#include "AIMultiplayer.hxx"
-#include <simgear/scene/util/SGNodeMasks.hxx>
+using std::string;
// #define SG_DEBUG SG_ALERT
-FGAIMultiplayer::FGAIMultiplayer() : FGAIBase(otMultiplayer) {
+FGAIMultiplayer::FGAIMultiplayer() :
+ FGAIBase(otMultiplayer, false)
+{
no_roll = false;
mTimeOffsetSet = false;
mAllowExtrapolation = true;
mLagAdjustSystemSpeed = 10;
mLastTimestamp = 0;
- aip.getSceneGraph()->setNodeMask(~SG_NODEMASK_TERRAIN_BIT);
lastUpdateTime = 0;
}
isTanker = false; // do this until this property is
// passed over the net
- string str1 = _getCallsign();
- string str2 = "MOBIL";
+ const string& str1 = _getCallsign();
+ const string str2 = "MOBIL";
string::size_type loc1= str1.find( str2, 0 );
if ( (loc1 != string::npos && str2 != "") ){
void FGAIMultiplayer::bind() {
FGAIBase::bind();
- props->tie("refuel/contact", SGRawValuePointer<bool>(&contact));
- props->tie("tanker", SGRawValuePointer<bool>(&isTanker));
+ tie("refuel/contact", SGRawValuePointer<bool>(&contact));
+ tie("tanker", SGRawValuePointer<bool>(&isTanker));
- props->tie("controls/invisible",
+ tie("controls/invisible",
SGRawValuePointer<bool>(&invisible));
-
+ _uBodyNode = props->getNode("velocities/uBody-fps", true);
+ _vBodyNode = props->getNode("velocities/vBody-fps", true);
+ _wBodyNode = props->getNode("velocities/wBody-fps", true);
+
#define AIMPROProp(type, name) \
SGRawValueMethods<FGAIMultiplayer, type>(*this, &FGAIMultiplayer::get##name)
SGRawValueMethods<FGAIMultiplayer, type>(*this, \
&FGAIMultiplayer::get##name, &FGAIMultiplayer::set##name)
- //props->tie("callsign", AIMPROProp(const char *, CallSign));
+ //tie("callsign", AIMPROProp(const char *, CallSign));
- props->tie("controls/allow-extrapolation",
- AIMPRWProp(bool, AllowExtrapolation));
- props->tie("controls/lag-adjust-system-speed",
- AIMPRWProp(double, LagAdjustSystemSpeed));
+ tie("controls/allow-extrapolation",
+ AIMPRWProp(bool, AllowExtrapolation));
+ tie("controls/lag-adjust-system-speed",
+ AIMPRWProp(double, LagAdjustSystemSpeed));
#undef AIMPROProp
#undef AIMPRWProp
}
-void FGAIMultiplayer::unbind() {
- FGAIBase::unbind();
-
- //props->untie("callsign");
- props->untie("controls/allow-extrapolation");
- props->untie("controls/lag-adjust-system-speed");
- props->untie("controls/invisible");
- props->untie("refuel/contact");
- props->untie("tanker");
-
-}
-
void FGAIMultiplayer::update(double dt)
{
using namespace simgear;
if ((!mAllowExtrapolation && offset + lag < mTimeOffset)
|| (offset - 10 > mTimeOffset)) {
mTimeOffset = offset;
- SG_LOG(SG_GENERAL, SG_DEBUG, "Resetting time offset adjust system to "
+ SG_LOG(SG_AI, SG_DEBUG, "Resetting time offset adjust system to "
"avoid extrapolation: time offset = " << mTimeOffset);
} else {
// the error of the offset, respectively the negative error to avoid
systemIncrement = err;
mTimeOffset += systemIncrement;
- SG_LOG(SG_GENERAL, SG_DEBUG, "Offset adjust system: time offset = "
+ SG_LOG(SG_AI, SG_DEBUG, "Offset adjust system: time offset = "
<< mTimeOffset << ", expected longitudinal position error due to "
" current adjustment of the offset: "
<< fabs(norm(it->second.linearVel)*systemIncrement));
SGVec3d ecPos;
SGQuatf ecOrient;
+ SGVec3f ecLinearVel;
if (tInterp <= curentPkgTime) {
// Ok, we need a time prevous to the last available packet,
// Find the first packet before the target time
MotionInfo::iterator nextIt = mMotionInfo.upper_bound(tInterp);
if (nextIt == mMotionInfo.begin()) {
- SG_LOG(SG_GENERAL, SG_DEBUG, "Taking oldest packet!");
+ SG_LOG(SG_AI, SG_DEBUG, "Taking oldest packet!");
// We have no packet before the target time, just use the first one
