X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIBallistic.cxx;h=6d41d5d50fbc04cf3e4aef24405f85fa69be533e;hb=9d995907db00728da7eac9297ecbab93ed8a7400;hp=fa06b291e36de16f8a32f20e4708ccb6908c4a79;hpb=94a34719566150281d2d91e1ffcafa0e3e935b88;p=flightgear.git diff --git a/src/AIModel/AIBallistic.cxx b/src/AIModel/AIBallistic.cxx index fa06b291e..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), +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), @@ -64,10 +67,7 @@ _report_collision(false), _report_impact(false), _external_force(false), _report_expiry(false), -_impact_report_node(fgGetNode("/ai/models/model-impact", true)), -hs(0), -_old_height(0), -_speed(0) +_impact_report_node(fgGetNode("/ai/models/model-impact", true)) { no_roll = false; @@ -126,7 +126,11 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) { 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; @@ -143,6 +147,8 @@ 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", _path.c_str()); @@ -152,11 +158,14 @@ bool FGAIBallistic::init(bool search_in_AI_path) { props->setStringValue("contents/path", _contents_path.c_str()); } - if(_parent != ""){ - setParentNode(); - } + //cout << "init: name " << _name.c_str() << " _life_timer " << _life_timer + // << endl; - setParentNodes(_selected_ac); + //if(_parent != ""){ + // setParentNode(); + //} + + //setParentNodes(_selected_ac); //props->setStringValue("vector/path", _vector_path.c_str()); @@ -168,115 +177,87 @@ bool FGAIBallistic::init(bool search_in_AI_path) { Transform(); - //cout << _name << " speed init: " << speed << endl; + if(_parent != ""){ + setParentNode(); + } - return true; + setParentNodes(_selected_ac); + + FGAIBase::reinit(); } void FGAIBallistic::bind() { // FGAIBase::bind(); - props->tie("sim/time/elapsed-sec", + _tiedProperties.setRoot(props); + tie("sim/time/elapsed-sec", SGRawValueMethods(*this, - &FGAIBallistic::_getTime)); - //props->tie("mass-slug", + &FGAIBallistic::_getTime, &FGAIBallistic::setTime)); + //tie("mass-slug", // SGRawValueMethods(*this, // &FGAIBallistic::getMass)); - props->tie("material/solid", + 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 || _slave_to_ac){ - props->tie("controls/force_stabilized", + 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", + tie("position/altitude-ft", SGRawValueMethods(*this, &FGAIBase::_getElevationFt, &FGAIBase::_setAltitude)); - props->tie("position/latitude-deg", + 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::getDistanceToHitch)); - props->tie("load/elevation-to-hitch-deg", + tie("load/elevation-to-hitch-deg", SGRawValueMethods (*this, &FGAIBallistic::getElevToHitch)); - props->tie("load/bearing-to-hitch-deg", + tie("load/bearing-to-hitch-deg", SGRawValueMethods (*this, &FGAIBallistic::getBearingToHitch)); - props->tie("material/load-resistance", + 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/solid"); - props->untie("altitude-agl-ft"); - props->untie("controls/slave-to-ac"); - props->untie("controls/invisible"); - - if(_external_force || _slave_to_ac){ - 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"); - props->untie("material/load-resistance"); - } -} - -void FGAIBallistic::update(double dt) { +void FGAIBallistic::update(double dt) +{ FGAIBase::update(dt); - _setUserPos(); if (_slave_to_ac){ slaveToAC(dt); @@ -326,7 +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; } @@ -517,16 +498,17 @@ void FGAIBallistic::setForcePath(const string& p) { } bool FGAIBallistic::getHtAGL(double start){ - + const simgear::BVHMaterial* mat = 0; if (getGroundElevationM(SGGeod::fromGeodM(pos, start), - _elevation_m, &_material)) { + _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()); @@ -582,6 +564,7 @@ void FGAIBallistic::setHt(double h, 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 (tgt_hdg < recip && tgt_hdg < hdg && hdg > 180) { hdg = ((tgt_hdg + 360) * c) + (hdg * (1 - c)); @@ -622,22 +605,25 @@ void FGAIBallistic::setTgtZOffset(double z){ void FGAIBallistic::slaveToAC(double dt){ - double hdg, pch, rll, agl = 0; + 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(); +// 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(userpos, hdg, pch, rll); +// agl = manager->get_user_agl(); + setOffsetPos(globals->get_aircraft_position(), hdg, pch, rll); setSpeed(manager->get_user_speed()); } @@ -648,6 +634,7 @@ void FGAIBallistic::slaveToAC(double dt){ setPitch(pch + _pitch_offset); setBank(rll + _roll_offset); setOffsetVelocity(dt, pos); + setTime(0); //update the mass (slugs) _mass = (_weight_lb + getContents()) / slugs_to_lbs; @@ -661,16 +648,25 @@ void FGAIBallistic::slaveToAC(double dt){ 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 && !_impact_reported && !_collision_reported){ - //cout<<"AIBallistic: expiry"<< endl; + //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 @@ -705,24 +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) { @@ -751,55 +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" << endl; + //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(10000)){ - 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; @@ -831,16 +823,17 @@ 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; @@ -886,8 +879,8 @@ 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 @@ -895,7 +888,7 @@ void FGAIBallistic::Run(double dt) { _azimuth += 360; 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 @@ -937,16 +930,20 @@ double FGAIBallistic::_getTime() const { return _life_timer; } +void FGAIBallistic::setTime(double s){ + _life_timer = s; +} + void FGAIBallistic::handle_impact() { // try terrain intersection - double start = pos.getElevationM() + 10; + 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; @@ -959,7 +956,7 @@ void FGAIBallistic::handle_impact() { 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; @@ -1000,7 +997,8 @@ void FGAIBallistic::report_impact(double elevation, const FGAIBase *object) else n->setStringValue("type", "terrain"); - SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: object impact" << _name << " lon " <<_impact_lon); + 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); @@ -1013,15 +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 = SGVec3d::fromGeod(userpos); + SGVec3d cartuserPos = globals->get_aircraft_position_cart(); + //SGVec3d cartPos = getCartPos(); // Transform to the right coordinate frame, configuration is done in @@ -1033,7 +1027,7 @@ SGVec3d FGAIBallistic::getCartHitchPos() const{ -_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 @@ -1105,7 +1099,7 @@ double FGAIBallistic::getRelBrgHitchToUser() const { //calculate the relative bearing double az1, az2, distance; - geo_inverse_wgs_84(_offsetpos, userpos, &az1, &az2, &distance); + geo_inverse_wgs_84(_offsetpos, globals->get_aircraft_position(), &az1, &az2, &distance); double rel_brg = az1 - hdg; @@ -1118,14 +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() - _offsetpos.getElevationM(); + double daltM = globals->get_aircraft_position().getElevationM() - _offsetpos.getElevationM(); // now the angle, positive angles are upwards if (fabs(distance) < SGLimits::min()) { @@ -1235,9 +1229,17 @@ void FGAIBallistic::setOffsetVelocity(double dt, SGGeod offsetpos) { calcVSHS(); //calculate the bearing of the new offset position from the old - double az1, az2, dist; - geo_inverse_wgs_84(_oldoffsetpos, offsetpos, &az1, &az2, &dist); - _azimuth = az1; + //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();