
+ props->untie("orientation/hdg-deg");
+ props->untie("orientation/pitch-deg");
+ props->untie("orientation/roll-deg");
+ props->untie("controls/force_stabilized");
+ props->untie("position/load-offset");
+ props->untie("load/distance-to-hitch-ft");
+ props->untie("load/elevation-to-hitch-deg");
+ props->untie("load/bearing-to-hitch-deg");
+ props->untie("material/load-resistance");
+ }
}
void FGAIBallistic::update(double dt) {
FGAIBase::update(dt);
- Run(dt);
- Transform();
+ _setUserPos();
+
+ if (_slave_to_ac){
+ slaveToAC(dt);
+ Transform();
+ } else if (!invisible){
+ Run(dt);
+ Transform();
+ }
+
}
void FGAIBallistic::setAzimuth(double az) {
- hdg = _azimuth = az;
+
+ if (_random)
+ hdg = _azimuth = (az - 5 ) + (10 * sg_random());
+ else
+ hdg = _azimuth = az;
+
+ //cout << _name << " init hdg " << hdg << " random " << _random << endl;
}
void FGAIBallistic::setElevation(double el) {
}
void FGAIBallistic::setRoll(double rl) {
- _rotation = rl;
+ roll = _rotation = rl;
}
void FGAIBallistic::setStabilisation(bool val) {
_aero_stabilised = val;
}
+void FGAIBallistic::setForceStabilisation(bool val) {
+ _force_stabilised = val;
+}
+
void FGAIBallistic::setNoRoll(bool nr) {
no_roll = nr;
}
}
void FGAIBallistic::setLife(double seconds) {
- life = seconds;
+
+ if (_random){
+ life = seconds * _randomness + (seconds * (1 -_randomness) * sg_random());
+ //cout << "life " << life << endl;
+ } else
+ life = seconds;
}
void FGAIBallistic::setBuoyancy(double fpss) {
_mass = m;
}
+void FGAIBallistic::setWeight(double w) {
+ _weight_lb = w;
+}
+
+void FGAIBallistic::setRandomness(double r) {
+ _randomness = r;
+}
+
void FGAIBallistic::setRandom(bool r) {
_random = r;
}
_report_collision = c;
}
+void FGAIBallistic::setExpiry(bool e) {
+ _report_expiry = e;
+}
+
void FGAIBallistic::setExternalForce(bool f) {
_external_force = f;
}
_impact_report_node = fgGetNode(path.c_str(), true);
}
-void FGAIBallistic::setName(const string& n) {
- _name = n;
-}
-
void FGAIBallistic::setSMPath(const string& s) {
- _submodel = s;
+ _path = s;
+ //cout << "submodel path " << _path << endl;
}
void FGAIBallistic::setFuseRange(double f) {
void FGAIBallistic::setSubID(int i) {
_subID = i;
- //cout << "sub id " << _subID << " name " << _name << endl;
}
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::setContentsPath(const string& path) {
+
+ _contents_path = path;
+
+ if (!path.empty()) {
+ _contents_node = fgGetNode(path.c_str(), true);
+ }
+}
+
+void FGAIBallistic::setContentsNode(SGPropertyNode_ptr node) {
+
+ if (node != 0) {
+ _contents_node = node;
+ _contents_path = _contents_node->getDisplayName();
+ }
+}
+
+void FGAIBallistic::setParentNodes(SGPropertyNode_ptr node) {
+
+ if (node != 0) {
+ _pnode = node;
+ _p_pos_node = _pnode->getChild("position", 0, true);
+ _p_lat_node = _p_pos_node->getChild("latitude-deg", 0, true);
+ _p_lon_node = _p_pos_node->getChild("longitude-deg", 0, true);
+ _p_alt_node = _p_pos_node->getChild("altitude-ft", 0, true);
+ _p_agl_node = _p_pos_node->getChild("altitude-agl-ft", 0, true);
+
+
+ _p_ori_node = _pnode->getChild("orientation", 0, true);
+ _p_pch_node = _p_ori_node->getChild("pitch-deg", 0, true);
+ _p_rll_node = _p_ori_node->getChild("roll-deg", 0, true);
+ _p_hdg_node = _p_ori_node->getChild("true-heading-deg",0, true);
+
+ _p_vel_node = _pnode->getChild("velocities", 0, true);
+ _p_spd_node = _p_vel_node->getChild("true-airspeed-kt", 0, true);
+ }
+
+}
+
