#include "AIBallistic.hxx"
#include <Main/util.hxx>
+#include <Environment/gravity.hxx>
using namespace simgear;
const double FGAIBallistic::slugs_to_lbs = 32.1740485564;
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_expiry(false),
- _report_impact(false),
- _external_force(false),
- _impact_report_node(fgGetNode("/ai/models/model-impact", true)),
- _old_height(0),
- _elapsed_time(0)
+FGAIBase(ot, false),
+_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),
+_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;
FGAIBase::readFromScenario(scFileNode);
//setPath(scFileNode->getStringValue("model", "Models/Geometry/rocket.ac"));
- setRandom(scFileNode->getBoolValue("random", false));
+ setRandom(scFileNode->getBoolValue("random", false));
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_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));
setStabilisation(scFileNode->getBoolValue("aero-stabilised", false));
setNoRoll(scFileNode->getBoolValue("no-roll", false));
setImpact(scFileNode->getBoolValue("impact", false));
- setExpiry(scFileNode->getBoolValue("expiry", false));
- setCollision(scFileNode->getBoolValue("collision", false));
+ setExpiry(scFileNode->getBoolValue("expiry", false));
+ setCollision(scFileNode->getBoolValue("collision", false));
setImpactReportNode(scFileNode->getStringValue("impact-reports"));
setName(scFileNode->getStringValue("name", "Rocket"));
setFuseRange(scFileNode->getDoubleValue("fuse-range", 0.0));
setLoadOffset(scFileNode->getDoubleValue("load-offset", 0.0));
setSlaved(scFileNode->getBoolValue("slaved", false));
setSlavedLoad(scFileNode->getBoolValue("slaved-load", false));
- setContentsNode(scFileNode->getStringValue("contents"));
+ setContentsPath(scFileNode->getStringValue("contents"));
+ setParentName(scFileNode->getStringValue("parent"));
}
bool FGAIBallistic::init(bool search_in_AI_path) {
FGAIBase::init(search_in_AI_path);
+ reinit();
+ return true;
+}
+void FGAIBallistic::reinit() {
_impact_reported = false;
_collision_reported = false;
- _expiry_reported = false;
+ _expiry_reported = false;
- _impact_lat = 0;
+ _impact_lat = 0;
_impact_lon = 0;
_impact_elev = 0;
_impact_hdg = 0;
_elapsed_time += (sg_random() * 100);
+ _life_timer = 0;
+
props->setStringValue("material/name", "");
props->setStringValue("name", _name.c_str());
- props->setStringValue("submodels/path", _submodel.c_str());
- props->setStringValue("force/path", _force_path.c_str());
- //props->setStringValue("vector/path", _vector_path.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());
+ }
+
+ //cout << "init: name " << _name.c_str() << " _life_timer " << _life_timer
+ // << endl;
+
+ //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;
Transform();
- return true;
+ if(_parent != ""){
+ setParentNode();
+ }
+
+ setParentNodes(_selected_ac);
+
+ FGAIBase::reinit();
}
void FGAIBallistic::bind() {
// FGAIBase::bind();
- props->tie("sim/time/elapsed-sec",
- SGRawValueMethods<FGAIBallistic,double>(*this,
- &FGAIBallistic::_getTime));
- props->tie("mass-slug",
+ _tiedProperties.setRoot(props);
+ tie("sim/time/elapsed-sec",
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",
+ &FGAIBallistic::_getTime, &FGAIBallistic::setTime));
+ //tie("mass-slug",
+ // SGRawValueMethods<FGAIBallistic,double>(*this,
+ // &FGAIBallistic::getMass));
+
+ tie("material/solid",
+ SGRawValuePointer<bool>(&_solid));
+ tie("altitude-agl-ft",
+ SGRawValuePointer<double>(&_ht_agl_ft));
+ tie("controls/slave-to-ac",
SGRawValueMethods<FGAIBallistic,bool>
(*this, &FGAIBallistic::getSlaved, &FGAIBallistic::setSlaved));
- props->tie("controls/invisible",
+ tie("controls/invisible",
SGRawValuePointer<bool>(&invisible));
- if(_external_force){
- props->tie("controls/force_stabilized",
+ if(_external_force || _slave_to_ac){
+ tie("controls/force_stabilized",
SGRawValuePointer<bool>(&_force_stabilised));
- props->tie("position/global-x",
+ tie("position/global-x",
SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getCartPosX, 0));
- props->tie("position/global-y",
+ tie("position/global-y",
SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getCartPosY, 0));
- props->tie("position/global-z",
+ tie("position/global-z",
SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getCartPosZ, 0));
- props->tie("velocities/vertical-speed-fps",
+ tie("velocities/vertical-speed-fps",
SGRawValuePointer<double>(&vs));
- props->tie("velocities/true-airspeed-kt",
+ tie("velocities/true-airspeed-kt",
SGRawValuePointer<double>(&speed));
- props->tie("velocities/horizontal-speed-fps",
