-// submodel.cxx - models a releasable submodel.
+//// submodel.cxx - models a releasable submodel.
// Written by Dave Culp, started Aug 2004
+// With major additions by Vivian Meaaza 2004 - 2007
//
// This file is in the Public Domain and comes with no warranty.
+#ifdef HAVE_CONFIG_H
+# include "config.h"
+#endif
+
#include "submodel.hxx"
#include <simgear/structure/exception.hxx>
#include <simgear/misc/sg_path.hxx>
+#include <simgear/math/sg_geodesy.hxx>
#include <Main/fg_props.hxx>
#include <Main/util.hxx>
-#include <AIModel/AIManager.hxx>
+
+
+#include "AIBase.hxx"
+#include "AIManager.hxx"
+#include "AIBallistic.hxx"
const double FGSubmodelMgr::lbs_to_slugs = 0.031080950172;
-FGSubmodelMgr::FGSubmodelMgr ()
+FGSubmodelMgr::FGSubmodelMgr()
{
-
- x_offset = y_offset = 0.0;
- z_offset = -4.0;
- pitch_offset = 2.0;
- yaw_offset = 0.0;
-
- out[0] = out[1] = out[2] = 0;
- in[3] = out[3] = 1;
- string contents_node;
+ x_offset = y_offset = 0.0;
+ z_offset = -4.0;
+ pitch_offset = 2.0;
+ yaw_offset = 0.0;
+
+ out[0] = out[1] = out[2] = 0;
+ in[3] = out[3] = 1;
+ string contents_node;
+ contrail_altitude = 30000;
+ _count = 0;
}
-FGSubmodelMgr::~FGSubmodelMgr ()
+FGSubmodelMgr::~FGSubmodelMgr()
{
}
-void
-FGSubmodelMgr::init ()
+void FGSubmodelMgr::init()
{
- load();
+ index = 0;
+
_serviceable_node = fgGetNode("/sim/submodels/serviceable", true);
+ _serviceable_node->setBoolValue(true);
_user_lat_node = fgGetNode("/position/latitude-deg", true);
_user_lon_node = fgGetNode("/position/longitude-deg", true);
_user_speed_node = fgGetNode("/velocities/uBody-fps", true);
- _user_wind_from_east_node = fgGetNode("/environment/wind-from-east-fps",true);
- _user_wind_from_north_node = fgGetNode("/environment/wind-from-north-fps",true);
+ _user_wind_from_east_node = fgGetNode("/environment/wind-from-east-fps", true);
+ _user_wind_from_north_node = fgGetNode("/environment/wind-from-north-fps", true);
- _user_speed_down_fps_node = fgGetNode("/velocities/speed-down-fps",true);
- _user_speed_east_fps_node = fgGetNode("/velocities/speed-east-fps",true);
- _user_speed_north_fps_node = fgGetNode("/velocities/speed-north-fps",true);
+ _user_speed_down_fps_node = fgGetNode("/velocities/speed-down-fps", true);
+ _user_speed_east_fps_node = fgGetNode("/velocities/speed-east-fps", true);
+ _user_speed_north_fps_node = fgGetNode("/velocities/speed-north-fps", true);
- ai = (FGAIManager*)globals->get_subsystem("ai_model");
+ _contrail_altitude_node = fgGetNode("/environment/params/contrail-altitude", true);
+ contrail_altitude = _contrail_altitude_node->getDoubleValue();
+ _contrail_trigger = fgGetNode("ai/submodels/contrails", true);
+ _contrail_trigger->setBoolValue(false);
+ ai = (FGAIManager*)globals->get_subsystem("ai_model");
+ load();
}
-void
-FGSubmodelMgr::bind ()
-{
+void FGSubmodelMgr::postinit() {
+ // postinit, so that the AI list is populated
+ loadAI();
+ loadSubmodels();
+
+ //TODO reload submodels if an MP ac joins
}
-void
-FGSubmodelMgr::unbind ()
+void FGSubmodelMgr::bind()
+{}
+
+void FGSubmodelMgr::unbind()
{
- submodel_iterator = submodels.begin();
- while(submodel_iterator != submodels.end()) {
- (*submodel_iterator)->prop->untie("count");
- ++submodel_iterator;
- }
+ submodel_iterator = submodels.begin();
+ while (submodel_iterator != submodels.end()) {
+ (*submodel_iterator)->prop->untie("count");
+ ++submodel_iterator;
+ }
}
-void
-FGSubmodelMgr::update (double dt)
+void FGSubmodelMgr::update(double dt)
{
- if (!(_serviceable_node->getBoolValue())) return;
- int i=-1;
- submodel_iterator = submodels.begin();
- while(submodel_iterator != submodels.end()) {
- i++;
- if ((*submodel_iterator)->trigger->getBoolValue()) {
- if ((*submodel_iterator)->count != 0) {
- release( (*submodel_iterator), dt);
- }
- } else {
- (*submodel_iterator)->first_time = true;
- }
- ++submodel_iterator;
- }
-
+ if (!_serviceable_node->getBoolValue())
+ return;
+
+ _impact = false;
+ _hit = false;
+
+ // check if the submodel hit an object or terrain
+ sm_list = ai->get_ai_list();
