X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIBallistic.cxx;h=5e3b155095f1dc3147a81dbdbd2d80c7570387c3;hb=b78bf2e9e66f9e404f76d416db11315302da0f40;hp=3e8c994f86d7ab7493b54a7394ceb6bb34ff1173;hpb=b2b35568d7ad2b75935b8e3328579a2768725813;p=flightgear.git diff --git a/src/AIModel/AIBallistic.cxx b/src/AIModel/AIBallistic.cxx index 3e8c994f8..5e3b15509 100644 --- a/src/AIModel/AIBallistic.cxx +++ b/src/AIModel/AIBallistic.cxx @@ -23,34 +23,48 @@ # include #endif -#include #include #include +#include #include #include "AIBallistic.hxx" +#include
+ +using namespace simgear; + const double FGAIBallistic::slugs_to_kgs = 14.5939029372; const double FGAIBallistic::slugs_to_lbs = 32.1740485564; -FGAIBallistic::FGAIBallistic() : - FGAIBase(otBallistic), - _elevation(0), +FGAIBallistic::FGAIBallistic(object_type ot) : + FGAIBase(ot), + _height(0.0), + _ht_agl_ft(0.0), + _azimuth(0.0), + _elevation(0.0), + _rotation(0.0), + _formate_to_ac(false), _aero_stabilised(false), _drag_area(0.007), _life_timer(0.0), -_gravity(32.1740485564), + _gravity(32.1740485564), _buoyancy(0), + _wind(true), + _mass(0), _random(false), - _ht_agl_ft(0), _load_resistance(0), _solid(false), + _force_stabilised(false), + _slave_to_ac(false), + _slave_load_to_ac(false), + _contents_lb(0), _report_collision(false), _report_impact(false), -_wind(true), + _external_force(false), _impact_report_node(fgGetNode("/ai/models/model-impact", true)), - _external_force(false) + _old_height(0) { no_roll = false; @@ -77,8 +91,9 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) { setWind(scFileNode->getBoolValue("wind", false)); setRoll(scFileNode->getDoubleValue("roll", 0.0)); setCd(scFileNode->getDoubleValue("cd", 0.029)); - setMass(scFileNode->getDoubleValue("mass", 0.007)); - setStabilisation(scFileNode->getBoolValue("aero_stabilized", false)); + //setMass(scFileNode->getDoubleValue("mass", 0.007)); + setWeight(scFileNode->getDoubleValue("weight", 0.25)); + setStabilisation(scFileNode->getBoolValue("aero-stabilized", false)); setNoRoll(scFileNode->getBoolValue("no-roll", false)); setRandom(scFileNode->getBoolValue("random", false)); setImpact(scFileNode->getBoolValue("impact", false)); @@ -89,15 +104,30 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) { setSubID(scFileNode->getIntValue("SubID", 0)); setExternalForce(scFileNode->getBoolValue("external-force", false)); setForcePath(scFileNode->getStringValue("force-path", "")); - setForceStabilisation(scFileNode->getBoolValue("force_stabilized", false)); - setXOffset(scFileNode->getDoubleValue("x-offset", 0.0)); - setYOffset(scFileNode->getDoubleValue("y-offset", 0.0)); - setZOffset(scFileNode->getDoubleValue("z-offset", 0.0)); + setForceStabilisation(scFileNode->getBoolValue("force-stabilized", false)); + setXoffset(scFileNode->getDoubleValue("x-offset", 0.0)); + setYoffset(scFileNode->getDoubleValue("y-offset", 0.0)); + setZoffset(scFileNode->getDoubleValue("z-offset", 0.0)); + setPitchoffset(scFileNode->getDoubleValue("pitch-offset", 0.0)); + setRolloffset(scFileNode->getDoubleValue("roll-offset", 0.0)); + setYawoffset(scFileNode->getDoubleValue("yaw-offset", 0.0)); + setGroundOffset(scFileNode->getDoubleValue("ground-offset", 0.0)); + setLoadOffset(scFileNode->getDoubleValue("load-offset", 0.0)); + setSlaved(scFileNode->getBoolValue("slaved", false)); + setSlavedLoad(scFileNode->getBoolValue("slaved-load", false)); + setContentsNode(scFileNode->getStringValue("contents")); + setRandom(scFileNode->getBoolValue("random", false)); } bool FGAIBallistic::init(bool search_in_AI_path) { FGAIBase::init(search_in_AI_path); + _impact_reported = false; + _collision_reported = false; + invisible = false; + + _elapsed_time += (sg_random() * 100); + props->setStringValue("material/name", ""); props->setStringValue("name", _name.c_str()); props->setStringValue("submodels/path", _submodel.c_str()); @@ -115,31 +145,123 @@ bool FGAIBallistic::init(bool search_in_AI_path) { void FGAIBallistic::bind() { // FGAIBase::bind(); + props->tie("sim/time/elapsed-sec", SGRawValueMethods(*this, &FGAIBallistic::_getTime)); + props->tie("mass-slug", + SGRawValueMethods(*this, + &FGAIBallistic::getMass)); props->tie("material/load-resistance", SGRawValuePointer(&_load_resistance)); props->tie("material/solid", SGRawValuePointer(&_solid)); props->tie("altitude-agl-ft", SGRawValuePointer(&_ht_agl_ft)); + props->tie("controls/slave-to-ac", + SGRawValueMethods + (*this, &FGAIBallistic::getSlaved, &FGAIBallistic::setSlaved)); + props->tie("controls/invisible", + SGRawValuePointer(&invisible)); + + if(_external_force){ + props->tie("controls/force_stabilized", + SGRawValuePointer(&_force_stabilised)); + props->tie("position/global-x", + SGRawValueMethods(*this, &FGAIBase::_getCartPosX, 0)); + props->tie("position/global-y", + SGRawValueMethods(*this, &FGAIBase::_getCartPosY, 0)); + props->tie("position/global-z", + SGRawValueMethods(*this, &FGAIBase::_getCartPosZ, 0)); + props->tie("velocities/vertical-speed-fps", + SGRawValuePointer(&vs)); + props->tie("velocities/true-airspeed-kt", + SGRawValuePointer(&speed)); + props->tie("velocities/horizontal-speed-fps", + SGRawValuePointer(&hs)); + props->tie("position/altitude-ft", + SGRawValueMethods(*this, &FGAIBase::_getAltitude, &FGAIBase::_setAltitude)); + props->tie("position/latitude-deg", + SGRawValueMethods(*this, &FGAIBase::_getLatitude, &FGAIBase::_setLatitude)); + props->tie("position/longitude-deg", + SGRawValueMethods(*this, &FGAIBase::_getLongitude, &FGAIBase::_setLongitude)); + props->tie("orientation/hdg-deg", + SGRawValuePointer(&hdg)); + props->tie("orientation/pitch-deg", + SGRawValuePointer(&pitch)); + props->tie("orientation/roll-deg", + SGRawValuePointer(&roll)); + props->tie("controls/slave-load-to-ac", + SGRawValueMethods + (*this, &FGAIBallistic::getSlavedLoad, &FGAIBallistic::setSlavedLoad)); + props->tie("position/load-offset", + SGRawValueMethods + (*this, &FGAIBallistic::getLoadOffset, &FGAIBallistic::setLoadOffset)); + props->tie("load/distance-to-hitch-ft", + SGRawValueMethods + (*this, &FGAIBallistic::getDistanceLoadToHitch)); + props->tie("load/elevation-to-hitch-deg", + SGRawValueMethods + (*this, &FGAIBallistic::getElevLoadToHitch)); + props->tie("load/bearing-to-hitch-deg", + SGRawValueMethods + (*this, &FGAIBallistic::getBearingLoadToHitch)); + } + } void FGAIBallistic::unbind() { // FGAIBase::unbind(); + props->untie("sim/time/elapsed-sec"); + props->untie("mass-slug"); props->untie("material/load-resistance"); props->untie("material/solid"); props->untie("altitude-agl-ft"); + props->untie("controls/slave-to-ac"); + props->untie("controls/invisible"); + + if(_external_force){ + props->untie("position/global-y"); + props->untie("position/global-x"); + props->untie("position/global-z"); + props->untie("velocities/vertical-speed-fps"); + props->untie("velocities/true-airspeed-kt"); + props->untie("velocities/horizontal-speed-fps"); + props->untie("position/altitude-ft"); + props->untie("position/latitude-deg"); + props->untie("position/longitude-deg"); + props->untie("position/ht-agl-ft"); + props->untie("orientation/hdg-deg"); + props->untie("orientation/pitch-deg"); + props->untie("orientation/roll-deg"); + props->untie("controls/force_stabilized"); + props->untie("position/load-offset"); + props->untie("load/distance-to-hitch-ft"); + props->untie("load/elevation-to-hitch-deg"); + props->untie("load/bearing-to-hitch-deg"); + } } void