X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2Fsubmodel.cxx;h=a25212198584427cbcb3fa74c4013d6cce694153;hb=38226af24ec01e8f0a20d7fd73ef838a69f6ef25;hp=035ced0d6c80e9a2e7426372642b2987607d8b5c;hpb=5a73a46cd05f02c8c739aee9b148c8b258049303;p=flightgear.git diff --git a/src/AIModel/submodel.cxx b/src/AIModel/submodel.cxx index 035ced0d6..a25212198 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
@@ -27,22 +28,26 @@ const double FGSubmodelMgr::lbs_to_slugs = 0.031080950172; FGSubmodelMgr::FGSubmodelMgr() { - x_offset = y_offset = 0.0; - z_offset = -4.0; - pitch_offset = 2.0; + x_offset = y_offset = z_offset = 0.0; + pitch_offset = 0.0; yaw_offset = 0.0; - out[0] = out[1] = out[2] = 0; - in[3] = out[3] = 1; + //out[0] = out[1] = out[2] = 0; string contents_node; contrail_altitude = 30000; _count = 0; + _found_sub = true; } FGSubmodelMgr::~FGSubmodelMgr() { } +FGAIManager* FGSubmodelMgr::aiManager() +{ + return (FGAIManager*)globals->get_subsystem("ai_model"); +} + void FGSubmodelMgr::init() { index = 0; @@ -74,18 +79,22 @@ void FGSubmodelMgr::init() _contrail_trigger = fgGetNode("ai/submodels/contrails", true); _contrail_trigger->setBoolValue(false); - ai = (FGAIManager*)globals->get_subsystem("ai_model"); - load(); + } void FGSubmodelMgr::postinit() { // postinit, so that the AI list is populated - loadAI(); - loadSubmodels(); + + loadAI(); + + while (_found_sub) + loadSubmodels(); //TODO reload submodels if an MP ac joins + //_model_added_node = fgGetNode("ai/models/model-added", true); + //_model_added_node->addChangeListener(this, false); } void FGSubmodelMgr::bind() @@ -98,7 +107,6 @@ void FGSubmodelMgr::unbind() (*submodel_iterator)->prop->untie("count"); ++submodel_iterator; } - } void FGSubmodelMgr::update(double dt) @@ -106,37 +114,48 @@ void FGSubmodelMgr::update(double dt) if (!_serviceable_node->getBoolValue()) return; - int i = -1; - bool in_range = true; - bool trigger = false; _impact = false; _hit = false; + _expiry = false; - sm_list = ai->get_ai_list(); + // check if the submodel hit an object or terrain + FGAIManager::ai_list_type sm_list(aiManager()->get_ai_list()); + FGAIManager::ai_list_iterator sm_list_itr = sm_list.begin(), + end = sm_list.end(); - sm_list_iterator sm_list_itr = sm_list.begin(); - sm_list_iterator end = sm_list.end(); + for (; sm_list_itr != end; ++sm_list_itr) { + FGAIBase::object_type object_type =(*sm_list_itr)->getType(); - submodel_iterator = submodels.begin(); + if (object_type != FGAIBase::otBallistic){// only work on ballistic objects + continue; // so continue + } - while (sm_list_itr != end) { - _impact = (*sm_list_itr)->_getImpactData(); - _hit = (*sm_list_itr)->_getCollisionData(); int parent_subID = (*sm_list_itr)->_getSubID(); + int id = (*sm_list_itr)->getID(); - if ( parent_subID == 0) { // this entry in the list has no associated submodel - ++sm_list_itr; // so we can continue - continue; - } + if ( parent_subID == 0 || id == -1) // this entry in the list has no associated submodel + continue; // or is invalid so we can continue + + //SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! " + // << _hit <<" parent_subID " << parent_subID); - if (_impact || _hit) { - SG_LOG(SG_GENERAL, SG_ALERT, "Submodel: Impact " << _impact << " hit! " << _hit ); + _hit = (*sm_list_itr)->_getCollisionData(); + _impact = (*sm_list_itr)->_getImpactData(); + _expiry = (*sm_list_itr)->_getExpiryData(); + + //SG_LOG(SG_GENERAL, SG_ALERT, "Submodel: " << (*sm_list_itr)->_getName() + // << " Impact " << _impact << " hit! " << _hit + // << " exipiry :-( " << _expiry ); + + if (_impact || _hit || _expiry) { + // SG_LOG(SG_GENERAL, SG_ALERT, "Submodel: Impact " << _impact << " hit! " << _hit + //<< " exipiry :-( " << _expiry ); 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(); @@ -147,9 +166,11 @@ void FGSubmodelMgr::update(double dt) _parent_roll = (*sm_list_itr)->_getImpactRoll(); _parent_speed = (*sm_list_itr)->_getImpactSpeed(); (*submodel_iterator)->first_time = true; + //cout << "Impact: parent SubID = child_ID elev " << _parent_elev << endl; - if (release(submodel_iterator, dt)) { + if (release(*submodel_iterator, dt)){ (*sm_list_itr)->setDie(true); + //cout << "Impact: set die" << (*sm_list_itr)->_getName() << endl; } } @@ -157,124 +178,99 @@ void FGSubmodelMgr::update(double dt) ++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 + );*/ if ((*submodel_iterator)->trigger_node != 0) { _trigger_node = (*submodel_iterator)->trigger_node; trigger = _trigger_node->getBoolValue(); - //cout << "trigger node found " << trigger << endl; + //cout << (*submodel_iterator)->name << "trigger node found " << trigger << endl; } else { - trigger = true; - //cout << (*submodel_iterator)->name << "trigger node not found " << trigger << endl; + trigger = false; + //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; - string name = (*submodel_iterator)->name; - // don't release submodels from AI Objects if they are - // too far away to be seen. id 0 is not an AI model, - // so we can skip the whole process - sm_list_iterator sm_list_itr = sm_list.begin(); - sm_list_iterator end = sm_list.end(); - - while (sm_list_itr != end) { - - if (id == 0) { - SG_LOG(SG_GENERAL, SG_DEBUG, - "Submodels: continuing: " << id << " name " << name ); - in_range = true; - ++sm_list_itr; - continue; - } - int parent_id = (*submodel_iterator)->id; - - if (parent_id == id) { - double parent_lat = (*sm_list_itr)->_getLatitude(); - double parent_lon = (*sm_list_itr)->_getLongitude(); - 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; - - if (range_nm > 15) { - SG_LOG(SG_GENERAL, SG_DEBUG, - "Submodels: skipping release: " << id); - in_range = false; - } - - } - - ++sm_list_itr; - } // end while + if (trigger && (*submodel_iterator)->count != 0) { + //int id = (*submodel_iterator)->id; + string name = (*submodel_iterator)->name; + 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); + "Submodels release: " << (*submodel_iterator)->id + << " name " << (*submodel_iterator)->name + << " count " << (*submodel_iterator)->count + << " slaved " << (*submodel_iterator)->slaved + ); + 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 << - // endl; + //cout << "release id " << sm->id + // << " name " << sm->name + // << " first time " << sm->first_time + // << " repeat " << sm->repeat + // << " slaved " << sm->slaved + // << 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<< "returning: "<< sm->name + // << " not first time " << sm->first_time + // << " repeat " << sm->repeat + // << " slaved " << sm->slaved + // << endl; return false; } - (*sm)->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; } + + //cout << "released timer: " << sm->timer << " delay " << sm->delay << endl; - (*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->setLatitude(IC.lat); - ballist->setLongitude(IC.lon); - ballist->setAltitude(IC.alt); + ballist->setPath(sm->model.c_str()); + ballist->setName(sm->name); + ballist->setSlaved(sm->slaved); + ballist->setRandom(sm->random); + ballist->setRandomness(sm->randomness); + ballist->setLatitude(offsetpos.getLatitudeDeg()); + ballist->setLongitude(offsetpos.getLongitudeDeg()); + ballist->setAltitude(offsetpos.getElevationFt()); ballist->setAzimuth(IC.azimuth); ballist->setElevation(IC.elevation); ballist->setRoll(IC.roll); @@ -282,84 +278,93 @@ 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); - ai->attach(ballist); - - if ((*sm)->count > 0) - (*sm)->count--; - + 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->setCollision(sm->collision); + ballist->setExpiry(sm->expiry); + 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()); + ballist->setXoffset(sm->x_offset); + ballist->setYoffset(sm->y_offset); + ballist->setZoffset(sm->z_offset); + ballist->setPitchoffset(sm->pitch_offset); + ballist->setYawoffset(sm->yaw_offset); + ballist->setParentNodes(_selected_ac); + ballist->setContentsNode(sm->contents_node); + ballist->setWeight(sm->weight); + + aiManager()->attach(ballist); + + 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 && !sm->slaved) { // 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; + int id = sm->id; + //int sub_id = sm->sub_id; + string name = sm->name; - if ((*submodel)->speed_node != 0) - (*submodel)->speed = (*submodel)->speed_node->getDoubleValue(); - int id = (*submodel)->id; - //int sub_id = (*submodel)->sub_id; - string name = (*submodel)->name; + if (sm->speed_node != 0) + sm->speed = sm->speed_node->getDoubleValue(); + //cout << " name " << name << " id " << id << " sub id" << sub_id << endl; - if (_impact || _hit){ + // set the Initial Conditions for the types of submodel parent + + if (_impact || _hit || _expiry) { // set the data for a submodel tied to a submodel + _count++; - //cout << "Submodels: release sub sub " << _count<< endl; - //cout << " id " << (*submodel)->id - // << " lat " << _parent_lat - // << " lon " << _parent_lon - // << " elev " << _parent_elev - // << " name " << (*submodel)->name - // << endl; IC.lat = _parent_lat; IC.lon = _parent_lon; 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; @@ -367,10 +372,7 @@ 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 - << endl;*/ + IC.lat = _user_lat_node->getDoubleValue(); IC.lon = _user_lon_node->getDoubleValue(); IC.alt = _user_alt_node->getDoubleValue(); @@ -384,47 +386,38 @@ void FGSubmodelMgr::transform(submodel_vector_iterator submodel) } else { // set the data for a submodel tied to an AI Object - sm_list_iterator sm_list_itr = sm_list.begin(); - sm_list_iterator end = sm_list.end(); + //cout << " set the data for a submodel tied to an AI Object " << id << endl; + setParentNode(id); + } - while (sm_list_itr != end) { - int parent_id = (*sm_list_itr)->getID(); + //cout << "Submodel: setting IC "<< name << endl; + //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 " << sm->speed << endl ; + //cout << "lat " << IC.lat; + //cout << "alt " << IC.alt << endl ; - if (id != parent_id) { - ++sm_list_itr; - continue; - } - //cout << "found id " << id << endl; - IC.lat = (*sm_list_itr)->_getLatitude(); - IC.lon = (*sm_list_itr)->_getLongitude(); - IC.alt = (*sm_list_itr)->_getAltitude(); - IC.roll = (*sm_list_itr)->_getRoll(); - IC.elevation = (*sm_list_itr)->_getPitch(); - IC.azimuth = (*sm_list_itr)->_getHeading(); - IC.alt = (*sm_list_itr)->_getAltitude(); - IC.speed = (*sm_list_itr)->_getSpeed() * SG_KT_TO_FPS; - IC.speed_down_fps = -(*sm_list_itr)->_getVS_fps(); - IC.speed_east_fps = (*sm_list_itr)->_get_speed_east_fps(); - IC.speed_north_fps = (*sm_list_itr)->_get_speed_north_fps(); + // Set the Initial Conditions that are common to all types of parent + IC.wind_from_east = _user_wind_from_east_node->getDoubleValue(); + IC.wind_from_north = _user_wind_from_north_node->getDoubleValue(); - ++sm_list_itr; - } +//cout << "wind e " << IC.wind_from_east << " n " << IC.wind_from_north << endl; - } + userpos.setLatitudeDeg(IC.lat); + userpos.setLongitudeDeg(IC.lon); + userpos.setElevationFt(IC.alt); - /*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 ;*/ + _x_offset = sm->x_offset; + _y_offset = sm->y_offset; + _z_offset = sm->z_offset; - IC.wind_from_east = _user_wind_from_east_node->getDoubleValue(); - IC.wind_from_north = _user_wind_from_north_node->getDoubleValue(); + setOffsetPos(); - in[0] = (*submodel)->x_offset; - in[1] = (*submodel)->y_offset; - in[2] = (*submodel)->z_offset; + //IC.elevation += sm->pitch_offset; + //IC.azimuth += sm->yaw_offset ; // pre-process the trig functions cosRx = cos(-IC.roll * SG_DEGREES_TO_RADIANS); @@ -434,66 +427,32 @@ void FGSubmodelMgr::transform(submodel_vector_iterator submodel) cosRz = cos(IC.azimuth * SG_DEGREES_TO_RADIANS); sinRz = sin(IC.azimuth * SG_DEGREES_TO_RADIANS); - // set up the transform matrix - trans[0][0] = cosRy * cosRz; - trans[0][1] = -1 * cosRx * sinRz + sinRx * sinRy * cosRz ; - trans[0][2] = sinRx * sinRz + cosRx * sinRy * cosRz; - - trans[1][0] = cosRy * sinRz; - trans[1][1] = cosRx * cosRz + sinRx * sinRy * sinRz; - trans[1][2] = -1 * sinRx * cosRx + cosRx * sinRy * sinRz; - - trans[2][0] = -1 * sinRy; - trans[2][1] = sinRx * cosRy; - trans[2][2] = cosRx * cosRy; - - - // multiply the input and transform matrices - out[0] = in[0] * trans[0][0] + in[1] * trans[0][1] + in[2] * trans[0][2]; - out[1] = in[0] * trans[1][0] + in[1] * trans[1][1] + in[2] * trans[1][2]; - out[2] = in[0] * trans[2][0] + in[1] * trans[2][1] + in[2] * trans[2][2]; - - // convert