using std::cout;
using std::endl;
+using std::string;
+using std::vector;
const double FGSubmodelMgr::lbs_to_slugs = 0.031080950172;
_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->setBoolValue(false);
load();
-
}
-void FGSubmodelMgr::postinit() {
+void FGSubmodelMgr::postinit()
+{
// postinit, so that the AI list is populated
-
- loadAI();
+ loadAI();
while (_found_sub)
loadSubmodels();
}
void FGSubmodelMgr::bind()
-{}
+{
+}
void FGSubmodelMgr::unbind()
{
_hit = false;
_expiry = false;
- // check if the submodel hit an object or terrain
+ // 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();
+ FGAIManager::ai_list_iterator sm_list_itr = sm_list.begin();
+ FGAIManager::ai_list_iterator 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
+ // Continue if object is not ballistic
+ if (object_type != FGAIBase::otBallistic) {
+ 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
+ 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_AI, SG_DEBUG, "Submodel: Impact " << _impact << " hit! "
(*submodel_iterator)->first_time = true;
//cout << "Impact: parent SubID = child_ID elev " << _parent_elev << endl;
- if (release(*submodel_iterator, dt)){
+ if (release(*submodel_iterator, dt)) {
(*sm_list_itr)->setDie(true);
//cout << "Impact: set die" << (*sm_list_itr)->_getName() << endl;
}
_contrail_trigger->setBoolValue(_user_alt_node->getDoubleValue() > contrail_altitude);
-
-// bool in_range = true;
bool trigger = false;
int i = -1;
_trigger_node = (*submodel_iterator)->trigger_node;
trigger = _trigger_node->getBoolValue();
//cout << (*submodel_iterator)->name << "trigger node found " << trigger << endl;
- } else {
+ }
+ 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;
(*submodel_iterator)->first_time = true;
++submodel_iterator;
- } // end while
+ }
}
bool FGSubmodelMgr::release(submodel *sm, double dt)
{
- //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
+ // 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;
}
//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->setName(sm->name);
ballist->setSlaved(sm->slaved);
ballist->setRandom(sm->random);
- ballist->setRandomness(sm->randomness);
+ 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->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->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)
void FGSubmodelMgr::load()
{
- SGPropertyNode *path = fgGetNode("/sim/submodels/path");
+ SGPropertyNode_ptr path_node = fgGetNode("/sim/submodels/path");
- if (path) {
+ if (path_node) {
const int id = 0;
- const string& Path = path->getStringValue();
- bool Seviceable =_serviceable_node->getBoolValue();
- setData(id, Path, Seviceable);
+ const string& path = path_node->getStringValue();
+ bool serviceable =_serviceable_node->getBoolValue();
+ setData(id, path, serviceable, "/ai/submodels/submodel", submodels);
}
}
void FGSubmodelMgr::transform(submodel *sm)
{
- // set initial conditions
+ // Set initial conditions
if (sm->contents_node != 0 && !sm->slaved) {
- // get the weight of the contents (lbs) and convert to mass (slugs)
+ // 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
+ // 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
+ }
+ else {
IC.mass = sm->weight * lbs_to_slugs;
+ }
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();
-
- //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++;
+ // Set the data for a submodel tied to a submodel
IC.lat = _parent_lat;
IC.lon = _parent_lon;
IC.alt = _parent_elev;
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
-
+ }
+ 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
- //cout << " set the data for a submodel tied to an AI Object " << id << endl;
+ }
+ else {
+ // Set the data for a submodel tied to an AI Object
setParentNode(id);
}
- //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 ;
-
-
// 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();
-//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;
+ 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();
+ }