MotionInfo::iterator firstIt = mMotionInfo.begin();
ecPos = firstIt->second.position;
ecOrient = firstIt->second.orientation;
- speed = norm(firstIt->second.linearVel) * SG_METER_TO_NM * 3600.0;
+ ecLinearVel = firstIt->second.linearVel;
+ speed = norm(ecLinearVel) * SG_METER_TO_NM * 3600.0;
std::vector<FGPropertyData*>::const_iterator firstPropIt;
std::vector<FGPropertyData*>::const_iterator firstPropItEnd;
}
else
{
- SG_LOG(SG_GENERAL, SG_DEBUG, "Unable to find property: " << (*firstPropIt)->id << "\n");
+ SG_LOG(SG_AI, SG_DEBUG, "Unable to find property: " << (*firstPropIt)->id << "\n");
}
++firstPropIt;
}
double intervalLen = intervalEnd - intervalStart;
double tau = (tInterp - intervalStart)/intervalLen;
- SG_LOG(SG_GENERAL, SG_DEBUG, "Multiplayer vehicle interpolation: ["
+ SG_LOG(SG_AI, SG_DEBUG, "Multiplayer vehicle interpolation: ["
<< intervalStart << ", " << intervalEnd << "], intervalLen = "
<< intervalLen << ", interpolation parameter = " << tau);
ecPos = ((1-tau)*prevIt->second.position + tau*nextIt->second.position);
ecOrient = interpolate((float)tau, prevIt->second.orientation,
nextIt->second.orientation);
- speed = norm((1-tau)*prevIt->second.linearVel
- + tau*nextIt->second.linearVel) * SG_METER_TO_NM * 3600.0;
+ ecLinearVel = ((1-tau)*prevIt->second.linearVel + tau*nextIt->second.linearVel);
+ speed = norm(ecLinearVel) * SG_METER_TO_NM * 3600.0;
if (prevIt->second.properties.size()
== nextIt->second.properties.size()) {
}
else
{
- SG_LOG(SG_GENERAL, SG_DEBUG, "Unable to find property: " << (*prevPropIt)->id << "\n");
+ SG_LOG(SG_AI, SG_DEBUG, "Unable to find property: " << (*prevPropIt)->id << "\n");
}
++prevPropIt;
double t = tInterp - motionInfo.time;
t = SGMisc<double>::min(t, 5);
- SG_LOG(SG_GENERAL, SG_DEBUG, "Multiplayer vehicle extrapolation: "
+ SG_LOG(SG_AI, SG_DEBUG, "Multiplayer vehicle extrapolation: "
"extrapolation time = " << t);
// Do a few explicit euler steps with the constant acceleration's
// This must be sufficient ...
ecPos = motionInfo.position;
ecOrient = motionInfo.orientation;
- SGVec3f linearVel = motionInfo.linearVel;
+ ecLinearVel = motionInfo.linearVel;
SGVec3f angularVel = motionInfo.angularVel;
while (0 < t) {
double h = 1e-1;
if (t < h)
h = t;
- SGVec3d ecVel = toVec3d(ecOrient.backTransform(linearVel));
+ SGVec3d ecVel = toVec3d(ecOrient.backTransform(ecLinearVel));
ecPos += h*ecVel;
ecOrient += h*ecOrient.derivative(angularVel);
- linearVel += h*(cross(linearVel, angularVel) + motionInfo.linearAccel);
+ ecLinearVel += h*(cross(ecLinearVel, angularVel) + motionInfo.linearAccel);
angularVel += h*motionInfo.angularAccel;
t -= h;
std::vector<FGPropertyData*>::const_iterator firstPropIt;
std::vector<FGPropertyData*>::const_iterator firstPropItEnd;
- speed = norm(linearVel) * SG_METER_TO_NM * 3600.0;
+ speed = norm(ecLinearVel) * SG_METER_TO_NM * 3600.0;
firstPropIt = it->second.properties.begin();
firstPropItEnd = it->second.properties.end();
while (firstPropIt != firstPropItEnd) {
}
else
{
- SG_LOG(SG_GENERAL, SG_DEBUG, "Unable to find property: " << (*firstPropIt)->id << "\n");
+ SG_LOG(SG_AI, SG_DEBUG, "Unable to find property: " << (*firstPropIt)->id << "\n");
}
++firstPropIt;
roll = rDeg;
pitch = pDeg;
- SG_LOG(SG_GENERAL, SG_DEBUG, "Multiplayer position and orientation: "
+ // expose velocities/u,v,wbody-fps in the mp tree
+ _uBodyNode->setValue(ecLinearVel[0] * SG_METER_TO_FEET);
+ _vBodyNode->setValue(ecLinearVel[1] * SG_METER_TO_FEET);
+ _wBodyNode->setValue(ecLinearVel[2] * SG_METER_TO_FEET);
+
+ SG_LOG(SG_AI, SG_DEBUG, "Multiplayer position and orientation: "
<< ecPos << ", " << hlOr);
//###########################//