+void FGAIBallistic::setParentPos() {
+
+ if (_pnode != 0) {
+ //cout << "set parent pos" << endl;
+
+ double lat = _p_lat_node->getDoubleValue();
+ double lon = _p_lon_node->getDoubleValue();
+ double alt = _p_alt_node->getDoubleValue();
+
+ _parentpos.setLongitudeDeg(lon);
+ _parentpos.setLatitudeDeg(lat);
+ _parentpos.setElevationFt(alt);
+
+ }
+
+}
+
+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()) {
}
}
+bool FGAIBallistic::getHtAGL(double start){
+
+ if (getGroundElevationM(SGGeod::fromGeodM(pos, start),
+ _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", "");
+
+ _mat_name = names[0];
+
+ //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::setSpd(double s, double dt, double coeff){
+ double c = dt / (coeff + dt);
+ _speed = (s * c) + (_speed * (1 - c));
+}
+
+void FGAIBallistic::setHt(double h, double dt, double coeff){
+ double c = dt / (coeff + dt);
+ _height = (h * c) + (_height * (1 - c));
+}
+
+int FGAIBallistic::setHdg(double tgt_hdg, 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 (tgt_hdg < recip && tgt_hdg < hdg && hdg > 180) {
+ hdg = ((tgt_hdg + 360) * c) + (hdg * (1 - c));
+// cout << "case 1: right turn" << endl;
+ } else if (tgt_hdg > recip && tgt_hdg > hdg && hdg <= 180){
+ hdg = ((tgt_hdg - 360) * c) + (hdg * (1 - c));
+// cout << "case 2: left turn" << endl;
+ } else {
+ hdg = (tgt_hdg * c) + (hdg * (1 - c));
+// cout << "case 4: left turn" << endl;
+ }
+ return -1;
+}
+
+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){
+
+ double hdg, pch, rll, agl = 0;
+
+ if (_pnode != 0) {
+ setParentPos();
+ hdg = _p_hdg_node->getDoubleValue();
+ pch = _p_pch_node->getDoubleValue();
+ rll = _p_rll_node->getDoubleValue();
+ agl = _p_agl_node->getDoubleValue();
+ setOffsetPos(_parentpos, hdg, pch, rll);
+ setSpeed(_p_spd_node->getDoubleValue());
+ }else {
+ hdg = manager->get_user_heading();
+ pch = manager->get_user_pitch();
+ rll = manager->get_user_roll();
+ agl = manager->get_user_agl();
+ setOffsetPos(userpos, hdg, pch, rll);
+ setSpeed(manager->get_user_speed());
+ }
+
+ pos.setLatitudeDeg(_offsetpos.getLatitudeDeg());
+ pos.setLongitudeDeg(_offsetpos.getLongitudeDeg());
+ pos.setElevationFt(_offsetpos.getElevationFt());
+ setHeading(hdg);
+ setPitch(pch + _pitch_offset);
+ setBank(rll + _roll_offset);
+ setOffsetVelocity(dt, pos);
+
+ //update the mass (slugs)
+ _mass = (_weight_lb + getContents()) / slugs_to_lbs;
+
+ _impact_reported = false;
+
+ //cout << _name << " _mass "<<_mass <<" " << getContents()
+ //<< " " << getContents() / slugs_to_lbs << " weight " << _weight_lb << endl;
+ // cout << _name << " update hs " << hs << " vs " << vs << endl;
+}
+
void FGAIBallistic::Run(double dt) {
_life_timer += dt;
- //cout << "life timer" <<_name <<" " << _life_timer << dt << endl;
- if (_life_timer > life)
- setDie(true);
- //randomise Cd by +- 5%
+ // if life = -1 the object does not die
+ if (_life_timer > life && life != -1){
+
+ if (_report_expiry && !_expiry_reported && !_impact_reported && !_collision_reported){
+ //cout<<"AIBallistic: expiry"<< endl;
+ handle_expiry();
+ } else
+ setDie(true);
+
+ }
+
+ //set the contents in the appropriate tank or other property in the parent to zero
+ setContents(0);
+
+ //randomise Cd by +- 10%
if (_random)
- _Cd = _Cd * 0.95 + (0.05 * sg_random());
+ _Cd = _Cd * 0.90 + (0.10 * sg_random());
// Adjust Cd by Mach number. The equations are based on curves
// for a conventional shell/bullet (no boat-tail).