FGAIBallistic::update(double dt) { FGAIBase::update(dt); + _setUserPos(); + + if (_slave_to_ac){ + slaveToAC(dt); + Transform(); + setHitchVelocity(dt); + } else if (_formate_to_ac){ + formateToAC(dt); + Transform(); + setHitchVelocity(dt); + } else if (!invisible){ Run(dt); Transform(); } +} + void FGAIBallistic::setAzimuth(double az) { hdg = _azimuth = az; } @@ -149,7 +271,7 @@ void FGAIBallistic::setElevation(double el) { } void FGAIBallistic::setRoll(double rl) { - _rotation = rl; + roll = _rotation = rl; } void FGAIBallistic::setStabilisation(bool val) { @@ -196,6 +318,9 @@ void FGAIBallistic::setMass(double m) { _mass = m; } +void FGAIBallistic::setWeight(double w) { + _weight_lb = w; +} void FGAIBallistic::setRandom(bool r) { _random = r; } @@ -230,25 +355,65 @@ void FGAIBallistic::setFuseRange(double f) { _fuse_range = f; } -void FGAIBallistic::setXOffset(double x) { - _x_offset = x; +void FGAIBallistic::setSubID(int i) { + _subID = i; } -void FGAIBallistic::setYOffset(double y) { - _y_offset = y; +void FGAIBallistic::setSubmodel(const string& s) { + _submodel = s; } -void FGAIBallistic::setZOffset(double z) { - _z_offset = z; +void FGAIBallistic::setGroundOffset(double g) { + _ground_offset = g; } -void FGAIBallistic::setSubID(int i) { - _subID = i; - //cout << "sub id " << _subID << " name " << _name << endl; +void FGAIBallistic::setLoadOffset(double l) { + _load_offset = l; } -void FGAIBallistic::setSubmodel(const string& s) { - _submodel = s; +double FGAIBallistic::getLoadOffset() const { + return _load_offset; +} + +void FGAIBallistic::setSlaved(bool s) { + _slave_to_ac = s; +} + +void FGAIBallistic::setFormate(bool f) { + _formate_to_ac = f; +} + +void FGAIBallistic::setContentsNode(const string& path) { + if (!path.empty()) { + _contents_node = fgGetNode(path.c_str(), true); + } +} + +bool FGAIBallistic::getSlaved() const { + return _slave_to_ac; +} + +double FGAIBallistic::getMass() const { + return _mass; +} + +double FGAIBallistic::getContents() { + if(_contents_node) + _contents_lb = _contents_node->getChild("level-lbs",0,1)->getDoubleValue(); + return _contents_lb; +} + +void FGAIBallistic::setContents(double c) { + if(_contents_node) + _contents_lb = _contents_node->getChild("level-gal_us",0,1)->setDoubleValue(c); +} + +void FGAIBallistic::setSlavedLoad(bool l) { + _slave_load_to_ac = l; +} + +bool FGAIBallistic::getSlavedLoad() const { + return _slave_load_to_ac; } void FGAIBallistic::setForcePath(const string& p) { @@ -263,8 +428,8 @@ void FGAIBallistic::setForcePath(const string& p) { bool FGAIBallistic::getHtAGL(){ - if (globals->get_scenery()->get_elevation_m(pos.getLatitudeDeg(), pos.getLongitudeDeg(), - 10000.0, _elevation_m, &_material)){ + if (getGroundElevationM(SGGeod::fromGeodM(pos, 10000), + _elevation_m, &_material)) { _ht_agl_ft = pos.getElevationFt() - _elevation_m * SG_METER_TO_FEET; if (_material) { const vector& names = _material->get_names(); @@ -298,30 +463,85 @@ double FGAIBallistic::getRecip(double az){ } } -void FGAIBallistic::setPitch(double e, double dt, double coeff){ +void FGAIBallistic::setPch(double e, double dt, double coeff){ double c = dt / (coeff + dt); pitch = (e * c) + (pitch * (1 - c)); } -void FGAIBallistic::setHdg(double dt, double coeff){ +void FGAIBallistic::setBnk(double r, double dt, double coeff){ + double c = dt / (coeff + dt); + roll = (r * c) + (roll * (1 - c)); +} + +void FGAIBallistic::setHt(double h, double dt, double coeff){ + double