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);
- sinRy = sin(-IC.elevation * SG_DEGREES_TO_RADIANS);
- cosRz = cos(IC.azimuth * SG_DEGREES_TO_RADIANS);
- sinRz = sin(IC.azimuth * SG_DEGREES_TO_RADIANS);
-
+ // 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();
- // 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);
+ 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 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 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));
- // 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;
+ IC.speed = length(total_speed);
- // 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 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;
+ 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
+ IC.azimuth = atan2(total_speed_east, total_speed_north) * SG_RADIANS_TO_DEGREES;
+
+ // Rationalize 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))
+ IC.elevation = -atan(total_speed_down / sqrt(total_speed_north
+ * total_speed_north + total_speed_east * total_speed_east))
* SG_RADIANS_TO_DEGREES;
}
- //cout << "IC.speed " << IC.speed / SG_KT_TO_FPS << endl;
+ else {
+ double ic_roll;
+ ic_quat.getEulerDeg(IC.azimuth, IC.elevation, ic_roll);
+ }
}
void FGSubmodelMgr::updatelat(double lat)
void FGSubmodelMgr::loadAI()
{
- SG_LOG(SG_AI, SG_DEBUG, "Submodels: Loading AI submodels ");
+ SG_LOG(SG_AI, SG_DEBUG, "Submodels: Loading AI submodels");
FGAIManager::ai_list_type sm_list(aiManager()->get_ai_list());
return;
}
- FGAIManager::ai_list_iterator sm_list_itr = sm_list.begin(),
- 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)->_getSMPath();
//string type = (*sm_list_itr)->getTypeString();
//cout << "loadAI: type " << type << " path "<< path << " serviceable " << serviceable << endl;
- setData(id, path, serviceable);
+ setData(id, path, serviceable, "/ai/submodels/submodel", submodels);
++sm_list_itr;
}
}
-
-
-void FGSubmodelMgr::setData(int id, const string& path, bool serviceable)
+void FGSubmodelMgr::setData(int id, const string& path, bool serviceable, const string& property_path, submodel_vector_type& models)
{
SGPropertyNode root;
SG_LOG(SG_AI, SG_DEBUG,
"Submodels: Trying to read AI submodels file: " << config.str());
readProperties(config.str(), &root);
- } catch (const sg_exception &) {
+ }
+ 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->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;
+ 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;
- 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;
+ b = entry_node->getNode("x-offset");
+ sm->x_offset = new FGXMLAutopilot::InputValue(*prop_root, b ? *b : n);
+ if (b) old = true;
- 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)));
- const string& name = sm->name;
- sm->prop->setStringValue("name", name.c_str());
+ b = entry_node->getNode("y-offset");
+ sm->y_offset = new FGXMLAutopilot::InputValue(*prop_root, b ? *b : n);
+ if (b) old = true;
- const string& submodel = sm->submodel;
- sm->prop->setStringValue("submodel", submodel.c_str());
+ b = entry_node->getNode("z-offset");
+ sm->z_offset = new FGXMLAutopilot::InputValue(*prop_root, b ? *b : n);
+ if (b) old = true;
- const string& force_path = sm->force_path;
- sm->prop->setStringValue("force_path", force_path.c_str());
- //cout << "set force_path Sub " << force_path << endl;
+ b = entry_node->getNode("yaw-offset");
+ sm->yaw_offset = new FGXMLAutopilot::InputValue(*prop_root, b ? *b : n);
+ if (b) old = true;
- if (sm->contents_node != 0)
- sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
+ b = entry_node->getNode("pitch-offset");
+ sm->pitch_offset = new FGXMLAutopilot::InputValue(*prop_root, b ? *b : n);
+ if (b) old = true;
- index++;
- submodels.push_back(sm);
- }
-}
+#if defined(ENABLE_DEV_WARNINGS)
+ if (old) {
+ SG_LOG(SG_AI, SG_WARN, "Submodels: <*-offset> is deprecated. Use <offsets> instead");
+ }
+#endif
+ }
-void FGSubmodelMgr::setSubData(int id, const string& path, bool serviceable)
-{
- SGPropertyNode root;
- SGPath config = globals->resolve_aircraft_path(path);
