# include <config.h>
#endif
-#include <simgear/math/point3d.hxx>
#include <simgear/math/sg_random.h>
#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/scene/model/modellib.hxx>
#include <Scenery/scenery.hxx>
#include "AIBallistic.hxx"
+#include <Main/util.hxx>
+
+using namespace simgear;
+
const double FGAIBallistic::slugs_to_kgs = 14.5939029372;
const double FGAIBallistic::slugs_to_lbs = 32.1740485564;
-FGAIBallistic::FGAIBallistic() :
- FGAIBase(otBallistic),
- _elevation(0),
+FGAIBallistic::FGAIBallistic(object_type ot) :
+ FGAIBase(ot),
+ _height(0.0),
+ _ht_agl_ft(0.0),
+ _azimuth(0.0),
+ _elevation(0.0),
+ _rotation(0.0),
+ _formate_to_ac(false),
_aero_stabilised(false),
_drag_area(0.007),
_life_timer(0.0),
-_gravity(32.1740485564),
+ _gravity(32.1740485564),
_buoyancy(0),
+ _wind(true),
+ _mass(0),
_random(false),
- _ht_agl_ft(0),
_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),
-_wind(true),
+ _external_force(false),
_impact_report_node(fgGetNode("/ai/models/model-impact", true)),
- _external_force(false)
+ _old_height(0)
{
no_roll = false;
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-stabilized", false));
setNoRoll(scFileNode->getBoolValue("no-roll", false));
setRandom(scFileNode->getBoolValue("random", false));
setImpact(scFileNode->getBoolValue("impact", false));
setSubID(scFileNode->getIntValue("SubID", 0));
setExternalForce(scFileNode->getBoolValue("external-force", false));
setForcePath(scFileNode->getStringValue("force-path", ""));
- setForceStabilisation(scFileNode->getBoolValue("force_stabilized", false));
- setXOffset(scFileNode->getDoubleValue("x-offset", 0.0));
- setYOffset(scFileNode->getDoubleValue("y-offset", 0.0));
- setZOffset(scFileNode->getDoubleValue("z-offset", 0.0));
+ setForceStabilisation(scFileNode->getBoolValue("force-stabilized", 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));
+ setContentsNode(scFileNode->getStringValue("contents"));
+ setRandom(scFileNode->getBoolValue("random", false));
}
bool FGAIBallistic::init(bool search_in_AI_path) {
FGAIBase::init(search_in_AI_path);
+ _impact_reported = false;
+ _collision_reported = false;
+ invisible = false;
+
+ _elapsed_time += (sg_random() * 100);
+
props->setStringValue("material/name", "");
props->setStringValue("name", _name.c_str());
props->setStringValue("submodels/path", _submodel.c_str());
void FGAIBallistic::bind() {
// FGAIBase::bind();
+
props->tie("sim/time/elapsed-sec",
SGRawValueMethods<FGAIBallistic,double>(*this,
&FGAIBallistic::_getTime));
+ props->tie("mass-slug",
+ SGRawValueMethods<FGAIBallistic,double>(*this,
+ &FGAIBallistic::getMass));
props->tie("material/load-resistance",
SGRawValuePointer<double>(&_load_resistance));
props->tie("material/solid",
SGRawValuePointer<bool>(&_solid));
props->tie("altitude-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){
+ 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::_getAltitude, &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::getDistanceLoadToHitch));
+ props->tie("load/elevation-to-hitch-deg",
+ SGRawValueMethods<FGAIBallistic,double>
+ (*this, &FGAIBallistic::getElevLoadToHitch));
+ props->tie("load/bearing-to-hitch-deg",
+ SGRawValueMethods<FGAIBallistic,double>
+ (*this, &FGAIBallistic::getBearingLoadToHitch));
+ }
+
}
void FGAIBallistic::unbind() {
// FGAIBase::unbind();
+
props->untie("sim/time/elapsed-sec");
+ props->untie("mass-slug");
props->untie("material/load-resistance");
props->untie("material/solid");
props->untie("altitude-agl-ft");
+ props->untie("controls/slave-to-ac");
+ props->untie("controls/invisible");
+
+ if(_external_force){
+ 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");
+ }
}
void FGAIBallistic::update(double dt) {
FGAIBase::update(dt);
+ _setUserPos();
+
+ if (_slave_to_ac){
+ slaveToAC(dt);
+ Transform();
+ setHitchVelocity(dt);
+ } else if (_formate_to_ac){
+ formateToAC(dt);
+ Transform();
+ setHitchVelocity(dt);
+ } else if (!invisible){
Run(dt);
Transform();
}
+}
+
void FGAIBallistic::setAzimuth(double az) {
hdg = _azimuth = az;
}
}
void FGAIBallistic::setRoll(double rl) {
- _rotation = rl;
+ roll = _rotation = rl;
}
void FGAIBallistic::setStabilisation(bool val) {
_mass = m;
}
+void FGAIBallistic::setWeight(double w) {
+ _weight_lb = w;
+}
void FGAIBallistic::setRandom(bool r) {
_random = r;
}
_fuse_range = f;
}
-void FGAIBallistic::setXOffset(double x) {
- _x_offset = x;
+void FGAIBallistic::setSubID(int i) {
+ _subID = i;
}
-void FGAIBallistic::setYOffset(double y) {
- _y_offset = y;
+void FGAIBallistic::setSubmodel(const string& s) {
+ _submodel = s;
}
-void FGAIBallistic::setZOffset(double z) {
- _z_offset = z;
+void FGAIBallistic::setGroundOffset(double g) {
+ _ground_offset = g;
}
-void FGAIBallistic::setSubID(int i) {
- _subID = i;
- //cout << "sub id " << _subID << " name " << _name << endl;
+void FGAIBallistic::setLoadOffset(double l) {
+ _load_offset = l;
}
-void FGAIBallistic::setSubmodel(const string& s) {
- _submodel = s;
+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) {
bool FGAIBallistic::getHtAGL(){
- if (globals->get_scenery()->get_elevation_m(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
- 10000.0, _elevation_m, &_material)){
+ 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();
}
}
-void FGAIBallistic::setPitch(double e, double dt, double coeff){
+void FGAIBallistic::setPch(double e, double dt, double coeff){
double c = dt / (coeff + dt);