+ sm_list_iterator sm_list_itr = sm_list.begin();
+ sm_list_iterator end = sm_list.end();
+
+ for (; sm_list_itr != end; ++sm_list_itr) {
+ _impact = (*sm_list_itr)->_getImpactData();
+ _hit = (*sm_list_itr)->_getCollisionData();
+ int parent_subID = (*sm_list_itr)->_getSubID();
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! "
+ << _hit <<" parent_subID " << parent_subID);
+ if ( parent_subID == 0) // this entry in the list has no associated submodel
+ continue; // so we can continue
+
+ if (_impact || _hit) {
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! " << _hit );
+
+ submodel_iterator = submodels.begin();
+
+ while (submodel_iterator != submodels.end()) {
+ int child_ID = (*submodel_iterator)->id;
+ //cout << "Impact: parent SubID " << parent_subID << " child_ID " << child_ID << endl;
+
+ if ( parent_subID == child_ID ) {
+ _parent_lat = (*sm_list_itr)->_getImpactLat();
+ _parent_lon = (*sm_list_itr)->_getImpactLon();
+ _parent_elev = (*sm_list_itr)->_getImpactElevFt();
+ _parent_hdg = (*sm_list_itr)->_getImpactHdg();
+ _parent_pitch = (*sm_list_itr)->_getImpactPitch();
+ _parent_roll = (*sm_list_itr)->_getImpactRoll();
+ _parent_speed = (*sm_list_itr)->_getImpactSpeed();
+ (*submodel_iterator)->first_time = true;
+
+ if (release(*submodel_iterator, dt))
+ (*sm_list_itr)->setDie(true);
+ }
+
+ ++submodel_iterator;
+ }
+ }
+ }
+
+ _contrail_trigger->setBoolValue(_user_alt_node->getDoubleValue() > contrail_altitude);
+
+
+ bool in_range = true;
+ bool trigger = false;
+ int i = -1;
+
+ submodel_iterator = submodels.begin();
+ while (submodel_iterator != submodels.end()) {
+ i++;
+ in_range = true;
+
+ SG_LOG(SG_GENERAL, SG_DEBUG,
+ "Submodels: " << (*submodel_iterator)->id
+ << " name " << (*submodel_iterator)->name
+ << " in range " << in_range);
+
+ if ((*submodel_iterator)->trigger_node != 0) {
+ _trigger_node = (*submodel_iterator)->trigger_node;
+ trigger = _trigger_node->getBoolValue();
+ //cout << "trigger node found " << trigger << endl;
+ } else {
+ trigger = true;
+ //cout << (*submodel_iterator)->name << "trigger node not found " << trigger << endl;
+ }
+
+ if (trigger) {
+ int id = (*submodel_iterator)->id;
+ string name = (*submodel_iterator)->name;
+ // don't release submodels from AI Objects if they are
+ // too far away to be seen. id 0 is not an AI model,
+ // so we can skip the whole process
+ sm_list_iterator sm_list_itr = sm_list.begin();
+ sm_list_iterator end = sm_list.end();
+
+ while (sm_list_itr != end) {
+
+ if (id == 0) {
+ SG_LOG(SG_GENERAL, SG_DEBUG,
+ "Submodels: continuing: " << id << " name " << name );
+ in_range = true;
+ ++sm_list_itr;
+ continue;
+ }
+
+ int parent_id = (*submodel_iterator)->id;
+
+ if (parent_id == id) {
+ double parent_lat = (*sm_list_itr)->_getLatitude();
+ double parent_lon = (*sm_list_itr)->_getLongitude();
+ double own_lat = _user_lat_node->getDoubleValue();
+ double own_lon = _user_lon_node->getDoubleValue();
+ double range_nm = getRange(parent_lat, parent_lon, own_lat, own_lon);
+ // cout << "parent " << parent_id << ", "<< parent_lat << ", " << parent_lon << endl;
+ //cout << "own " << own_lat << ", " << own_lon << " range " << range_nm << endl;
+
+ if (range_nm > 15) {
+ SG_LOG(SG_GENERAL, SG_DEBUG,
+ "Submodels: skipping release: " << id);
+ in_range = false;
+ }
+ }
+
+ ++sm_list_itr;
+ } // end while
+
+ SG_LOG(SG_GENERAL, SG_DEBUG,
+ "Submodels end: " << (*submodel_iterator)->id
+ << " name " << (*submodel_iterator)->name
+ << " count " << (*submodel_iterator)->count
+ << " in range " << in_range);
+
+ if ((*submodel_iterator)->count != 0 && in_range)
+ release(*submodel_iterator, dt);
+
+ } else
+ (*submodel_iterator)->first_time = true;
+
+ ++submodel_iterator;
+ } // end while
}
-bool
-FGSubmodelMgr::release (submodel* sm, double dt)
+bool FGSubmodelMgr::release(submodel *sm, double dt)
{
- sm->timer += dt;
- if (sm->timer < sm->delay) return false;
- sm->timer = 0.0;
-
- if (sm->first_time) {
- dt = 0.0;
- sm->first_time = false;
- }
-
