// Written by David Culp, started November 2003.
// - davidculp2@comcast.net
//
+// With major additions by Mathias Froehlich & Vivian Meazza 2004-2007
+//
// 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/scene/material/mat.hxx>
+#include <simgear/math/sg_geodesy.hxx>
-#include "AIBallistic.hxx"
+#include <Scenery/scenery.hxx>
+#include "AIBallistic.hxx"
-FGAIBallistic::FGAIBallistic(FGAIManager* mgr) {
- manager = mgr;
- _type_str = "ballistic";
- _otype = otBallistic;
- drag_area = 0.007;
- life_timer = 0.0;
- gravity = 32;
-// buoyancy = 64;
- }
+const double FGAIBallistic::slugs_to_kgs = 14.5939029372;
+
+FGAIBallistic::FGAIBallistic() :
+ FGAIBase(otBallistic),
+ _elevation(0),
+ _aero_stabilised(false),
+ _drag_area(0.007),
+ _life_timer(0.0),
+ _gravity(32),
+ _buoyancy(0),
+ _random(false),
+ _ht_agl_ft(0),
+ _load_resistance(0),
+ _solid(false),
+ _report_collision(false),
+ _report_impact(false),
+ _impact_report_node(fgGetNode("/ai/models/model-impact", true))
+{
+ no_roll = false;
+}
FGAIBallistic::~FGAIBallistic() {
}
+void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
+ if (!scFileNode)
+ return;
+
+ FGAIBase::readFromScenario(scFileNode);
+
+ setAzimuth(scFileNode->getDoubleValue("azimuth", 0.0));
+ setElevation(scFileNode->getDoubleValue("elevation", 0.0));
+ 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));
+ 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", "Bomb"));
+ setFuseRange(scFileNode->getDoubleValue("fuse-range", 0.0));
+ setSMPath(scFileNode->getStringValue("submodel-path", ""));
+ setSubID(scFileNode->getIntValue("SubID", 0));
+}
+
+bool FGAIBallistic::init(bool search_in_AI_path) {
+ FGAIBase::init(search_in_AI_path);
+
+ props->setStringValue("material/name", "");
+ props->setStringValue("name", _name.c_str());
+ props->setStringValue("submodels/path", _submodel.c_str());
-bool FGAIBallistic::init() {
- FGAIBase::init();
- aero_stabilized = true;
- hdg = azimuth;
- pitch = elevation;
- return true;
+ // 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("material/load-resistance",
+ SGRawValuePointer<double>(&_load_resistance));
+ props->tie("material/solid",
+ SGRawValuePointer<bool>(&_solid));
+ props->tie("altitude-agl-ft",
+ SGRawValuePointer<double>(&_ht_agl_ft));
}
void FGAIBallistic::unbind() {
-// FGAIBase::unbind();
- props->untie("sim/time/elapsed-sec");
+ // FGAIBase::unbind();
+ props->untie("sim/time/elapsed-sec");
+ props->untie("material/load-resistance");
+ props->untie("material/solid");
+ props->untie("altitude-agl-ft");
}
void FGAIBallistic::update(double dt) {
- FGAIBase::update(dt);
- Run(dt);
- Transform();
+ FGAIBase::update(dt);
+ 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) {
+ _rotation = rl;
+}
+
+void FGAIBallistic::setStabilisation(bool val) {
+ _aero_stabilised = val;
+}
-void FGAIBallistic::setStabilization(bool val) {
- aero_stabilized = 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::setCd(double c) {
+ _Cd = c;
+}
+
+void FGAIBallistic::setMass(double m) {
+ _mass = m;
+}
+
+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::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::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::setSMPath(const string& s) {
+ _submodel = s;
+}
+void FGAIBallistic::setFuseRange(double f) {
+ _fuse_range = f;
}
+void FGAIBallistic::setSubID(int i) {
+ _subID = i;
+ //cout << "sub id " << _subID << " name " << _name << endl;
+}
+
+void FGAIBallistic::setSubmodel(const string& s) {
+ _submodel = s;
+}
+
+void FGAIBallistic::Run(double dt) {
+ _life_timer += dt;
+ //cout << "life timer" <<_name <<" " << _life_timer << dt << endl;
+ if (_life_timer > life)
+ setDie(true);
+
+ //randomise Cd by +- 5%
+ if (_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;
+ }
+
+ // convert horizontal speed (fps) to degrees per second
+ double speed_north_deg_sec = cos(hdg / SG_RADIANS_TO_DEGREES) * hs / ft_per_deg_lat;
+ double speed_east_deg_sec = sin(hdg / SG_RADIANS_TO_DEGREES) * hs / ft_per_deg_lon;
+
+ // if wind not required, set to zero
+ if (!_wind) {
+ _wind_from_north = 0;
+ _wind_from_east = 0;
+ }
+
+ // convert wind speed (fps) to degrees 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;
+
+ // set new position
+ pos.setLatitudeDeg( pos.getLatitudeDeg()
+ + (speed_north_deg_sec - wind_speed_from_north_deg_sec) * dt );
+ pos.setLongitudeDeg( pos.getLongitudeDeg()
+ + (speed_east_deg_sec - wind_speed_from_east_deg_sec) * dt );
+
+ // adjust vertical speed for acceleration of gravity and buoyancy
+ vs -= (_gravity - _buoyancy) * dt;
+
+ // adjust altitude (feet)
+ altitude_ft += vs * dt;
+ pos.setElevationFt(altitude_ft);
+
+ // recalculate elevation (velocity vector) if aerostabilized
+ /*cout << _name << ": " << "aero_stabilised " << _aero_stabilised
+ << " pitch " << pitch <<" vs " << vs <<endl ;*/
+
+ if (_aero_stabilised) { // we simulate rotational moment of inertia by using a filter
+ const double coeff = 0.9;
+ double c = dt / (coeff + dt);
+ //cout << "c " << c << endl;
+ _elevation = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
+ pitch = (_elevation * c) + (pitch * (1 - c));
+ }
+
+ // recalculate total speed
+ speed = sqrt( vs * vs + hs * hs) / SG_KT_TO_FPS;
+
+ //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)
+ setDie(true);
+
+} // end Run
+
double FGAIBallistic::_getTime() const {
- return life_timer;
+ // cout << "life timer 2" << _life_timer << endl;
+ return _life_timer;
}
+void FGAIBallistic::handle_impact() {
+ double elevation_m;
+ const SGMaterial* material;
+
+ // try terrain intersection
+ if (!globals->get_scenery()->get_elevation_m(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
+ 10000.0, elevation_m, &material))
+ return;
+
+ if (material) {
+ const vector<string> names = material->get_names();
+ string mat_name;
+
+ if (!names.empty())
+ mat_name = names[0].c_str();
+
+ _solid = material->get_solid();
+ _load_resistance = material->get_load_resistance();
+ props->setStringValue("material/name", mat_name.c_str());
+ //cout << "material " << mat_name << " solid " << _solid << " load " << _load_resistance << endl;
+ }
+
+ _ht_agl_ft = pos.getElevationFt() - elevation_m * SG_METER_TO_FEET;
+
+ if (_ht_agl_ft <= 0) {
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: terrain impact");
+ report_impact(elevation_m);
+ _impact_reported = true;
+
+ // kill the AIObject if there is no subsubmodel
+ if (_subID == 0)
+ 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());
+}
+
+// end AIBallistic
+
projects / flightgear.git / blobdiff