ft to degrees of latitude - out[0] = out[0] / (366468.96 - 3717.12 * cos(IC.lat * SG_DEGREES_TO_RADIANS)); - - // convert ft to degrees of longitude - out[1] = out[1] / (365228.16 * cos(IC.lat * SG_DEGREES_TO_RADIANS)); - - // set submodel initial position - IC.lat += out[0]; - IC.lon += out[1]; - IC.alt += out[2]; - - // get aircraft velocity vector angles in XZ and XY planes - //double alpha = _user_alpha_node->getDoubleValue(); - //double velXZ = IC.elevation - alpha * cosRx; - //double velXY = IC.azimuth - (IC.elevation - alpha * sinRx); // 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); + // This vector should be added to aircraft's vector. + 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){ - IC.azimuth = atan2(IC.total_speed_east , IC.total_speed_north) * SG_RADIANS_TO_DEGREES; + 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<get_ai_list(); + FGAIManager::ai_list_type sm_list(aiManager()->get_ai_list()); if (sm_list.empty()) { - SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Unable to read AI submodel list"); + SG_LOG(SG_GENERAL, SG_ALERT, "Submodels: Unable to read AI submodel list"); return; } - sm_list_iterator sm_list_itr = sm_list.begin(); - sm_list_iterator end = sm_list.end(); + FGAIManager::ai_list_iterator sm_list_itr = sm_list.begin(), + end = sm_list.end(); while (sm_list_itr != end) { - string path = (*sm_list_itr)->_getPath(); + string path = (*sm_list_itr)->_getSMPath(); if (path.empty()) { ++sm_list_itr; @@ -540,39 +498,30 @@ void FGSubmodelMgr::loadAI() } int id = (*sm_list_itr)->getID(); + string type = (*sm_list_itr)->getTypeString(); bool serviceable = (*sm_list_itr)->_getServiceable(); + + //cout << "loadAI: type " << type << " path "<< path << " serviceable " << serviceable << endl; + setData(id, path, serviceable); ++sm_list_itr; } - } -double FGSubmodelMgr::getRange(double lat, double lon, double lat2, double lon2) const -{ - double course, distance, az2; - - //calculate the bearing and range of the second pos from the first - geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance); - distance *= SG_METER_TO_NM; - return distance; -} void FGSubmodelMgr::setData(int id, string& path, bool serviceable) { SGPropertyNode root; - SGPath config(globals->get_fg_root()); - config.append(path); - SG_LOG(SG_GENERAL, SG_DEBUG, - "Submodels: path " << path); + SGPath config = globals->resolve_aircraft_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) { - SG_LOG(SG_GENERAL, SG_DEBUG, - "Submodels: Unable to read AI submodels file: " << config.str()); + } catch (const sg_exception &) { + SG_LOG(SG_GENERAL, SG_ALERT, + "Submodels: Unable to read AI submodels file: " << config.str()); return; } @@ -605,14 +554,19 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable) sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true); sm->no_roll = entry_node->getBoolValue("no-roll", false); sm->collision = entry_node->getBoolValue("collision", false); + sm->expiry = entry_node->getBoolValue("expiry", false); sm->impact = entry_node->getBoolValue("impact", false); sm->impact_report = entry_node->getStringValue("impact-reports"); sm->fuse_range = entry_node->getDoubleValue("fuse-range", 0.0); sm->contents_node = fgGetNode(entry_node->getStringValue("contents", "none"), false); - sm->speed_node = fgGetNode(entry_node->getStringValue("speed-node", "none"), false); + sm->speed_node = fgGetNode(entry_node->getStringValue("speed-prop", "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", ""); + sm->random = entry_node->getBoolValue("random", false); + sm->randomness = entry_node->getDoubleValue("randomness", 0.5); - //cout << "sm->contents_node " << sm->contents_node << endl; if (sm->contents_node != 0) sm->contents = sm->contents_node->getDoubleValue(); @@ -634,18 +588,23 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable) sm->sub_id = 0; sm->prop = fgGetNode("/ai/submodels/submodel", index, true); + sm->prop->tie("delay", SGRawValuePointer(&(sm->delay))); sm->prop->tie("count", SGRawValuePointer(&(sm->count))); 