-// 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 <simgear/props/props_io.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;
- contrail_altitude = 30000.0;
+ x_offset = y_offset = z_offset = 0.0;
+ pitch_offset = 0.0;
+ yaw_offset = 0.0;
+
+ //out[0] = out[1] = out[2] = 0;
+ string contents_node;
+ contrail_altitude = 30000;
+ _count = 0;
+ _found_sub = true;
}
-FGSubmodelMgr::~FGSubmodelMgr ()
+FGSubmodelMgr::~FGSubmodelMgr()
{
}
-void
-FGSubmodelMgr::init ()
+FGAIManager* FGSubmodelMgr::aiManager()
{
- load();
+ return (FGAIManager*)globals->get_subsystem("ai_model");
+}
+
+void FGSubmodelMgr::init()
+{
+ 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);
_contrail_altitude_node = fgGetNode("/environment/params/contrail-altitude", true);
- contrail_altitude = _contrail_altitude_node->getDoubleValue();
- _contrail_trigger = fgGetNode("ai/submodels/contrails", 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();
+
+ while (_found_sub)
+ loadSubmodels();
+
+ //TODO reload submodels if an MP ac joins
+
+ //_model_added_node = fgGetNode("ai/models/model-added", true);
+ //_model_added_node->addChangeListener(this, false);
}
-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;
-
- if (_user_alt_node->getDoubleValue() > contrail_altitude) {
- _contrail_trigger->setBoolValue(true);
- }
-
- 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;
+ _expiry = false;
+
+ // check if the submodel hit an object or terrain
+ FGAIManager::ai_list_type sm_list(aiManager()->get_ai_list());
+ FGAIManager::ai_list_iterator sm_list_itr = sm_list.begin(),
+ end = sm_list.end();
+
+ for (; sm_list_itr != end; ++sm_list_itr) {
+ FGAIBase::object_type object_type =(*sm_list_itr)->getType();
+
+ if (object_type != FGAIBase::otBallistic){// only work on ballistic objects
+ continue; // so continue
+ }
+
+ int parent_subID = (*sm_list_itr)->_getSubID();
+ int id = (*sm_list_itr)->getID();
+
+ if ( parent_subID == 0 || id == -1) // this entry in the list has no associated submodel
+ continue; // or is invalid so we can continue
+
+ //SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! "
+ // << _hit <<" parent_subID " << parent_subID);
+
+ _hit = (*sm_list_itr)->_getCollisionData();
+ _impact = (*sm_list_itr)->_getImpactData();
+ _expiry = (*sm_list_itr)->_getExpiryData();
+
+ //SG_LOG(SG_GENERAL, SG_ALERT, "Submodel: " << (*sm_list_itr)->_getName()
+ // << " Impact " << _impact << " hit! " << _hit
+ // << " exipiry :-( " << _expiry );
+
+ if (_impact || _hit || _expiry) {
+ // SG_LOG(SG_GENERAL, SG_ALERT, "Submodel: Impact " << _impact << " hit! " << _hit
+ //<< " exipiry :-( " << _expiry );
+
+ 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;
+ //cout << "Impact: parent SubID = child_ID elev " << _parent_elev << endl;
+
+ if (release(*submodel_iterator, dt)){
+ (*sm_list_itr)->setDie(true);
+ //cout << "Impact: set die" << (*sm_list_itr)->_getName() << endl;
+ }
+
+ }
+
+ ++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++;
+
+ /*SG_LOG(SG_GENERAL, SG_DEBUG,
+ "Submodels: " << (*submodel_iterator)->id
+ << " name " << (*submodel_iterator)->name
+ );*/
+
+ if ((*submodel_iterator)->trigger_node != 0) {
+ _trigger_node = (*submodel_iterator)->trigger_node;
+ trigger = _trigger_node->getBoolValue();
+ //cout << (*submodel_iterator)->name << "trigger node found " << trigger << endl;
+ } else {
+ trigger = false;
+ //cout << (*submodel_iterator)->name << " trigger node not found " << trigger << endl;
+ }
+
+ if (trigger && (*submodel_iterator)->count != 0) {
+
+ //int id = (*submodel_iterator)->id;
+ string name = (*submodel_iterator)->name;
+
+ SG_LOG(SG_GENERAL, SG_DEBUG,
+ "Submodels release: " << (*submodel_iterator)->id
+ << " name " << (*submodel_iterator)->name
+ << " count " << (*submodel_iterator)->count
+ << " slaved " << (*submodel_iterator)->slaved
+ );
+
+ 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
+ // << " slaved " << sm->slaved
+ // << endl;
+
+ // only run if first time or repeat is set to true
+ if (!sm->first_time && !sm->repeat) {
+ //cout<< "returning: "<< sm->name
+ // << " not first time " << sm->first_time
+ // << " repeat " << sm->repeat
+ // << " slaved " << sm->slaved
+ // << endl;
+ return false;
+ }
+
+ sm->timer += dt;
+
+ if (sm->timer < sm->delay) {
+ //cout << "not yet: timer " << sm->timer << " delay " << sm->delay << endl;
+ return false;
+ }
+
+ //cout << "released timer: " << sm->timer << " delay " << sm->delay << endl;
+
