X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIBallistic.cxx;h=fc4ea30c19d4a5439a9285101f18d31045a8fb6b;hb=3d4806adbe6705f785fd950bd4b4afde1cb4f8d2;hp=5f67d88e4c04b2507b21ca4fb41470f598188736;hpb=dff8099994e9205d0790aaf91e3a6a9795150e74;p=flightgear.git diff --git a/src/AIModel/AIBallistic.cxx b/src/AIModel/AIBallistic.cxx index 5f67d88e4..fc4ea30c1 100644 --- a/src/AIModel/AIBallistic.cxx +++ b/src/AIModel/AIBallistic.cxx @@ -32,6 +32,7 @@ #include "AIBallistic.hxx" #include
+#include using namespace simgear; @@ -39,17 +40,18 @@ const double FGAIBallistic::slugs_to_kgs = 14.5939029372; const double FGAIBallistic::slugs_to_lbs = 32.1740485564; FGAIBallistic::FGAIBallistic(object_type ot) : -FGAIBase(ot), +FGAIBase(ot, false), _height(0.0), +_speed(0), _ht_agl_ft(0.0), _azimuth(0.0), _elevation(0.0), _rotation(0.0), -_formate_to_ac(false), +hs(0), +_elapsed_time(0), _aero_stabilised(false), _drag_area(0.007), _life_timer(0.0), -_gravity(32.1740485564), _buoyancy(0), _wind(true), _mass(0), @@ -61,13 +63,11 @@ _slave_to_ac(false), _slave_load_to_ac(false), _contents_lb(0), _report_collision(false), -_report_expiry(false), _report_impact(false), _external_force(false), +_report_expiry(false), _impact_report_node(fgGetNode("/ai/models/model-impact", true)), -_old_height(0), -_elapsed_time(0), -hs(0) +_old_height(0) { no_roll = false; @@ -121,11 +121,16 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) { setSlaved(scFileNode->getBoolValue("slaved", false)); setSlavedLoad(scFileNode->getBoolValue("slaved-load", false)); 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; @@ -142,6 +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()); @@ -151,6 +158,15 @@ bool FGAIBallistic::init(bool search_in_AI_path) { 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 @@ -161,120 +177,89 @@ bool FGAIBallistic::init(bool search_in_AI_path) { Transform(); - //cout << _name << " speed init: " << speed << endl; + if(_parent != ""){ + setParentNode(); + } + + setParentNodes(_selected_ac); - return true; + 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::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)); - props->tie("material/load-resistance", + (*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/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) { FGAIBase::update(dt); _setUserPos(); - if (_formate_to_ac){ - formateToAC(dt); - Transform(); - } else if (_slave_to_ac){ + if (_slave_to_ac){ slaveToAC(dt); Transform(); } else if (!invisible){ @@ -322,7 +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; } @@ -385,10 +370,6 @@ void FGAIBallistic::setImpactReportNode(const string& path) { _impact_report_node = fgGetNode(path.c_str(), true); } -void FGAIBallistic::setName(const string& n) { - _name = n; -} - void FGAIBallistic::setSMPath(const string& s) { _path = s; //cout << "submodel path " << _path << endl; @@ -422,10 +403,6 @@ 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; @@ -443,13 +420,16 @@ void FGAIBallistic::setContentsNode(SGPropertyNode_ptr node) { } } -void FGAIBallistic::setParentNode(SGPropertyNode_ptr node) { +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); @@ -458,12 +438,15 @@ void FGAIBallistic::setParentNode(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) { + + 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(); @@ -473,6 +456,7 @@ void FGAIBallistic::setParentPos() { _parentpos.setElevationFt(alt); } + } bool FGAIBallistic::getSlaved() const { @@ -514,16 +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 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()); @@ -566,22 +551,32 @@ void FGAIBallistic::setBnk(double r, double dt, double coeff){ roll = (r * c) + (roll * (1 - c)); } +void FGAIBallistic::setSpd(double s, double dt, double coeff){ + double c = dt / (coeff + dt); + _speed = (s * c) + (_speed * (1 - c)); +} + void FGAIBallistic::setHt(double h, double dt, double coeff){ double c = dt / (coeff + dt); _height = (h * c) + (_height * (1 - c)); } -void FGAIBallistic::setHdg(double az, double dt, double coeff){ +int FGAIBallistic::setHdg(double tgt_hdg, double dt, double coeff){ double recip = getRecip(hdg); double c = dt / (coeff + dt); + //cout << "set heading " << tgt_hdg << endl; //we need to ensure that we turn the short way to the new hdg - if (az < recip && az < hdg && hdg > 180) { - hdg = ((az + 360) * c) + (hdg * (1 - c)); - } else if (az > recip && az > hdg && hdg <= 180){ - hdg = ((az - 360) * c) + (hdg * (1 - c)); + if (tgt_hdg < recip && tgt_hdg < hdg && hdg > 180) { + hdg = ((tgt_hdg + 360) * c) + (hdg * (1 - c)); +// cout << "case 1: right turn" << endl; + } else