+ // Randomness
+ a = entry_node->getNode("randomness", true);
- try {
- SG_LOG(SG_AI, SG_DEBUG,
- "Submodels: Trying to read AI submodels file: " << config.str());
- readProperties(config.str(), &root);
+ // Maximum azimuth randomness error in degrees
+ b = a->getNode("azimuth");
+ sm->azimuth_error = new FGXMLAutopilot::InputValue(*prop_root, b ? *b : n);
- } catch (const sg_exception &) {
- SG_LOG(SG_AI, SG_ALERT,
- "Submodels: Unable to read AI submodels file: " << config.str());
- return;
- }
+ // Maximum elevation randomness error in degrees
+ b = a->getNode("elevation");
+ sm->elevation_error = new FGXMLAutopilot::InputValue(*prop_root, b ? *b : n);
- vector<SGPropertyNode_ptr> children = root.getChildren("submodel");
- vector<SGPropertyNode_ptr>::iterator it = children.begin();
- vector<SGPropertyNode_ptr>::iterator end = children.end();
+ // 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);
- 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);
+ // 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->speed = sm->speed_node->getDoubleValue();
sm->timer = sm->delay;
- sm->id = index;
+ sm->id = id;
sm->first_time = false;
sm->serviceable = serviceable;
sm->sub_id = 0;
- sm->prop = fgGetNode("/ai/submodels/subsubmodel", 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("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
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-path", submodel.c_str());
- // cout << " set submodel path AI" << submodel<< endl;
+ sm->prop->setStringValue("submodel", submodel.c_str());
const 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);
+ models.push_back(sm);
}
}
<< " index " << index
<< " name " << (*submodel_iterator)->name);
- if ((*submodel_iterator)->sub_id == 0){
+ if ((*submodel_iterator)->sub_id == 0) {
(*submodel_iterator)->sub_id = index;
_found_sub = true;
- setSubData(index, submodel, serviceable);
+ setData(index, submodel, serviceable, "/ai/submodels/subsubmodel", subsubmodels);
}
}
++submodel_iterator;
- } // end while
+ }
- subsubmodel_iterator = subsubmodels.begin();
+ 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;
- } // 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_AI, 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 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
+ // And postrotate the orientation of the user model wrt the horizontal
// local frame
hlTrans *= SGQuatd::fromYawPitchRollDeg(
IC.azimuth,
return offsetPos;
}
-void FGSubmodelMgr::setOffsetPos(){
- // convert the offset geocentered position to geodetic
+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)
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
+ 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);
//const string& callsign = callsign_node->getStringValue();
//cout << "Submodels: model added - " << callsign <<" read callsign "<< endl;
- return;
-
- } else {
- cout << "model added - " << str2 <<" returning "<< endl;
- return;
- }
-
+ }
+ else {
+ cout << "model added - " << str2 <<" returning " << endl;
+ }
}
-void FGSubmodelMgr::setParentNode(int id) {
-
+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
+ if (i < 0) {
+ // Last iteration: selected model
model = _selected_ac;
- } else {
+ }
+ else {
model = ai->getChild(i);
- //const string& path = ai->getPath();
- //const string& name = model->getStringValue("name");
int parent_id = model->getIntValue("id");
- if (!model->nChildren()){
+ if (!model->nChildren()) {
continue;
}
if (parent_id == id) {
- _selected_ac = model; // save selected model for last iteration
+ // Save selected model for last iteration
+ _selected_ac = model;
break;
}
-
}
if (!model)
continue;
+ }
- }// end for loop
-
- if (_selected_ac != 0){
-
- //cout << " parent node found"<< endl;
-
+ 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.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 {
+ }
+ else {
SG_LOG(SG_AI, SG_ALERT, "AISubmodel: parent node not found ");
}
-
}
-// end of submodel.cxx
projects / flightgear.git / blobdiff