X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2Fsubmodel.cxx;h=a25212198584427cbcb3fa74c4013d6cce694153;hb=38226af24ec01e8f0a20d7fd73ef838a69f6ef25;hp=9cf98651eb009820bb74a370f6a885d033b03e58;hpb=3233ce8a44b0d608d19bee809c23a38431d50e45;p=flightgear.git diff --git a/src/AIModel/submodel.cxx b/src/AIModel/submodel.cxx index 9cf98651e..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 // @@ -13,10 +13,12 @@ #include #include #include +#include #include
#include
+ #include "AIBase.hxx" #include "AIManager.hxx" #include "AIBallistic.hxx" @@ -26,25 +28,29 @@ 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() -{} +{ +} -void FGSubmodelMgr::init() +FGAIManager* FGSubmodelMgr::aiManager() { + return (FGAIManager*)globals->get_subsystem("ai_model"); +} +void FGSubmodelMgr::init() +{ index = 0; - load(); _serviceable_node = fgGetNode("/sim/submodels/serviceable", true); _serviceable_node->setBoolValue(true); @@ -73,12 +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(); + + 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() @@ -87,99 +103,155 @@ void FGSubmodelMgr::bind() void FGSubmodelMgr::unbind() { submodel_iterator = submodels.begin(); - while (submodel_iterator != submodels.end()) { (*submodel_iterator)->prop->untie("count"); ++submodel_iterator; } - } void FGSubmodelMgr::update(double dt) { - if (!(_serviceable_node->getBoolValue())) + if (!_serviceable_node->getBoolValue()) return; - int i = -1; - bool in_range = true; - bool trigger = false; - - _contrail_trigger->setBoolValue(_user_alt_node->getDoubleValue() > contrail_altitude); + _impact = false; + _hit = false; + _expiry = false; - submodel_iterator = submodels.begin(); + // 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(); - while (submodel_iterator != submodels.end()) { - i++; + for (; sm_list_itr != end; ++sm_list_itr) { + FGAIBase::object_type object_type =(*sm_list_itr)->getType(); - if ((*submodel_iterator)->trigger_node != 0) { - trigger = (*submodel_iterator)->trigger_node->getBoolValue(); - //cout << (*submodel_iterator)->name << "trigger node found" << trigger << endl; - } else { - trigger = true; - //cout << (*submodel_iterator)->name << "trigger node not found" << trigger << endl; + if (object_type != FGAIBase::otBallistic){// only work on ballistic objects + continue; // so continue } - if (trigger) { - int id = (*submodel_iterator)->id; + int parent_subID = (*sm_list_itr)->_getSubID(); + int id = (*sm_list_itr)->getID(); - // 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(); + if ( parent_subID == 0 || id == -1) // this entry in the list has no associated submodel + continue; // or is invalid so we can continue - while (sm_list_itr != end) { + //SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! " + // << _hit <<" parent_subID " << parent_subID); - if (id == 0) { - SG_LOG(SG_GENERAL, SG_DEBUG, - "Submodels: continuing: " << id); - ++sm_list_itr; - continue; - } + _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 ); - int parent_id = (*sm_list_itr)->getID(); - - 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; + 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; + + if ( parent_subID == child_ID ) { + _parent_lat = (*sm_list_itr)->_getImpactLat(); + _parent_lon = (*sm_list_itr)->_getImpactLon(); + _parent_elev = (*sm_list_itr)->_getImpactElevFt(); + _parent_hdg = (*sm_list_itr)->_getImpactHdg(); + _parent_pitch = (*sm_list_itr)->_getImpactPitch(); + _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)){ + (*sm_list_itr)->setDie(true); + //cout << "Impact: set die" << (*sm_list_itr)->_getName() << endl; } } - ++sm_list_itr; - } // end while + ++submodel_iterator; + } + } + } + + _contrail_trigger->setBoolValue(_user_alt_node->getDoubleValue() > contrail_altitude); - if ((*submodel_iterator)->count != 0 && in_range) - release((*submodel_iterator), dt); +// bool in_range = true; + bool trigger = false; + int i = -1; + + submodel_iterator = submodels.begin(); + while (submodel_iterator != submodels.end()) { + i++; + + /*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 << (*submodel_iterator)->name << "trigger node found " << trigger << endl; + } else { + trigger = false; + //cout << (*submodel_iterator)->name << " trigger node not found " << trigger << endl; + } + + if (trigger && (*submodel_iterator)->count != 0) { + + //int id = (*submodel_iterator)->id; + string name = (*submodel_iterator)->name; + + SG_LOG(SG_GENERAL, SG_DEBUG, + "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* 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 + // << " slaved " << sm->slaved + // << endl; + // only run if first time or repeat is set to true - if (!sm->first_time && !sm->repeat) + if (!sm->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; - if (sm->timer < sm->delay) + 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; @@ -192,9 +264,13 @@ bool FGSubmodelMgr::release(submodel* sm, double dt) FGAIBallistic* ballist = new FGAIBallistic; ballist->setPath(sm->model.c_str()); - ballist->setLatitude(IC.lat); - ballist->setLongitude(IC.lon); - ballist->setAltitude(IC.alt); + 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); @@ -209,120 +285,94 @@ bool FGSubmodelMgr::release(submodel* sm, double dt) ballist->setCd(sm->cd); ballist->setStabilisation(sm->aero_stabilised); ballist->setNoRoll(sm->no_roll); - ballist->setName(sm->name); - ai->attach(ballist); + 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)--; - + sm->count--; return true; } void FGSubmodelMgr::load() { SGPropertyNode *path = fgGetNode("/sim/submodels/path"); - SGPropertyNode root; if (path) { - SGPath config(globals->get_fg_root()); - config.append(path->getStringValue()); - - try { - readProperties(config.str(), &root); - } catch (const sg_exception &e) { - SG_LOG(SG_GENERAL, SG_INFO, - "Submodels: unable to read submodels file: " << config.str()); - return; - } + const int id = 0; + string Path = path->getStringValue(); + bool Seviceable =_serviceable_node->getBoolValue(); + setData(id, Path, Seviceable); } - - vector children = root.getChildren("submodel"); - vector::iterator it = children.begin(); - vector::iterator end = children.end(); - - for (int i = 0; it != end; ++it, i++) { - // cout << "Reading submodel " << (*it)->getPath() << endl; - submodel* sm = new submodel; - SGPropertyNode * entry_node = *it; - sm->name = entry_node->getStringValue("name", "none_defined"); - sm->model = entry_node->getStringValue("model", "Models/Geometry/rocket.ac"); - sm->speed = entry_node->getDoubleValue("speed", 2329.4); - sm->repeat = entry_node->getBoolValue("repeat", false); - sm->delay = entry_node->getDoubleValue("delay", 0.25); - sm->count = entry_node->getIntValue("count", 1); - sm->slaved = entry_node->getBoolValue("slaved", false); - sm->x_offset = entry_node->getDoubleValue("x-offset", 0.0); - sm->y_offset = entry_node->getDoubleValue("y-offset", 0.0); - sm->z_offset = entry_node->getDoubleValue("z-offset", 0.0); - sm->yaw_offset = entry_node->getDoubleValue("yaw-offset", 0.0); - sm->pitch_offset = entry_node->getDoubleValue("pitch-offset", 0.0); - sm->drag_area = entry_node->getDoubleValue("eda", 0.034); - sm->life = entry_node->getDoubleValue("life", 900.0); - sm->buoyancy = entry_node->getDoubleValue("buoyancy", 0); - sm->wind = entry_node->getBoolValue("wind", false); - sm->cd = entry_node->getDoubleValue("cd", 0.193); - sm->weight = entry_node->getDoubleValue("weight", 0.25); - sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true); - sm->no_roll = entry_node->getBoolValue("no-roll", false); - sm->contents_node = fgGetNode(entry_node->getStringValue("contents", "none"), false); - sm->trigger_node = fgGetNode(entry_node->getStringValue("trigger", "none"), false); - sm->speed_node = fgGetNode(entry_node->getStringValue("speed-node", "none"), false); - - //cout << "sm->contents_node " << sm->contents_node << endl; - if (sm->contents_node != 0) - sm->contents = sm->contents_node->getDoubleValue(); - - //cout << sm->name << " sm->trigger_node " << sm->trigger_node << endl; - if (sm->trigger_node != 0) - sm->trigger_node->setBoolValue(false); - - if (sm->speed_node != 0) - sm->speed = sm->speed_node->getDoubleValue(); - - sm->timer = sm->delay; - sm->id = 0; - sm->first_time = false; - - sm->prop = fgGetNode("/ai/submodels/submodel", index, true); - sm->prop->tie("count", SGRawValuePointer(&(sm->count))); - sm->prop->tie("repeat", SGRawValuePointer(&(sm->repeat))); - sm->prop->tie("id", SGRawValuePointer(&(sm->id))); - string name = sm->name; - sm->prop->setStringValue("name", name.c_str()); - - if (sm->contents_node != 0) { - sm->prop->tie("contents-lbs", SGRawValuePointer(&(sm->contents))); - } - - index++; - submodels.push_back(sm); - } - - submodel_iterator = submodels.begin(); } -void FGSubmodelMgr::transform(submodel* sm) +void FGSubmodelMgr::transform(submodel *sm) { - // get initial conditions - if (sm->contents_node != 0) { + // set initial conditions + if (sm->contents_node != 0 && !sm->slaved) { // get the weight of the contents (lbs) and convert to mass (slugs) - sm->contents = sm->contents_node->getDoubleValue(); + 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 - sm->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 = 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 (sm->speed_node != 0) sm->speed = sm->speed_node->getDoubleValue(); - int ind = sm->id; - if (ind == 0) { - // set the data for a submodel tied to the main model + //cout << " name " << name << " id " << id << " sub id" << sub_id << endl; + + // 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++; + + 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.speed = _parent_speed; + IC.speed_down_fps = 0; + IC.speed_east_fps = 0; + IC.speed_north_fps = 0; + + } else if (id == 0) { + //set the data for a submodel tied to the main model + IC.lat = _user_lat_node->getDoubleValue(); IC.lon = _user_lon_node->getDoubleValue(); IC.alt = _user_alt_node->getDoubleValue(); @@ -336,47 +386,38 @@ void FGSubmodelMgr::transform(submodel* sm) } 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 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 (ind != 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 " << sm->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] = sm->x_offset; - in[1] = sm->y_offset; - in[2] = sm->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); @@ -386,47 +427,13 @@ void FGSubmodelMgr::transform(submodel* sm) 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. + // 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); - // calcuate the total speed north + // calculate the total speed north IC.total_speed_north = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS) * cos(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_north_fps; @@ -443,23 +450,23 @@ void FGSubmodelMgr::transform(submodel* sm) + IC.total_speed_east * IC.total_speed_east + IC.total_speed_down * IC.total_speed_down); - //cout << " speed fps out" << IC.speed << endl ; - IC.azimuth = atan(IC.total_speed_east / IC.total_speed_north) * SG_RADIANS_TO_DEGREES; + // 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; + // 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(); - bool