if (tgt_hdg > recip && tgt_hdg > hdg && hdg <= 180){ + hdg = ((tgt_hdg - 360) * c) + (hdg * (1 - c)); +// cout << "case 2: left turn" << endl; } else { - hdg = (az * c) + (hdg * (1 - c)); + hdg = (tgt_hdg * c) + (hdg * (1 - c)); +// cout << "case 4: left turn" << endl; } + return -1; } double FGAIBallistic::getTgtXOffset() const { @@ -610,19 +605,24 @@ void FGAIBallistic::setTgtZOffset(double z){ void FGAIBallistic::slaveToAC(double dt){ - double hdg, pch, rll = 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(); 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); setSpeed(manager->get_user_speed()); } @@ -634,6 +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; @@ -647,16 +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 @@ -691,24 +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) { @@ -737,55 +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; @@ -817,16 +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; @@ -872,8 +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 @@ -881,7 +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 @@ -923,16 +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; @@ -940,12 +951,12 @@ void FGAIBallistic::handle_impact() { invisible = true; } else if (_subID == 0) // kill the AIObject if there is no subsubmodel setDie(true); - } + } } void FGAIBallistic::handle_expiry() { - SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: handle_expiry " << pos.getElevationM()); + //SG_LOG(SG_AI, SG_DEBUG, "AIBallistic: handle_expiry " << pos.getElevationM()); report_impact(pos.getElevationM()); _expiry_reported = true; @@ -986,7 +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); @@ -1050,7 +1062,7 @@ void FGAIBallistic::setOffsetPos(SGGeod inpos, double heading, double pitch, dou } -double FGAIBallistic::getDistanceLoadToHitch() const { +double FGAIBallistic::getDistanceToHitch() const { //calculate the distance load to hitch SGVec3d carthitchPos = getCartHitchPos(); SGVec3d cartPos = getCartPos(); @@ -1060,10 +1072,9 @@ double FGAIBallistic::getDistanceLoadToHitch() const { return distance * SG_METER_TO_FEET; } - -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 = _offsetpos.getElevationM() - pos.getElevationM(); @@ -1078,9 +1089,10 @@ 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, _offsetpos, &az1, &az2, &distance); @@ -1095,8 +1107,7 @@ double FGAIBallistic::getRelBrgHitchToUser() const { double rel_brg = az1 - hdg; - if (rel_brg > 180) - rel_brg -= 360; + SG_NORMALIZE_RANGE(rel_brg, -180.0, 180.0); return rel_brg; } @@ -1134,62 +1145,7 @@ void FGAIBallistic::setTgtOffsets(double dt, double coeff){ _z_offset = (_tgt_z_offset * c) + (_z_offset * (1 - c)); } -void FGAIBallistic::formateToAC(double dt){ - - setTgtOffsets(dt, 25); - setOffsetPos(userpos, - manager->get_user_heading(), - manager->get_user_pitch(), - manager->get_user_roll() - ); - - // elapsed time has a random initialisation so that each - // wingman moves differently - _elapsed_time += dt; - - // we derive a sine based factor to give us smoothly - // varying error between -1 and 1 - double factor = sin(SGMiscd::deg2rad(_elapsed_time * 10)); - double r_angle = 5 * factor; - double p_angle = 2.5 * factor; - double h_angle = 5 * factor; - double h_feet = 3 * factor; - pos.setLatitudeDeg(_offsetpos.getLatitudeDeg()); - pos.setLongitudeDeg(_offsetpos.getLongitudeDeg()); - - if (getHtAGL(10000)){ - - 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(_offsetpos.getElevationFt()+ h_feet, dt, 0.75); - } else - setHt(_offsetpos.getElevationFt()+ h_feet, dt, 0.5); - - pos.setElevationFt(_height); - } - - // these calculations are unreliable at slow speeds - if(speed >= 10) { - setHdg(_azimuth + h_angle, dt, 0.9); - setPch(_elevation + p_angle + _pitch_offset, dt, 0.9); - - if (roll <= 115 && roll >= -115) - setBnk(manager->get_user_roll() + r_angle + _roll_offset, dt, 0.5); - else - roll = manager->get_user_roll() + r_angle + _roll_offset; - - } else { - setHdg(manager->get_user_heading(), dt, 0.9); - setPch(manager->get_user_pitch() + _pitch_offset, dt, 0.9); - setBnk(manager->get_user_roll() + _roll_offset, dt, 0.9); - } - - setOffsetVelocity(dt, pos); -} void FGAIBallistic::calcVSHS(){ // calculate vertical and horizontal speed components double speed_fps = speed * SG_KT_TO_FPS; @@ -1231,7 +1187,7 @@ SGVec3d FGAIBallistic::getCartOffsetPos(SGGeod inpos, double user_heading, -_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(inpos); // and postrotate the orientation of the user model wrt the horizontal // local frame @@ -1277,9 +1233,17 @@ 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();