+ 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->setName(sm->name);
+ ballist->setSlaved(sm->slaved);
+ ballist->setRandom(sm->random);
+ ballist->setRandomness(sm->randomness);
+ ballist->setLatitude(offsetpos.getLatitudeDeg());
+ ballist->setLongitude(offsetpos.getLongitudeDeg());
+ ballist->setAltitude(offsetpos.getElevationFt());
+ 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->setCollision(sm->collision);
+ ballist->setExpiry(sm->expiry);
+ 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);
+ ballist->setForceStabilisation(sm->force_stabilised);
+ ballist->setExternalForce(sm->ext_force);
+ ballist->setForcePath(sm->force_path.c_str());
+ ballist->setXoffset(sm->x_offset);
+ ballist->setYoffset(sm->y_offset);
+ ballist->setZoffset(sm->z_offset);
+ ballist->setPitchoffset(sm->pitch_offset);
+ ballist->setYawoffset(sm->yaw_offset);
+ ballist->setParentNodes(_selected_ac);
+ ballist->setContentsNode(sm->contents_node);
+ ballist->setWeight(sm->weight);
+
+ aiManager()->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 && !sm->slaved) {
+ // get the weight of the contents (lbs) and convert to mass (slugs)
+ sm->contents = sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue();
+ //cout << "transform: contents " << sm->contents << endl;
+ IC.mass = (sm->weight + sm->contents) * lbs_to_slugs;
+ //cout << "mass inc contents" << IC.mass << endl;
+
+ // set contents to 0 in the parent
+ sm->contents_node->getChild("level-gal_us",0,1)->setDoubleValue(0);
+ /*cout << "contents " << sm->contents_node->getChild("level-gal_us")->getDoubleValue()
+ << " " << sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue()
+ << endl;*/
+ } else
+ IC.mass = sm->weight * lbs_to_slugs;
+
+ int id = sm->id;
+ //int sub_id = sm->sub_id;
+ string name = sm->name;
+
+
+ if (sm->speed_node != 0)
+ sm->speed = sm->speed_node->getDoubleValue();
+
+
+ //cout << " name " << name << " id " << id << " sub id" << sub_id << endl;
+
+ // set the Initial Conditions for the types of submodel parent
+
+ if (_impact || _hit || _expiry) {
+ // set the data for a submodel tied to a submodel
+
+ _count++;
+
+ 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
+
+ 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
+ //cout << " set the data for a submodel tied to an AI Object " << id << endl;
+ setParentNode(id);
}
- 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 << "Submodel: setting IC "<< name << endl;
+ //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 ;
+ //cout << "lat " << IC.lat;
+ //cout << "alt " << IC.alt << endl ;
-void
-FGSubmodelMgr::transform( submodel* sm)
-{
+ // Set the Initial Conditions that are common to all types of parent
+ 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
+//cout << "wind e " << IC.wind_from_east << " n " << IC.wind_from_north << endl;
+
+ userpos.setLatitudeDeg(IC.lat);
+ userpos.setLongitudeDeg(IC.lon);
+ userpos.setElevationFt(IC.alt);
+ _x_offset = sm->x_offset;
+ _y_offset = sm->y_offset;
+ _z_offset = sm->z_offset;
+
+ setOffsetPos();
+
+ //IC.elevation += sm->pitch_offset;
+ //IC.azimuth += sm->yaw_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
-
- trans[0][0] = cosRy * cosRz;
- trans[0][1] = -1 * cosRx * sinRz + sinRx * sinRy * cosRz ;
- trans[0][2] = sinRx * sinRz + cosRx * sinRy * cosRz;
-
- trans[1][0] = cosRy * sinRz;
- trans[1][1] = cosRx * cosRz + sinRx * sinRy * sinRz;
- trans[1][2] = -1 * sinRx * cosRx + cosRx * sinRy * sinRz;
-
- trans[2][0] = -1 * sinRy;
- trans[2][1] = sinRx * cosRy;
- 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];
-
- // 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));
-
- // 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
- //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 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;
+ }
+ //cout << "IC.speed " << IC.speed / SG_KT_TO_FPS << endl;
}
-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 ");
+
+ FGAIManager::ai_list_type sm_list(aiManager()->get_ai_list());
+
+ if (sm_list.empty()) {
+ SG_LOG(SG_GENERAL, SG_ALERT, "Submodels: Unable to read AI submodel list");
+ return;
+ }
+
+ FGAIManager::ai_list_iterator sm_list_itr = sm_list.begin(),
+ 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();
+ string type = (*sm_list_itr)->getTypeString();
+ bool serviceable = (*sm_list_itr)->_getServiceable();
+ //cout << "loadAI: type " << type << " path "<< path << " serviceable " << serviceable << endl;