- transform(sm); // calculate submodel's initial conditions in world-coordinates
-
- FGAIModelEntity entity;
-
- entity.path = sm->model.c_str();
- entity.latitude = IC.lat;
- entity.longitude = IC.lon;
- entity.altitude = IC.alt;
- entity.azimuth = IC.azimuth;
- entity.elevation = IC.elevation;
- entity.roll = IC.roll;
- entity.speed = IC.speed;
- entity.eda = sm->drag_area;
- entity.life = sm->life;
- entity.buoyancy = sm->buoyancy;
- entity.wind_from_east = IC.wind_from_east;
- entity.wind_from_north = IC.wind_from_north;
- entity.wind = sm->wind;
- entity.cd = sm->cd;
- entity.mass = IC.mass;
- entity.aero_stabilised = sm->aero_stabilised;
- ai->createBallistic( &entity );
-
- if (sm->count > 0) (sm->count)--;
-
- return true;
+ //cout << "release id " << sm->id << " name " << sm->name
+ //<< " first time " << sm->first_time << " repeat " << sm->repeat <<
+ // endl;
+
+ // only run if first time or repeat is set to true
+ if (!sm->first_time && !sm->repeat) {
+ //cout<< "not first time " << sm->first_time<< " repeat " << sm->repeat <<endl;
+ return false;
+ }
+
+ sm->timer += dt;
+
+ if (sm->timer < sm->delay) {
+ //cout << "not yet: timer" << sm->timer << " delay " << sm->delay<< endl;
+ return false;
+ }
+
+ sm->timer = 0.0;
+
+ if (sm->first_time) {
+ dt = 0.0;
+ sm->first_time = false;
+ }
+
+ transform(sm); // calculate submodel's initial conditions in world-coordinates
+
+ FGAIBallistic* ballist = new FGAIBallistic;
+ ballist->setPath(sm->model.c_str());
+ ballist->setLatitude(IC.lat);
+ ballist->setLongitude(IC.lon);
+ ballist->setAltitude(IC.alt);
+ ballist->setAzimuth(IC.azimuth);
+ ballist->setElevation(IC.elevation);
+ ballist->setRoll(IC.roll);
+ ballist->setSpeed(IC.speed / SG_KT_TO_FPS);
+ ballist->setWind_from_east(IC.wind_from_east);
+ ballist->setWind_from_north(IC.wind_from_north);
+ ballist->setMass(IC.mass);
+ ballist->setDragArea(sm->drag_area);
+ ballist->setLife(sm->life);
+ ballist->setBuoyancy(sm->buoyancy);
+ ballist->setWind(sm->wind);
+ ballist->setCd(sm->cd);
+ ballist->setStabilisation(sm->aero_stabilised);
+ ballist->setNoRoll(sm->no_roll);
+ ballist->setName(sm->name);
+ ballist->setCollision(sm->collision);
+ ballist->setImpact(sm->impact);
+ ballist->setImpactReportNode(sm->impact_report);
+ ballist->setFuseRange(sm->fuse_range);
+ ballist->setSubmodel(sm->submodel.c_str());
+ ballist->setSubID(sm->sub_id);
+ ai->attach(ballist);
+
+ if (sm->count > 0)
+ sm->count--;
+
+ return true;
}
-void
-FGSubmodelMgr::load ()
+void FGSubmodelMgr::load()
{
-
- int i;
SGPropertyNode *path = fgGetNode("/sim/submodels/path");
- SGPropertyNode root;
if (path) {
- SGPath config( globals->get_fg_root() );
- config.append( path->getStringValue() );
+ const int id = 0;
+ string Path = path->getStringValue();
+ bool Seviceable =_serviceable_node->getBoolValue();
+ setData(id, Path, Seviceable);
+ }
+}
- try {
- readProperties(config.str(), &root);
- } catch (const sg_exception &e) {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "Unable to read submodels file: ");
- cout << config.str() << endl;
- return;
- }
+void FGSubmodelMgr::transform(submodel *sm)
+{
+ // set initial conditions
+ if (sm->contents_node != 0) {
+ // get the weight of the contents (lbs) and convert to mass (slugs)
+ sm->contents = sm->contents_node->getDoubleValue();
+ IC.mass = (sm->weight + sm->contents) * lbs_to_slugs;
+
+ // set contents to 0 in the parent
+ sm->contents_node->setDoubleValue(0);
+ } else {
+ IC.mass = sm->weight * lbs_to_slugs;
}
- int count = root.nChildren();
- for (i = 0; i < count; i++) {
- // cout << "Reading submodel " << i << endl;
- SGPropertyNode *prop;
- submodel* sm = new submodel;
- SGPropertyNode * entry_node = root.getChild(i);
- sm->trigger = fgGetNode(entry_node->getStringValue("trigger", "none"), true);
- sm->name = entry_node->getStringValue("name", "none_defined");
- sm->model = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
- sm->speed = entry_node->getDoubleValue("speed", 2329.4 );
- sm->repeat = entry_node->getBoolValue ("repeat", false);
