-// 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
//
#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 "AIBase.hxx"
#include "AIManager.hxx"
#include "AIBallistic.hxx"
+using std::cout;
+using std::endl;
+using std::string;
+using std::vector;
const double FGSubmodelMgr::lbs_to_slugs = 0.031080950172;
FGSubmodelMgr::FGSubmodelMgr()
{
- x_offset = y_offset = 0.0;
- z_offset = -4.0;
- pitch_offset = 2.0;
+ x_offset = y_offset = z_offset = 0.0;
+ pitch_offset = 0.0;
yaw_offset = 0.0;
- out[0] = out[1] = out[2] = 0;
- in[3] = out[3] = 1;
- string contents_node;
+ //out[0] = out[1] = out[2] = 0;
+ //string contents_node;
contrail_altitude = 30000;
+ _count = 0;
+ _found_sub = true;
}
FGSubmodelMgr::~FGSubmodelMgr()
-{}
+{
+}
+
+FGAIManager* FGSubmodelMgr::aiManager()
+{
+ return (FGAIManager*)globals->get_subsystem("ai-model");
+}
void FGSubmodelMgr::init()
{
_user_alt_node = fgGetNode("/position/altitude-ft", true);
_user_heading_node = fgGetNode("/orientation/heading-deg", true);
- _user_pitch_node = fgGetNode("/orientation/pitch-deg", true);
- _user_roll_node = fgGetNode("/orientation/roll-deg", true);
- _user_yaw_node = fgGetNode("/orientation/yaw-deg", true);
- _user_alpha_node = fgGetNode("/orientation/alpha-deg", true);
+ _user_pitch_node = fgGetNode("/orientation/pitch-deg", true);
+ _user_roll_node = fgGetNode("/orientation/roll-deg", true);
+ _user_yaw_node = fgGetNode("/orientation/yaw-deg", true);
+ _user_alpha_node = fgGetNode("/orientation/alpha-deg", true);
_user_speed_node = fgGetNode("/velocities/uBody-fps", true);
_contrail_trigger = fgGetNode("ai/submodels/contrails", true);
_contrail_trigger->setBoolValue(false);
- ai = (FGAIManager*)globals->get_subsystem("ai_model");
-
load();
}
-void FGSubmodelMgr::postinit() {
+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::bind()
-{}
+{
+}
void FGSubmodelMgr::unbind()
{
submodel_iterator = submodels.begin();
-
while (submodel_iterator != submodels.end()) {
(*submodel_iterator)->prop->untie("count");
++submodel_iterator;
}
-
}
void FGSubmodelMgr::update(double dt)
{
- if (!(_serviceable_node->getBoolValue()))
+ if (!_serviceable_node->getBoolValue())
return;
- int i = -1;
- bool in_range = true;
- bool trigger = false;
+ _impact = false;
+ _hit = false;
+ _expiry = false;
- _contrail_trigger->setBoolValue(_user_alt_node->getDoubleValue() > contrail_altitude);
+ // 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();
+ FGAIManager::ai_list_iterator end = sm_list.end();
- submodel_iterator = submodels.begin();
+ for (; sm_list_itr != end; ++sm_list_itr) {
+ FGAIBase::object_type object_type =(*sm_list_itr)->getType();
- while (submodel_iterator != submodels.end()) {
- i++;
-
- if ((*submodel_iterator)->trigger_node != 0) {
- trigger = (*submodel_iterator)->trigger_node->getBoolValue();
- //cout << (*submodel_iterator)->name << "trigger node found" << trigger << endl;
- } else {
- trigger = true;
- //cout << (*submodel_iterator)->name << "trigger node not found" << trigger << endl;
+ // Continue if object is not ballistic
+ if (object_type != FGAIBase::otBallistic) {
+ continue;
}
- if (trigger) {
- int id = (*submodel_iterator)->id;
+ int parent_subID = (*sm_list_itr)->_getSubID();
+ int id = (*sm_list_itr)->getID();
- // 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();
+ if (parent_subID == 0 || id == -1) // this entry in the list has no associated submodel
+ continue; // or is invalid so we can continue
- while (sm_list_itr != end) {
+ //SG_LOG(SG_AI, SG_DEBUG, "Submodel: Impact " << _impact << " hit! "
+ // << _hit <<" parent_subID " << parent_subID);
- if (id == 0) {
- SG_LOG(SG_GENERAL, SG_DEBUG,
- "Submodels: continuing: " << id);
- ++sm_list_itr;
- continue;
- }
+ _hit = (*sm_list_itr)->_getCollisionData();
+ _impact = (*sm_list_itr)->_getImpactData();
+ _expiry = (*sm_list_itr)->_getExpiryData();
+
+ //SG_LOG(SG_AI, SG_ALERT, "Submodel: " << (*sm_list_itr)->_getName()