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))); + sm->prop->tie("random", SGRawValuePointer(&(sm->random))); + sm->prop->tie("slaved", SGRawValuePointer(&(sm->slaved))); string name = sm->name; sm->prop->setStringValue("name", name.c_str()); string submodel = sm->submodel; 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 Sub " << force_path << endl; if (sm->contents_node != 0) sm->prop->tie("contents-lbs", SGRawValuePointer(&(sm->contents))); @@ -653,25 +612,21 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable) index++; submodels.push_back(sm); } - } void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable) { SGPropertyNode root; + SGPath config = globals->resolve_aircraft_path(path); - SGPath config(globals->get_fg_root()); - config.append(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) { - SG_LOG(SG_GENERAL, SG_DEBUG, - "Submodels: Unable to read AI submodels file: " << config.str()); + } catch (const sg_exception &) { + SG_LOG(SG_GENERAL, SG_ALERT, + "Submodels: Unable to read AI submodels file: " << config.str()); return; } @@ -704,14 +659,19 @@ void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable) sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true); sm->no_roll = entry_node->getBoolValue("no-roll", false); sm->collision = entry_node->getBoolValue("collision", false); + sm->expiry = entry_node->getBoolValue("expiry", false); sm->impact = entry_node->getBoolValue("impact", false); sm->impact_report = entry_node->getStringValue("impact-reports"); sm->fuse_range = entry_node->getDoubleValue("fuse-range", 0.0); sm->contents_node = fgGetNode(entry_node->getStringValue("contents", "none"), false); - sm->speed_node = fgGetNode(entry_node->getStringValue("speed-node", "none"), false); + sm->speed_node = fgGetNode(entry_node->getStringValue("speed-prop", "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", ""); + sm->random = entry_node->getBoolValue("random", false); + sm->randomness = entry_node->getDoubleValue("randomness", 0.5); - //cout << "sm->contents_node " << sm->contents_node << endl; if (sm->contents_node != 0) sm->contents = sm->contents_node->getDoubleValue(); @@ -738,12 +698,19 @@ void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable) sm->prop->tie("id", SGRawValuePointer(&(sm->id))); sm->prop->tie("sub-id", SGRawValuePointer(&(sm->sub_id))); sm->prop->tie("serviceable", SGRawValuePointer(&(sm->serviceable))); + sm->prop->tie("random", SGRawValuePointer(&(sm->random))); + sm->prop->tie("slaved", SGRawValuePointer(&(sm->slaved))); + string name = sm->name; sm->prop->setStringValue("name", name.c_str()); string submodel = sm->submodel; - sm->prop->setStringValue("submodel", submodel.c_str()); - // cout << " set submodel path " << submodel<< endl; + sm->prop->setStringValue("submodel-path", submodel.c_str()); + // cout << " set submodel path AI" << submodel<< endl; + + string force_path = sm->force_path; + sm->prop->setStringValue("force_path", force_path.c_str()); + //cout << "set force_path AI" << force_path << endl; if (sm->contents_node != 0) sm->prop->tie("contents-lbs", SGRawValuePointer(&(sm->contents))); @@ -751,13 +718,14 @@ void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable) index++; subsubmodels.push_back(sm); } - } void FGSubmodelMgr::loadSubmodels() { SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Loading sub submodels"); + _found_sub = false; + submodel_iterator = submodels.begin(); while (submodel_iterator != submodels.end()) { @@ -765,36 +733,173 @@ 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); - - (*submodel_iterator)->sub_id = index; - setSubData(index, submodel, serviceable); + SG_LOG(SG_GENERAL, SG_DEBUG, "found path sub sub " + << submodel + << " index " << index + << " name " << (*submodel_iterator)->name); + + if ((*submodel_iterator)->sub_id == 0){ + (*submodel_iterator)->sub_id = index; + _found_sub = true; + setSubData(index, submodel, serviceable); + } } ++submodel_iterator; - } + } // end while subsubmodel_iterator = subsubmodels.begin(); while (subsubmodel_iterator != subsubmodels.end()) { + submodels.push_back(*subsubmodel_iterator); ++subsubmodel_iterator; - } + } // end