- sm->delay = entry_node->getDoubleValue("delay", 0.25);
- sm->count = entry_node->getIntValue ("count", 1);
- sm->slaved = entry_node->getBoolValue ("slaved", false);
- sm->x_offset = entry_node->getDoubleValue("x-offset", 0.0);
- sm->y_offset = entry_node->getDoubleValue("y-offset", 0.0);
- sm->z_offset = entry_node->getDoubleValue("z-offset", 0.0);
- sm->yaw_offset = entry_node->getDoubleValue("yaw-offset", 0.0);
- sm->pitch_offset = entry_node->getDoubleValue("pitch-offset", 0.0);
- sm->drag_area = entry_node->getDoubleValue("eda", 0.034);
- sm->life = entry_node->getDoubleValue("life", 900.0);
- sm->buoyancy = entry_node->getDoubleValue("buoyancy", 0);
- sm->wind = entry_node->getBoolValue ("wind", false);
- sm->first_time = false;
- sm->cd = entry_node->getDoubleValue("cd", 0.193);
- sm->weight = entry_node->getDoubleValue("weight", 0.25);
- sm->aero_stabilised = entry_node->getBoolValue ("aero-stabilised", true);
- sm->contents_node = fgGetNode(entry_node->getStringValue("contents", "none"), true);
-
- sm->trigger->setBoolValue(false);
- sm->timer = sm->delay;
-
- sm->contents = sm->contents_node->getDoubleValue();
-
- sm->prop = fgGetNode("/ai/submodels/submodel", i, true);
- sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
-
-// sm->prop->tie("contents", SGRawValuePointer<double>(&(sm->contents)));
-// sm->prop->tie("contents path", SGRawValuePointer<const char *>(&(sm->contents_node)));
- submodels.push_back( sm );
- }
-
- submodel_iterator = submodels.begin();
-
-}
+ // cout << "mass " << IC.mass << endl;
+
+ if (sm->speed_node != 0)
+ sm->speed = sm->speed_node->getDoubleValue();
+
+ int id = sm->id;
+ //int sub_id = (*submodel)->sub_id;
+ string name = sm->name;
+
+ //cout << " name " << name << " id " << id << " sub id" << sub_id << endl;
+
+ if (_impact || _hit) {
+ // set the data for a submodel tied to a submodel
+ _count++;
+ //cout << "Submodels: release sub sub " << _count<< endl;
+ //cout << " id " << sm->id
+ // << " lat " << _parent_lat
+ // << " lon " << _parent_lon
+ // << " elev " << _parent_elev
+ // << " name " << sm->name
+ // << endl;
+
+ IC.lat = _parent_lat;
+ IC.lon = _parent_lon;
+ IC.alt = _parent_elev;
+ IC.roll = _parent_roll; // rotation about x axis
+ IC.elevation = _parent_pitch; // rotation about y axis
+ IC.azimuth = _parent_hdg; // rotation about z axis
+ IC.speed = _parent_speed;
+ IC.speed_down_fps = 0;
+ IC.speed_east_fps = 0;
+ IC.speed_north_fps = 0;
+
+ } else if (id == 0) {
+ //set the data for a submodel tied to the main model
+ /*cout << "Submodels: release main sub " << endl;
+ cout << " name " << sm->name
+ << " id" << sm->id
+ << endl;*/
+ IC.lat = _user_lat_node->getDoubleValue();
+ IC.lon = _user_lon_node->getDoubleValue();
+ IC.alt = _user_alt_node->getDoubleValue();
+ IC.roll = _user_roll_node->getDoubleValue(); // rotation about x axis
+ IC.elevation = _user_pitch_node->getDoubleValue(); // rotation about y axis
+ IC.azimuth = _user_heading_node->getDoubleValue(); // rotation about z axis
+ IC.speed = _user_speed_node->getDoubleValue();
+ IC.speed_down_fps = _user_speed_down_fps_node->getDoubleValue();
+ IC.speed_east_fps = _user_speed_east_fps_node->getDoubleValue();
+ IC.speed_north_fps = _user_speed_north_fps_node->getDoubleValue();
+ } else {
+ // set the data for a submodel tied to an AI Object
+ sm_list_iterator sm_list_itr = sm_list.begin();
+ sm_list_iterator end = sm_list.end();
+
+ while (sm_list_itr != end) {
+ int parent_id = (*sm_list_itr)->getID();
+
+ if (id != parent_id) {
+ ++sm_list_itr;
+ continue;
+ }
+
+ //cout << "found id " << id << endl;
+ IC.lat = (*sm_list_itr)->_getLatitude();
+ IC.lon = (*sm_list_itr)->_getLongitude();
+ IC.alt = (*sm_list_itr)->_getAltitude();
+ IC.roll = (*sm_list_itr)->_getRoll();
+ IC.elevation = (*sm_list_itr)->_getPitch();
+ IC.azimuth = (*sm_list_itr)->_getHeading();
+ IC.alt = (*sm_list_itr)->_getAltitude();
+ IC.speed = (*sm_list_itr)->_getSpeed() * SG_KT_TO_FPS;
+ IC.speed_down_fps = -(*sm_list_itr)->_getVS_fps();
