// This file is in the Public Domain and comes with no warranty.
#include "submodel.hxx"
+
+#include <simgear/structure/exception.hxx>
+#include <simgear/misc/sg_path.hxx>
+
#include <Main/fg_props.hxx>
#include <Main/util.hxx>
#include <AIModel/AIManager.hxx>
+const double SubmodelSystem::lbs_to_slugs = 0.031080950172;
+
SubmodelSystem::SubmodelSystem ()
{
- firing = false;
+
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;
}
SubmodelSystem::~SubmodelSystem ()
void
SubmodelSystem::init ()
{
- _serviceable_node = fgGetNode("/systems/submodel/serviceable", true);
- _serviceable_node->setBoolValue(true);
- _trigger_node = fgGetNode("/systems/submodel/trigger", true);
- _trigger_node->setBoolValue(false);
- _amount_node = fgGetNode("/systems/submodel/amount", true);
- _amount_node->setIntValue(60);
+ load();
+ _serviceable_node = fgGetNode("/sim/systems/submodels/serviceable", true);
_user_lat_node = fgGetNode("/position/latitude-deg", true);
_user_lon_node = fgGetNode("/position/longitude-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);
- elapsed_time = 0.0;
- initial_velocity = 2750.0; // feet per second, .50 caliber
+ _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);
ai = (FGAIManager*)globals->get_subsystem("ai_model");
+
+
}
void
void
SubmodelSystem::unbind ()
{
+ submodel_iterator = submodels.begin();
+ while(submodel_iterator != submodels.end()) {
+ (*submodel_iterator)->prop->untie("count");
+ ++submodel_iterator;
+ }
}
void
SubmodelSystem::update (double dt)
{
- if (_trigger_node->getBoolValue()) {
- if (_serviceable_node->getBoolValue()) {
- if (_amount_node->getIntValue() > 0) {
- firing = true;
- release(dt);
- }
- }
- } else {
- if (firing){
- firing = false;
- elapsed_time = 0.0;
- }
+ if (!(_serviceable_node->getBoolValue())) return;
+ int i=-1;
+ submodel_iterator = submodels.begin();
+ while(submodel_iterator != submodels.end()) {
+ i++;
+ if ((*submodel_iterator)->trigger->getBoolValue()) {
+ if ((*submodel_iterator)->count != 0) {
+ release( (*submodel_iterator), dt);
+ }
+ } else {
+ (*submodel_iterator)->first_time = true;
+ }
+ ++submodel_iterator;
}
+
}
bool
-SubmodelSystem::release (double dt)
+SubmodelSystem::release (submodel* sm, double dt)
{
- // releases a submodel every 0.25 seconds
- elapsed_time += dt;
- if (elapsed_time < 0.25) return false;
- elapsed_time = 0.0;
-
- int rval = ai->createBallistic( "Models/Geometry/tracer.xml",
- _user_lat_node->getDoubleValue(),
- _user_lon_node->getDoubleValue(),
- _user_alt_node->getDoubleValue() + z_offset,
- _user_heading_node->getDoubleValue() + yaw_offset,
- _user_pitch_node->getDoubleValue() + pitch_offset,
- _user_speed_node->getDoubleValue() + initial_velocity );
-
- _amount_node->setIntValue( _amount_node->getIntValue() - 1);
+ 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;
+ ai->createBallistic( &entity );
+
+ if (sm->count > 0) (sm->count)--;
+
return true;
}
+void
+SubmodelSystem::load ()
+{
+
+ int i;
+ SGPropertyNode *path = fgGetNode("/sim/systems/submodels/path");
+ SGPropertyNode root;
+
+ if (path) {
+ SGPath config( globals->get_fg_root() );
+ config.append( path->getStringValue() );
+
+ 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;
+ }
+ }
+
+ 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->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("/systems/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();
+
+}
+
+
+void
+SubmodelSystem::transform( submodel* sm)
+{
+
+// 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
+
+ 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];
+
+ // 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;
+
+}
+
+void
+SubmodelSystem::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);
+}
+
// end of submodel.cxx
+
+
+
+
projects / flightgear.git / blobdiff