X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIBallistic.cxx;h=8ad900bdb0f119dc6591b698d4773ed1c89a72f8;hb=99ea9c9583d75cbf065e8a9d8f683c0daa913c95;hp=7b66be4bbb1824080448853cd5c1fbde7650b48b;hpb=43b300fe46d8013a90009ec8e1a923ec53a396b5;p=flightgear.git diff --git a/src/AIModel/AIBallistic.cxx b/src/AIModel/AIBallistic.cxx index 7b66be4bb..be5bcd74f 100644 --- a/src/AIModel/AIBallistic.cxx +++ b/src/AIModel/AIBallistic.cxx @@ -29,40 +29,51 @@ #include -#include "AIModelData.hxx" #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; -using namespace simgear; - FGAIBallistic::FGAIBallistic(object_type ot) : -FGAIBase(ot), - _elevation(0), - _aero_stabilised(false), - _drag_area(0.007), - _life_timer(0.0), -_gravity(32.1740485564), - _buoyancy(0), - _random(false), - _ht_agl_ft(0), - _load_resistance(0), - _solid(false), - _report_collision(false), - _report_impact(false), +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), +_az_random_error(0.0), +_el_random_error(0.0), +_aero_stabilised(false), +_drag_area(0.007), +_cd(0.029), +_init_cd(0.029), +_cd_randomness(0.0), +_buoyancy(0), +_life_timer(0.0), _wind(true), - _impact_report_node(fgGetNode("/ai/models/model-impact", true)), -_external_force(false), +_mass(0), +_random(false), +_life_randomness(0.0), +_load_resistance(0), +_solid(false), +_force_stabilised(false), _slave_to_ac(false), _slave_load_to_ac(false), -_formate_to_ac(false), _contents_lb(0), -_mass(0), -_height(0), -_old_height(0) +_report_collision(false), +_report_impact(false), +_external_force(false), +_report_expiry(false), +_impact_report_node(fgGetNode("/ai/models/model-impact", true)) { no_roll = false; @@ -78,23 +89,25 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) { FGAIBase::readFromScenario(scFileNode); - //setPath(scFileNode->getStringValue("model", "Models/Geometry/rocket.ac")); + //setPath(scFileNode->getStringValue("model", "Models/Geometry/rocket.ac")); + setRandom(scFileNode->getBoolValue("random", false)); setAzimuth(scFileNode->getDoubleValue("azimuth", 0.0)); setElevation(scFileNode->getDoubleValue("elevation", 0)); 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)); //setMass(scFileNode->getDoubleValue("mass", 0.007)); setWeight(scFileNode->getDoubleValue("weight", 0.25)); - setStabilisation(scFileNode->getBoolValue("aero_stabilized", false)); + setStabilisation(scFileNode->getBoolValue("aero-stabilised", false)); setNoRoll(scFileNode->getBoolValue("no-roll", false)); - setRandom(scFileNode->getBoolValue("random", false)); setImpact(scFileNode->getBoolValue("impact", false)); + setExpiry(scFileNode->getBoolValue("expiry", false)); + setCollision(scFileNode->getBoolValue("collision", false)); setImpactReportNode(scFileNode->getStringValue("impact-reports")); setName(scFileNode->getStringValue("name", "Rocket")); setFuseRange(scFileNode->getDoubleValue("fuse-range", 0.0)); @@ -102,7 +115,7 @@ 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)); + setForceStabilisation(scFileNode->getBoolValue("force-stabilised", false)); setXoffset(scFileNode->getDoubleValue("x-offset", 0.0)); setYoffset(scFileNode->getDoubleValue("y-offset", 0.0)); setZoffset(scFileNode->getDoubleValue("z-offset", 0.0)); @@ -113,28 +126,54 @@ 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")); - setRandom(scFileNode->getBoolValue("random", false)); -} - -osg::Node* FGAIBallistic::load3DModel(const string &path, SGPropertyNode *prop_root) -{ - model = SGModelLib::loadModel(path, prop_root, new FGAIModelData(this, prop_root)); - return model.get(); + 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; + + _impact_lat = 0; + _impact_lon = 0; + _impact_elev = 0; + _impact_hdg = 0; + _impact_pitch = 0; + _impact_roll = 0; + _impact_speed = 0; + invisible = false; _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("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 _ht_agl_ft = 1e10; @@ -144,134 +183,118 @@ 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", - SGRawValuePointer(&_solid)); - props->tie("altitude-agl-ft", - SGRawValuePointer(&_ht_agl_ft)); - props->tie("controls/slave-to-ac", + &FGAIBallistic::_getTime, &FGAIBallistic::setTime)); + //tie("mass-slug", + // SGRawValueMethods(*this, + // &FGAIBallistic::getMass)); + + tie("material/solid", + SGRawValuePointer(&_solid)); + tie("altitude-agl-ft", + SGRawValuePointer(&_ht_agl_ft)); + 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){ + if (_slave_to_ac) { slaveToAC(dt); Transform(); - setHitchVelocity(dt); - } else if (_formate_to_ac){ - formateToAC(dt); + } + else if (!invisible) { + Run(dt); Transform(); - setHitchVelocity(dt); - } else if (!invisible){ - Run(dt); - Transform(); -} + } } void FGAIBallistic::setAzimuth(double az) { - hdg = _azimuth = az; + if (_random) + hdg = _azimuth = az - _az_random_error + 2 * _az_random_error * sg_random(); + else + hdg = _azimuth = az; +} + +void FGAIBallistic::setAzimuthRandomError(double error) { + _az_random_error = error; +} + +void FGAIBallistic::setElevationRandomError(double error) { + _el_random_error = error; } void FGAIBallistic::setElevation(double el) { - pitch = _elevation = el; + if (_random) + pitch = _elevation = el - _el_random_error + 2 * _el_random_error * sg_random(); + else + pitch = _elevation = el; } void FGAIBallistic::setRoll(double rl) { @@ -295,7 +318,10 @@ void FGAIBallistic::setDragArea(double a) { } void FGAIBallistic::setLife(double seconds) { - life = seconds; + if (_random) + life = seconds * _life_randomness + (seconds * (1 -_life_randomness) * sg_random()); + else + life = seconds; } void FGAIBallistic::setBuoyancy(double fpss) { @@ -314,8 +340,13 @@ void FGAIBallistic::setWind(bool val) { _wind = val; } -void FGAIBallistic::setCd(double c) { - _Cd = c; +void FGAIBallistic::setCd(double cd) { + _cd = cd; + _init_cd = cd; +} + +void FGAIBallistic::setCdRandomness(double randomness) { + _cd_randomness = randomness; } void FGAIBallistic::setMass(double m) { @@ -325,6 +356,11 @@ void FGAIBallistic::setMass(double m) { void FGAIBallistic::setWeight(double w) { _weight_lb = w; } + +void FGAIBallistic::setLifeRandomness(double randomness) { + _life_randomness = randomness; +} + void FGAIBallistic::setRandom(bool r) { _random = r; } @@ -337,22 +373,22 @@ void FGAIBallistic::setCollision(bool c) { _report_collision = c; } +void FGAIBallistic::setExpiry(bool e) { + _report_expiry = e; +} + void FGAIBallistic::setExternalForce(bool f) { _external_force = f; } void FGAIBallistic::setImpactReportNode(const string& path) { - if (!path.empty()) _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) { @@ -383,33 +419,71 @@ 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) { + 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) - _contents_lb = _contents_node->getChild("level-lbs",0,1)->getDoubleValue(); + 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); + if (_contents_node) + _contents_lb = _contents_node->getChild("level-gal_us", 0, 1)->setDoubleValue(c); } void FGAIBallistic::setSlavedLoad(bool l) { @@ -430,70 +504,87 @@ 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)){ +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 { + } + else { return false; } - } -double FGAIBallistic::getRecip(double az){ +double FGAIBallistic::getRecip(double az) { // calculate the reciprocal of the input azimuth - if(az - 180 < 0){ + if (az - 180 < 0) { return az + 180; - } else { + } + else { return az - 180; } } -void FGAIBallistic::setPch(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::setBnk(double r, 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){ +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 { return _tgt_x_offset; @@ -507,61 +598,112 @@ double FGAIBallistic::getTgtZOffset() const { return _tgt_z_offset; } -void FGAIBallistic::setTgtXOffset(double x){ +void FGAIBallistic::setTgtXOffset(double x) { _tgt_x_offset = x; } -void FGAIBallistic::setTgtYOffset(double y){ +void FGAIBallistic::setTgtYOffset(double y) { _tgt_y_offset = y; } -void FGAIBallistic::setTgtZOffset(double z){ +void FGAIBallistic::setTgtZOffset(double z) { _tgt_z_offset = z; } -void FGAIBallistic::slaveToAC(double dt){ +void FGAIBallistic::slaveToAC(double dt) { + 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); - 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;*/ + _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) - setDie(true); + if (_life_timer > life && life != -1) { + 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 { + //cout<<"AIBallistic run: name " << _name.c_str() + // << " die " << " _life_timer " << _life_timer << endl; + setDie(true); + } - //set the contents in the appropriate tank or other property in the parent to zero + setTime(0); + } + + // 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()); + if (_random) { + // Keep the new Cd within +- 10% of the current Cd to avoid a fluctuating value + double cd_min = _cd * 0.9; + double cd_max = _cd * 1.1; + + // Randomize Cd by +- a certain percentage of the initial Cd + _cd = _init_cd * (1 - _cd_randomness + 2 * _cd_randomness * sg_random()); + + if (_cd < cd_min) _cd = cd_min; + if (_cd > cd_max) _cd = cd_max; + } // Adjust Cd by Mach number. The equations are based on curves // for a conventional shell/bullet (no boat-tail). double Cdm; if (Mach < 0.7) - Cdm = 0.0125 * Mach + _Cd; - else if (Mach < 1.2 ) - Cdm = 0.3742 * pow(Mach, 2) - 0.252 * Mach + 0.0021 + _Cd; + Cdm = 0.0125 * Mach + _cd; + else if (Mach < 1.2) + Cdm = 0.3742 * pow(Mach, 2) - 0.252 * Mach + 0.0021 + _cd; else - Cdm = 0.2965 * pow(Mach, -1.1506) + _Cd; + 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, @@ -571,41 +713,31 @@ void FGAIBallistic::Run(double dt) { speed -= (Cdm * 0.5 * rho * speed * speed * _drag_area/_mass) * dt; // don't let speed become negative - if ( speed < 0.0 ) + 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 not required, set to zero if (!_wind) { _wind_from_north = 0; _wind_from_east = 0; - } else { + } + else { _wind_from_north = manager->get_wind_from_north(); _wind_from_east = manager->get_wind_from_east(); } - //calculate velocity due to external force + // 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 hs_force_fps = 0; double v_force_acc_fpss = 0; double force_speed_north_fps = 0; @@ -620,59 +752,61 @@ 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) { - 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(); + //cout << _name << " external force " << hdg << " az " << _azimuth << endl; - //resolve force into vertical and horizontal components: + SGPropertyNode *n = fgGetNode(_force_path.c_str(), true); + 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 - - if (getHtAGL()){ + // Perform ground interaction if impacts are not calculated + if (!_report_impact && getHtAGL(10000)) { double deadzone = 0.1; - if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){ + if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid) { normal_force_lbs = (_mass * slugs_to_lbs) - v_force_lbs; - if ( normal_force_lbs < 0 ) + if (normal_force_lbs < 0) normal_force_lbs = 0; pos.setElevationFt(0 + _ground_offset); - if (vs < 0) + if (vs < 0) vs = -vs * 0.5; - // calculate friction - // we assume a static Coefficient of Friction (mu) of 0.62 (wood on concrete) + // 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; - //adjust horizontal force. We assume that a speed of <= 5 fps is static - if (h_force_lbs <= static_friction_force_lbs && hs <= 5){ + // 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 + _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 + // Ignore wind when on the ground for now //TODO fix this _wind_from_north = 0; _wind_from_east = 0; - } - } //acceleration = (force(lbsf)/mass(slugs)) - v_force_acc_fpss = v_force_lbs/_mass; - normal_force_fpss = normal_force_lbs/_mass; - double h_force_acc_fpss = h_force_lbs/_mass; - double dynamic_friction_acc_fpss = dynamic_friction_force_lbs/_mass; + v_force_acc_fpss = v_force_lbs / _mass; + normal_force_fpss = normal_force_lbs / _mass; + double h_force_acc_fpss = h_force_lbs / _mass; + double dynamic_friction_acc_fpss = dynamic_friction_force_lbs / _mass; // velocity = acceleration * dt hs_force_fps = h_force_acc_fpss * dt; @@ -698,38 +832,44 @@ 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()){ + if (_slave_load_to_ac) { + 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){ + if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid) { pos.setElevationFt(0 + _ground_offset); - } else { - pos.setElevationFt(hitchpos.getElevationFt() + _load_offset); } - + else { + pos.setElevationFt(_offsetpos.getElevationFt() + _load_offset); + } } - } else { + } + 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 ); @@ -739,6 +879,8 @@ 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; @@ -747,8 +889,8 @@ 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 @@ -756,12 +898,16 @@ void FGAIBallistic::Run(double dt) { _azimuth += 360; if (_aero_stabilised) { // we simulate rotational moment of inertia by using a filter + //cout<< "_aero_stabilised " << hdg << " az " << _azimuth << endl; const double coeff = 0.9; // we assume a symetrical MI about the pitch and yaw axis setPch(_elevation, dt, coeff); setHdg(_azimuth, dt, coeff); - } else if (_force_stabilised) { // we simulate rotational moment of inertia by using a filter + } + 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); @@ -778,48 +924,64 @@ void FGAIBallistic::Run(double dt) { setHdg(_azimuth, dt, coeff); } - //do impacts and collisions + // Do impacts and collisions if (_report_impact && !_impact_reported) handle_impact(); if (_report_collision && !_collision_reported) handle_collision(); - // set destruction flag if altitude less than sea level -1000 + // Set destruction flag if altitude less than sea level -1000 if (altitude_ft < -1000.0 && life != -1) setDie(true); - -} // end Run +} double FGAIBallistic::_getTime() const { return _life_timer; } +void FGAIBallistic::setTime(double s) { + _life_timer = s; +} + +void FGAIBallistic::handleEndOfLife(double elevation) { + report_impact(elevation); + + // Make the submodel invisible if the submodel is immortal, otherwise kill it if it has no subsubmodels + if (life == -1) { + invisible = true; + } + else if (_subID == 0) { + // Kill the AIObject if there is no subsubmodel + setDie(true); + } +} + void FGAIBallistic::handle_impact() { + // Try terrain intersection + double start = pos.getElevationM() + 100; - // try terrain intersection - if(!getHtAGL()) + if (!getHtAGL(start)) return; if (_ht_agl_ft <= 0) { - SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: terrain impact"); - report_impact(_elevation_m); + SG_LOG(SG_AI, SG_DEBUG, "AIBallistic: terrain impact material" << _mat_name); _impact_reported = true; + handleEndOfLife(_elevation_m); + } +} - if (life == -1){ - invisible = true; - } else if (_subID == 0) // kill the AIObject if there is no subsubmodel - setDie(true); - } +void FGAIBallistic::handle_expiry() { + _expiry_reported = true; + handleEndOfLife(pos.getElevationM()); } void FGAIBallistic::handle_collision() { const FGAIBase *object = manager->calcCollision(pos.getElevationFt(), - pos.getLatitudeDeg(),pos.getLongitudeDeg(), _fuse_range); + 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; } @@ -836,11 +998,15 @@ 