+ IC.speed_east_fps = (*sm_list_itr)->_get_speed_east_fps();
+ IC.speed_north_fps = (*sm_list_itr)->_get_speed_north_fps();
+
+ ++sm_list_itr;
+ }
+ }
-void
-FGSubmodelMgr::transform( submodel* sm)
-{
+ /*cout << "heading " << IC.azimuth << endl ;
+ cout << "speed down " << IC.speed_down_fps << endl ;
+ cout << "speed east " << IC.speed_east_fps << endl ;
+ cout << "speed north " << IC.speed_north_fps << endl ;
+ cout << "parent speed fps in" << IC.speed << "sm speed in " << sm->speed << endl ;*/
+
+ IC.wind_from_east = _user_wind_from_east_node->getDoubleValue();
+ IC.wind_from_north = _user_wind_from_north_node->getDoubleValue();
-// get initial conditions
-
-// get the weight of the contents (lbs) and convert to mass (slugs)
- sm->contents = sm->contents_node->getDoubleValue();
-
- IC.mass = (sm->weight + sm->contents) * lbs_to_slugs;;
-// cout << IC.mass << endl;
-
-// set contents to 0 in the parent
- sm->contents_node->setDoubleValue(0);
-
- IC.lat = _user_lat_node->getDoubleValue();
- IC.lon = _user_lon_node->getDoubleValue();
- IC.alt = _user_alt_node->getDoubleValue();
- IC.roll = _user_roll_node->getDoubleValue(); // rotation about x axis
- IC.elevation = _user_pitch_node->getDoubleValue(); // rotation about y axis
- IC.azimuth = _user_heading_node->getDoubleValue(); // rotation about z axis
-
- IC.speed = _user_speed_node->getDoubleValue();
- IC.wind_from_east = _user_wind_from_east_node->getDoubleValue();
- IC.wind_from_north = _user_wind_from_north_node->getDoubleValue();
-
- IC.speed_down_fps = _user_speed_down_fps_node->getDoubleValue();
- IC.speed_east_fps = _user_speed_east_fps_node->getDoubleValue();
- IC.speed_north_fps = _user_speed_north_fps_node->getDoubleValue();
-
-
- in[0] = sm->x_offset;
- in[1] = sm->y_offset;
- in[2] = sm->z_offset;
-
-
-// pre-process the trig functions
+ in[0] = sm->x_offset;
+ in[1] = sm->y_offset;
+ in[2] = sm->z_offset;
+ // pre-process the trig functions
cosRx = cos(-IC.roll * SG_DEGREES_TO_RADIANS);
sinRx = sin(-IC.roll * SG_DEGREES_TO_RADIANS);
cosRy = cos(-IC.elevation * SG_DEGREES_TO_RADIANS);
cosRz = cos(IC.azimuth * SG_DEGREES_TO_RADIANS);
sinRz = sin(IC.azimuth * SG_DEGREES_TO_RADIANS);
-// set up the transform matrix
-
+ // set up the transform matrix
trans[0][0] = cosRy * cosRz;
trans[0][1] = -1 * cosRx * sinRz + sinRx * sinRy * cosRz ;
trans[0][2] = sinRx * sinRz + cosRx * sinRy * cosRz;
trans[2][2] = cosRx * cosRy;
-// multiply the input and transform matrices
-
- out[0] = in[0] * trans[0][0] + in[1] * trans[0][1] + in[2] * trans[0][2];
- out[1] = in[0] * trans[1][0] + in[1] * trans[1][1] + in[2] * trans[1][2];
- out[2] = in[0] * trans[2][0] + in[1] * trans[2][1] + in[2] * trans[2][2];
+ // multiply the input and transform matrices
+ out[0] = in[0] * trans[0][0] + in[1] * trans[0][1] + in[2] * trans[0][2];
+ out[1] = in[0] * trans[1][0] + in[1] * trans[1][1] + in[2] * trans[1][2];
+ out[2] = in[0] * trans[2][0] + in[1] * trans[2][1] + in[2] * trans[2][2];
- // convert ft to degrees of latitude
- out[0] = out[0] /(366468.96 - 3717.12 * cos(IC.lat * SG_DEGREES_TO_RADIANS));
+ // convert ft to degrees of latitude
+ out[0] = out[0] / (366468.96 - 3717.12 * cos(IC.lat * SG_DEGREES_TO_RADIANS));
- // convert ft to degrees of longitude
- out[1] = out[1] /(365228.16 * cos(IC.lat * SG_DEGREES_TO_RADIANS));
+ // convert ft to degrees of longitude
+ out[1] = out[1] / (365228.16 * cos(IC.lat * SG_DEGREES_TO_RADIANS));
- // set submodel initial position
- IC.lat += out[0];
- IC.lon += out[1];
- IC.alt += out[2];
+ // set submodel initial position
+ IC.lat += out[0];
+ IC.lon += out[1];
+ IC.alt += out[2];
- // get aircraft velocity vector angles in XZ and XY planes
+ // get aircraft velocity vector angles in XZ and XY planes
//double alpha = _user_alpha_node->getDoubleValue();
//double velXZ = IC.elevation - alpha * cosRx;
//double velXY = IC.azimuth - (IC.elevation - alpha * sinRx);
-
- // Get submodel initial velocity vector angles in XZ and XY planes.
- // This needs to be fixed. This vector should be added to aircraft's vector.