+ // << " Impact " << _impact << " hit! " << _hit
+ // << " exipiry :-( " << _expiry );
+
+ if (_impact || _hit || _expiry) {
+ // SG_LOG(SG_AI, 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;
- int parent_id = (*sm_list_itr)->getID();
-
- 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;
+ if (release(*submodel_iterator, dt)) {
+ (*sm_list_itr)->setDie(true);
+ //cout << "Impact: set die" << (*sm_list_itr)->_getName() << endl;
}
}
- ++sm_list_itr;
- } // end while
+ ++submodel_iterator;
+ }
+ }
+ }
+
+ _contrail_trigger->setBoolValue(_user_alt_node->getDoubleValue() > contrail_altitude);
+
+ bool trigger = false;
+ int i = -1;
+
+ submodel_iterator = submodels.begin();
+ while (submodel_iterator != submodels.end()) {
+ i++;
+
+ /*SG_LOG(SG_AI, SG_DEBUG,
+ "Submodels: " << (*submodel_iterator)->id
+ << " name " << (*submodel_iterator)->name
+ );*/
- if ((*submodel_iterator)->count != 0 && in_range)
- release((*submodel_iterator), dt);
+ 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;
+ //const string& name = (*submodel_iterator)->name;
+
+ SG_LOG(SG_AI, 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)
{
- // only run if first time or repeat is set to true
- if (!sm->first_time && !sm->repeat)
+ // Only run if first time or repeat is set to true
+ if (!sm->first_time && !sm->repeat) {
return false;
+ }
sm->timer += dt;
- if (sm->timer < sm->delay)
+ 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;
sm->first_time = false;
}
- transform(sm); // calculate submodel's initial conditions in world-coordinates
+ // Calculate submodel's initial conditions in world-coordinates
+ transform(sm);
FGAIBallistic* ballist = new FGAIBallistic;
ballist->setPath(sm->model.c_str());
- ballist->setLatitude(IC.lat);
- ballist->setLongitude(IC.lon);
- ballist->setAltitude(IC.alt);
+ ballist->setName(sm->name);
+ ballist->setSlaved(sm->slaved);
+ ballist->setRandom(sm->random);
+ ballist->setLifeRandomness(sm->life_randomness->get_value());
+ ballist->setLatitude(offsetpos.getLatitudeDeg());
+ ballist->setLongitude(offsetpos.getLongitudeDeg());
+ ballist->setAltitude(offsetpos.getElevationFt());
+ ballist->setAzimuthRandomError(sm->azimuth_error->get_value());
ballist->setAzimuth(IC.azimuth);
+ ballist->setElevationRandomError(sm->elevation_error->get_value());
ballist->setElevation(IC.elevation);
ballist->setRoll(IC.roll);
ballist->setSpeed(IC.speed / SG_KT_TO_FPS);
ballist->setLife(sm->life);
ballist->setBuoyancy(sm->buoyancy);
ballist->setWind(sm->wind);
+ ballist->setCdRandomness(sm->cd_randomness->get_value());
ballist->setCd(sm->cd);
ballist->setStabilisation(sm->aero_stabilised);
ballist->setNoRoll(sm->no_roll);
- ballist->setName(sm->name);
- ai->attach(ballist);
+ 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(_x_offset);
+ ballist->setYoffset(_y_offset);
+ ballist->setZoffset(_z_offset);
+ ballist->setPitchoffset(sm->pitch_offset->get_value());
+ ballist->setYawoffset(sm->yaw_offset->get_value());
+ ballist->setParentNodes(_selected_ac);
+ ballist->setContentsNode(sm->contents_node);
+ ballist->setWeight(sm->weight);
+
+ aiManager()->attach(ballist);
if (sm->count > 0)
- (sm->count)--;
-
+ sm->count--;
return true;
}
void FGSubmodelMgr::load()
{
- const int id = 0;
+ SGPropertyNode_ptr path_node = fgGetNode("/sim/submodels/path");
- SGPropertyNode *path = fgGetNode("/sim/submodels/path");
- SGPropertyNode root;
-
- if (path) {
- string Path = path->getStringValue();
- bool Seviceable =_serviceable_node->getBoolValue();
- setData(id, Path, Seviceable);
+ if (path_node) {
+ const int id = 0;
+ const string& path = path_node->getStringValue();
+ bool serviceable =_serviceable_node->getBoolValue();
+ setData(id, path, serviceable, "/ai/submodels/submodel", submodels);
}
-
}
-void FGSubmodelMgr::transform(submodel* sm)
+void FGSubmodelMgr::transform(submodel *sm)
{
- // get 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();
