X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIBallistic.cxx;h=be5bcd74f3696c8aa6b4292bd281b99b43514815;hb=99ea9c9583d75cbf065e8a9d8f683c0daa913c95;hp=2ffaad6a5aba85b2c6ddfe027da0e62fa1b73385;hpb=10866851de802979af4a5857aa795d0b4a90b0c5;p=flightgear.git diff --git a/src/AIModel/AIBallistic.cxx b/src/AIModel/AIBallistic.cxx index 2ffaad6a5..be5bcd74f 100644 --- a/src/AIModel/AIBallistic.cxx +++ b/src/AIModel/AIBallistic.cxx @@ -32,27 +32,37 @@ #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), +_az_random_error(0.0), +_el_random_error(0.0), _aero_stabilised(false), _drag_area(0.007), -_life_timer(0.0), -_gravity(32.1740485564), +_cd(0.029), +_init_cd(0.029), +_cd_randomness(0.0), _buoyancy(0), +_life_timer(0.0), _wind(true), _mass(0), _random(false), +_life_randomness(0.0), _load_resistance(0), _solid(false), _force_stabilised(false), @@ -60,14 +70,10 @@ _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), -_speed(), -hs(0) +_report_expiry(false), +_impact_report_node(fgGetNode("/ai/models/model-impact", true)) { no_roll = false; @@ -126,7 +132,11 @@ 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; @@ -143,20 +153,25 @@ 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()); - if (_slave_to_ac){ + if (_slave_to_ac) { props->setStringValue("force/path", _force_path.c_str()); 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()); @@ -168,120 +183,92 @@ 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", + 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", + 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){ + if (_slave_to_ac) { slaveToAC(dt); Transform(); - } else if (!invisible){ + } + else if (!invisible) { Run(dt); Transform(); } @@ -289,17 +276,25 @@ void FGAIBallistic::update(double dt) { } void FGAIBallistic::setAzimuth(double az) { - if (_random) - hdg = _azimuth = (az - 5 ) + (10 * sg_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; +} - //cout << _name << " init hdg " << hdg << " random " << _random << endl; +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) { @@ -323,11 +318,9 @@ void FGAIBallistic::setDragArea(double a) { } void FGAIBallistic::setLife(double seconds) { - - if (_random){ - life = seconds * _randomness + (seconds * (1 -_randomness) * sg_random()); - //cout << "life " << life << endl; - } else + if (_random) + life = seconds * _life_randomness + (seconds * (1 -_life_randomness) * sg_random()); + else life = seconds; } @@ -347,8 +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) { @@ -359,8 +357,8 @@ void FGAIBallistic::setWeight(double w) { _weight_lb = w; } -void FGAIBallistic::setRandomness(double r) { - _randomness = r; +void FGAIBallistic::setLifeRandomness(double randomness) { + _life_randomness = randomness; } void FGAIBallistic::setRandom(bool r) { @@ -384,7 +382,6 @@ void FGAIBallistic::setExternalForce(bool f) { } void FGAIBallistic::setImpactReportNode(const string& path) { - if (!path.empty()) _impact_report_node = fgGetNode(path.c_str(), true); } @@ -423,7 +420,6 @@ void FGAIBallistic::setSlaved(bool s) { } void FGAIBallistic::setContentsPath(const string& path) { - _contents_path = path; if (!path.empty()) { @@ -432,7 +428,6 @@ void FGAIBallistic::setContentsPath(const string& path) { } void FGAIBallistic::setContentsNode(SGPropertyNode_ptr node) { - if (node != 0) { _contents_node = node; _contents_path = _contents_node->getDisplayName(); @@ -440,7 +435,6 @@ void FGAIBallistic::setContentsNode(SGPropertyNode_ptr node) { } void FGAIBallistic::setParentNodes(SGPropertyNode_ptr node) { - if (node != 0) { _pnode = node; _p_pos_node = _pnode->getChild("position", 0, true); @@ -458,14 +452,10 @@ void FGAIBallistic::setParentNodes(SGPropertyNode_ptr node) { _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(); @@ -473,9 +463,7 @@ void FGAIBallistic::setParentPos() { _parentpos.setLongitudeDeg(lon); _parentpos.setLatitudeDeg(lat); _parentpos.setElevationFt(alt); - } - } bool FGAIBallistic::getSlaved() const { @@ -487,15 +475,15 @@ double FGAIBallistic::getMass() const { } 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) { @@ -516,17 +504,18 @@ void FGAIBallistic::setForcePath(const string& p) { } } -bool FGAIBallistic::getHtAGL(double start){ - +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()); @@ -540,48 +529,49 @@ bool FGAIBallistic::getHtAGL(double start){ //<< " 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::setSpd(double s, 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){ +void FGAIBallistic::setHt(double h, double dt, double coeff) { double c = dt / (coeff + dt); _height = (h * c) + (_height * (1 - c)); } -int FGAIBallistic::setHdg(double tgt_hdg, 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)); @@ -608,36 +598,39 @@ 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; + 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 { + } + 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 +641,7 @@ 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; @@ -661,35 +655,52 @@ 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; + 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 + } + 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 + // Set the contents in the appropriate tank or other property in the parent to zero setContents(0); - //randomise Cd by +- 10% - if (_random) - _Cd = _Cd * 0.90 + (0.10 * 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 <<_name << " Mach " << Mach << " Cdm " << Cdm // << " ballistic speed kts "<< speed << endl; @@ -702,41 +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; @@ -751,61 +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) { - //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: + // 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(10000)){ + // 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; @@ -831,22 +832,23 @@ 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) { + if (_slave_load_to_ac) { setOffsetPos(pos, manager->get_user_heading(), manager->get_user_pitch(), @@ -856,17 +858,18 @@ void FGAIBallistic::Run(double dt) { pos.setLongitudeDeg(_offsetpos.getLongitudeDeg()); pos.setElevationFt(_offsetpos.getElevationFt()); - if (getHtAGL(10000)){ + 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 { + } + 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 ); @@ -886,8 +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 @@ -895,13 +898,14 @@ 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 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; @@ -920,56 +924,56 @@ 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::handle_impact() { +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); + } +} - // try terrain intersection - double start = pos.getElevationM() + 10; +void FGAIBallistic::handle_impact() { + // Try terrain intersection + double start = pos.getElevationM() + 100; - if(!getHtAGL(start)) + 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; - - if (life == -1){ - invisible = true; - } else if (_subID == 0) // kill the AIObject if there is no subsubmodel - setDie(true); + handleEndOfLife(_elevation_m); } } void FGAIBallistic::handle_expiry() { - - SG_LOG(SG_GENERAL, 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); - } - + handleEndOfLife(pos.getElevationM()); } void FGAIBallistic::handle_collision() @@ -1000,7 +1004,8 @@ 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 +1018,10 @@ 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 = 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 +1033,7 @@ 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 @@ -1048,20 +1048,13 @@ 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::setOffsetPos(SGGeod inpos, double heading, double pitch, double roll){ - // convert the hitch geocentered position to geodetic - +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); - - //SGVec3d cartoffsetPos = getCartHitchPos(); - - //SGGeodesy::SGCartToGeod(cartoffsetPos, hitchpos); SGGeodesy::SGCartToGeod(cartoffsetPos, _offsetpos); - } double FGAIBallistic::getDistanceToHitch() const { @@ -1105,7 +1098,7 @@ 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; @@ -1115,22 +1108,22 @@ double FGAIBallistic::getRelBrgHitchToUser() const { } 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() - _offsetpos.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)); @@ -1139,7 +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)); @@ -1147,38 +1140,34 @@ void FGAIBallistic::setTgtOffsets(double dt, double coeff){ _z_offset = (_tgt_z_offset * c) + (_z_offset * (1 - c)); } - -void FGAIBallistic::calcVSHS(){ - // calculate vertical and horizontal speed components +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 { + } + 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: +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 + // 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; - } 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); - //SGVec3d cartuserPos = getCartUserPos(); - //SGVec3d cartPos = getCartPos(); + ) const { + // Convert geodetic positions to geocentered + SGVec3d cartuserPos = SGVec3d::fromGeod(inpos); // Transform to the right coordinate frame, configuration is done in // the x-forward, y-right, z-up coordinates (feet), computation @@ -1191,7 +1180,7 @@ SGVec3d FGAIBallistic::getCartOffsetPos(SGGeod inpos, double user_heading, // Transform the user position to the horizontal local coordinate system. SGQuatd hlTrans = SGQuatd::fromLonLat(inpos); - // and postrotate the orientation of the user model wrt the horizontal + // And postrotate the orientation of the user model wrt the horizontal // local frame hlTrans *= SGQuatd::fromYawPitchRollDeg( user_heading, @@ -1209,42 +1198,50 @@ SGVec3d FGAIBallistic::getCartOffsetPos(SGGeod inpos, double user_heading, } void FGAIBallistic::setOffsetVelocity(double dt, SGGeod offsetpos) { - //calculate the distance from the previous offset position + // Calculate the distance from the previous offset position SGVec3d cartoffsetPos = SGVec3d::fromGeod(offsetpos); SGVec3d diff = cartoffsetPos - _oldcartoffsetPos; double distance = norm(diff); - //calculate speed knots - speed = (distance/dt) * SG_MPS_TO_KT; + // Calculate speed knots + speed = (distance / dt) * SG_MPS_TO_KT; - //now calulate the angle between the old and current postion positions (degrees) + // 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; + } + else { + double sAngle = daltM / distance; sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle)); angle = SGMiscd::rad2deg(asin(sAngle)); } _elevation = angle; - //calculate vertical and horizontal speed components + // Calculate vertical and horizontal speed components 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; + // 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: + // Resolve horizontal speed into north and east components calcNE(); - // and finally store the new values + // And finally store the new values _oldcartoffsetPos = cartoffsetPos; _oldoffsetpos = offsetpos; } - -// end AIBallistic