- IC.elevation += (sm->yaw_offset * sinRx) + (sm->pitch_offset * cosRx);
- IC.azimuth += (sm->yaw_offset * cosRx) - (sm->pitch_offset * sinRx);
-
- // For now assume vector is close to airplane's vector. This needs to be fixed.
- //IC.speed += ;
-
- // calcuate the total speed north
-
- IC.total_speed_north = sm->speed * cos(IC.elevation*SG_DEGREES_TO_RADIANS)*
- cos(IC.azimuth*SG_DEGREES_TO_RADIANS) + IC.speed_north_fps;
-
- // calculate the total speed east
-
- IC.total_speed_east = sm->speed * cos(IC.elevation*SG_DEGREES_TO_RADIANS)*
- sin(IC.azimuth*SG_DEGREES_TO_RADIANS) + IC.speed_east_fps;
-
- // calculate the total speed down
-
- IC.total_speed_down = sm->speed * -sin(IC.elevation*SG_DEGREES_TO_RADIANS) +
- IC.speed_down_fps;
-
- // re-calculate speed, elevation and azimuth
-
- IC.speed = sqrt( IC.total_speed_north * IC.total_speed_north +
- IC.total_speed_east * IC.total_speed_east +
- IC.total_speed_down * IC.total_speed_down);
-
- IC.azimuth = atan(IC.total_speed_east/IC.total_speed_north) * SG_RADIANS_TO_DEGREES;
-
- // rationalise the output
-
- if (IC.total_speed_north <= 0){
- IC.azimuth = 180 + IC.azimuth;
- }
- else{
- if(IC.total_speed_east <= 0){
- IC.azimuth = 360 + IC.azimuth;
- }
- }
-
- IC.elevation = -atan(IC.total_speed_down/sqrt(IC.total_speed_north *
- IC.total_speed_north +
- IC.total_speed_east * IC.total_speed_east)) * SG_RADIANS_TO_DEGREES;
+ // Get submodel initial velocity vector angles in XZ and XY planes.
+ // This needs to be fixed. This vector should be added to aircraft's vector.
+ IC.elevation += (sm->yaw_offset * sinRx) + (sm->pitch_offset * cosRx);
+ IC.azimuth += (sm->yaw_offset * cosRx) - (sm->pitch_offset * sinRx);
+
+ // calculate the total speed north
+ IC.total_speed_north = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS)
+ * cos(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_north_fps;
+
+ // calculate the total speed east
+ IC.total_speed_east = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS)
+ * sin(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_east_fps;
+
+ // calculate the total speed down
+ IC.total_speed_down = sm->speed * -sin(IC.elevation * SG_DEGREES_TO_RADIANS)
+ + IC.speed_down_fps;
+
+ // re-calculate speed, elevation and azimuth
+ IC.speed = sqrt(IC.total_speed_north * IC.total_speed_north
+ + IC.total_speed_east * IC.total_speed_east
+ + IC.total_speed_down * IC.total_speed_down);
+
+ // if speeds are low this calculation can become unreliable
+ if (IC.speed > 1) {
+ IC.azimuth = atan2(IC.total_speed_east , IC.total_speed_north) * SG_RADIANS_TO_DEGREES;
+ // cout << "azimuth1 " << IC.azimuth<<endl;
+
+ // rationalise the output
+ if (IC.azimuth < 0)
+ IC.azimuth += 360;
+ else if (IC.azimuth >= 360)
+ IC.azimuth -= 360;
+ // cout << "azimuth2 " << IC.azimuth<<endl;
+
+ IC.elevation = -atan(IC.total_speed_down / sqrt(IC.total_speed_north
+ * IC.total_speed_north + IC.total_speed_east * IC.total_speed_east))
+ * SG_RADIANS_TO_DEGREES;
+ }
}
-void
-FGSubmodelMgr::updatelat(double lat)
+void FGSubmodelMgr::updatelat(double lat)
{
- double latitude = lat;
- ft_per_deg_latitude = 366468.96 - 3717.12 * cos(latitude / SG_RADIANS_TO_DEGREES);
- ft_per_deg_longitude = 365228.16 * cos(latitude / SG_RADIANS_TO_DEGREES);
+ ft_per_deg_latitude = 366468.96 - 3717.12 * cos(lat / SG_RADIANS_TO_DEGREES);
+ ft_per_deg_longitude = 365228.16 * cos(lat / SG_RADIANS_TO_DEGREES);
}
-// end of submodel.cxx
+void FGSubmodelMgr::loadAI()
+{
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Loading AI submodels ");
+
+ sm_list = ai->get_ai_list();
+
+ if (sm_list.empty()) {
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Unable to read AI submodel list");
+ return;
+ }
+
+ sm_list_iterator sm_list_itr = sm_list.begin();
+ sm_list_iterator end = sm_list.end();
+
+ while (sm_list_itr != end) {
+ string path = (*sm_list_itr)->_getSMPath();
+
+ if (path.empty()) {
+ ++sm_list_itr;
+ continue;
+ }
+
+ int id = (*sm_list_itr)->getID();
+ bool serviceable = (*sm_list_itr)->_getServiceable();
+ setData(id, path, serviceable);
+ ++sm_list_itr;
+ }
+}
+
+
+double FGSubmodelMgr::getRange(double lat, double lon, double lat2, double lon2) const
+{
+ double course, distance, az2;
+
+ //calculate the bearing and range of the second pos from the first
+ geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
+ distance *= SG_METER_TO_NM;
+ return distance;
+}
+
+void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
+{
+ SGPropertyNode root;
+
