X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIBallistic.cxx;h=6d41d5d50fbc04cf3e4aef24405f85fa69be533e;hb=9d995907db00728da7eac9297ecbab93ed8a7400;hp=e94844eaf473aa09d256e19d618ebebb319d01e1;hpb=ad3fae903916cec0fce830ce0035797dfc140d2e;p=flightgear.git diff --git a/src/AIModel/AIBallistic.cxx b/src/AIModel/AIBallistic.cxx index e94844eaf..6d41d5d50 100644 --- a/src/AIModel/AIBallistic.cxx +++ b/src/AIModel/AIBallistic.cxx @@ -32,24 +32,27 @@ #include "AIBallistic.hxx" #include
+#include using namespace simgear; +using std::string; const double FGAIBallistic::slugs_to_kgs = 14.5939029372; const double FGAIBallistic::slugs_to_lbs = 32.1740485564; FGAIBallistic::FGAIBallistic(object_type ot) : -FGAIBase(ot), +FGAIBase(ot, false), _height(0.0), +_speed(0), _ht_agl_ft(0.0), _azimuth(0.0), _elevation(0.0), _rotation(0.0), -_formate_to_ac(false), +hs(0), +_elapsed_time(0), _aero_stabilised(false), _drag_area(0.007), _life_timer(0.0), -_gravity(32.1740485564), _buoyancy(0), _wind(true), _mass(0), @@ -61,12 +64,10 @@ _slave_to_ac(false), _slave_load_to_ac(false), _contents_lb(0), _report_collision(false), -_report_expiry(false), _report_impact(false), _external_force(false), -_impact_report_node(fgGetNode("/ai/models/model-impact", true)), -_old_height(0), -_elapsed_time(0) +_report_expiry(false), +_impact_report_node(fgGetNode("/ai/models/model-impact", true)) { no_roll = false; @@ -89,8 +90,8 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) { setDragArea(scFileNode->getDoubleValue("eda", 0.007)); setLife(scFileNode->getDoubleValue("life", 900.0)); setBuoyancy(scFileNode->getDoubleValue("buoyancy", 0)); - setWind_from_east(scFileNode->getDoubleValue("wind_from_east", 0)); - setWind_from_north(scFileNode->getDoubleValue("wind_from_north", 0)); + //setWind_from_east(scFileNode->getDoubleValue("wind_from_east", 0)); + //setWind_from_north(scFileNode->getDoubleValue("wind_from_north", 0)); setWind(scFileNode->getBoolValue("wind", false)); setRoll(scFileNode->getDoubleValue("roll", 0.0)); setCd(scFileNode->getDoubleValue("cd", 0.029)); @@ -119,12 +120,17 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) { setLoadOffset(scFileNode->getDoubleValue("load-offset", 0.0)); setSlaved(scFileNode->getBoolValue("slaved", false)); setSlavedLoad(scFileNode->getBoolValue("slaved-load", false)); - setContentsNode(scFileNode->getStringValue("contents")); + setContentsPath(scFileNode->getStringValue("contents")); + setParentName(scFileNode->getStringValue("parent")); } bool FGAIBallistic::init(bool search_in_AI_path) { FGAIBase::init(search_in_AI_path); + reinit(); + return true; +} +void FGAIBallistic::reinit() { _impact_reported = false; _collision_reported = false; _expiry_reported = false; @@ -141,10 +147,26 @@ bool FGAIBallistic::init(bool search_in_AI_path) { _elapsed_time += (sg_random() * 100); + _life_timer = 0; + props->setStringValue("material/name", ""); props->setStringValue("name", _name.c_str()); - props->setStringValue("submodels/path", _submodel.c_str()); - props->setStringValue("force/path", _force_path.c_str()); + props->setStringValue("submodels/path", _path.c_str()); + + if (_slave_to_ac){ + props->setStringValue("force/path", _force_path.c_str()); + props->setStringValue("contents/path", _contents_path.c_str()); + } + + //cout << "init: name " << _name.c_str() << " _life_timer " << _life_timer + // << endl; + + //if(_parent != ""){ + // setParentNode(); + //} + + //setParentNodes(_selected_ac); + //props->setStringValue("vector/path", _vector_path.c_str()); // start with high value so that animations don't trigger yet @@ -155,121 +177,91 @@ bool FGAIBallistic::init(bool search_in_AI_path) { Transform(); - return true; + if(_parent != ""){ + setParentNode(); + } + + setParentNodes(_selected_ac); + + FGAIBase::reinit(); } void