+ 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",
+ tie("position/altitude-ft",
+ SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getElevationFt, &FGAIBase::_setAltitude));
+ tie("position/latitude-deg",
SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getLatitude, &FGAIBase::_setLatitude));
- props->tie("position/longitude-deg",
+ tie("position/longitude-deg",
SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getLongitude, &FGAIBase::_setLongitude));
- props->tie("orientation/hdg-deg",
+ tie("orientation/hdg-deg",
SGRawValuePointer<double>(&hdg));
- props->tie("orientation/pitch-deg",
+ tie("orientation/pitch-deg",
SGRawValuePointer<double>(&pitch));
- props->tie("orientation/roll-deg",
+ tie("orientation/roll-deg",
SGRawValuePointer<double>(&roll));
- props->tie("controls/slave-load-to-ac",
+ tie("controls/slave-load-to-ac",
SGRawValueMethods<FGAIBallistic,bool>
(*this, &FGAIBallistic::getSlavedLoad, &FGAIBallistic::setSlavedLoad));
- props->tie("position/load-offset",
+ tie("position/load-offset",
SGRawValueMethods<FGAIBallistic,double>
(*this, &FGAIBallistic::getLoadOffset, &FGAIBallistic::setLoadOffset));
- props->tie("load/distance-to-hitch-ft",
+ tie("load/distance-to-hitch-ft",
SGRawValueMethods<FGAIBallistic,double>
- (*this, &FGAIBallistic::getDistanceLoadToHitch));
- props->tie("load/elevation-to-hitch-deg",
+ (*this, &FGAIBallistic::getDistanceToHitch));
+ tie("load/elevation-to-hitch-deg",
SGRawValueMethods<FGAIBallistic,double>
- (*this, &FGAIBallistic::getElevLoadToHitch));
- props->tie("load/bearing-to-hitch-deg",
+ (*this, &FGAIBallistic::getElevToHitch));
+ tie("load/bearing-to-hitch-deg",
SGRawValueMethods<FGAIBallistic,double>
- (*this, &FGAIBallistic::getBearingLoadToHitch));
+ (*this, &FGAIBallistic::getBearingToHitch));
+ tie("material/load-resistance",
+ SGRawValuePointer<double>(&_load_resistance));
}
}
-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();
-}
+ Run(dt);
+ Transform();
+ }
}
void FGAIBallistic::setAzimuth(double az) {
-
- if (_random)
- hdg = _azimuth = (az - 5 ) + (10 * sg_random());
- else
- hdg = _azimuth = az;
- //cout << _name << " init hdg " << hdg << " random " << _random << endl;
+ 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::setLife(double seconds) {
- if (_random){
- life = seconds * _randomness + (seconds * (1 -_randomness) * sg_random());
- //cout << "life " << life << endl;
- } else
- life = seconds;
+ if (_random){
+ life = seconds * _randomness + (seconds * (1 -_randomness) * sg_random());
+ //cout << " set life " << life << endl;
+ } else
+ life = seconds;
}
void FGAIBallistic::setBuoyancy(double fpss) {
void FGAIBallistic::setExpiry(bool e) {
_report_expiry = e;
- //cout << "_report_expiry " << _report_expiry << endl;
}
void FGAIBallistic::setExternalForce(bool 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) {
_slave_to_ac = s;
}
-void FGAIBallistic::setFormate(bool f) {
- _formate_to_ac = f;
-}
+void FGAIBallistic::setContentsPath(const string& path) {
+
+ _contents_path = path;
-void FGAIBallistic::setContentsNode(const string& 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)
+ if(_contents_node){
_contents_lb = _contents_node->getChild("level-lbs",0,1)->getDoubleValue();
+ }
return _contents_lb;
}
}
}
-bool FGAIBallistic::getHtAGL(){
-
- if (getGroundElevationM(SGGeod::fromGeodM(pos, 10000),
- _elevation_m, &_material)) {
+bool FGAIBallistic::getHtAGL(double start){
+ const SGMaterial* material = 0;
+ 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 (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;*/
+
+ _mat_name = names[0];
+
+ //cout << "material " << _mat_name
+ //<< " solid " << _solid
+ //<< " load " << _load_resistance
+ //<< " frictionFactor " << _frictionFactor
+ //<< endl;
+
}
+
return true;
} else {
return false;
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){
- 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));
- }
+int FGAIBallistic::setHdg(double tgt_hdg, double dt, double coeff){
+ double recip = getRecip(hdg);
+ double c = dt / (coeff + dt);
+ //cout << "set heading " << tgt_hdg << endl;
+ //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 {
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());
+ if (invisible)
+ return;
+
+ 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);
+ setTime(0);
+
//update the mass (slugs)
_mass = (_weight_lb + getContents()) / slugs_to_lbs;
- /*cout <<"_mass "<<_mass <<" " << getContents()
- <<" " << getContents() / slugs_to_lbs << endl;*/