pitch = (e * c) + (pitch * (1 - c));
}
-void FGAIBallistic::setHdg(double dt, double coeff){
+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 (_azimuth < recip && _azimuth < hdg && hdg > 180) {
- hdg = ((_azimuth + 360) * c) + (hdg * (1 - c));
- } else if (_azimuth > recip && _azimuth > hdg && hdg <= 180){
- hdg = ((_azimuth - 360) * c) + (hdg * (1 - c));
+ 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 = (_azimuth * c) + (hdg * (1 - c));
+ 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());
else
Cdm = 0.2965 * pow(Mach, -1.1506) + _Cd;
- //cout << " Mach , " << Mach << " , Cdm , " << Cdm << " ballistic speed kts //"<< speed << endl;
+ //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,
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) {
//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;
if (getHtAGL()){
double deadzone = 0.1;
- if ( _ht_agl_ft <= (0 + _z_offset + deadzone) && _solid){
+ if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){
normal_force_lbs = (_mass * slugs_to_lbs) - v_force_lbs;
- pos.setElevationFt((_elevation_m * SG_METER_TO_FEET) + _z_offset);
- vs = 0;
+
+ 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)
static_friction_force_lbs = mu * normal_force_lbs * _frictionFactor;
- //adjust horizontal force
- if (h_force_lbs <= static_friction_force_lbs && hs <= 0.1)
+ //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;
- else
- dynamic_friction_force_lbs = (static_friction_force_lbs * 0.75);
+ 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
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;
- double friction_force_speed_north_fps = cos(getRecip(hdg) * SG_DEGREES_TO_RADIANS) * friction_force_fps;
- double friction_force_speed_east_fps = sin(getRecip(hdg) * SG_DEGREES_TO_RADIANS) * friction_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;
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;
- // set new position
- 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 );
-
//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))
if (vs <= 0.00001 && vs >= -0.00001)
vs = 0;
- // adjust altitude (feet) and set new elevation
- altitude_ft = pos.getElevationFt();
- altitude_ft += vs * dt;
- pos.setElevationFt(altitude_ft);
+ // 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)
// 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)
const double coeff = 0.9;
// we assume a symetrical MI about the pitch and yaw axis
- setPitch(_elevation, dt, coeff);
- setHdg(dt, coeff);
-
+ 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
- setPitch(force_pitch,dt, coeff);
- setHdg(dt, coeff);
+ setPch(force_pitch,dt, coeff);
+ setHdg(_azimuth, dt, coeff);
}
//do impacts and collisions
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
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);
}
}
_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 = 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(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::setHitchPos(){
+ // convert the hitch geocentered position to geodetic
+ SGVec3d carthitchPos = getCartHitchPos();
+
+ SGGeodesy::SGCartToGeod(carthitchPos, hitchpos);
+}
+
+double FGAIBallistic::getDistanceLoadToHitch() 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;
+}
+
+void FGAIBallistic::setHitchVelocity(double dt) {
+ //calculate the distance from the previous hitch position
+ SGVec3d carthitchPos = getCartHitchPos();
+ SGVec3d diff = carthitchPos - _oldcarthitchPos;
+
+ double distance = norm(diff);
+
+ //calculate speed knots
+ speed = (distance/dt) * SG_MPS_TO_KT;
+
+ //now calulate the angle between the old and current hitch positions (degrees)
+ double angle = 0;
+ double daltM = hitchpos.getElevationM() - oldhitchpos.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 the bearing of the new hitch position from the old
+ double az1, az2, dist;
+
+ geo_inverse_wgs_84(oldhitchpos, hitchpos, &az1, &az2, &dist);
+
+ _azimuth = az1;
+
+ // and finally store the new values
+ _oldcarthitchPos = carthitchPos;
+ oldhitchpos = hitchpos;
+}
+
+double FGAIBallistic::getElevLoadToHitch() const {
+ // now the angle, positive angles are upwards
+ double distance = getDistanceLoadToHitch() * SG_FEET_TO_METER;
+ double angle = 0;
+ double daltM = hitchpos.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::getBearingLoadToHitch() const {
+ //calculate the bearing and range of the second pos from the first
+ double az1, az2, distance;
+
+ geo_inverse_wgs_84(pos, hitchpos, &az1, &az2, &distance);
+ return az1;
+}
+
+double FGAIBallistic::getRelBrgHitchToUser() const {
+ //calculate the relative bearing
+ double az1, az2, distance;
+
+ geo_inverse_wgs_84(hitchpos, userpos, &az1, &az2, &distance);
+
+ double rel_brg = az1 - hdg;
+
+ if (rel_brg > 180)
+ rel_brg -= 360;
+
+ 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() - hitchpos.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::formateToAC(double dt){
+
+ setTgtOffsets(dt, 25);
+ setHitchPos();
+ setHitchVelocity(dt);
+
+ // 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(hitchpos.getLatitudeDeg());
+ pos.setLongitudeDeg(hitchpos.getLongitudeDeg());
+
+ if (getHtAGL()){
+
+ 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(hitchpos.getElevationFt()+ h_feet, dt, 0.75);
+ } else
+ setHt(hitchpos.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);
+ }
+
+ setSpeed(speed);
+}
+// end AIBallistic
projects / flightgear.git / blobdiff