FGAIBallistic::bind() { // FGAIBase::bind(); - props->tie("sim/time/elapsed-sec", - SGRawValueMethods(*this, - &FGAIBallistic::_getTime)); - props->tie("mass-slug", + _tiedProperties.setRoot(props); + tie("sim/time/elapsed-sec", SGRawValueMethods(*this, - &FGAIBallistic::getMass)); - props->tie("material/load-resistance", - SGRawValuePointer(&_load_resistance)); - props->tie("material/solid", + &FGAIBallistic::_getTime, &FGAIBallistic::setTime)); + //tie("mass-slug", + // SGRawValueMethods(*this, + // &FGAIBallistic::getMass)); + + tie("material/solid", SGRawValuePointer(&_solid)); - props->tie("altitude-agl-ft", + tie("altitude-agl-ft", SGRawValuePointer(&_ht_agl_ft)); - props->tie("controls/slave-to-ac", + tie("controls/slave-to-ac", SGRawValueMethods (*this, &FGAIBallistic::getSlaved, &FGAIBallistic::setSlaved)); - props->tie("controls/invisible", + tie("controls/invisible", SGRawValuePointer(&invisible)); - if(_external_force){ - props->tie("controls/force_stabilized", + if(_external_force || _slave_to_ac){ + tie("controls/force_stabilized", SGRawValuePointer(&_force_stabilised)); - props->tie("position/global-x", + tie("position/global-x", SGRawValueMethods(*this, &FGAIBase::_getCartPosX, 0)); - props->tie("position/global-y", + tie("position/global-y", SGRawValueMethods(*this, &FGAIBase::_getCartPosY, 0)); - props->tie("position/global-z", + tie("position/global-z", SGRawValueMethods(*this, &FGAIBase::_getCartPosZ, 0)); - props->tie("velocities/vertical-speed-fps", + tie("velocities/vertical-speed-fps", SGRawValuePointer(&vs)); - props->tie("velocities/true-airspeed-kt", + tie("velocities/true-airspeed-kt", SGRawValuePointer(&speed)); - props->tie("velocities/horizontal-speed-fps", + tie("velocities/horizontal-speed-fps", SGRawValuePointer(&hs)); - props->tie("position/altitude-ft", - SGRawValueMethods(*this, &FGAIBase::_getAltitude, &FGAIBase::_setAltitude)); - props->tie("position/latitude-deg", + tie("position/altitude-ft", + SGRawValueMethods(*this, &FGAIBase::_getElevationFt, &FGAIBase::_setAltitude)); + tie("position/latitude-deg", SGRawValueMethods(*this, &FGAIBase::_getLatitude, &FGAIBase::_setLatitude)); - props->tie("position/longitude-deg", + tie("position/longitude-deg", SGRawValueMethods(*this, &FGAIBase::_getLongitude, &FGAIBase::_setLongitude)); - props->tie("orientation/hdg-deg", + tie("orientation/hdg-deg", SGRawValuePointer(&hdg)); - props->tie("orientation/pitch-deg", + tie("orientation/pitch-deg", SGRawValuePointer(&pitch)); - props->tie("orientation/roll-deg", + tie("orientation/roll-deg", SGRawValuePointer(&roll)); - props->tie("controls/slave-load-to-ac", + tie("controls/slave-load-to-ac", SGRawValueMethods (*this, &FGAIBallistic::getSlavedLoad, &FGAIBallistic::setSlavedLoad)); - props->tie("position/load-offset", + tie("position/load-offset", SGRawValueMethods (*this, &FGAIBallistic::getLoadOffset, &FGAIBallistic::setLoadOffset)); - props->tie("load/distance-to-hitch-ft", + tie("load/distance-to-hitch-ft", SGRawValueMethods - (*this, &FGAIBallistic::getDistanceLoadToHitch)); - props->tie("load/elevation-to-hitch-deg", + (*this, &FGAIBallistic::getDistanceToHitch)); + tie("load/elevation-to-hitch-deg", SGRawValueMethods - (*this, &FGAIBallistic::getElevLoadToHitch)); - props->tie("load/bearing-to-hitch-deg", + (*this, &FGAIBallistic::getElevToHitch)); + tie("load/bearing-to-hitch-deg", SGRawValueMethods - (*this, &FGAIBallistic::getBearingLoadToHitch)); + (*this, &FGAIBallistic::getBearingToHitch)); + tie("material/load-resistance", + SGRawValuePointer(&_load_resistance)); } } -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) { +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(); @@ -315,7 +307,7 @@ void FGAIBallistic::setLife(double seconds) { if (_random){ life = seconds * _randomness + (seconds * (1 -_randomness) * sg_random()); - //cout << "life " << life << endl; + //cout << " set life " << life << endl; } else life = seconds; } @@ -366,7 +358,6 @@ void FGAIBallistic::setCollision(bool c) { void FGAIBallistic::setExpiry(bool