+ setData(id, path, serviceable);
+ ++sm_list_itr;
+ }
+}
+
+
+
+void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
+{
+ SGPropertyNode root;
+
+ SGPath config = globals->resolve_aircraft_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 &) {
+ SG_LOG(SG_GENERAL, SG_ALERT,
+ "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->expiry = entry_node->getBoolValue("expiry", 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-prop", "none"), false);
+ sm->submodel = entry_node->getStringValue("submodel-path", "");
+ sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
+ sm->ext_force = entry_node->getBoolValue("external-force", false);
+ sm->force_path = entry_node->getStringValue("force-path", "");
+ sm->random = entry_node->getBoolValue("random", false);
+ sm->randomness = entry_node->getDoubleValue("randomness", 0.5);
+
+ 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 = id;
+ sm->first_time = false;
+ sm->serviceable = serviceable;
+ sm->sub_id = 0;
+
+ sm->prop = fgGetNode("/ai/submodels/submodel", index, true);
+ sm->prop->tie("delay", SGRawValuePointer<double>(&(sm->delay)));
+ 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)));
+ sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
+ sm->prop->tie("slaved", SGRawValuePointer<bool>(&(sm->slaved)));
+ string name = sm->name;
+ sm->prop->setStringValue("name", name.c_str());
+
+ string submodel = sm->submodel;
+ sm->prop->setStringValue("submodel", submodel.c_str());
+
+ string force_path = sm->force_path;
+ sm->prop->setStringValue("force_path", force_path.c_str());
+ //cout << "set force_path Sub " << force_path << 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->resolve_aircraft_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 &) {
+ SG_LOG(SG_GENERAL, SG_ALERT,
+ "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->expiry = entry_node->getBoolValue("expiry", 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-prop", "none"), false);
+ sm->submodel = entry_node->getStringValue("submodel-path", "");
+ sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
+ sm->ext_force = entry_node->getBoolValue("external-force", false);
+ sm->force_path = entry_node->getStringValue("force-path", "");
+ sm->random = entry_node->getBoolValue("random", false);
+ sm->randomness = entry_node->getDoubleValue("randomness", 0.5);
+
+ 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)));
+ sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
+ sm->prop->tie("slaved", SGRawValuePointer<bool>(&(sm->slaved)));
+
+ string name = sm->name;
+ sm->prop->setStringValue("name", name.c_str());
+
+ string submodel = sm->submodel;
+ sm->prop->setStringValue("submodel-path", submodel.c_str());
+ // cout << " set submodel path AI" << submodel<< endl;
+
+ string force_path = sm->force_path;
+ sm->prop->setStringValue("force_path", force_path.c_str());
+ //cout << "set force_path AI" << force_path << 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");
+
+ _found_sub = false;
+
+ 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);
+
+ if ((*submodel_iterator)->sub_id == 0){
+ (*submodel_iterator)->sub_id = index;
+ _found_sub = true;
+ setSubData(index, submodel, serviceable);
+ }
+ }
+
+ ++submodel_iterator;
+ } // end while
+
+ subsubmodel_iterator = subsubmodels.begin();
+
+ while (subsubmodel_iterator != subsubmodels.end()) {
+
+ submodels.push_back(*subsubmodel_iterator);
+ ++subsubmodel_iterator;
+ } // end while
+
+ subsubmodels.clear();
+
+ //submodel_iterator = submodels.begin();
+
+ //int subcount = 0;
+
+ //while (submodel_iterator != submodels.end()) {
+ // int id = (*submodel_iterator)->id;
+ // subcount++;
+
+ // SG_LOG(SG_GENERAL, SG_ALERT,"after pushback "
+ // << " parent id " << id
+ // << " name " << (*submodel_iterator)->name
+ // << " sub id " << (*submodel_iterator)->sub_id
+ // << " subcount "<< subcount);
+ // ++submodel_iterator;
+ //}
+}
+
+SGVec3d FGSubmodelMgr::getCartOffsetPos() const{
+
+ // convert geodetic positions to geocentered
+ SGVec3d cartuserPos = SGVec3d::fromGeod(userpos);
+ // Transform to the right coordinate frame, configuration is done in
+ // the x-forward, y-right, z-up coordinates (feet), computation
+ // in the simulation usual body x-forward, y-right, z-down coordinates
+ // (meters) )
+
+ SGVec3d _off(_x_offset * SG_FEET_TO_METER,
+ _y_offset * SG_FEET_TO_METER,
+ -_z_offset * SG_FEET_TO_METER);
+
+ // Transform the user position to the horizontal local coordinate system.
