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),
-_formate_to_ac(false),
+hs(0),
+_elapsed_time(0),
_aero_stabilised(false),
_drag_area(0.007),
_life_timer(0.0),
_slave_load_to_ac(false),
_contents_lb(0),
_report_collision(false),
-_report_expiry(false),
_report_impact(false),
_external_force(false),
+_report_expiry(false),
_impact_report_node(fgGetNode("/ai/models/model-impact", true)),
-_old_height(0),
-_elapsed_time(0),
-hs(0)
+_old_height(0)
{
no_roll = false;
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) {
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
Transform();
- //cout << _name << " speed init: " << speed << endl;
+ if(_parent != ""){
+ setParentNode();
+ }
+
+ setParentNodes(_selected_ac);
return true;
}
(*this, &FGAIBallistic::getLoadOffset, &FGAIBallistic::setLoadOffset));
props->tie("load/distance-to-hitch-ft",
SGRawValueMethods<FGAIBallistic,double>
- (*this, &FGAIBallistic::getDistanceLoadToHitch));
+ (*this, &FGAIBallistic::getDistanceToHitch));
props->tie("load/elevation-to-hitch-deg",
SGRawValueMethods<FGAIBallistic,double>
- (*this, &FGAIBallistic::getElevLoadToHitch));
+ (*this, &FGAIBallistic::getElevToHitch));
props->tie("load/bearing-to-hitch-deg",
SGRawValueMethods<FGAIBallistic,double>
- (*this, &FGAIBallistic::getBearingLoadToHitch));
+ (*this, &FGAIBallistic::getBearingToHitch));
props->tie("material/load-resistance",
SGRawValuePointer<double>(&_load_resistance));
}
FGAIBase::update(dt);
_setUserPos();
- if (_formate_to_ac){
- formateToAC(dt);
- Transform();
- } else if (_slave_to_ac){
+ if (_slave_to_ac){
slaveToAC(dt);
Transform();
} else if (!invisible){
_impact_report_node = fgGetNode(path.c_str(), true);
}
-void FGAIBallistic::setName(const string& n) {
- _name = n;
-}
-
void FGAIBallistic::setSMPath(const string& s) {
_path = s;
//cout << "submodel path " << _path << endl;
_slave_to_ac = s;
}
-void FGAIBallistic::setFormate(bool f) {
- _formate_to_ac = f;
-}
-
void FGAIBallistic::setContentsPath(const string& path) {
_contents_path = path;
}
}
-void FGAIBallistic::setParentNode(SGPropertyNode_ptr node) {
+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_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) {
+
+ 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.setElevationFt(alt);
}
+
}
bool FGAIBallistic::getSlaved() const {
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));
}
-void FGAIBallistic::setHdg(double az, double dt, double coeff){
+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 (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));
+ 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 = (az * c) + (hdg * (1 - c));
+ hdg = (tgt_hdg * c) + (hdg * (1 - c));
+// cout << "case 4: left turn" << endl;
}
+ return -1;
}
double FGAIBallistic::getTgtXOffset() const {
void FGAIBallistic::slaveToAC(double dt){
- double hdg, pch, rll = 0;
+ 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());
}
}
-double FGAIBallistic::getDistanceLoadToHitch() const {
+double FGAIBallistic::getDistanceToHitch() const {
//calculate the distance load to hitch
SGVec3d carthitchPos = getCartHitchPos();
SGVec3d cartPos = getCartPos();
return distance * SG_METER_TO_FEET;
}
-
-double FGAIBallistic::getElevLoadToHitch() const {
+double FGAIBallistic::getElevToHitch() const {
// now the angle, positive angles are upwards
- double distance = getDistanceLoadToHitch() * SG_FEET_TO_METER;
+ double distance = getDistanceToHitch() * SG_FEET_TO_METER;
double angle = 0;
double daltM = _offsetpos.getElevationM() - pos.getElevationM();
return angle;
}
-double FGAIBallistic::getBearingLoadToHitch() const {
+double FGAIBallistic::getBearingToHitch() const {
//calculate the bearing and range of the second pos from the first
- double az1, az2, distance;
+ double distance = getDistanceToHitch() * SG_FEET_TO_METER;
+ double az1, az2;
geo_inverse_wgs_84(pos, _offsetpos, &az1, &az2, &distance);
double rel_brg = az1 - hdg;
- if (rel_brg > 180)
- rel_brg -= 360;
+ SG_NORMALIZE_RANGE(rel_brg, -180.0, 180.0);
return rel_brg;
}
_z_offset = (_tgt_z_offset * c) + (_z_offset * (1 - c));
}
-void FGAIBallistic::formateToAC(double dt){
-
- setTgtOffsets(dt, 25);
- setOffsetPos(userpos,
- manager->get_user_heading(),
- manager->get_user_pitch(),
- manager->get_user_roll()
- );
-
- // elapsed time has a random initialisation so that each
- // wingman moves differently
- _elapsed_time += dt;
-
- // we derive a sine based factor to give us smoothly
- // varying error between -1 and 1
- double factor = sin(SGMiscd::deg2rad(_elapsed_time * 10));
- double r_angle = 5 * factor;
- double p_angle = 2.5 * factor;
- double h_angle = 5 * factor;
- double h_feet = 3 * factor;
-
- pos.setLatitudeDeg(_offsetpos.getLatitudeDeg());
- pos.setLongitudeDeg(_offsetpos.getLongitudeDeg());
-
- if (getHtAGL(10000)){
-
- if(_ht_agl_ft <= 10) {
- _height = userpos.getElevationFt();
- } else if (_ht_agl_ft > 10 && _ht_agl_ft <= 150 ) {
- setHt(userpos.getElevationFt(), dt, 1.0);
- } else if (_ht_agl_ft > 150 && _ht_agl_ft <= 250) {
- setHt(_offsetpos.getElevationFt()+ h_feet, dt, 0.75);
- } else
- setHt(_offsetpos.getElevationFt()+ h_feet, dt, 0.5);
-
- pos.setElevationFt(_height);
- }
-
- // these calculations are unreliable at slow speeds
- if(speed >= 10) {
- setHdg(_azimuth + h_angle, dt, 0.9);
- setPch(_elevation + p_angle + _pitch_offset, dt, 0.9);
- if (roll <= 115 && roll >= -115)
- setBnk(manager->get_user_roll() + r_angle + _roll_offset, dt, 0.5);
- else
- roll = manager->get_user_roll() + r_angle + _roll_offset;
-
- } else {
- setHdg(manager->get_user_heading(), dt, 0.9);
- setPch(manager->get_user_pitch() + _pitch_offset, dt, 0.9);
- setBnk(manager->get_user_roll() + _roll_offset, dt, 0.9);
- }
-
- setOffsetVelocity(dt, pos);
-}
void FGAIBallistic::calcVSHS(){
// calculate vertical and horizontal speed components
double speed_fps = speed * SG_KT_TO_FPS;
-_z_offset * SG_FEET_TO_METER);
// Transform the user position to the horizontal local coordinate system.
- SGQuatd hlTrans = SGQuatd::fromLonLat(userpos);
+ SGQuatd hlTrans = SGQuatd::fromLonLat(inpos);
// and postrotate the orientation of the user model wrt the horizontal
// local frame
projects / flightgear.git / blobdiff