else
Cdm = 0.2965 * pow(Mach, -1.1506) + _Cd;
- //cout << " Mach , " << Mach << " , Cdm , " << Cdm << " ballistic speed kts //"<< speed << endl;
+ //cout <<_name << " 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,
speed = 0.0;
double speed_fps = speed * SG_KT_TO_FPS;
- double hs;
+ //double hs;
// calculate vertical and horizontal speed components
if (speed == 0.0) {
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();
}
- // 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;
-
//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 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) {
+ //cout << _name << " external force" << endl;
+
SGPropertyNode *n = fgGetNode(_force_path.c_str(), true);
double force_lbs = n->getChild("force-lb", 0, true)->getDoubleValue();
- double force_elevation_deg = n->getChild("force-elevation-deg", 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 );
- double h_force_lbs = force_lbs * cos( force_elevation_deg * SG_DEGREES_TO_RADIANS );
+ h_force_lbs = force_lbs * cos( force_elevation_deg * SG_DEGREES_TO_RADIANS );
+
+ //ground interaction
+
+ if (getHtAGL(10000)){
+ 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);
- double h_force_acc_fpss = (h_force_lbs/_mass);
+ 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 speed into north and east components:
+ //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
- double force_speed_north_deg_sec = force_speed_north_fps / ft_per_deg_lat;
- double force_speed_east_deg_sec = force_speed_east_fps / ft_per_deg_lon;
-
- //recombine the horizontal velocity components
- hs = sqrt(((speed_north_fps + force_speed_north_fps) * (speed_north_fps + force_speed_north_fps))
- + ((speed_east_fps + force_speed_east_fps) * (speed_east_fps + force_speed_east_fps)));
-
- /*cout << "mass " << _mass
- << " force " << force_lbs
- << " elevation " << force_elevation_deg
- << " azimuth " << force_azimuth_deg
- << endl; */
-
- //cout << " _hs_force_fps " << hs_force_fps
- //<< " force_speed_north_fps " << force_speed_north_fps
- //<< " force_speed_east_fps " << force_speed_east_fps
- //<< " speed_north_fps " << speed_north_fps
- //<< " speed_east_fps " << speed_east_fps
- //<< endl;
+ 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;
}
- // set new position
- pos.setLatitudeDeg( pos.getLatitudeDeg()
- + (speed_north_deg_sec - wind_speed_from_north_deg_sec + 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) * dt );
+ // 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
- //v_force_acc_fpss = 0;
- vs -= (_gravity - _buoyancy - v_force_acc_fpss) * dt;
+ vs -= (_gravity - _buoyancy - v_force_acc_fpss - normal_force_fpss) * dt;
+
+ if (vs <= 0.00001 && vs >= -0.00001)
+ vs = 0;
- // adjust altitude (feet) and set new elevation
- altitude_ft += vs * dt;
- pos.setElevationFt(altitude_ft);
+ // set new position
+ if(_slave_load_to_ac) {
+ setOffsetPos(pos,
+ manager->get_user_heading(),
+ manager->get_user_pitch(),
+ manager->get_user_roll()
+ );
+ pos.setLatitudeDeg(_offsetpos.getLatitudeDeg());
+ pos.setLongitudeDeg(_offsetpos.getLongitudeDeg());
+ pos.setElevationFt(_offsetpos.getElevationFt());
+
+ if (getHtAGL(10000)){
+ double deadzone = 0.1;
+
+ if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){
+ pos.setElevationFt(0 + _ground_offset);
+ } else {
+ pos.setElevationFt(_offsetpos.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);
+ }
+
+// cout << _name << " run hs " << hs << " vs " << vs << endl;
+
+ // 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),
- (speed_north_fps + force_speed_north_fps)) * 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 (_azimuth < 0)
+ _azimuth += 360;
if (_aero_stabilised) { // we simulate rotational moment of inertia by using a filter
+ //cout<< "_aero_stabilised "<< endl;
const double coeff = 0.9;
- double c = dt / (coeff + dt);
- double recip;
-
- // calculate the recip
- if(hdg - 180 < 0){
- recip = hdg + 180;
- } else {
- recip = hdg - 180;
- }
- //cout << "recip " << recip << endl;
// we assume a symetrical MI about the pitch and yaw axis
- pitch = (_elevation * c) + (pitch * (1 - c));
-
- //we need to ensure that we turn the short way to the new hdg
- if (_azimuth < recip && _azimuth < hdg && hdg > 180) {
- //cout << "_azimuth - hdg 1 " << _azimuth << " " << hdg << endl;
- hdg = ((_azimuth + 360) * c) + (hdg * (1 - c));
- } else if (_azimuth > recip && _azimuth > hdg && hdg <= 180){
