X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2Fsubmodel.cxx;h=7b946f0b8e4ae01c707f4318dda4242a21248ba7;hb=47a7952f893dcb3d0b1372907cac375fedf81703;hp=035ced0d6c80e9a2e7426372642b2987607d8b5c;hpb=5a73a46cd05f02c8c739aee9b148c8b258049303;p=flightgear.git diff --git a/src/AIModel/submodel.cxx b/src/AIModel/submodel.cxx index 035ced0d6..7b946f0b8 100644 --- a/src/AIModel/submodel.cxx +++ b/src/AIModel/submodel.cxx @@ -1,4 +1,4 @@ -// submodel.cxx - models a releasable submodel. +//// submodel.cxx - models a releasable submodel. // Written by Dave Culp, started Aug 2004 // With major additions by Vivian Meaaza 2004 - 2007 // @@ -13,6 +13,7 @@ #include #include #include +#include #include
#include
@@ -33,7 +34,6 @@ FGSubmodelMgr::FGSubmodelMgr() yaw_offset = 0.0; out[0] = out[1] = out[2] = 0; - in[3] = out[3] = 1; string contents_node; contrail_altitude = 30000; _count = 0; @@ -85,7 +85,6 @@ void FGSubmodelMgr::postinit() { loadSubmodels(); //TODO reload submodels if an MP ac joins - } void FGSubmodelMgr::bind() @@ -98,7 +97,6 @@ void FGSubmodelMgr::unbind() (*submodel_iterator)->prop->untie("count"); ++submodel_iterator; } - } void FGSubmodelMgr::update(double dt) @@ -106,37 +104,31 @@ void FGSubmodelMgr::update(double dt) if (!_serviceable_node->getBoolValue()) return; - int i = -1; - bool in_range = true; - bool trigger = false; _impact = false; _hit = false; + // check if the submodel hit an object or terrain sm_list = ai->get_ai_list(); - sm_list_iterator sm_list_itr = sm_list.begin(); sm_list_iterator end = sm_list.end(); - submodel_iterator = submodels.begin(); - - while (sm_list_itr != end) { + for (; sm_list_itr != end; ++sm_list_itr) { _impact = (*sm_list_itr)->_getImpactData(); _hit = (*sm_list_itr)->_getCollisionData(); int parent_subID = (*sm_list_itr)->_getSubID(); - - if ( parent_subID == 0) { // this entry in the list has no associated submodel - ++sm_list_itr; // so we can continue - continue; - } + //SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! " + // << _hit <<" parent_subID " << parent_subID); + if ( parent_subID == 0) // this entry in the list has no associated submodel + continue; // so we can continue if (_impact || _hit) { - SG_LOG(SG_GENERAL, SG_ALERT, "Submodel: Impact " << _impact << " hit! " << _hit ); + //SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! " << _hit ); submodel_iterator = submodels.begin(); while (submodel_iterator != submodels.end()) { int child_ID = (*submodel_iterator)->id; - cout << "Impact: parent SubID " << parent_subID << " child_ID " << child_ID << endl; + //cout << "Impact: parent SubID " << parent_subID << " child_ID " << child_ID << endl; if ( parent_subID == child_ID ) { _parent_lat = (*sm_list_itr)->_getImpactLat(); @@ -148,27 +140,32 @@ void FGSubmodelMgr::update(double dt) _parent_speed = (*sm_list_itr)->_getImpactSpeed(); (*submodel_iterator)->first_time = true; - if (release(submodel_iterator, dt)) { + if (release(*submodel_iterator, dt)) (*sm_list_itr)->setDie(true); - } - } ++submodel_iterator; } } - - ++sm_list_itr; } _contrail_trigger->setBoolValue(_user_alt_node->getDoubleValue() > contrail_altitude); - submodel_iterator = submodels.begin(); + bool in_range = true; + bool trigger = false; + int i = -1; + + submodel_iterator = submodels.begin(); while (submodel_iterator != submodels.end()) { i++; in_range = true; + /*SG_LOG(SG_GENERAL, SG_DEBUG, + "Submodels: " << (*submodel_iterator)->id + << " name " << (*submodel_iterator)->name + << " in range " << in_range);*/ + if ((*submodel_iterator)->trigger_node != 0) { _trigger_node = (*submodel_iterator)->trigger_node; trigger = _trigger_node->getBoolValue(); @@ -177,11 +174,6 @@ void FGSubmodelMgr::update(double dt) trigger = true; //cout << (*submodel_iterator)->name << "trigger node not found " << trigger << endl; } - SG_LOG(SG_GENERAL, SG_DEBUG, - "Submodels: " << (*submodel_iterator)->id - << " name " << (*submodel_iterator)->name - << " in range " << in_range - ); if (trigger) { int id = (*submodel_iterator)->id; @@ -193,11 +185,11 @@ void FGSubmodelMgr::update(double dt) sm_list_iterator