while - submodel_iterator = submodels.begin(); + subsubmodels.clear(); - 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); + //submodel_iterator = submodels.begin(); - ++submodel_iterator; - } + //int subcount = 0; + + //while (submodel_iterator != submodels.end()) { + // int id = (*submodel_iterator)->id; + // subcount++; + + // SG_LOG(SG_GENERAL, SG_ALERT,"after pushback " + // << " parent id " << id + // << " name " << (*submodel_iterator)->name + // << " sub id " << (*submodel_iterator)->sub_id + // << " subcount "<< subcount); + + // ++submodel_iterator; + //} +} + +SGVec3d FGSubmodelMgr::getCartOffsetPos() const{ + + // convert geodetic positions to geocentered + SGVec3d cartuserPos = SGVec3d::fromGeod(userpos); + // 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); + + // Transform the user position to the horizontal local coordinate system. + SGQuatd hlTrans = SGQuatd::fromLonLat(userpos); + + // and postrotate the orientation of the user model wrt the horizontal + // local frame + hlTrans *= SGQuatd::fromYawPitchRollDeg( + IC.azimuth, + IC.elevation, + IC.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; + return offsetPos; } +void FGSubmodelMgr::setOffsetPos(){ + // convert the offset geocentered position to geodetic + SGVec3d cartoffsetPos = getCartOffsetPos(); + + SGGeodesy::SGCartToGeod(cartoffsetPos, offsetpos); + + //cout << "OFFSET POS" << offsetpos.getElevationFt(); + +} + +void FGSubmodelMgr::valueChanged(SGPropertyNode *prop) +{ + return; // this isn't working atm + + const char* _model_added = _model_added_node->getStringValue(); + + basic_string ::size_type indexCh2b; + + string str2 = _model_added; + const char *cstr2b = "multiplayer"; + indexCh2b = str2.find( cstr2b, 0 ); + + if (indexCh2b != string::npos ){ // we will ignore Ballistic Objects - there are potentially too many + + //cout << "Submodels: model added - " << str2 <<" read path "<< endl; + //return; + SGPropertyNode *a_node = fgGetNode(_model_added, true); + SGPropertyNode *sub_node = a_node->getChild("sim", 0, true); + SGPropertyNode_ptr path_node = sub_node->getChild("path", 0, true); + SGPropertyNode_ptr callsign_node = a_node->getChild("callsign", 0, true); + + string callsign = callsign_node->getStringValue(); + + //cout << "Submodels: model added - " << callsign <<" read callsign "<< endl; + return; + + } else { + cout << "model added - " << str2 <<" returning "<< endl; + return; + } + +} + +void FGSubmodelMgr::setParentNode(int id) { + + const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true); + + for (int i = ai->nChildren() - 1; i >= -1; i--) { + SGPropertyNode_ptr model; + + if (i < 0) { // last iteration: selected model + model = _selected_ac; + } else { + model = ai->getChild(i); + string path = ai->getPath(); + const string name = model->getStringValue("name"); + int parent_id = model->getIntValue("id"); + if (!model->nChildren()){ + continue; + } + if (parent_id == id) { + _selected_ac = model; // save selected model for last iteration + break; + } + + } + if (!model) + continue; + + }// end for loop + + if (_selected_ac != 0){ + + //cout << " parent node found"<< endl; + + const string name = _selected_ac->getStringValue("name"); + IC.lat = _selected_ac->getDoubleValue("position/latitude-deg"); + IC.lon = _selected_ac->getDoubleValue("position/longitude-deg"); + IC.alt = _selected_ac->getDoubleValue("position/altitude-ft"); + IC.roll = _selected_ac->getDoubleValue("orientation/roll-deg"); + IC.elevation = _selected_ac->getDoubleValue("orientation/pitch-deg"); + IC.azimuth = _selected_ac->getDoubleValue("orientation/true-heading-deg"); + IC.speed = _selected_ac->getDoubleValue("velocities/true-airspeed-kt") * SG_KT_TO_FPS; + IC.speed_down_fps = -_selected_ac->getDoubleValue("velocities/vertical-speed-fps"); + IC.speed_east_fps = _selected_ac->getDoubleValue("velocities/speed-east-fps"); + IC.speed_north_fps = _selected_ac->getDoubleValue("velocities/speed-north-fps"); + + //cout << name << " IC.speed " << IC.speed << endl; + + } else { + SG_LOG(SG_GENERAL, SG_ALERT, "AISubmodel: parent node not found "); + } + +} // end of submodel.cxx