// Written by David Culp, started November 2003.
// - davidculp2@comcast.net
//
+// 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
// published by the Free Software Foundation; either version 2 of the
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
-#include <simgear/math/point3d.hxx>
-#include <math.h>
+#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(FGAIManager* mgr) {
- manager = mgr;
- _type_str = "ballistic";
- _otype = otBallistic;
- drag_area = 0.007;
- life_timer = 0.0;
- gravity = 32;
-// buoyancy = 64;
- }
+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),
+ _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),
+ _impact_report_node(fgGetNode("/ai/models/model-impact", true)),
+ _old_height(0)
+
+{
+ no_roll = false;
+}
FGAIBallistic::~FGAIBallistic() {
}
+void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
+ if (!scFileNode){
+ return;
+ }
+
+ FGAIBase::readFromScenario(scFileNode);
+
+ //setPath(scFileNode->getStringValue("model", "Models/Geometry/rocket.ac"));
+ setAzimuth(scFileNode->getDoubleValue("azimuth", 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(scFileNode->getBoolValue("wind", false));
+ setRoll(scFileNode->getDoubleValue("roll", 0.0));
+ setCd(scFileNode->getDoubleValue("cd", 0.029));
+ //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));
+ setImpactReportNode(scFileNode->getStringValue("impact-reports"));
+ 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-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);
-bool FGAIBallistic::init() {
- FGAIBase::init();
- aero_stabilized = true;
- hdg = azimuth;
- pitch = elevation;
- return true;
+ props->setStringValue("material/name", "");
+ props->setStringValue("name", _name.c_str());
+ props->setStringValue("submodels/path", _submodel.c_str());
+
+ // start with high value so that animations don't trigger yet
+ _ht_agl_ft = 1e10;
+ hdg = _azimuth;
+ pitch = _elevation;
+ roll = _rotation;
+
+ Transform();
+
+ return true;
}
void FGAIBallistic::bind() {
-// FGAIBase::bind();
- props->tie("sim/time/elapsed-sec",
- SGRawValueMethods<FGAIBallistic,double>(*this,
- &FGAIBallistic::_getTime));
+ // 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");
+ // 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);
- Run(dt);
- Transform();
+ 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;
+ hdg = _azimuth = az;
}
-
void FGAIBallistic::setElevation(double el) {
- pitch = elevation = el;
+ pitch = _elevation = el;
}
+void FGAIBallistic::setRoll(double rl) {
+ roll = _rotation = rl;
+}
-void FGAIBallistic::setStabilization(bool val) {
- aero_stabilized = val;
+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::setDragArea(double a) {
- drag_area = a;
+ _drag_area = a;
}
void FGAIBallistic::setLife(double seconds) {
- life = seconds;
+ life = seconds;
}
void FGAIBallistic::setBuoyancy(double fpss) {
- buoyancy = fpss;
+ _buoyancy = fpss;
}
void FGAIBallistic::setWind_from_east(double fps) {
- wind_from_east = fps;
+ _wind_from_east = fps;
}
void FGAIBallistic::setWind_from_north(double fps) {
- wind_from_north = fps;
+ _wind_from_north = fps;
}
void FGAIBallistic::setWind(bool val) {
- wind = val;
+ _wind = val;
}
-void FGAIBallistic::Run(double dt) {
- life_timer += dt;
- if (life_timer > life) setDie(true);
-
- double speed_north_deg_sec;
- double speed_east_deg_sec;
- double wind_speed_from_north_deg_sec;
- double wind_speed_from_east_deg_sec;
-
- // the two drag calculations below assume sea-level density,
- // mass of 0.03 slugs, drag coeff of 0.295
- // adjust speed due to drag
- speed -= 0.0116918 * drag_area * speed * speed * dt;
- if ( speed < 0.0 ) speed = 0.0;
- vs = sin( pitch * SG_DEGREES_TO_RADIANS ) * speed;
- hs = cos( pitch * SG_DEGREES_TO_RADIANS ) * speed;
-
- // convert horizontal speed (fps) to degrees per second
- speed_north_deg_sec = cos(hdg / SG_RADIANS_TO_DEGREES) * hs / ft_per_deg_lat;
- speed_east_deg_sec = sin(hdg / SG_RADIANS_TO_DEGREES) * hs / ft_per_deg_lon;
-
- // convert wind speed (fps) to degrees per second
-
- if (!wind){
- wind_from_north = 0;
- wind_from_east = 0;
- }
-
- wind_speed_from_north_deg_sec = wind_from_north / ft_per_deg_lat;
- wind_speed_from_east_deg_sec = wind_from_east / ft_per_deg_lon;
-
-
- // set new position
-// pos.setlat( pos.lat() + (speed_north_deg_sec * dt) );
-// pos.setlon( pos.lon() + (speed_east_deg_sec * dt) );
-
-
- // set new position
-
- pos.setlat( pos.lat() + (speed_north_deg_sec - wind_speed_from_north_deg_sec) * dt );
- pos.setlon( pos.lon() + (speed_east_deg_sec - wind_speed_from_east_deg_sec) * dt );
-
- // adjust vertical speed for acceleration of gravity
- vs -= (gravity - buoyancy) * dt;
-
- // adjust altitude (feet)
- altitude += vs * dt;
- pos.setelev(altitude * SG_FEET_TO_METER);
-
- // recalculate pitch (velocity vector) if aerostabilized
- if (aero_stabilized) pitch = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
-
- // recalculate total speed
- speed = sqrt( vs * vs + hs * hs);
-
- // set destruction flag if altitude less than sea level -1000
- if (altitude < -1000.0) setDie(true);
+void FGAIBallistic::setCd(double c) {
+ _Cd = c;
+}
+void FGAIBallistic::setMass(double m) {
+ _mass = m;
}
+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
+
double FGAIBallistic::_getTime() const {
- return life_timer;
+ return _life_timer;
+}
+
+void FGAIBallistic::handle_impact() {
+
+ // try terrain intersection
+ if(!getHtAGL())
+ return;
+
+ if (_ht_agl_ft <= 0) {
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: terrain impact");
+ report_impact(_elevation_m);
+ _impact_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);
+
+ if (object) {
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: object hit");
+ report_impact(pos.getElevationM(), object);
+ _collision_reported = true;
+ }
+}
+
+void FGAIBallistic::report_impact(double elevation, const FGAIBase *object)
+{
+ _impact_lat = pos.getLatitudeDeg();
+ _impact_lon = pos.getLongitudeDeg();
+ _impact_elev = elevation;
+ _impact_speed = speed * SG_KT_TO_MPS;
+ _impact_hdg = hdg;
+ _impact_pitch = pitch;
+ _impact_roll = roll;
+
+ SGPropertyNode *n = props->getNode("impact", true);
+ if (object)
+ n->setStringValue("type", object->getTypeString());
+ else
+ n->setStringValue("type", "terrain");
+
+ n->setDoubleValue("longitude-deg", _impact_lon);
+ n->setDoubleValue("latitude-deg", _impact_lat);
+ n->setDoubleValue("elevation-m", _impact_elev);
+ n->setDoubleValue("heading-deg", _impact_hdg);
+ n->setDoubleValue("pitch-deg", _impact_pitch);
+ n->setDoubleValue("roll-deg", _impact_roll);
+ n->setDoubleValue("speed-mps", _impact_speed);
+
+ _impact_report_node->setStringValue(props->getPath());
+}
+
+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