+ SGPath config(globals->get_fg_root());
+ config.append(path);
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: path " << path);
+ try {
+ SG_LOG(SG_GENERAL, SG_DEBUG,
+ "Submodels: Trying to read AI submodels file: " << config.str());
+ readProperties(config.str(), &root);
+ } catch (const sg_exception &e) {
+ SG_LOG(SG_GENERAL, SG_DEBUG,
+ "Submodels: Unable to read AI submodels file: " << config.str());
+ return;
+ }
+
+ vector<SGPropertyNode_ptr> children = root.getChildren("submodel");
+ vector<SGPropertyNode_ptr>::iterator it = children.begin();
+ vector<SGPropertyNode_ptr>::iterator end = children.end();
+
+ for (int i = 0; it != end; ++it, i++) {
+ //cout << "Reading AI submodel " << (*it)->getPath() << endl;
+ submodel* sm = new submodel;
+ SGPropertyNode * entry_node = *it;
+ sm->name = entry_node->getStringValue("name", "none_defined");
+ sm->model = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
+ sm->speed = entry_node->getDoubleValue("speed", 2329.4);
+ sm->repeat = entry_node->getBoolValue("repeat", false);
+ sm->delay = entry_node->getDoubleValue("delay", 0.25);
+ sm->count = entry_node->getIntValue("count", 1);
+ sm->slaved = entry_node->getBoolValue("slaved", false);
+ sm->x_offset = entry_node->getDoubleValue("x-offset", 0.0);
+ sm->y_offset = entry_node->getDoubleValue("y-offset", 0.0);
+ sm->z_offset = entry_node->getDoubleValue("z-offset", 0.0);
+ sm->yaw_offset = entry_node->getDoubleValue("yaw-offset", 0.0);
+ sm->pitch_offset = entry_node->getDoubleValue("pitch-offset", 0.0);
+ sm->drag_area = entry_node->getDoubleValue("eda", 0.034);
+ sm->life = entry_node->getDoubleValue("life", 900.0);
+ sm->buoyancy = entry_node->getDoubleValue("buoyancy", 0);
+ sm->wind = entry_node->getBoolValue("wind", false);
+ sm->cd = entry_node->getDoubleValue("cd", 0.193);
+ sm->weight = entry_node->getDoubleValue("weight", 0.25);
+ sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
+ sm->no_roll = entry_node->getBoolValue("no-roll", false);
+ sm->collision = entry_node->getBoolValue("collision", false);
+ sm->impact = entry_node->getBoolValue("impact", false);
+ sm->impact_report = entry_node->getStringValue("impact-reports");
+ sm->fuse_range = entry_node->getDoubleValue("fuse-range", 0.0);
+ sm->contents_node = fgGetNode(entry_node->getStringValue("contents", "none"), false);
+ sm->speed_node = fgGetNode(entry_node->getStringValue("speed-node", "none"), false);
+ sm->submodel = entry_node->getStringValue("submodel-path", "");
+
+ //cout << "sm->contents_node " << sm->contents_node << endl;
+ if (sm->contents_node != 0)
+ sm->contents = sm->contents_node->getDoubleValue();
+
+ const char *trigger_path = entry_node->getStringValue("trigger", 0);
+ if (trigger_path) {
+ sm->trigger_node = fgGetNode(trigger_path, true);
+ sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue());
+ } else {
+ sm->trigger_node = 0;
+ }
+
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: trigger " << sm->trigger_node->getBoolValue() );
+ if (sm->speed_node != 0)
+ sm->speed = sm->speed_node->getDoubleValue();
+
+ sm->timer = sm->delay;
+ sm->id = id;
+ sm->first_time = false;
+ sm->serviceable = serviceable;
+ sm->sub_id = 0;
+
+ sm->prop = fgGetNode("/ai/submodels/submodel", index, true);
+ sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
+ sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
+ sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
+ sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
+
+ sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
+ string name = sm->name;
+ sm->prop->setStringValue("name", name.c_str());
+
+ string submodel = sm->submodel;
+ sm->prop->setStringValue("submodel", submodel.c_str());
+ //cout << " set submodel path " << submodel << endl;
+
+ if (sm->contents_node != 0)
+ sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
+
+ index++;
+ submodels.push_back(sm);
+ }
+}
+
+void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable)
+{
+ SGPropertyNode root;
+
+ SGPath config(globals->get_fg_root());
+ config.append(path);
+ SG_LOG(SG_GENERAL, SG_DEBUG,
+ "Submodels: path " << path);
+ try {
+ SG_LOG(SG_GENERAL, SG_DEBUG,
+ "Submodels: Trying to read AI submodels file: " << config.str());
+ readProperties(config.str(), &root);
+
+ } catch (const sg_exception &e) {
+ SG_LOG(SG_GENERAL, SG_DEBUG,
+ "Submodels: Unable to read AI submodels file: " << config.str());
+ return;
+ }
+
+ vector<SGPropertyNode_ptr> children = root.getChildren("submodel");