+ _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;
+
+ //_pass += 1;
+ //cout<<"AIBallistic run: name " << _name.c_str()
+ // << " dt " << dt << " _life_timer " << _life_timer << " pass " << _pass << endl;
// if life = -1 the object does not die
- if (_life_timer > life && life != -1){
-
- if (_report_expiry && !_expiry_reported){
- //cout<<"AIBallistic: expiry"<< endl;
- handle_expiry();
- } else
- setDie(true);
+ if (_life_timer > life && life != -1){
+
+ if (_report_expiry && !_expiry_reported && !_impact_reported && !_collision_reported){
+ //cout<<"AIBallistic run: name " << _name.c_str() << " expiry "
+ //<< " _life_timer " << _life_timer<< endl;
+ handle_expiry();
+ } else{
+ //cout<<"AIBallistic run: name " << _name.c_str()
+ // << " die " << " _life_timer " << _life_timer << endl;
+ setDie(true);
+ }
- }
+ setTime(0);
+ }
//set the contents in the appropriate tank or other property in the parent to zero
setContents(0);
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,
if ( speed < 0.0 )
speed = 0.0;
- double speed_fps = speed * SG_KT_TO_FPS;
- //double hs;
+// double speed_fps = speed * SG_KT_TO_FPS;
// 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;
- }
+ calcVSHS();
//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;
+ //and convert horizontal speed (fps) to degrees per second
+ calcNE();
// if wind not required, set to zero
if (!_wind) {
double friction_force_speed_north_deg_sec = 0;
double friction_force_speed_east_deg_sec = 0;
double force_elevation_deg = 0;
+ double force_azimuth_deg = 0;
+ double force_lbs = 0;
- if (_external_force) {
+ if (_external_force) {
+ //cout << _name << " external force " << hdg << " az " << _azimuth << endl;
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();
-
+ force_lbs = n->getChild("force-lb", 0, true)->getDoubleValue();
+ force_elevation_deg = n->getChild("force-elevation-deg", 0, true)->getDoubleValue();
+ 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
+ //we don't do this if impacts are calculated
+ if(!_report_impact){
- if (getHtAGL()){
- double deadzone = 0.1;
+ 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 (_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;
+ if ( normal_force_lbs < 0 )
+ normal_force_lbs = 0;
- pos.setElevationFt(0 + _ground_offset);
- if (vs < 0)
- vs = -vs * 0.5;
+ 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;
- // 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;
- 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);
- //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;
- //ignore wind when on the ground for now
- //TODO fix this
- _wind_from_north = 0;
- _wind_from_east = 0;
+ }
}
- }
+ } //endif
//acceleration = (force(lbsf)/mass(slugs))
v_force_acc_fpss = v_force_lbs/_mass;
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)));
+ 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;
+ double gravity = SG_METER_TO_FEET * (Environment::Gravity::instance()->getGravity(pos));
+ 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()){
+ 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(hitchpos.getElevationFt() + _load_offset);
+ pos.setElevationFt(_offsetpos.getElevationFt() + _load_offset);
}
}
pos.setElevationFt(pos.getElevationFt() + vs * dt);
}
+// cout << _name << " run hs " << hs << " vs " << vs << endl;
+
// recalculate total speed
if ( vs == 0 && hs == 0)
speed = 0;
// 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))
+ _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;
- //cout << "_azimuth " << _azimuth << " hdg "<< hdg << endl;
-
if (_aero_stabilised) { // we simulate rotational moment of inertia by using a filter
- //cout<< "_aero_stabilised "<< endl;
+ //cout<< "_aero_stabilised " << hdg << " az " << _azimuth << endl;
const double coeff = 0.9;
// we assume a symetrical MI about the pitch and yaw axis
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;
+
+ const double coeff = 0.9;
double ratio = h_force_lbs/(_mass * slugs_to_lbs);
if (ratio > 1) ratio = 1;
return _life_timer;
}
+void FGAIBallistic::setTime(double s){
+ _life_timer = s;
+}
+
void FGAIBallistic::handle_impact() {
// try terrain intersection
- if(!getHtAGL())
+ double start = pos.getElevationM() + 100;
+
+ if(!getHtAGL(start))
return;
if (_ht_agl_ft <= 0) {
- SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: terrain impact");
+ SG_LOG(SG_AI, SG_DEBUG, "AIBallistic: terrain impact material" << _mat_name);
report_impact(_elevation_m);
_impact_reported = true;
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;