+ // 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->setDoubleValue(0);
- } else
+ // 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;
+ }
- //cout << "mass " << IC.mass << endl;
+ int id = sm->id;
+ //int sub_id = sm->sub_id;
+ //const string& name = sm->name;
if (sm->speed_node != 0)
sm->speed = sm->speed_node->getDoubleValue();
- int ind = sm->id;
-
- if (ind == 0) {
- // set the data for a submodel tied to the main model
+ // set the Initial Conditions for the types of submodel parent
+
+ if (_impact || _hit || _expiry) {
+ _count++;
+
+ // Set the data for a submodel tied to a submodel
+ 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.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 id = (*sm_list_itr)->getID();
-
- if (ind != 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;
- }
-
+ }
+ else {
+ // Set the data for a submodel tied to an AI Object
+ setParentNode(id);
}
- /*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 ;*/
-
+ // 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();
- 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);
- sinRy = sin(-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];
+ userpos.setLatitudeDeg(IC.lat);
+ userpos.setLongitudeDeg(IC.lon);
+ userpos.setElevationFt(IC.alt);
- // 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);
+ if (sm->offsets_in_meter) {
+ _x_offset = -sm->x_offset->get_value() * SG_METER_TO_FEET;
+ _y_offset = sm->y_offset->get_value() * SG_METER_TO_FEET;
+ _z_offset = sm->z_offset->get_value() * SG_METER_TO_FEET;
+ }
+ else {
+ _x_offset = sm->x_offset->get_value();
+ _y_offset = sm->y_offset->get_value();
+ _z_offset = sm->z_offset->get_value();
+ }
- // 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);
+ setOffsetPos();
- // 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;
+ // Compute initial orientation using yaw and pitch offsets and parent's orientation
+ const double yaw_offset = sm->yaw_offset->get_value();
+ const double pitch_offset = sm->pitch_offset->get_value();
- // 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;
+ SGQuatd ic_quat = SGQuatd::fromYawPitchRollDeg(IC.azimuth, IC.elevation, IC.roll);
+ ic_quat *= SGQuatd::fromYawPitchRollDeg(yaw_offset, pitch_offset, 0.0);
- // calculate the total speed down
- IC.total_speed_down = sm->speed * -sin(IC.elevation * SG_DEGREES_TO_RADIANS)
- + IC.speed_down_fps;
+ // Calculate total speed using speeds of submodel and parent
+ SGVec3d total_speed = SGVec3d(IC.speed_north_fps, IC.speed_east_fps, IC.speed_down_fps);
+ total_speed += ic_quat.rotate(SGVec3d(sm->speed, 0, 0));
- // 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.speed = length(total_speed);
- //cout << " speed fps out" << IC.speed << endl ;
- IC.azimuth = atan(IC.total_speed_east / IC.total_speed_north) * SG_RADIANS_TO_DEGREES;
+ // If speeds are low this calculation can become unreliable
+ if (IC.speed > 1) {
+ const double total_speed_north = total_speed.x();
+ const double total_speed_east = total_speed.y();
+ const double total_speed_down = total_speed.z();
- // rationalise the output
- if (IC.total_speed_north <= 0) {
- IC.azimuth = 180 + IC.azimuth;
- } else {
+ IC.azimuth = atan2(total_speed_east, total_speed_north) * SG_RADIANS_TO_DEGREES;
- if (IC.total_speed_east <= 0)
- IC.azimuth = 360 + IC.azimuth;
+ // Rationalize the output
+ if (IC.azimuth < 0)
+ IC.azimuth += 360;
+ else if (IC.azimuth >= 360)
+ IC.azimuth -= 360;
+ IC.elevation = -atan(total_speed_down / sqrt(total_speed_north
+ * total_speed_north + total_speed_east * total_speed_east))
+ * SG_RADIANS_TO_DEGREES;
+ }
+ else {
+ double ic_roll;
+ ic_quat.getEulerDeg(IC.azimuth, IC.elevation, ic_roll);
}
-
- 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::loadAI()
{
- SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Loading AI submodels ");
+ SG_LOG(SG_AI, SG_DEBUG, "Submodels: Loading AI submodels");
- sm_list = ai->get_ai_list();