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); @@ -852,27 +1018,22 @@ 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{ - +SGVec3d FGAIBallistic::getCartHitchPos() const { // convert geodetic positions to geocentered - SGVec3d cartuserPos = getCartUserPos(); - SGVec3d cartPos = getCartPos(); + SGVec3d cartuserPos = globals->get_aircraft_position_cart(); + + //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); + _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 @@ -887,18 +1048,16 @@ SGVec3d FGAIBallistic::getCartHitchPos() const{ // 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); +void FGAIBallistic::setOffsetPos(SGGeod inpos, double heading, double pitch, double roll) { + // Convert the hitch geocentered position to geodetic + SGVec3d cartoffsetPos = getCartOffsetPos(inpos, heading, pitch, roll); + SGGeodesy::SGCartToGeod(cartoffsetPos, _offsetpos); } -double FGAIBallistic::getDistanceLoadToHitch() const { +double FGAIBallistic::getDistanceToHitch() const { //calculate the distance load to hitch SGVec3d carthitchPos = getCartHitchPos(); SGVec3d cartPos = getCartPos(); @@ -908,47 +1067,11 @@ 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; @@ -961,11 +1084,12 @@ 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; } @@ -974,33 +1098,32 @@ 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; } double FGAIBallistic::getElevHitchToUser() const { - - //calculate the distance from the user position + // 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 + // Now the angle, positive angles are upwards if (fabs(distance) < SGLimits::min()) { angle = 0; - } else { + } + else { double sAngle = daltM/distance; sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle)); angle = SGMiscd::rad2deg(asin(sAngle)); @@ -1009,7 +1132,7 @@ double FGAIBallistic::getElevHitchToUser() const { return angle; } -void FGAIBallistic::setTgtOffsets(double dt, double coeff){ +void FGAIBallistic::setTgtOffsets(double dt, double coeff) { double c = dt / (coeff + dt); _x_offset = (_tgt_x_offset * c) + (_x_offset * (1 - c)); @@ -1017,57 +1140,108 @@ void FGAIBallistic::setTgtOffsets(double dt, double coeff){ _z_offset = (_tgt_z_offset * c) + (_z_offset * (1 - c)); } -void FGAIBallistic::formateToAC(double dt){ +void FGAIBallistic::calcVSHS() { + // Calculate vertical and horizontal speed components + double speed_fps = speed * SG_KT_TO_FPS; - setTgtOffsets(dt, 25); - setHitchPos(); - setHitchVelocity(dt); + 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; + } +} - // elapsed time has a random initialisation so that each - // wingman moves differently - _elapsed_time += dt; +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; - // 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; + // 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; +} - pos.setLatitudeDeg(hitchpos.getLatitudeDeg()); - pos.setLongitudeDeg(hitchpos.getLongitudeDeg()); +SGVec3d FGAIBallistic::getCartOffsetPos(SGGeod inpos, double user_heading, + double user_pitch, double user_roll + ) const { + // Convert geodetic positions to geocentered + SGVec3d cartuserPos = SGVec3d::fromGeod(inpos); - 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; - // 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); + return offsetPos; +} - 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; +void FGAIBallistic::setOffsetVelocity(double dt, SGGeod offsetpos) { + // Calculate the distance from the previous offset position + SGVec3d cartoffsetPos = SGVec3d::fromGeod(offsetpos); + SGVec3d diff = cartoffsetPos - _oldcartoffsetPos; - } 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 distance = norm(diff); + // Calculate speed knots + speed = (distance / dt) * SG_MPS_TO_KT; + + // 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 { + 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