- //cout << "_azimuth - hdg 2 " << _azimuth <<" " << hdg << endl;
- hdg = ((_azimuth - 360) * c) + (hdg * (1 - c));
- } else {
- //cout << "_azimuth - hdg 3 " << _azimuth <<" " << hdg << endl;
- hdg = (_azimuth * c) + (hdg * (1 - c));
- }
+ setPch(_elevation, dt, coeff);
+ setHdg(_azimuth, dt, coeff);
+ } else if (_force_stabilised) { // we simulate rotational moment of inertia by using a filter
+ //cout<< "_force_stabilised "<< endl;
+
+ const double coeff = 0.9;
+ double ratio = h_force_lbs/(_mass * slugs_to_lbs);
- }
+ if (ratio > 1) ratio = 1;
+ if (ratio < -1) ratio = -1;
- // recalculate total speed
- speed = sqrt( vs * vs + hs * hs) / SG_KT_TO_FPS;
+ double force_pitch = acos(ratio) * SG_RADIANS_TO_DEGREES;
- /*cout << "_elevation " << _elevation
- << " pitch " << pitch
- <<" _yaw " << _yaw
- << " hdg " << hdg
- << " speed " << speed
- << endl;*/
+ 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_collision();
// set destruction flag if altitude less than sea level -1000
- if (altitude_ft < -1000.0)
+ if (altitude_ft < -1000.0 && life != -1)
setDie(true);
} // end Run
double FGAIBallistic::_getTime() const {
- // cout << "life timer 2" << _life_timer << endl;
return _life_timer;
}
void FGAIBallistic::handle_impact() {
- double elevation_m;
- const SGMaterial* material;
// try terrain intersection
- if (!globals->get_scenery()->get_elevation_m(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
- 10000.0, elevation_m, &material))
- return;
+ double start = pos.getElevationM() + 10;
- if (material) {
- const vector<string> names = material->get_names();
- string mat_name;
-
- if (!names.empty())
- mat_name = names[0].c_str();
-
- _solid = material->get_solid();
- _load_resistance = material->get_load_resistance();
- props->setStringValue("material/name", mat_name.c_str());
- //cout << "material " << mat_name << " solid " << _solid << " load " << _load_resistance << endl;
- }
-
- _ht_agl_ft = pos.getElevationFt() - elevation_m * SG_METER_TO_FEET;
+ if(!getHtAGL(start))
+ return;
if (_ht_agl_ft <= 0) {
SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: terrain impact");
- report_impact(elevation_m);
+ report_impact(_elevation_m);
_impact_reported = true;
- // kill the AIObject if there is no subsubmodel
- if (_subID == 0)
+ if (life == -1){
+ invisible = true;
+ } else if (_subID == 0) // kill the AIObject if there is no subsubmodel
setDie(true);
+ }
+}
+
+void FGAIBallistic::handle_expiry() {
+
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: handle_expiry " << pos.getElevationM());
+
+ report_impact(pos.getElevationM());
+ _expiry_reported = true;
+
+ if (life == -1){
+ invisible = true;
+ } else if (_subID == 0){ // kill the AIObject if there is no subsubmodel
+ setDie(true);
}
+
}
void FGAIBallistic::handle_collision()
{
const FGAIBase *object = manager->calcCollision(pos.getElevationFt(),
- pos.getLatitudeDeg(),pos.getLongitudeDeg(), _fuse_range);
+ pos.getLatitudeDeg(),pos.getLongitudeDeg(), _fuse_range);
if (object) {
- SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: object hit");
report_impact(pos.getElevationM(), object);
_collision_reported = true;
}
_impact_roll = roll;
SGPropertyNode *n = props->getNode("impact", true);
+
if (object)
n->setStringValue("type", object->getTypeString());
else
n->setStringValue("type", "terrain");
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: object impact" << _name << " lon " <<_impact_lon);
+
n->setDoubleValue("longitude-deg", _impact_lon);
n->setDoubleValue("latitude-deg", _impact_lat);
n->setDoubleValue("elevation-m", _impact_elev);
_impact_report_node->setStringValue(props->getPath());
}
-// end AIBallistic
+SGVec3d FGAIBallistic::getCartUserPos() const {
+ SGVec3d cartUserPos = SGVec3d::fromGeod(userpos);
+ return cartUserPos;
+}
+
+SGVec3d FGAIBallistic::getCartHitchPos() const{
+
+ // convert geodetic positions to geocentered
+ SGVec3d cartuserPos = SGVec3d::fromGeod(userpos);
+ //SGVec3d cartPos = getCartPos();
+
+ // Transform to the right coordinate frame, configuration is done in
+ // the x-forward, y-right, z-up coordinates (feet), computation
+ // in the simulation usual body x-forward, y-right, z-down coordinates
+ // (meters) )
+ SGVec3d _off(_x_offset * SG_FEET_TO_METER,
+ _y_offset * SG_FEET_TO_METER,
+ -_z_offset * SG_FEET_TO_METER);
+
+ // Transform the user position to the horizontal local coordinate system.