end = sm_list.end(); while (sm_list_itr != end) { + in_range = true; if (id == 0) { - SG_LOG(SG_GENERAL, SG_DEBUG, - "Submodels: continuing: " << id << " name " << name ); - in_range = true; + //SG_LOG(SG_GENERAL, SG_DEBUG, + // "Submodels: continuing: " << id << " name " << name ); ++sm_list_itr; continue; } @@ -207,71 +199,69 @@ void FGSubmodelMgr::update(double dt) if (parent_id == id) { double parent_lat = (*sm_list_itr)->_getLatitude(); double parent_lon = (*sm_list_itr)->_getLongitude(); + string parent_name = (*sm_list_itr)->_getName(); double own_lat = _user_lat_node->getDoubleValue(); double own_lon = _user_lon_node->getDoubleValue(); double range_nm = getRange(parent_lat, parent_lon, own_lat, own_lon); - // cout << "parent " << parent_id << ", "<< parent_lat << ", " << parent_lon << endl; - //cout << "own " << own_lat << ", " << own_lon << " range " << range_nm << endl; + //cout << "parent name " << parent_name << ", "<< parent_id << ", "<< parent_lat << ", " << parent_lon << endl; + //cout << "own name " << own_lat << ", " << own_lon << " range " << range_nm << endl; if (range_nm > 15) { - SG_LOG(SG_GENERAL, SG_DEBUG, - "Submodels: skipping release: " << id); + //SG_LOG(SG_GENERAL, SG_DEBUG, + // "Submodels: skipping release, out of range: " << id); in_range = false; } - } ++sm_list_itr; } // end while - SG_LOG(SG_GENERAL, SG_DEBUG, - "Submodels end: " << (*submodel_iterator)->id - << " name " << (*submodel_iterator)->name - << " count " << (*submodel_iterator)->count - << " in range " << in_range - ); + /*SG_LOG(SG_GENERAL, SG_DEBUG, + "Submodels end: " << (*submodel_iterator)->id + << " name " << (*submodel_iterator)->name + << " count " << (*submodel_iterator)->count + << " in range " << in_range);*/ if ((*submodel_iterator)->count != 0 && in_range) - release((submodel_iterator), dt); + release(*submodel_iterator, dt); } else (*submodel_iterator)->first_time = true; ++submodel_iterator; } // end while - } -bool FGSubmodelMgr::release(submodel_vector_iterator sm, double dt) +bool FGSubmodelMgr::release(submodel *sm, double dt) { - //cout << "release id " << (*sm)->id << " name " << (*sm)->name - //<< " first time " << (*sm)->first_time << " repeat " << (*sm)->repeat << + //cout << "release id " << sm->id << " name " << sm->name + //<< " first time " << sm->first_time << " repeat " << sm->repeat << // endl; // only run if first time or repeat is set to true - if (!(*sm)->first_time && !(*sm)->repeat){ - //cout<< "not first time " << (*sm)->first_time<< " repeat " << (*sm)->repeat <first_time && !sm->repeat) { + //cout<< "not first time " << sm->first_time<< " repeat " << sm->repeat <timer += dt; + sm->timer += dt; - if ((*sm)->timer < (*sm)->delay){ - //cout << "not yet: timer" << (*sm)->timer << " delay " << (*sm)->delay<< endl; + if (sm->timer < sm->delay) { + //cout << "not yet: timer" << sm->timer << " delay " << sm->delay<< endl; return false; } - (*sm)->timer = 0.0; + sm->timer = 0.0; - if ((*sm)->first_time) { + if (sm->first_time) { dt = 0.0; - (*sm)->first_time = false; + sm->first_time = false; } transform(sm); // calculate submodel's initial conditions in world-coordinates FGAIBallistic* ballist = new FGAIBallistic; - ballist->setPath((*sm)->model.c_str()); + ballist->setPath(sm->model.c_str()); ballist->setLatitude(IC.lat); ballist->setLongitude(IC.lon); ballist->setAltitude(IC.alt); @@ -282,76 +272,81 @@ bool FGSubmodelMgr::release(submodel_vector_iterator sm, double dt) ballist->setWind_from_east(IC.wind_from_east); ballist->setWind_from_north(IC.wind_from_north); ballist->setMass(IC.mass); - ballist->setDragArea((*sm)->drag_area); - ballist->setLife((*sm)->life); - ballist->setBuoyancy((*sm)->buoyancy); - ballist->setWind((*sm)->wind); - ballist->setCd((*sm)->cd); - ballist->setStabilisation((*sm)->aero_stabilised); - ballist->setNoRoll((*sm)->no_roll); - ballist->setName((*sm)->name); - ballist->setCollision((*sm)->collision); - ballist->setImpact((*sm)->impact); - ballist->setImpactReportNode((*sm)->impact_report); - ballist->setFuseRange((*sm)->fuse_range); - ballist->setSubmodel((*