+ //SG_LOG(SG_AI, 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);
+ }
- //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_AI, SG_DEBUG, "AIBallistic: object impact " << _name
+ << " lon " <<_impact_lon << " lat " <<_impact_lat << " sec " << _life_timer);
+
n->setDoubleValue("longitude-deg", _impact_lon);
n->setDoubleValue("latitude-deg", _impact_lat);
n->setDoubleValue("elevation-m", _impact_elev);
SGVec3d FGAIBallistic::getCartHitchPos() const{
// convert geodetic positions to geocentered
- SGVec3d cartuserPos = getCartUserPos();
+ SGVec3d cartuserPos = SGVec3d::fromGeod(userpos);
//SGVec3d cartPos = getCartPos();
// Transform to the right coordinate frame, configuration is done in
// 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);
+ _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);
return offsetPos;
}
-void FGAIBallistic::setHitchPos(){
+void FGAIBallistic::setOffsetPos(SGGeod inpos, double heading, double pitch, double roll){
// convert the hitch geocentered position to geodetic
- SGVec3d carthitchPos = getCartHitchPos();
- SGGeodesy::SGCartToGeod(carthitchPos, hitchpos);
+ SGVec3d cartoffsetPos = getCartOffsetPos(inpos, heading, pitch, roll);
+
+ //SGVec3d cartoffsetPos = getCartHitchPos();
+
+ //SGGeodesy::SGCartToGeod(cartoffsetPos, hitchpos);
+ SGGeodesy::SGCartToGeod(cartoffsetPos, _offsetpos);
+
}
-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;
}
-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 {
+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 = hitchpos.getElevationM() - pos.getElevationM();
+ double daltM = _offsetpos.getElevationM() - pos.getElevationM();
if (fabs(distance) < SGLimits<float>::min()) {
angle = 0;
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, hitchpos, &az1, &az2, &distance);
+ geo_inverse_wgs_84(pos, _offsetpos, &az1, &az2, &distance);
return az1;
}
//calculate the relative bearing
double az1, az2, distance;
- geo_inverse_wgs_84(hitchpos, userpos, &az1, &az2, &distance);
+ geo_inverse_wgs_84(_offsetpos, userpos, &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;
}
double distance = norm(diff);
double angle = 0;
- double daltM = userpos.getElevationM() - hitchpos.getElevationM();
+ double daltM = userpos.getElevationM() - _offsetpos.getElevationM();
// now the angle, positive angles are upwards
if (fabs(distance) < SGLimits<float>::min()) {
_z_offset = (_tgt_z_offset * c) + (_z_offset * (1 - c));
}
-void FGAIBallistic::formateToAC(double dt){
- setTgtOffsets(dt, 25);
- setHitchPos();
- setHitchVelocity(dt);
+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{
- // elapsed time has a random initialisation so that each
- // wingman moves differently
- _elapsed_time += dt;
+ // convert geodetic positions to geocentered
+ SGVec3d cartuserPos = SGVec3d::fromGeod(inpos);
+ //SGVec3d cartuserPos = getCartUserPos();
+ //SGVec3d cartPos = getCartPos();
- // 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;
+ // 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);
- pos.setLatitudeDeg(hitchpos.getLatitudeDeg());
- pos.setLongitudeDeg(hitchpos.getLongitudeDeg());
+ // Transform the user position to the horizontal local coordinate system.
+ SGQuatd hlTrans = SGQuatd::fromLonLat(inpos);
- if (getHtAGL()){
+ // and postrotate the orientation of the user model wrt the horizontal
+ // local frame
+ hlTrans *= SGQuatd::fromYawPitchRollDeg(
+ user_heading,
+ user_pitch,
+ user_roll);
- 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);
+ // The offset converted to the usual body fixed coordinate system
+ // rotated to the earth-fixed coordinates axis
+ SGVec3d off = hlTrans.backTransform(_off);
- pos.setElevationFt(_height);
- }
+ // 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();
- // 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 (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));
+ }
- 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;
+ _elevation = angle;
+ //calculate vertical and horizontal speed components
+ calcVSHS();
+
+ //calculate the bearing of the new offset position from the old
+ //don't do this if speed is low
+ //cout << "speed " << speed << endl;
+ if (speed > 0.1){
+ double az1, az2, dist;
+ geo_inverse_wgs_84(_oldoffsetpos, offsetpos, &az1, &az2, &dist);
+ _azimuth = az1;
+ //cout << "offset az " << _azimuth << endl;
} 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);
+ _azimuth = hdg;
+ //cout << " slow offset az " << _azimuth << endl;
}
- setSpeed(speed);
+ //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