+ SGQuatd hlTrans = SGQuatd::fromLonLat(userpos);
+
+ // and postrotate the orientation of the user model wrt the horizontal
+ // local frame
+ hlTrans *= SGQuatd::fromYawPitchRollDeg(
+ IC.azimuth,
+ IC.elevation,
+ IC.roll);
+
+ // The offset converted to the usual body fixed coordinate system
+ // rotated to the earth-fixed coordinates axis
+ SGVec3d off = hlTrans.backTransform(_off);
+
+ // Add the position offset of the user model to get the geocentered position
+ SGVec3d offsetPos = cartuserPos + off;
+ return offsetPos;
+}
+
+void FGSubmodelMgr::setOffsetPos(){
+ // convert the offset geocentered position to geodetic
+ SGVec3d cartoffsetPos = getCartOffsetPos();
+
+ SGGeodesy::SGCartToGeod(cartoffsetPos, offsetpos);
+
+ //cout << "OFFSET POS" << offsetpos.getElevationFt();
+
+}
+
+void FGSubmodelMgr::valueChanged(SGPropertyNode *prop)
+{
+ return; // this isn't working atm
+
+ const char* _model_added = _model_added_node->getStringValue();
+
+ basic_string <char>::size_type indexCh2b;
+
+ string str2 = _model_added;
+ const char *cstr2b = "multiplayer";
+ indexCh2b = str2.find( cstr2b, 0 );
+
+ if (indexCh2b != string::npos ){ // we will ignore Ballistic Objects - there are potentially too many
+
+ //cout << "Submodels: model added - " << str2 <<" read path "<< endl;
+ //return;
+ SGPropertyNode *a_node = fgGetNode(_model_added, true);
+ SGPropertyNode *sub_node = a_node->getChild("sim", 0, true);
+ SGPropertyNode_ptr path_node = sub_node->getChild("path", 0, true);
+ SGPropertyNode_ptr callsign_node = a_node->getChild("callsign", 0, true);
+ string callsign = callsign_node->getStringValue();
+
+ //cout << "Submodels: model added - " << callsign <<" read callsign "<< endl;
+ return;
+
+ } else {
+ cout << "model added - " << str2 <<" returning "<< endl;
+ return;
+ }
+
+}
+
+void FGSubmodelMgr::setParentNode(int id) {
+
+ const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
+
+ for (int i = ai->nChildren() - 1; i >= -1; i--) {
+ SGPropertyNode_ptr model;
+
+ if (i < 0) { // last iteration: selected model
+ model = _selected_ac;
+ } else {
+ model = ai->getChild(i);
+ string path = ai->getPath();
+ const string name = model->getStringValue("name");
+ int parent_id = model->getIntValue("id");
+ if (!model->nChildren()){
+ continue;
+ }
+ if (parent_id == id) {
+ _selected_ac = model; // save selected model for last iteration
+ break;
+ }
+
+ }
+ if (!model)
+ continue;
+
+ }// end for loop
+
+ if (_selected_ac != 0){
+
+ //cout << " parent node found"<< endl;
+
+ const string name = _selected_ac->getStringValue("name");
+ IC.lat = _selected_ac->getDoubleValue("position/latitude-deg");
+ IC.lon = _selected_ac->getDoubleValue("position/longitude-deg");
+ IC.alt = _selected_ac->getDoubleValue("position/altitude-ft");
+ IC.roll = _selected_ac->getDoubleValue("orientation/roll-deg");
+ IC.elevation = _selected_ac->getDoubleValue("orientation/pitch-deg");
+ IC.azimuth = _selected_ac->getDoubleValue("orientation/true-heading-deg");
+ IC.speed = _selected_ac->getDoubleValue("velocities/true-airspeed-kt") * SG_KT_TO_FPS;
+ IC.speed_down_fps = -_selected_ac->getDoubleValue("velocities/vertical-speed-fps");
+ IC.speed_east_fps = _selected_ac->getDoubleValue("velocities/speed-east-fps");
+ IC.speed_north_fps = _selected_ac->getDoubleValue("velocities/speed-north-fps");
+
+ //cout << name << " IC.speed " << IC.speed << endl;
+
+ } else {
+ SG_LOG(SG_GENERAL, SG_ALERT, "AISubmodel: parent node not found ");
+ }
+
+}
+// end of submodel.cxx
projects / flightgear.git / blobdiff