+ SGQuatd hlTrans = SGQuatd::fromLonLat(userpos);
+
+ // and postrotate the orientation of the user model wrt the horizontal
+ // local frame
+ hlTrans *= SGQuatd::fromYawPitchRollDeg(
+ manager->get_user_heading(),
+ manager->get_user_pitch(),
+ manager->get_user_roll());
+
+ // The offset converted to the usual body fixed coordinate system
+ // rotated to the earth-fixed coordinates axis
+ SGVec3d off = hlTrans.backTransform(_off);
+
+ // Add the position offset of the user model to get the geocentered position
+ SGVec3d offsetPos = cartuserPos + off;
+
+ return offsetPos;
+}
+
+void FGAIBallistic::setOffsetPos(SGGeod inpos, double heading, double pitch, double roll){
+ // convert the hitch geocentered position to geodetic
+ SGVec3d cartoffsetPos = getCartOffsetPos(inpos, heading, pitch, roll);
+
+ //SGVec3d cartoffsetPos = getCartHitchPos();
+
+ //SGGeodesy::SGCartToGeod(cartoffsetPos, hitchpos);
+ SGGeodesy::SGCartToGeod(cartoffsetPos, _offsetpos);
+
+}
+
+double FGAIBallistic::getDistanceToHitch() const {
+ //calculate the distance load to hitch
+ SGVec3d carthitchPos = getCartHitchPos();
+ SGVec3d cartPos = getCartPos();
+
+ SGVec3d diff = carthitchPos - cartPos;
+ double distance = norm(diff);
+ return distance * SG_METER_TO_FEET;
+}
+
+double FGAIBallistic::getElevToHitch() const {
+ // now the angle, positive angles are upwards
+ double distance = getDistanceToHitch() * SG_FEET_TO_METER;
+ double angle = 0;
+ double daltM = _offsetpos.getElevationM() - pos.getElevationM();
+
+ if (fabs(distance) < SGLimits<float>::min()) {
+ angle = 0;
+ } else {
+ double sAngle = daltM/distance;
+ sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
+ angle = SGMiscd::rad2deg(asin(sAngle));
+ }
+
+ return angle;
+}
+
+double FGAIBallistic::getBearingToHitch() const {
+ //calculate the bearing and range of the second pos from the first
+ double distance = getDistanceToHitch() * SG_FEET_TO_METER;
+ double az1, az2;
+
+ geo_inverse_wgs_84(pos, _offsetpos, &az1, &az2, &distance);
+
+ return az1;
+}
+
+double FGAIBallistic::getRelBrgHitchToUser() const {
+ //calculate the relative bearing
+ double az1, az2, distance;
+
+ geo_inverse_wgs_84(_offsetpos, userpos, &az1, &az2, &distance);
+
+ double rel_brg = az1 - hdg;
+
+ SG_NORMALIZE_RANGE(rel_brg, -180.0, 180.0);
+
+ return rel_brg;
+}
+
+double FGAIBallistic::getElevHitchToUser() const {
+
+ //calculate the distance from the user position
+ SGVec3d carthitchPos = getCartHitchPos();
+ SGVec3d cartuserPos = getCartUserPos();
+
+ SGVec3d diff = cartuserPos - carthitchPos;
+
+ double distance = norm(diff);
+ double angle = 0;
+
+ double daltM = userpos.getElevationM() - _offsetpos.getElevationM();
+
+ // now the angle, positive angles are upwards
+ if (fabs(distance) < SGLimits<float>::min()) {
+ angle = 0;
+ } else {
+ double sAngle = daltM/distance;
+ sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
+ angle = SGMiscd::rad2deg(asin(sAngle));
+ }
+
+ return angle;
+}
+
+void FGAIBallistic::setTgtOffsets(double dt, double coeff){
+ double c = dt / (coeff + dt);
+
+ _x_offset = (_tgt_x_offset * c) + (_x_offset * (1 - c));
+ _y_offset = (_tgt_y_offset * c) + (_y_offset * (1 - c));