+ vector<SGPropertyNode_ptr>::iterator it = children.begin();
+ vector<SGPropertyNode_ptr>::iterator end = children.end();
+
+ for (int i = 0; it != end; ++it, i++) {
+ //cout << "Reading AI submodel " << (*it)->getPath() << endl;
+ submodel* sm = new submodel;
+ SGPropertyNode * entry_node = *it;
+ sm->name = entry_node->getStringValue("name", "none_defined");
+ sm->model = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
+ sm->speed = entry_node->getDoubleValue("speed", 2329.4);
+ sm->repeat = entry_node->getBoolValue("repeat", false);
+ sm->delay = entry_node->getDoubleValue("delay", 0.25);
+ sm->count = entry_node->getIntValue("count", 1);
+ sm->slaved = entry_node->getBoolValue("slaved", false);
+ sm->x_offset = entry_node->getDoubleValue("x-offset", 0.0);
+ sm->y_offset = entry_node->getDoubleValue("y-offset", 0.0);
+ sm->z_offset = entry_node->getDoubleValue("z-offset", 0.0);
+ sm->yaw_offset = entry_node->getDoubleValue("yaw-offset", 0.0);
+ sm->pitch_offset = entry_node->getDoubleValue("pitch-offset", 0.0);
+ sm->drag_area = entry_node->getDoubleValue("eda", 0.034);
+ sm->life = entry_node->getDoubleValue("life", 900.0);
+ sm->buoyancy = entry_node->getDoubleValue("buoyancy", 0);
+ sm->wind = entry_node->getBoolValue("wind", false);
+ sm->cd = entry_node->getDoubleValue("cd", 0.193);
+ sm->weight = entry_node->getDoubleValue("weight", 0.25);
+ sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
+ sm->no_roll = entry_node->getBoolValue("no-roll", false);
+ sm->collision = entry_node->getBoolValue("collision", false);
+ sm->impact = entry_node->getBoolValue("impact", false);
+ sm->impact_report = entry_node->getStringValue("impact-reports");
+ sm->fuse_range = entry_node->getDoubleValue("fuse-range", 0.0);
+ sm->contents_node = fgGetNode(entry_node->getStringValue("contents", "none"), false);
+ sm->speed_node = fgGetNode(entry_node->getStringValue("speed-node", "none"), false);
+ sm->submodel = entry_node->getStringValue("submodel-path", "");
+
+ //cout << "sm->contents_node " << sm->contents_node << endl;
+ if (sm->contents_node != 0)
+ sm->contents = sm->contents_node->getDoubleValue();
+
+ const char *trigger_path = entry_node->getStringValue("trigger", 0);
+ if (trigger_path) {
+ sm->trigger_node = fgGetNode(trigger_path, true);
+ sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue());
+ } else {
+ sm->trigger_node = 0;
+ }
+
+ if (sm->speed_node != 0)
+ sm->speed = sm->speed_node->getDoubleValue();
+
+ sm->timer = sm->delay;
+ sm->id = index;
+ sm->first_time = false;
+ sm->serviceable = serviceable;
+ sm->sub_id = 0;
+
+ sm->prop = fgGetNode("/ai/submodels/subsubmodel", index, true);
+ sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
+ sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
+ sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
+ sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
+ sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
+ string name = sm->name;
+ sm->prop->setStringValue("name", name.c_str());
+
+ string submodel = sm->submodel;
+ sm->prop->setStringValue("submodel", submodel.c_str());
+ // cout << " set submodel path " << submodel<< endl;
+
+ if (sm->contents_node != 0)
+ sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
+
+ index++;
+ subsubmodels.push_back(sm);
+ }
+}
+
+void FGSubmodelMgr::loadSubmodels()
+{
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Loading sub submodels");
+ submodel_iterator = submodels.begin();
+ while (submodel_iterator != submodels.end()) {
+ string submodel = (*submodel_iterator)->submodel;
+ if (!submodel.empty()) {
+ //int id = (*submodel_iterator)->id;
+ bool serviceable = true;
+ SG_LOG(SG_GENERAL, SG_DEBUG, "found path sub sub "
+ << submodel
+ << " index " << index
+ << "name " << (*submodel_iterator)->name);
+ (*submodel_iterator)->sub_id = index;
+ setSubData(index, submodel, serviceable);
+ }
+ ++submodel_iterator;
+ }
+
+ subsubmodel_iterator = subsubmodels.begin();
+
+ while (subsubmodel_iterator != subsubmodels.end()) {
+ submodels.push_back(*subsubmodel_iterator);
+ ++subsubmodel_iterator;
+ }
+
+ submodel_iterator = submodels.begin();
+
+ while (submodel_iterator != submodels.end()) {
+ int id = (*submodel_iterator)->id;
+ SG_LOG(SG_GENERAL, SG_DEBUG,"after pusback "
+ << " id " << id
+ << " name " << (*submodel_iterator)->name
+ << " sub id " << (*submodel_iterator)->sub_id);
+
+ ++submodel_iterator;
+ }
+}
+
+// end of submodel.cxx
projects / flightgear.git / blobdiff