e) { _report_expiry = e; - //cout << "_report_expiry " << _report_expiry << endl; } void FGAIBallistic::setExternalForce(bool f) { @@ -379,12 +370,9 @@ void FGAIBallistic::setImpactReportNode(const string& path) { _impact_report_node = fgGetNode(path.c_str(), true); } -void FGAIBallistic::setName(const string& n) { - _name = n; -} - void FGAIBallistic::setSMPath(const string& s) { - _submodel = s; + _path = s; + //cout << "submodel path " << _path << endl; } void FGAIBallistic::setFuseRange(double f) { @@ -415,27 +403,74 @@ void FGAIBallistic::setSlaved(bool s) { _slave_to_ac = s; } -void FGAIBallistic::setFormate(bool f) { - _formate_to_ac = f; -} +void FGAIBallistic::setContentsPath(const string& path) { + + _contents_path = path; -void FGAIBallistic::setContentsNode(const string& path) { if (!path.empty()) { _contents_node = fgGetNode(path.c_str(), true); } } +void FGAIBallistic::setContentsNode(SGPropertyNode_ptr node) { + + if (node != 0) { + _contents_node = node; + _contents_path = _contents_node->getDisplayName(); + } +} + +void FGAIBallistic::setParentNodes(SGPropertyNode_ptr node) { + + if (node != 0) { + _pnode = node; + _p_pos_node = _pnode->getChild("position", 0, true); + _p_lat_node = _p_pos_node->getChild("latitude-deg", 0, true); + _p_lon_node = _p_pos_node->getChild("longitude-deg", 0, true); + _p_alt_node = _p_pos_node->getChild("altitude-ft", 0, true); + _p_agl_node = _p_pos_node->getChild("altitude-agl-ft", 0, true); + + + _p_ori_node = _pnode->getChild("orientation", 0, true); + _p_pch_node = _p_ori_node->getChild("pitch-deg", 0, true); + _p_rll_node = _p_ori_node->getChild("roll-deg", 0, true); + _p_hdg_node = _p_ori_node->getChild("true-heading-deg",0, true); + + _p_vel_node = _pnode->getChild("velocities", 0, true); + _p_spd_node = _p_vel_node->getChild("true-airspeed-kt", 0, true); + } + +} + +void FGAIBallistic::setParentPos() { + + if (_pnode != 0) { + //cout << "set parent pos" << endl; + + double lat = _p_lat_node->getDoubleValue(); + double lon = _p_lon_node->getDoubleValue(); + double alt = _p_alt_node->getDoubleValue(); + + _parentpos.setLongitudeDeg(lon); + _parentpos.setLatitudeDeg(lat); + _parentpos.setElevationFt(alt); + + } + +} + bool FGAIBallistic::getSlaved() const { return _slave_to_ac; -} +} double FGAIBallistic::getMass() const { return _mass; } double FGAIBallistic::getContents() { - if(_contents_node) + if(_contents_node){ _contents_lb = _contents_node->getChild("level-lbs",0,1)->getDoubleValue(); + } return _contents_lb; } @@ -462,27 +497,34 @@ void FGAIBallistic::setForcePath(const string& p) { } } -bool FGAIBallistic::getHtAGL(){ - - if (getGroundElevationM(SGGeod::fromGeodM(pos, 10000), - _elevation_m, &_material)) { +bool FGAIBallistic::getHtAGL(double start){ + const simgear::BVHMaterial* mat = 0; + if (getGroundElevationM(SGGeod::fromGeodM(pos, start), + _elevation_m, &mat)) { + const SGMaterial* material = dynamic_cast(mat); _ht_agl_ft = pos.getElevationFt() - _elevation_m * SG_METER_TO_FEET; - if (_material) { - const vector& names = _material->get_names(); - _solid = _material->get_solid(); - _load_resistance = _material->get_load_resistance(); - _frictionFactor =_material->get_friction_factor(); + if (material) { + const std::vector& names = material->get_names(); + _solid = material->get_solid(); + _load_resistance = material->get_load_resistance(); + _frictionFactor = material->get_friction_factor(); + if (!names.empty()) props->setStringValue("material/name", names[0].c_str()); else props->setStringValue("material/name", ""); - /*cout << "material " << mat_name - << " solid " << _solid - << " load " << _load_resistance - << " frictionFactor " << frictionFactor - << endl;*/ + + _mat_name = names[0]; + + //cout << "material " << _mat_name + //<< " solid " << _solid + //<< " load " << _load_resistance + //<< " frictionFactor " << _frictionFactor + //<< endl; + } + return true; } else { return false; @@ -509,22 +551,32 @@ void FGAIBallistic::setBnk(double r, double dt, double coeff){ roll = (r * c) + (roll * (1 - c)); } +void FGAIBallistic::setSpd(double s, double dt, double coeff){ + double c = dt / (coeff + dt); + _speed = (s * c) + (_speed * (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){ +int FGAIBallistic::setHdg(double tgt_hdg, double dt, double coeff){ double recip = getRecip(hdg); double c = dt / (coeff + dt); + //cout << "set heading " << tgt_hdg << endl; //we need to ensure that we turn the short way to the new hdg - 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)); + if (tgt_hdg < recip && tgt_hdg < hdg && hdg > 180) { + hdg = ((tgt_hdg + 360) * c) + (hdg * (1 - c)); +// cout << "case 1: right turn" << endl; + } else if (tgt_hdg > recip && tgt_hdg > hdg && hdg <= 180){ + hdg = ((tgt_hdg - 360) * c) + (hdg * (1 - c)); +// cout << "case 2: left turn" << endl; } else { - hdg = (az * c) + (hdg * (1 - c)); + hdg = (tgt_hdg * c) + (hdg * (1 - c)); +// cout << "case 4: left turn" << endl; } + return -1; } double FGAIBallistic::getTgtXOffset() const { @@ -541,7 +593,6 @@ double FGAIBallistic::getTgtZOffset() const { void FGAIBallistic::setTgtXOffset(double x){ _tgt_x_offset = x; - cout <<"setTgtXOffset " <<_tgt_x_offset << endl; } void FGAIBallistic::setTgtYOffset(double y){ @@ -554,33 +605,68 @@ void FGAIBallistic::setTgtZOffset(double 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()); + if (invisible) + return; + + double hdg, pch, rll;//, agl = 0; + + if (_pnode != 0) { + setParentPos(); + hdg = _p_hdg_node->getDoubleValue(); + pch = _p_pch_node->getDoubleValue(); + rll = _p_rll_node->getDoubleValue(); +// agl = _p_agl_node->getDoubleValue(); + setOffsetPos(_parentpos, hdg, pch, rll); + setSpeed(_p_spd_node->getDoubleValue()); + }else { + hdg = manager->get_user_heading(); + pch = manager->get_user_pitch(); + rll = manager->get_user_roll(); +// agl = manager->get_user_agl(); + setOffsetPos(globals->get_aircraft_position(), hdg, pch, rll); + setSpeed(manager->get_user_speed()); + } + + pos.setLatitudeDeg(_offsetpos.getLatitudeDeg()); + pos.setLongitudeDeg(_offsetpos.getLongitudeDeg()); + pos.setElevationFt(_offsetpos.getElevationFt()); + setHeading(hdg); + setPitch(pch + _pitch_offset); + setBank(rll + _roll_offset); + setOffsetVelocity(dt, pos); + setTime(0); + //update the mass (slugs) _mass = (_weight_lb + getContents()) / slugs_to_lbs; - /*cout <<"_mass "<<_mass <<" " << getContents() - <<" " << getContents() / slugs_to_lbs << endl;*/ + _impact_reported = false; + + //cout << _name << " _mass "<<_mass <<" " << getContents() + //<< " " << getContents() / slugs_to_lbs << " weight " << _weight_lb << endl; + // cout << _name << " update hs " << hs << " vs " << vs << endl; } void FGAIBallistic::Run(double dt) { _life_timer += dt; + + //_pass += 1; + //cout<<"AIBallistic run: name " << _name.c_str() + // << " dt " << dt << " _life_timer " << _life_timer << " pass " << _pass << endl; // if life = -1 the object does not die if (_life_timer > life && life != -1){ - if (_report_expiry && !_expiry_reported){ - //cout<<"AIBallistic: expiry"<< endl; + if (_report_expiry && !_expiry_reported && !_impact_reported && !_collision_reported){ + //cout<<"AIBallistic run: name " << _name.c_str() << " expiry " + //<< " _life_timer " << _life_timer<< endl; handle_expiry(); - } else + } else{ + //cout<<"AIBallistic run: name " << _name.c_str() + // << " die " << " _life_timer " << _life_timer << endl; setDie(true); + } + setTime(0); } //set the contents in the appropriate tank or other property in the parent to zero @@ -601,7 +687,8 @@ 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 <<_name << " 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, @@ -614,24 +701,14 @@ void FGAIBallistic::Run(double dt) { if ( speed < 0.0 ) speed = 0.0; - double speed_fps = speed * SG_KT_TO_FPS; - //double hs; +// double speed_fps = speed * SG_KT_TO_FPS; // calculate vertical and horizontal speed components - if (speed == 0.0) { - hs = vs = 0.0; - } else { - vs = sin( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps; - hs = cos( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps; - } + calcVSHS(); //resolve horizontal speed into north and east components: - double speed_north_fps = cos(_azimuth / SG_RADIANS_TO_DEGREES) * hs; - double speed_east_fps = sin(_azimuth / SG_RADIANS_TO_DEGREES) * hs; - - // convert horizontal speed (fps) to degrees per second - double speed_north_deg_sec = speed_north_fps / ft_per_deg_lat; - double speed_east_deg_sec = speed_east_fps / ft_per_deg_lon; + //and convert horizontal speed (fps) to degrees per second + calcNE(); // if wind not required, set to zero if (!_wind) { @@ -645,7 +722,7 @@ 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; @@ -660,54 +737,61 @@ void FGAIBallistic::Run(double dt) { double friction_force_speed_north_deg_sec = 0; double friction_force_speed_east_deg_sec = 0; double force_elevation_deg = 0; + double force_azimuth_deg = 0; + double force_lbs = 0; if (_external_force) { + //cout << _name << " external force " << hdg << " az " << _azimuth << endl; SGPropertyNode *n = fgGetNode(_force_path.c_str(), true); - double force_lbs = n->getChild("force-lb", 0, true)->getDoubleValue(); - force_elevation_deg = n->getChild("force-elevation-deg", 0, true)->getDoubleValue(); - double force_azimuth_deg = n->getChild("force-azimuth-deg", 0, true)->getDoubleValue(); - + force_lbs = n->getChild("force-lb", 0, true)->getDoubleValue(); + force_elevation_deg = n->getChild("force-elevation-deg", 0, true)->getDoubleValue(); + force_azimuth_deg = n->getChild("force-azimuth-deg", 0, true)->getDoubleValue(); + //resolve force into vertical and horizontal components: double v_force_lbs = force_lbs * sin( force_elevation_deg * SG_DEGREES_TO_RADIANS ); h_force_lbs = force_lbs * cos( force_elevation_deg * SG_DEGREES_TO_RADIANS ); //ground interaction + //we don't do this if impacts are calculated + if(!_report_impact){ - if (getHtAGL()){ - double deadzone = 0.1; + if (getHtAGL(10000)){ + double deadzone = 0.1; - if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){ - normal_force_lbs = (_mass * slugs_to_lbs) - v_force_lbs; + if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){ + normal_force_lbs = (_mass * slugs_to_lbs) - v_force_lbs; - if ( normal_force_lbs < 0 ) - normal_force_lbs = 0; + if ( normal_force_lbs < 0 ) + normal_force_lbs = 0; - pos.setElevationFt(0 + _ground_offset); - if (vs < 0) - vs = -vs * 0.5; + 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) + double mu = 0.62; - // calculate friction - // we assume a static Coefficient of Friction (mu) of 0.62 (wood on concrete) - double mu = 0.62; + static_friction_force_lbs = mu * normal_force_lbs * _frictionFactor; - static_friction_force_lbs = mu * normal_force_lbs * _frictionFactor; + //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; + _speed_north_fps = _speed_east_fps = 0; + } else + dynamic_friction_force_lbs = (static_friction_force_lbs * 0.95); - //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; - 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 + _wind_from_north = 0; + _wind_from_east = 0; - //ignore wind when on the ground for now - //TODO fix this - _wind_from_north = 0; - _wind_from_east = 0; + } } - } + } //endif //acceleration = (force(lbsf)/mass(slugs)) v_force_acc_fpss = v_force_lbs/_mass; @@ -739,34 +823,39 @@ void FGAIBallistic::Run(double dt) { double wind_speed_from_east_deg_sec = _wind_from_east / ft_per_deg_lon; //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)) - + ((speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps) - * (speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps))); + 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)) + + ((_speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps) + * (_speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps))); if (hs <= 0.00001) hs = 0; // adjust vertical speed for acceleration of gravity, buoyancy, and vertical force - vs -= (_gravity - _buoyancy - v_force_acc_fpss - normal_force_fpss) * dt; + double gravity = SG_METER_TO_FEET * (Environment::Gravity::instance()->getGravity(pos)); + vs -= (gravity - _buoyancy - v_force_acc_fpss - normal_force_fpss) * dt; if (vs <= 0.00001 && vs >= -0.00001) vs = 0; // set new position if(_slave_load_to_ac) { - setHitchPos(); - pos.setLatitudeDeg(hitchpos.getLatitudeDeg()); - pos.setLongitudeDeg(hitchpos.getLongitudeDeg()); - pos.setElevationFt(hitchpos.getElevationFt()); - - if (getHtAGL()){ + setOffsetPos(pos, + manager->get_user_heading(), + manager->get_user_pitch(), + manager->get_user_roll() + ); + pos.setLatitudeDeg(_offsetpos.getLatitudeDeg()); + pos.setLongitudeDeg(_offsetpos.getLongitudeDeg()); + pos.setElevationFt(_offsetpos.getElevationFt()); + + if (getHtAGL(10000)){ 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); + pos.setElevationFt(_offsetpos.getElevationFt() + _load_offset); } } @@ -780,6 +869,8 @@ void FGAIBallistic::Run(double dt) { pos.setElevationFt(pos.getElevationFt() + vs * dt); } +// cout << _name << " run hs " << hs << " vs " << vs << endl; + // recalculate total speed if ( vs == 0 && hs == 0) speed = 0; @@ -788,18 +879,16 @@ 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 + friction_force_speed_east_fps), - (speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps)) + _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) _azimuth += 360; - //cout << "_azimuth " << _azimuth << " hdg "<< hdg << endl; - if (_aero_stabilised) { // we simulate rotational moment of inertia by using a filter - //cout<< "_aero_stabilised "<< endl; + //cout<< "_aero_stabilised " << hdg << " az " << _azimuth << endl; const double coeff = 0.9; // we assume a symetrical MI about the pitch and yaw axis @@ -807,7 +896,7 @@ void FGAIBallistic::Run(double dt) { setHdg(_azimuth, dt, coeff); } else if (_force_stabilised) { // we simulate rotational moment of inertia by using a filter //cout<< "_force_stabilised "<< endl; - + const double coeff = 0.9; double ratio = h_force_lbs/(_mass * slugs_to_lbs); @@ -841,14 +930,20 @@ double FGAIBallistic::_getTime() const { return _life_timer; } +void FGAIBallistic::setTime(double s){ + _life_timer = s; +} + void FGAIBallistic::handle_impact() { // try terrain intersection - if(!getHtAGL()) + double start = pos.getElevationM() + 100; + + if(!getHtAGL(start)) return; if (_ht_agl_ft <= 0) { - SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: terrain impact"); + SG_LOG(SG_AI, SG_DEBUG, "AIBallistic: terrain impact material" << _mat_name); report_impact(_elevation_m); _impact_reported = true; @@ -856,20 +951,21 @@ void FGAIBallistic::handle_impact() { invisible = true; } else if (_subID == 0) // kill the AIObject if there is no subsubmodel setDie(true); - } + } } void FGAIBallistic::handle_expiry() { - SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: handle_expiry " << pos.getElevationM()); + //SG_LOG(SG_AI, SG_DEBUG, "AIBallistic: handle_expiry " << pos.getElevationM()); report_impact(pos.getElevationM()); _expiry_reported = true; - //if (life == -1){ - // invisible = true; - //} else if (_subID == 0) // kill the AIObject if there is no subsubmodel - // setDie(true); + if (life == -1){ + invisible = true; + } else if (_subID == 0){ // kill the AIObject if there is no subsubmodel + setDie(true); + } } @@ -879,7 +975,6 @@ void FGAIBallistic::handle_collision() pos.getLatitudeDeg(),pos.getLongitudeDeg(), _fuse_range); if (object) { - SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: object hit"); report_impact(pos.getElevationM(), object); _collision_reported = true; } @@ -896,11 +991,15 @@ void FGAIBallistic::report_impact(double elevation, const FGAIBase *object) _impact_roll = roll; SGPropertyNode *n = props->getNode("impact", true); + if (object) n->setStringValue("type", object->getTypeString()); else n->setStringValue("type", "terrain"); + SG_LOG(SG_AI, SG_DEBUG, "AIBallistic: object impact " << _name + << " lon " <<_impact_lon << " lat " <<_impact_lat << " sec " << _life_timer); + n->setDoubleValue("longitude-deg", _impact_lon); n->setDoubleValue("latitude-deg", _impact_lat); n->setDoubleValue("elevation-m", _impact_elev); @@ -912,15 +1011,11 @@ void FGAIBallistic::report_impact(double elevation, const FGAIBase *object) _impact_report_node->setStringValue(props->getPath()); } -SGVec3d FGAIBallistic::getCartUserPos() const { - SGVec3d cartUserPos = SGVec3d::fromGeod(userpos); - return cartUserPos; -} - SGVec3d FGAIBallistic::getCartHitchPos() const{ // convert geodetic positions to geocentered - SGVec3d cartuserPos = getCartUserPos(); + SGVec3d cartuserPos = globals->get_aircraft_position_cart(); + //SGVec3d cartPos = getCartPos(); // Transform to the right coordinate frame, configuration is done in @@ -928,11 +1023,11 @@ SGVec3d FGAIBallistic::getCartHitchPos() const{ // 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); + _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); + SGQuatd hlTrans = SGQuatd::fromLonLat(globals->get_aircraft_position()); // and postrotate the orientation of the user model wrt the horizontal // local frame @@ -951,14 +1046,19 @@ SGVec3d FGAIBallistic::getCartHitchPos() const{ return offsetPos; } -void FGAIBallistic::setHitchPos(){ +void FGAIBallistic::setOffsetPos(SGGeod inpos, double heading, double pitch, double roll){ // convert the hitch geocentered position to geodetic - SGVec3d carthitchPos = getCartHitchPos(); - SGGeodesy::SGCartToGeod(carthitchPos, hitchpos); + SGVec3d cartoffsetPos = getCartOffsetPos(inpos, heading, pitch, roll); + + //SGVec3d cartoffsetPos = getCartHitchPos(); + + //SGGeodesy::SGCartToGeod(cartoffsetPos, hitchpos); + SGGeodesy::SGCartToGeod(cartoffsetPos, _offsetpos); + } -double FGAIBallistic::getDistanceLoadToHitch() const { +double FGAIBallistic::getDistanceToHitch() const { //calculate the distance load to hitch SGVec3d carthitchPos = getCartHitchPos(); SGVec3d cartPos = getCartPos(); @@ -968,47 +1068,11 @@ double FGAIBallistic::getDistanceLoadToHitch() const { 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 { +double FGAIBallistic::getElevToHitch() const { // now the angle, positive angles are upwards - double distance = getDistanceLoadToHitch() * SG_FEET_TO_METER; + double distance = getDistanceToHitch() * SG_FEET_TO_METER; double angle = 0; - double daltM = hitchpos.getElevationM() - pos.getElevationM(); + double daltM = _offsetpos.getElevationM() - pos.getElevationM(); if (fabs(distance) < SGLimits::min()) { angle = 0; @@ -1021,11 +1085,12 @@ double FGAIBallistic::getElevLoadToHitch() const { return angle; } -double FGAIBallistic::getBearingLoadToHitch() const { +double FGAIBallistic::getBearingToHitch() const { //calculate the bearing and range of the second pos from the first - double az1, az2, distance; + double distance = getDistanceToHitch() * SG_FEET_TO_METER; + double az1, az2; - geo_inverse_wgs_84(pos, hitchpos, &az1, &az2, &distance); + geo_inverse_wgs_84(pos, _offsetpos, &az1, &az2, &distance); return az1; } @@ -1034,12 +1099,11 @@ double FGAIBallistic::getRelBrgHitchToUser() const { //calculate the relative bearing double az1, az2, distance; - geo_inverse_wgs_84(hitchpos, userpos, &az1, &az2, &distance); + geo_inverse_wgs_84(_offsetpos, globals->get_aircraft_position(), &az1, &az2, &distance); double rel_brg = az1 - hdg; - if (rel_brg > 180) - rel_brg -= 360; + SG_NORMALIZE_RANGE(rel_brg, -180.0, 180.0); return rel_brg; } @@ -1048,14 +1112,14 @@ double FGAIBallistic::getElevHitchToUser() const { //calculate the distance from the user position SGVec3d carthitchPos = getCartHitchPos(); - SGVec3d cartuserPos = getCartUserPos(); + SGVec3d cartuserPos = globals->get_aircraft_position_cart(); SGVec3d diff = cartuserPos - carthitchPos; double distance = norm(diff); double angle = 0; - double daltM = userpos.getElevationM() - hitchpos.getElevationM(); + double daltM = globals->get_aircraft_position().getElevationM() - _offsetpos.getElevationM(); // now the angle, positive angles are upwards if (fabs(distance) < SGLimits::min()) { @@ -1077,57 +1141,112 @@ void FGAIBallistic::setTgtOffsets(double dt, double coeff){ _z_offset = (_tgt_z_offset * c) + (_z_offset * (1 - c)); } -void FGAIBallistic::formateToAC(double dt){ - setTgtOffsets(dt, 25); - setHitchPos(); - setHitchVelocity(dt); +void FGAIBallistic::calcVSHS(){ + // calculate vertical and horizontal speed components + double speed_fps = speed * SG_KT_TO_FPS; + + if (speed == 0.0) { + hs = vs = 0.0; + } else { + vs = sin( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps; + hs = cos( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps; + } +} + +void FGAIBallistic::calcNE(){ + //resolve horizontal speed into north and east components: + _speed_north_fps = cos(_azimuth / SG_RADIANS_TO_DEGREES) * hs; + _speed_east_fps = sin(_azimuth / SG_RADIANS_TO_DEGREES) * hs; + + // convert horizontal speed (fps) to degrees per second + speed_north_deg_sec = _speed_north_fps / ft_per_deg_lat; + speed_east_deg_sec = _speed_east_fps / ft_per_deg_lon; - // 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; +SGVec3d FGAIBallistic::getCartOffsetPos(SGGeod inpos, double user_heading, + double user_pitch, double user_roll + ) const{ - pos.setLatitudeDeg(hitchpos.getLatitudeDeg()); - pos.setLongitudeDeg(hitchpos.getLongitudeDeg()); + // convert geodetic positions to geocentered + SGVec3d cartuserPos = SGVec3d::fromGeod(inpos); + //SGVec3d cartuserPos = getCartUserPos(); + //SGVec3d cartPos = getCartPos(); - if (getHtAGL()){ + // 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); - 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); + // Transform the user position to the horizontal local coordinate system. + SGQuatd hlTrans = SGQuatd::fromLonLat(inpos); - pos.setElevationFt(_height); - } + // and postrotate the orientation of the user model wrt the horizontal + // local frame + hlTrans *= SGQuatd::fromYawPitchRollDeg( + user_heading, + user_pitch, + 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::setOffsetVelocity(double dt, SGGeod offsetpos) { + //calculate the distance from the previous offset position + SGVec3d cartoffsetPos = SGVec3d::fromGeod(offsetpos); + SGVec3d diff = cartoffsetPos - _oldcartoffsetPos; - // 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); + double distance = norm(diff); + //calculate speed knots + speed = (distance/dt) * SG_MPS_TO_KT; - 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; + //now calulate the angle between the old and current postion positions (degrees) + double angle = 0; + double daltM = offsetpos.getElevationM() - _oldoffsetpos.getElevationM(); + if (fabs(distance) < SGLimits::min()) { + angle = 0; } 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); + double sAngle = daltM/distance; + sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle)); + angle = SGMiscd::rad2deg(asin(sAngle)); } - setSpeed(speed); + _elevation = angle; + + //calculate vertical and horizontal speed components + calcVSHS(); + + //calculate the bearing of the new offset position from the old + //don't do this if speed is low + //cout << "speed " << speed << endl; + if (speed > 0.1){ + double az1, az2, dist; + geo_inverse_wgs_84(_oldoffsetpos, offsetpos, &az1, &az2, &dist); + _azimuth = az1; + //cout << "offset az " << _azimuth << endl; + } else { + _azimuth = hdg; + //cout << " slow offset az " << _azimuth << endl; + } + + //resolve horizontal speed into north and east components: + calcNE(); + + // and finally store the new values + _oldcartoffsetPos = cartoffsetPos; + _oldoffsetpos = offsetpos; } + // end AIBallistic