+ _z_offset = (_tgt_z_offset * c) + (_z_offset * (1 - c));
+}
+
+
+void FGAIBallistic::calcVSHS(){
+ // calculate vertical and horizontal speed components
+ double speed_fps = speed * SG_KT_TO_FPS;
+
+ 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;
+ }
+}
+
+void FGAIBallistic::calcNE(){
+ //resolve horizontal speed into north and east components:
+ _speed_north_fps = cos(_azimuth / SG_RADIANS_TO_DEGREES) * hs;
+ _speed_east_fps = sin(_azimuth / SG_RADIANS_TO_DEGREES) * hs;
+
+ // convert horizontal speed (fps) to degrees per second
+ speed_north_deg_sec = _speed_north_fps / ft_per_deg_lat;
+ speed_east_deg_sec = _speed_east_fps / ft_per_deg_lon;
+
+}
+
+SGVec3d FGAIBallistic::getCartOffsetPos(SGGeod inpos, double user_heading,
+ double user_pitch, double user_roll
+ ) const{
+
+ // convert geodetic positions to geocentered
+ SGVec3d cartuserPos = SGVec3d::fromGeod(inpos);
+ //SGVec3d cartuserPos = getCartUserPos();
+ //SGVec3d cartPos = getCartPos();
+
+ // Transform to the right coordinate frame, configuration is done in
+ // the x-forward, y-right, z-up coordinates (feet), computation
+ // in the simulation usual body x-forward, y-right, z-down coordinates
+ // (meters) )
+ SGVec3d _off(_x_offset * SG_FEET_TO_METER,
+ _y_offset * SG_FEET_TO_METER,
+ -_z_offset * SG_FEET_TO_METER);
+
+ // Transform the user position to the horizontal local coordinate system.
+ SGQuatd hlTrans = SGQuatd::fromLonLat(inpos);
+
+ // and postrotate the orientation of the user model wrt the horizontal
+ // local frame
+ hlTrans *= SGQuatd::fromYawPitchRollDeg(
+ user_heading,
+ user_pitch,
+ user_roll);
+
+ // The offset converted to the usual body fixed coordinate system
+ // rotated to the earth-fixed coordinates axis
+ SGVec3d off = hlTrans.backTransform(_off);
+
+ // Add the position offset of the user model to get the geocentered position
+ SGVec3d offsetPos = cartuserPos + off;
+
+ return offsetPos;
+}
+
+void FGAIBallistic::setOffsetVelocity(double dt, SGGeod offsetpos) {
+ //calculate the distance from the previous offset position
+ SGVec3d cartoffsetPos = SGVec3d::fromGeod(offsetpos);
+ SGVec3d diff = cartoffsetPos - _oldcartoffsetPos;
+
+ double distance = norm(diff);
+ //calculate speed knots
+ speed = (distance/dt) * SG_MPS_TO_KT;
+
+ //now calulate the angle between the old and current postion positions (degrees)
+ double angle = 0;
+ double daltM = offsetpos.getElevationM() - _oldoffsetpos.getElevationM();
+
+ if (fabs(distance) < SGLimits<float>::min()) {
+ angle = 0;
+ } else {
+ double sAngle = daltM/distance;
+ sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
+ angle = SGMiscd::rad2deg(asin(sAngle));
+ }
+
+ _elevation = angle;
+
+ //calculate vertical and horizontal speed components
+ calcVSHS();
+
+ //calculate the bearing of the new offset position from the old
+ double az1, az2, dist;
+ geo_inverse_wgs_84(_oldoffsetpos, offsetpos, &az1, &az2, &dist);
+ _azimuth = az1;
+
+ //resolve horizontal speed into north and east components:
+ calcNE();
+
+ // and finally store the new values
+ _oldcartoffsetPos = cartoffsetPos;
+ _oldoffsetpos = offsetpos;
+}
+
+// end AIBallistic
projects / flightgear.git / blobdiff