sm)->submodel.c_str()); - ballist->setSubID((*sm)->sub_id); + ballist->setDragArea(sm->drag_area); + ballist->setLife(sm->life); + ballist->setBuoyancy(sm->buoyancy); + ballist->setWind(sm->wind); + ballist->setCd(sm->cd); + ballist->setStabilisation(sm->aero_stabilised); + ballist->setNoRoll(sm->no_roll); + ballist->setName(sm->name); + ballist->setCollision(sm->collision); + ballist->setImpact(sm->impact); + ballist->setImpactReportNode(sm->impact_report); + ballist->setFuseRange(sm->fuse_range); + ballist->setSubmodel(sm->submodel.c_str()); + ballist->setSubID(sm->sub_id); + ballist->setForceStabilisation(sm->force_stabilised); + ballist->setExternalForce(sm->ext_force); + ballist->setForcePath(sm->force_path.c_str()); ai->attach(ballist); - if ((*sm)->count > 0) - (*sm)->count--; + if (sm->count > 0) + sm->count--; return true; } void FGSubmodelMgr::load() { - const int id = 0; - SGPropertyNode *path = fgGetNode("/sim/submodels/path"); - SGPropertyNode root; if (path) { + const int id = 0; string Path = path->getStringValue(); bool Seviceable =_serviceable_node->getBoolValue(); setData(id, Path, Seviceable); } - } -void FGSubmodelMgr::transform(submodel_vector_iterator submodel) +void FGSubmodelMgr::transform(submodel *sm) { // set initial conditions - if ((*submodel)->contents_node != 0) { + if (sm->contents_node != 0) { // get the weight of the contents (lbs) and convert to mass (slugs) - (*submodel)->contents = (*submodel)->contents_node->getDoubleValue(); - IC.mass = ((*submodel)->weight + (*submodel)->contents) * lbs_to_slugs; + sm->contents = sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue(); + //cout << "transform: contents " << sm->contents << endl; + IC.mass = (sm->weight + sm->contents) * lbs_to_slugs; + //cout << "mass inc contents" << IC.mass << endl; // set contents to 0 in the parent - (*submodel)->contents_node->setDoubleValue(0); + sm->contents_node->getChild("level-gal_us",0,1)->setDoubleValue(0); + /*cout << "contents " << sm->contents_node->getChild("level-gal_us")->getDoubleValue() + << " " << sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue() + << endl;*/ } else - IC.mass = (*submodel)->weight * lbs_to_slugs; + IC.mass = sm->weight * lbs_to_slugs; // cout << "mass " << IC.mass << endl; - if ((*submodel)->speed_node != 0) - (*submodel)->speed = (*submodel)->speed_node->getDoubleValue(); + if (sm->speed_node != 0) + sm->speed = sm->speed_node->getDoubleValue(); - int id = (*submodel)->id; + int id = sm->id; //int sub_id = (*submodel)->sub_id; - string name = (*submodel)->name; + string name = sm->name; //cout << " name " << name << " id " << id << " sub id" << sub_id << endl; - if (_impact || _hit){ + if (_impact || _hit) { // set the data for a submodel tied to a submodel _count++; //cout << "Submodels: release sub sub " << _count<< endl; - //cout << " id " << (*submodel)->id + //cout << " id " << sm->id // << " lat " << _parent_lat // << " lon " << _parent_lon // << " elev " << _parent_elev - // << " name " << (*submodel)->name + // << " name " << sm->name // << endl; IC.lat = _parent_lat; @@ -359,7 +354,7 @@ void FGSubmodelMgr::transform(submodel_vector_iterator submodel) IC.alt = _parent_elev; IC.roll = _parent_roll; // rotation about x axis IC.elevation = _parent_pitch; // rotation about y axis - IC.azimuth = _parent_hdg; // rotation about z axis + IC.azimuth = _parent_hdg; // rotation about z axis IC.speed = _parent_speed; IC.speed_down_fps = 0; IC.speed_east_fps = 0; @@ -368,8 +363,8 @@ void FGSubmodelMgr::transform(submodel_vector_iterator submodel) } else if (id == 0) { //set the data for a submodel tied to the main model /*cout << "Submodels: release main sub " << endl; - cout << " name " << (*submodel)->name - << " id" << (*submodel)->id + cout << " name " << sm->name + << " id" << sm->id << endl;*/ IC.lat = _user_lat_node->getDoubleValue(); IC.lon = _user_lon_node->getDoubleValue(); @@ -410,21 +405,20 @@ void FGSubmodelMgr::transform(submodel_vector_iterator submodel) ++sm_list_itr; } - } /*cout << "heading " << IC.azimuth << endl ; cout << "speed down " << IC.speed_down_fps << endl ; cout << "speed east " << IC.speed_east_fps << endl ; cout << "speed north " << IC.speed_north_fps << endl ; - cout << "parent speed fps in" << IC.speed << "sm speed in " << (*submodel).speed << endl ;*/ + cout << "parent speed fps in" << IC.speed << "sm speed in " << sm->speed << endl ;*/ IC.wind_from_east = _user_wind_from_east_node->getDoubleValue(); IC.wind_from_north = _user_wind_from_north_node->getDoubleValue(); - in[0] = (*submodel)->x_offset; - in[1] = (*submodel)->y_offset; - in[2] = (*submodel)->z_offset; + in[0] = sm->x_offset; + in[1] = sm->y_offset; + in[2] = sm->z_offset; // pre-process the trig functions cosRx = cos(-IC.roll * SG_DEGREES_TO_RADIANS); @@ -471,28 +465,28 @@ void FGSubmodelMgr::transform(submodel_vector_iterator submodel) // Get submodel initial velocity vector angles in XZ and XY planes. // This needs to be fixed. This vector should be added to aircraft's vector. - IC.elevation += ((*submodel)->yaw_offset * sinRx) + ((*submodel)->pitch_offset * cosRx); - IC.azimuth += ((*submodel)->yaw_offset * cosRx) - ((*submodel)->pitch_offset * sinRx); + IC.elevation += (sm->yaw_offset * sinRx) + (sm->pitch_offset * cosRx); + IC.azimuth += (sm->yaw_offset * cosRx) - (sm->pitch_offset * sinRx); // calculate the total speed north - IC.total_speed_north = (*submodel)->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS) - * cos(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_north_fps; + IC.total_speed_north = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS) + * cos(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_north_fps; // calculate the total speed east - IC.total_speed_east = (*submodel)->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS) - * sin(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_east_fps; + IC.total_speed_east = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS) + * sin(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_east_fps; // calculate the total speed down - IC.total_speed_down = (*submodel)->speed * -sin(IC.elevation * SG_DEGREES_TO_RADIANS) - + IC.speed_down_fps; + IC.total_speed_down = sm->speed * -sin(IC.elevation * SG_DEGREES_TO_RADIANS) + + IC.speed_down_fps; // re-calculate speed, elevation and azimuth IC.speed = sqrt(IC.total_speed_north * IC.total_speed_north - + IC.total_speed_east * IC.total_speed_east - + IC.total_speed_down * IC.total_speed_down); + + IC.total_speed_east * IC.total_speed_east + + IC.total_speed_down * IC.total_speed_down); // if speeds are low this calculation can become unreliable - if (IC.speed > 1){ + if (IC.speed > 1) { IC.azimuth = atan2(IC.total_speed_east , IC.total_speed_north) * SG_RADIANS_TO_DEGREES; // cout << "azimuth1 " << IC.azimuth<= 360) IC.azimuth -= 360; + // cout << "azimuth2 " << IC.azimuth<_getPath(); + string path = (*sm_list_itr)->_getSMPath(); if (path.empty()) { ++sm_list_itr; @@ -544,7 +536,6 @@ void FGSubmodelMgr::loadAI() setData(id, path, serviceable); ++sm_list_itr; } - } @@ -564,15 +555,14 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable) SGPath config(globals->get_fg_root()); config.append(path); - SG_LOG(SG_GENERAL, SG_DEBUG, - "Submodels: path " << path); + SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: path " << path); try { SG_LOG(SG_GENERAL, SG_DEBUG, - "Submodels: Trying to read AI submodels file: " << config.str()); + "Submodels: Trying to read AI submodels file: " << config.str()); readProperties(config.str(), &root); - } catch (const sg_exception &e) { + } catch (const sg_exception &) { SG_LOG(SG_GENERAL, SG_DEBUG, - "Submodels: Unable to read AI submodels file: " << config.str()); + "Submodels: Unable to read AI submodels file: " << config.str()); return; } @@ -611,7 +601,9 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable) sm->contents_node = fgGetNode(entry_node->getStringValue("contents", "none"), false); sm->speed_node = fgGetNode(entry_node->getStringValue("speed-node", "none"), false); sm->submodel = entry_node->getStringValue("submodel-path", ""); - + sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false); + sm->ext_force = entry_node->getBoolValue("external-force", false); + sm->force_path = entry_node->getStringValue("force-path", ""); //cout << "sm->contents_node " << sm->contents_node << endl; if (sm->contents_node != 0) sm->contents = sm->contents_node->getDoubleValue(); @@ -638,7 +630,6 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable) sm->prop->tie("repeat", SGRawValuePointer(&(sm->repeat))); sm->prop->tie("id", SGRawValuePointer(&(sm->id))); sm->prop->tie("sub-id", SGRawValuePointer(&(sm->sub_id))); - sm->prop->tie("serviceable", SGRawValuePointer(&(sm->serviceable))); string name = sm->name; sm->prop->setStringValue("name", name.c_str()); @@ -647,13 +638,16 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable) sm->prop->setStringValue("submodel", submodel.c_str()); //cout << " set submodel path " << submodel << endl; + string force_path = sm->force_path; + sm->prop->setStringValue("force_path", force_path.c_str()); + //cout << "set force_path " << force_path << endl; + if (sm->contents_node != 0) sm->prop->tie("contents-lbs", SGRawValuePointer(&(sm->contents))); index++; submodels.push_back(sm); } - } void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable) @@ -666,12 +660,12 @@ void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable) "Submodels: path " << path); try { SG_LOG(SG_GENERAL, SG_DEBUG, - "Submodels: Trying to read AI submodels file: " << config.str()); + "Submodels: Trying to read AI submodels file: " << config.str()); readProperties(config.str(), &root); - } catch (const sg_exception &e) { + } catch (const sg_exception &) { SG_LOG(SG_GENERAL, SG_DEBUG, - "Submodels: Unable to read AI submodels file: " << config.str()); + "Submodels: Unable to read AI submodels file: " << config.str()); return; } @@ -710,6 +704,8 @@ void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable) sm->contents_node = fgGetNode(entry_node->getStringValue("contents", "none"), false); sm->speed_node = fgGetNode(entry_node->getStringValue("speed-node", "none"), false); sm->submodel = entry_node->getStringValue("submodel-path", ""); + sm->ext_force = entry_node->getBoolValue("external-force", false); + sm->force_path = entry_node->getStringValue("force-path", ""); //cout << "sm->contents_node " << sm->contents_node << endl; if (sm->contents_node != 0) @@ -745,13 +741,16 @@ void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable) sm->prop->setStringValue("submodel", submodel.c_str()); // cout << " set submodel path " << submodel<< endl; + string force_path = sm->force_path; + sm->prop->setStringValue("force_path", force_path.c_str()); + //cout << "set force_path " << force_path << endl; + if (sm->contents_node != 0) sm->prop->tie("contents-lbs", SGRawValuePointer(&(sm->contents))); index++; subsubmodels.push_back(sm); } - } void FGSubmodelMgr::loadSubmodels() @@ -765,10 +764,10 @@ void FGSubmodelMgr::loadSubmodels() if (!submodel.empty()) { //int id = (*submodel_iterator)->id; bool serviceable = true; - SG_LOG(SG_GENERAL, SG_ALERT, "found path sub sub " - << submodel - << " index " << index - << "name " << (*submodel_iterator)->name); + //SG_LOG(SG_GENERAL, SG_DEBUG, "found path sub sub " + // << submodel + // << " index " << index + // << "name " << (*submodel_iterator)->name); (*submodel_iterator)->sub_id = index; setSubData(index, submodel, serviceable); @@ -784,17 +783,17 @@ void FGSubmodelMgr::loadSubmodels() ++subsubmodel_iterator; } - submodel_iterator = submodels.begin(); + //submodel_iterator = submodels.begin(); - while (submodel_iterator != submodels.end()) { - int id = (*submodel_iterator)->id; - SG_LOG(SG_GENERAL, SG_DEBUG,"after pusback " - << " id " << id - << " name " << (*submodel_iterator)->name - << " sub id " << (*submodel_iterator)->sub_id); + //while (submodel_iterator != submodels.end()) { + //int id = (*submodel_iterator)->id; + //SG_LOG(SG_GENERAL, SG_DEBUG,"after pushback " + // << " id " << id + // << " name " << (*submodel_iterator)->name + // << " sub id " << (*submodel_iterator)->sub_id); - ++submodel_iterator; - } + //++submodel_iterator; + //} } // end of submodel.cxx