+ FGAIManager::ai_list_type sm_list(aiManager()->get_ai_list());
if (sm_list.empty()) {
- SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Unable to read AI submodel list");
+ SG_LOG(SG_AI, SG_ALERT, "Submodels: Unable to read AI submodel list");
return;
}
- sm_list_iterator sm_list_itr = sm_list.begin();
- sm_list_iterator end = sm_list.end();
+ FGAIManager::ai_list_iterator sm_list_itr = sm_list.begin();
+ FGAIManager::ai_list_iterator end = sm_list.end();
while (sm_list_itr != end) {
- string path = (*sm_list_itr)->_getPath();
+ string path = (*sm_list_itr)->_getSMPath();
if (path.empty()) {
++sm_list_itr;
int id = (*sm_list_itr)->getID();
bool serviceable = (*sm_list_itr)->_getServiceable();
- setData(id, path, serviceable);
- ++sm_list_itr;
- }
-
-}
+ //string type = (*sm_list_itr)->getTypeString();
+ //cout << "loadAI: type " << type << " path "<< path << " serviceable " << serviceable << endl;
-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;
+ setData(id, path, serviceable, "/ai/submodels/submodel", submodels);
+ ++sm_list_itr;
+ }
}
-void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
+void FGSubmodelMgr::setData(int id, const string& path, bool serviceable, const string& property_path, submodel_vector_type& models)
{
SGPropertyNode root;
- SGPath config(globals->get_fg_root());
- config.append(path);
-
+ SGPath config = globals->resolve_aircraft_path(path);
try {
- SG_LOG(SG_GENERAL, SG_DEBUG,
- "Submodels: Trying to read AI submodels file: " << config.str());
+ SG_LOG(SG_AI, 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());
+ }
+ catch (const sg_exception &) {
+ SG_LOG(SG_AI, SG_ALERT,
+ "Submodels: Unable to read AI submodels file: " << config.str());
return;
}
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->contents_node = fgGetNode(entry_node->getStringValue("contents", "none"), false);
- sm->speed_node = fgGetNode(entry_node->getStringValue("speed-node", "none"), false);
-
- //cout << "sm->contents_node " << sm->contents_node << endl;
+ submodel *sm = new submodel;
+ SGPropertyNode_ptr 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->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);
+
+ SGPropertyNode_ptr prop_root = fgGetNode("/", true);
+ SGPropertyNode n;
+ SGPropertyNode_ptr a, b;
+
+ // Offsets
+ a = entry_node->getNode("offsets", false);
+ sm->offsets_in_meter = (a != 0);
+
+ if (a) {
+ b = a->getNode("x-m");
+ sm->x_offset = new FGXMLAutopilot::InputValue(*prop_root, b ? *b : n);
+
+ b = a->getNode("y-m");
+ sm->y_offset = new FGXMLAutopilot::InputValue(*prop_root, b ? *b : n);
+
+ b = a->getNode("z-m");
+ sm->z_offset = new FGXMLAutopilot::InputValue(*prop_root, b ? *b : n);
+
+ b = a->getNode("heading-deg");
+ sm->yaw_offset = new FGXMLAutopilot::InputValue(*prop_root, b ? *b : n);
+
+ b = a->getNode("pitch-deg");
+ sm->pitch_offset = new FGXMLAutopilot::InputValue(*prop_root, b ? *b : n);
+ }
+ else {
+ bool old = false;
+
+ b = entry_node->getNode("x-offset");
+ sm->x_offset = new FGXMLAutopilot::InputValue(*prop_root, b ? *b : n);
+ if (b) old = true;
+
+ b = entry_node->getNode("y-offset");
+ sm->y_offset = new FGXMLAutopilot::InputValue(*prop_root, b ? *b : n);
+ if (b) old = true;
+
+ b = entry_node->getNode("z-offset");
+ sm->z_offset = new FGXMLAutopilot::InputValue(*prop_root, b ? *b : n);
+ if (b) old = true;
+
+ b = entry_node->getNode("yaw-offset");
+ sm->yaw_offset = new FGXMLAutopilot::InputValue(*prop_root, b ? *b : n);
+ if (b) old = true;
+
+ b = entry_node->getNode("pitch-offset");
+ sm->pitch_offset = new FGXMLAutopilot::InputValue(*prop_root, b ? *b : n);
+ if (b) old = true;
+
+#if defined(ENABLE_DEV_WARNINGS)
+ if (old) {
+ SG_LOG(SG_AI, SG_WARN, "Submodels: <*-offset> is deprecated. Use <offsets> instead");
+ }
+#endif
+ }
+
+ // Randomness
+ a = entry_node->getNode("randomness", true);
+
+ // Maximum azimuth randomness error in degrees
+ b = a->getNode("azimuth");