c = dt / (coeff + dt); + _height = (h * c) + (_height * (1 - c)); +} + +void FGAIBallistic::setHdg(double az, double dt, double coeff){ double recip = getRecip(hdg); double c = dt / (coeff + dt); //we need to ensure that we turn the short way to the new hdg - if (_azimuth < recip && _azimuth < hdg && hdg > 180) { - hdg = ((_azimuth + 360) * c) + (hdg * (1 - c)); - } else if (_azimuth > recip && _azimuth > hdg && hdg <= 180){ - hdg = ((_azimuth - 360) * c) + (hdg * (1 - c)); + if (az < recip && az < hdg && hdg > 180) { + hdg = ((az + 360) * c) + (hdg * (1 - c)); + } else if (az > recip && az > hdg && hdg <= 180){ + hdg = ((az - 360) * c) + (hdg * (1 - c)); } else { - hdg = (_azimuth * c) + (hdg * (1 - c)); + hdg = (az * c) + (hdg * (1 - c)); } + } + +double FGAIBallistic::getTgtXOffset() const { + return _tgt_x_offset; +} + +double FGAIBallistic::getTgtYOffset() const { + return _tgt_y_offset; +} + +double FGAIBallistic::getTgtZOffset() const { + return _tgt_z_offset; +} + +void FGAIBallistic::setTgtXOffset(double x){ + _tgt_x_offset = x; +} + +void FGAIBallistic::setTgtYOffset(double y){ + _tgt_y_offset = y; +} + +void FGAIBallistic::setTgtZOffset(double z){ + _tgt_z_offset = z; +} + +void FGAIBallistic::slaveToAC(double dt){ + + setHitchPos(); + pos.setLatitudeDeg(hitchpos.getLatitudeDeg()); + pos.setLongitudeDeg(hitchpos.getLongitudeDeg()); + pos.setElevationFt(hitchpos.getElevationFt()); + setHeading(manager->get_user_heading()); + setPitch(manager->get_user_pitch() + _pitch_offset); + setBank(manager->get_user_roll() + _roll_offset); + setSpeed(manager->get_user_speed()); + //update the mass (slugs) + _mass = (_weight_lb + getContents()) / slugs_to_lbs; + + /*cout <<"_mass "<<_mass <<" " << getContents() + <<" " << getContents() / slugs_to_lbs << endl;*/ } void FGAIBallistic::Run(double dt) { _life_timer += dt; + // if life = -1 the object does not die if (_life_timer > life && life != -1) setDie(true); + //set the contents in the appropriate tank or other property in the parent to zero + setContents(0); + //randomise Cd by +- 5% if (_random) _Cd = _Cd * 0.95 + (0.05 * sg_random()); @@ -337,7 +557,7 @@ void FGAIBallistic::Run(double dt) { else Cdm = 0.2965 * pow(Mach, -1.1506) + _Cd; - //cout << " Mach , " << Mach << " , Cdm , " << Cdm << " ballistic speed kts //"<< speed << endl; + //cout << "Mach " << Mach << " Cdm " << Cdm << "// ballistic speed kts "<< speed << endl; // drag = Cd * 0.5 * rho * speed * speed * drag_area; // rho is adjusted for altitude in void FGAIBase::update, @@ -351,7 +571,7 @@ void FGAIBallistic::Run(double dt) { speed = 0.0; double speed_fps = speed * SG_KT_TO_FPS; - double hs; + //double hs; // calculate vertical and horizontal speed components if (speed == 0.0) { @@ -381,7 +601,7 @@ void FGAIBallistic::Run(double dt) { //calculate velocity due to external force double force_speed_north_deg_sec = 0; double force_speed_east_deg_sec = 0; - double vs_force_fps = 0; +// double vs_force_fps = 0; double hs_force_fps = 0; double v_force_acc_fpss = 0; double force_speed_north_fps = 0; @@ -412,10 +632,15 @@ void FGAIBallistic::Run(double dt) { if (getHtAGL()){ double deadzone = 0.1; - if ( _ht_agl_ft <= (0 + _z_offset + deadzone) && _solid){ + if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){ normal_force_lbs = (_mass * slugs_to_lbs) - v_force_lbs; - pos.setElevationFt((_elevation_m * SG_METER_TO_FEET) + _z_offset); - vs = 0; + + if ( normal_force_lbs < 0 ) + normal_force_lbs = 0; + + pos.setElevationFt(0 + _ground_offset); + if (vs < 0) + vs = -vs * 0.5; // calculate friction // we assume a static Coefficient of Friction (mu) of 0.62 (wood on concrete) @@ -423,11 +648,12 @@ void FGAIBallistic::Run(double dt) { static_friction_force_lbs = mu * normal_force_lbs * _frictionFactor; - //adjust horizontal force - if (h_force_lbs <= static_friction_force_lbs && hs <= 0.1) + //adjust horizontal force. We assume that a speed of <= 5 fps is static + if (h_force_lbs <= static_friction_force_lbs && hs <= 5){ h_force_lbs = hs = 0; - else - dynamic_friction_force_lbs = (static_friction_force_lbs * 0.75); + speed_north_fps = speed_east_fps = 0; + } else + dynamic_friction_force_lbs = (static_friction_force_lbs * 0.95); //ignore wind when on the ground for now //TODO fix this @@ -452,8 +678,8 @@ void FGAIBallistic::Run(double dt) { force_speed_north_fps = cos(force_azimuth_deg * SG_DEGREES_TO_RADIANS) * hs_force_fps; force_speed_east_fps = sin(force_azimuth_deg * SG_DEGREES_TO_RADIANS) * hs_force_fps; - double friction_force_speed_north_fps = cos(getRecip(hdg) * SG_DEGREES_TO_RADIANS) * friction_force_fps; - double friction_force_speed_east_fps = sin(getRecip(hdg) * SG_DEGREES_TO_RADIANS) * friction_force_fps; + friction_force_speed_north_fps = cos(getRecip(hdg) * SG_DEGREES_TO_RADIANS) * friction_force_fps; + friction_force_speed_east_fps = sin(getRecip(hdg) * SG_DEGREES_TO_RADIANS) * friction_force_fps; // convert horizontal speed (fps) to degrees per second force_speed_north_deg_sec = force_speed_north_fps / ft_per_deg_lat; @@ -467,14 +693,6 @@ void FGAIBallistic::Run(double dt) { double wind_speed_from_north_deg_sec = _wind_from_north / ft_per_deg_lat; double wind_speed_from_east_deg_sec = _wind_from_east / ft_per_deg_lon; - // set new position - pos.setLatitudeDeg( pos.getLatitudeDeg() - + (speed_north_deg_sec - wind_speed_from_north_deg_sec - + force_speed_north_deg_sec + friction_force_speed_north_deg_sec) * dt ); - pos.setLongitudeDeg( pos.getLongitudeDeg() - + (speed_east_deg_sec - wind_speed_from_east_deg_sec - + force_speed_east_deg_sec + friction_force_speed_east_deg_sec) * dt ); - //recombine the horizontal velocity components hs = sqrt(((speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps) * (speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps)) @@ -490,10 +708,32 @@ void FGAIBallistic::Run(double dt) { if (vs <= 0.00001 && vs >= -0.00001) vs = 0; - // adjust altitude (feet) and set new elevation - altitude_ft = pos.getElevationFt(); - altitude_ft += vs * dt; - pos.setElevationFt(altitude_ft); + // set new position + if(_slave_load_to_ac) { + setHitchPos(); + pos.setLatitudeDeg(hitchpos.getLatitudeDeg()); + pos.setLongitudeDeg(hitchpos.getLongitudeDeg()); + pos.setElevationFt(hitchpos.getElevationFt()); + + if (getHtAGL()){ + double deadzone = 0.1; + + if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){ + pos.setElevationFt(0 + _ground_offset); + } else { + pos.setElevationFt(hitchpos.getElevationFt() + _load_offset); + } + + } + } else { + pos.setLatitudeDeg( pos.getLatitudeDeg() + + (speed_north_deg_sec - wind_speed_from_north_deg_sec + + force_speed_north_deg_sec + friction_force_speed_north_deg_sec) * dt ); + pos.setLongitudeDeg( pos.getLongitudeDeg() + + (speed_east_deg_sec - wind_speed_from_east_deg_sec + + force_speed_east_deg_sec + friction_force_speed_east_deg_sec) * dt ); + pos.setElevationFt(pos.getElevationFt() + vs * dt); + } // recalculate total speed if ( vs == 0 && hs == 0) @@ -503,8 +743,9 @@ void FGAIBallistic::Run(double dt) { // recalculate elevation and azimuth (velocity vectors) _elevation = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES; - _azimuth = atan2((speed_east_fps + force_speed_east_fps), - (speed_north_fps + force_speed_north_fps)) * SG_RADIANS_TO_DEGREES; + _azimuth = atan2((speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps), + (speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps)) + * SG_RADIANS_TO_DEGREES; // rationalise azimuth if (_azimuth < 0) @@ -514,21 +755,23 @@ void FGAIBallistic::Run(double dt) { const double coeff = 0.9; // we assume a symetrical MI about the pitch and yaw axis - setPitch(_elevation, dt, coeff); - setHdg(dt, coeff); - + setPch(_elevation, dt, coeff); + setHdg(_azimuth, dt, coeff); } else if (_force_stabilised) { // we simulate rotational moment of inertia by using a filter const double coeff = 0.9; double ratio = h_force_lbs/(_mass * slugs_to_lbs); + if (ratio > 1) ratio = 1; + if (ratio < -1) ratio = -1; + double force_pitch = acos(ratio) * SG_RADIANS_TO_DEGREES; if (force_pitch <= force_elevation_deg) force_pitch = force_elevation_deg; // we assume a symetrical MI about the pitch and yaw axis - setPitch(force_pitch,dt, coeff); - setHdg(dt, coeff); + setPch(force_pitch,dt, coeff); + setHdg(_azimuth, dt, coeff); } //do impacts and collisions @@ -539,7 +782,7 @@ void FGAIBallistic::Run(double dt) { handle_collision(); // set destruction flag if altitude less than sea level -1000 - if (altitude_ft < -1000.0) + if (altitude_ft < -1000.0 && life != -1) setDie(true); } // end Run @@ -559,8 +802,9 @@ void FGAIBallistic::handle_impact() { report_impact(_elevation_m); _impact_reported = true; - // kill the AIObject if there is no subsubmodel - if (_subID == 0) + if (life == -1){ + invisible = true; + } else if (_subID == 0) // kill the AIObject if there is no subsubmodel setDie(true); } } @@ -604,5 +848,222 @@ void FGAIBallistic::report_impact(double elevation, const FGAIBase *object) _impact_report_node->setStringValue(props->getPath()); } -// end AIBallistic +SGVec3d FGAIBallistic::getCartUserPos() const { + SGVec3d cartUserPos = SGVec3d::fromGeod(userpos); + return cartUserPos; +} + +SGVec3d FGAIBallistic::getCartHitchPos() const{ + + // convert geodetic positions to geocentered + SGVec3d cartuserPos = getCartUserPos(); + SGVec3d cartPos = getCartPos(); + + // 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( + manager->get_user_heading(), + manager->get_user_pitch(), + manager->get_user_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 FGAIBallistic::setHitchPos(){ + // convert the hitch geocentered position to geodetic + SGVec3d carthitchPos = getCartHitchPos(); + + SGGeodesy::SGCartToGeod(carthitchPos, hitchpos); +} + +double FGAIBallistic::getDistanceLoadToHitch() const { + //calculate the distance load to hitch + SGVec3d carthitchPos = getCartHitchPos(); + SGVec3d cartPos = getCartPos(); + + SGVec3d diff = carthitchPos - cartPos; + double distance = norm(diff); + return distance * SG_METER_TO_FEET; +} + +void FGAIBallistic::setHitchVelocity(double dt) { + //calculate the distance from the previous hitch position + SGVec3d carthitchPos = getCartHitchPos(); + SGVec3d diff = carthitchPos - _oldcarthitchPos; + + double distance = norm(diff); + + //calculate speed knots + speed = (distance/dt) * SG_MPS_TO_KT; + + //now calulate the angle between the old and current hitch positions (degrees) + double angle = 0; + double daltM = hitchpos.getElevationM() - oldhitchpos.getElevationM(); + + if (fabs(distance) < SGLimits::min()) { + angle = 0; + } else { + double sAngle = daltM/distance; + sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle)); + angle = SGMiscd::rad2deg(asin(sAngle)); + } + + _elevation = angle; + + //calculate the bearing of the new hitch position from the old + double az1, az2, dist; + + geo_inverse_wgs_84(oldhitchpos, hitchpos, &az1, &az2, &dist); + + _azimuth = az1; + + // and finally store the new values + _oldcarthitchPos = carthitchPos; + oldhitchpos = hitchpos; +} + +double FGAIBallistic::getElevLoadToHitch() const { + // now the angle, positive angles are upwards + double distance = getDistanceLoadToHitch() * SG_FEET_TO_METER; + double angle = 0; + double daltM = hitchpos.getElevationM() - pos.getElevationM(); + + if (fabs(distance) < SGLimits::min()) { + angle = 0; + } else { + double sAngle = daltM/distance; + sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle)); + angle = SGMiscd::rad2deg(asin(sAngle)); + } + + return angle; +} + +double FGAIBallistic::getBearingLoadToHitch() const { + //calculate the bearing and range of the second pos from the first + double az1, az2, distance; + + geo_inverse_wgs_84(pos, hitchpos, &az1, &az2, &distance); + return az1; +} + +double FGAIBallistic::getRelBrgHitchToUser() const { + //calculate the relative bearing + double az1, az2, distance; + + geo_inverse_wgs_84(hitchpos, userpos, &az1, &az2, &distance); + + double rel_brg = az1 - hdg; + + if (rel_brg > 180) + rel_brg -= 360; + + return rel_brg; +} + +double FGAIBallistic::getElevHitchToUser() const { + + //calculate the distance from the user position + SGVec3d carthitchPos = getCartHitchPos(); + SGVec3d cartuserPos = getCartUserPos(); + + SGVec3d diff = cartuserPos - carthitchPos; + + double distance = norm(diff); + double angle = 0; + + double daltM = userpos.getElevationM() - hitchpos.getElevationM(); + + // now the angle, positive angles are upwards + if (fabs(distance) < SGLimits::min()) { + angle = 0; + } else { + double sAngle = daltM/distance; + sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle)); + angle = SGMiscd::rad2deg(asin(sAngle)); + } + + return angle; +} + +void FGAIBallistic::setTgtOffsets(double dt, double coeff){ + double c = dt / (coeff + dt); + + _x_offset = (_tgt_x_offset * c) + (_x_offset * (1 - c)); + _y_offset = (_tgt_y_offset * c) + (_y_offset * (1 - c)); + _z_offset = (_tgt_z_offset * c) + (_z_offset * (1 - c)); +} + +void FGAIBallistic::formateToAC(double dt){ + + setTgtOffsets(dt, 25); + setHitchPos(); + setHitchVelocity(dt); + + // elapsed time has a random initialisation so that each + // wingman moves differently + _elapsed_time += dt; + + // we derive a sine based factor to give us smoothly + // varying error between -1 and 1 + double factor = sin(SGMiscd::deg2rad(_elapsed_time * 10)); + double r_angle = 5 * factor; + double p_angle = 2.5 * factor; + double h_angle = 5 * factor; + double h_feet = 3 * factor; + + pos.setLatitudeDeg(hitchpos.getLatitudeDeg()); + pos.setLongitudeDeg(hitchpos.getLongitudeDeg()); + + if (getHtAGL()){ + + if(_ht_agl_ft <= 10) { + _height = userpos.getElevationFt(); + } else if (_ht_agl_ft > 10 && _ht_agl_ft <= 150 ) { + setHt(userpos.getElevationFt(), dt, 1.0); + } else if (_ht_agl_ft > 150 && _ht_agl_ft <= 250) { + setHt(hitchpos.getElevationFt()+ h_feet, dt, 0.75); + } else + setHt(hitchpos.getElevationFt()+ h_feet, dt, 0.5); + + pos.setElevationFt(_height); + } + + // these calculations are unreliable at slow speeds + if(speed >= 10) { + setHdg(_azimuth + h_angle, dt, 0.9); + setPch(_elevation + p_angle + _pitch_offset, dt, 0.9); + + if (roll <= 115 && roll >= -115) + setBnk(manager->get_user_roll() + r_angle + _roll_offset, dt, 0.5); + else + roll = manager->get_user_roll() + r_angle + _roll_offset; + + } else { + setHdg(manager->get_user_heading(), dt, 0.9); + setPch(manager->get_user_pitch() + _pitch_offset, dt, 0.9); + setBnk(manager->get_user_roll() + _roll_offset, dt, 0.9); + } + + setSpeed(speed); +} +// end AIBallistic