+ sm->azimuth_error = new FGXMLAutopilot::InputValue(*prop_root, b ? *b : n);
+
+ // Maximum elevation randomness error in degrees
+ b = a->getNode("elevation");
+ sm->elevation_error = new FGXMLAutopilot::InputValue(*prop_root, b ? *b : n);
+
+ // Randomness of Cd (plus or minus)
+ b = a->getNode("cd");
+ if (!b) {
+ b = a->getNode("cd", true);
+ b->setDoubleValue(0.1);
+ }
+ sm->cd_randomness = new FGXMLAutopilot::InputValue(*prop_root, *b);
+
+ // Randomness of life (plus or minus)
+ b = a->getNode("life");
+ if (!b) {
+ b = a->getNode("life", true);
+ b->setDoubleValue(0.5);
+ }
+ sm->life_randomness = new FGXMLAutopilot::InputValue(*prop_root, *b);
+
if (sm->contents_node != 0)
sm->contents = sm->contents_node->getDoubleValue();
if (trigger_path) {
sm->trigger_node = fgGetNode(trigger_path, true);
sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue());
- } else {
+ }
+ else {
sm->trigger_node = 0;
}
sm->id = id;
sm->first_time = false;
sm->serviceable = serviceable;
+ sm->sub_id = 0;
- sm->prop = fgGetNode("/ai/submodels/submodel", index, true);
+ sm->prop = fgGetNode(property_path, 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)));
- string name = sm->name;
+ sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
+ sm->prop->tie("slaved", SGRawValuePointer<bool>(&(sm->slaved)));
+ const string& name = sm->name;
sm->prop->setStringValue("name", name.c_str());
+ const string& submodel = sm->submodel;
+ sm->prop->setStringValue("submodel", submodel.c_str());
+
+ const string& force_path = sm->force_path;
+ sm->prop->setStringValue("force_path", force_path.c_str());
+
if (sm->contents_node != 0)
sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
index++;
- submodels.push_back(sm);
+ models.push_back(sm);
}
+}
+
+void FGSubmodelMgr::loadSubmodels()
+{
+ SG_LOG(SG_AI, SG_DEBUG, "Submodels: Loading sub submodels");
+
+ _found_sub = false;
submodel_iterator = submodels.begin();
+ while (submodel_iterator != submodels.end()) {
+ const string& submodel = (*submodel_iterator)->submodel;
+ if (!submodel.empty()) {
+ //int id = (*submodel_iterator)->id;
+ bool serviceable = true;
+ SG_LOG(SG_AI, 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;
+ setData(index, submodel, serviceable, "/ai/submodels/subsubmodel", subsubmodels);
+ }
+ }
+
+ ++submodel_iterator;
+ }
+
+ submodels.reserve(submodels.size() + subsubmodels.size());
+
+ // Add all elements from subsubmodels to submodels
+ subsubmodel_iterator = subsubmodels.begin();
+ while (subsubmodel_iterator != subsubmodels.end()) {
+ submodels.push_back(*subsubmodel_iterator);
+ ++subsubmodel_iterator;
+ }
+
+ subsubmodels.clear();
+}
+
+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);
+}
+
+void FGSubmodelMgr::valueChanged(SGPropertyNode *prop)
+{
+ return; // this isn't working atm
+
+ const char* _model_added = _model_added_node->getStringValue();
+
+ std::basic_string <char>::size_type indexCh2b;
+
+ string str2 = _model_added;
+ const char *cstr2b = "multiplayer";
+ indexCh2b = str2.find(cstr2b, 0);
+
+ // Ignoring Ballistic Objects; there are potentially too many
+ if (indexCh2b != string::npos ) {
+ //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);
+
+ //const string& callsign = callsign_node->getStringValue();
+ //cout << "Submodels: model added - " << callsign <<" read callsign "<< endl;
+ }
+ else {
+ cout << "model added - " << str2 <<" returning " << endl;
+ }
}
-// end of submodel.cxx
+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);
+ int parent_id = model->getIntValue("id");
+ if (!model->nChildren()) {
+ continue;
+ }
+ if (parent_id == id) {
+ // Save selected model for last iteration
+ _selected_ac = model;
+ break;
+ }
+ }
+ if (!model)
+ continue;
+ }
+
+ if (_selected_ac != 0) {
+ 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");
+ }
+ else {
+ SG_LOG(SG_AI, SG_ALERT, "AISubmodel: parent node not found ");
+ }
+}
projects / flightgear.git / blobdiff