serviceable = (*sm_list_itr)->_getServiceable(); + string path = (*sm_list_itr)->_getSMPath(); if (path.empty()) { ++sm_list_itr; continue; } - //cout << " path " << path << " serviceable " << serviceable << endl; - - SGPath config(globals->get_fg_root()); - config.append(path); int id = (*sm_list_itr)->getID(); + string type = (*sm_list_itr)->getTypeString(); + bool serviceable = (*sm_list_itr)->_getServiceable(); - //cout << "id: " << id << endl; + //cout << "loadAI: type " << type << " path "<< path << " serviceable " << serviceable << endl; - try { - SG_LOG(SG_GENERAL, SG_DEBUG, - "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()); - return; + setData(id, path, serviceable); + ++sm_list_itr; + } +} + + + +void FGSubmodelMgr::setData(int id, string& path, bool serviceable) +{ + SGPropertyNode root; + + SGPath config = globals->resolve_aircraft_path(path); + try { + SG_LOG(SG_GENERAL, SG_DEBUG, + "Submodels: Trying to read AI submodels file: " << config.str()); + readProperties(config.str(), &root); + } catch (const sg_exception &) { + SG_LOG(SG_GENERAL, SG_ALERT, + "Submodels: Unable to read AI submodels file: " << config.str()); + return; + } + + vector children = root.getChildren("submodel"); + vector::iterator it = children.begin(); + vector::iterator end = children.end(); + + for (int i = 0; it != end; ++it, i++) { + //cout << "Reading AI submodel " << (*it)->getPath() << endl; + submodel* sm = new submodel; + SGPropertyNode * entry_node = *it; + sm->name = entry_node->getStringValue("name", "none_defined"); + sm->model = entry_node->getStringValue("model", "Models/Geometry/rocket.ac"); + sm->speed = entry_node->getDoubleValue("speed", 2329.4); + sm->repeat = entry_node->getBoolValue("repeat", false); + sm->delay = entry_node->getDoubleValue("delay", 0.25); + sm->count = entry_node->getIntValue("count", 1); + sm->slaved = entry_node->getBoolValue("slaved", false); + sm->x_offset = entry_node->getDoubleValue("x-offset", 0.0); + sm->y_offset = entry_node->getDoubleValue("y-offset", 0.0); + sm->z_offset = entry_node->getDoubleValue("z-offset", 0.0); + sm->yaw_offset = entry_node->getDoubleValue("yaw-offset", 0.0); + sm->pitch_offset = entry_node->getDoubleValue("pitch-offset", 0.0); + sm->drag_area = entry_node->getDoubleValue("eda", 0.034); + sm->life = entry_node->getDoubleValue("life", 900.0); + sm->buoyancy = entry_node->getDoubleValue("buoyancy", 0); + sm->wind = entry_node->getBoolValue("wind", false); + sm->cd = entry_node->getDoubleValue("cd", 0.193); + sm->weight = entry_node->getDoubleValue("weight", 0.25); + 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-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); + + if (sm->contents_node != 0) + sm->contents = sm->contents_node->getDoubleValue(); + + const char *trigger_path = entry_node->getStringValue("trigger", 0); + if (trigger_path) { + sm->trigger_node = fgGetNode(trigger_path, true); + sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue()); + } else { + sm->trigger_node = 0; } - vector children = root.getChildren("submodel"); - vector::iterator it = children.begin(); - vector::iterator end = children.end(); - - for (int i = 0; it != end; ++it, i++) { - //cout << "Reading AI submodel " << (*it)->getPath() << endl; - submodel* sm = new submodel; - SGPropertyNode * entry_node = *it; - sm->name = entry_node->getStringValue("name", "none_defined"); - sm->model = entry_node->getStringValue("model", "Models/Geometry/rocket.ac"); - sm->speed = entry_node->getDoubleValue("speed", 2329.4); - sm->repeat = entry_node->getBoolValue("repeat", false); - sm->delay = entry_node->getDoubleValue("delay", 0.25); - sm->count = entry_node->getIntValue("count", 1); - sm->slaved = entry_node->getBoolValue("slaved", false); - sm->x_offset = entry_node->getDoubleValue("x-offset", 0.0); - sm->y_offset = entry_node->getDoubleValue("y-offset", 0.0); - sm->z_offset = entry_node->getDoubleValue("z-offset", 0.0); - sm->yaw_offset = entry_node->getDoubleValue("yaw-offset", 0.0); - sm->pitch_offset = entry_node->getDoubleValue("pitch-offset", 0.0); - sm->drag_area = entry_node->getDoubleValue("eda", 0.034); - sm->life = entry_node->getDoubleValue("life", 900.0); - sm->buoyancy = entry_node->getDoubleValue("buoyancy", 0); - sm->wind = entry_node->getBoolValue("wind", false); - sm->cd = entry_node->getDoubleValue("cd", 0.193); - sm->weight = entry_node->getDoubleValue("weight", 0.25); - sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true); - sm->no_roll = entry_node->getBoolValue("no-roll", false); - sm->contents_node = fgGetNode(entry_node->getStringValue("contents", "none"), false); - sm->trigger_node = fgGetNode(entry_node->getStringValue("trigger", "none"), false); - sm->speed_node = fgGetNode(entry_node->getStringValue("speed-node", "none"), false); - - //cout << "sm->contents_node " << sm->contents_node << endl; - if (sm->contents_node != 0) - sm->contents = sm->contents_node->getDoubleValue(); - //cout << "sm->trigger_node " << sm->trigger_node << endl; - if (sm->trigger_node != 0) - sm->trigger_node->setBoolValue(false); - - if (sm->speed_node != 0) - sm->speed = sm->speed_node->getDoubleValue(); - - sm->timer = sm->delay; - sm->id = id; - sm->first_time = false; - - sm->serviceable = (*sm_list_itr)->_getServiceable(); - - sm->prop = fgGetNode("/ai/submodels/submodel", index, true); - sm->prop->tie("count", SGRawValuePointer(&(sm->count))); - sm->prop->tie("repeat", SGRawValuePointer(&(sm->repeat))); - sm->prop->tie("id", SGRawValuePointer(&(sm->id))); - sm->prop->tie("serviceable", SGRawValuePointer(&(sm->serviceable))); - string name = sm->name; - sm->prop->setStringValue("name", name.c_str()); - - if (sm->contents_node != 0) - sm->prop->tie("contents-lbs", SGRawValuePointer(&(sm->contents))); - - index++; - submodels.push_back(sm); + if (sm->speed_node != 0) + sm->speed = sm->speed_node->getDoubleValue(); + + sm->timer = sm->delay; + sm->id = id; + sm->first_time = false; + sm->serviceable = 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()); + + 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))); + + index++; + submodels.push_back(sm); + } +} + +void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable) +{ + SGPropertyNode root; + SGPath config = globals->resolve_aircraft_path(path); + + try { + SG_LOG(SG_GENERAL, SG_DEBUG, + "Submodels: Trying to read AI submodels file: " << config.str()); + readProperties(config.str(), &root); + + } catch (const sg_exception &) { + SG_LOG(SG_GENERAL, SG_ALERT, + "Submodels: Unable to read AI submodels file: " << config.str()); + return; + } + + vector children = root.getChildren("submodel"); + vector::iterator it = children.begin(); + vector::iterator end = children.end(); + + for (int i = 0; it != end; ++it, i++) { + //cout << "Reading AI submodel " << (*it)->getPath() << endl; + submodel* sm = new submodel; + SGPropertyNode * entry_node = *it; + sm->name = entry_node->getStringValue("name", "none_defined"); + sm->model = entry_node->getStringValue("model", "Models/Geometry/rocket.ac"); + sm->speed = entry_node->getDoubleValue("speed", 2329.4); + sm->repeat = entry_node->getBoolValue("repeat", false); + sm->delay = entry_node->getDoubleValue("delay", 0.25); + sm->count = entry_node->getIntValue("count", 1); + sm->slaved = entry_node->getBoolValue("slaved", false); + sm->x_offset = entry_node->getDoubleValue("x-offset", 0.0); + sm->y_offset = entry_node->getDoubleValue("y-offset", 0.0); + sm->z_offset = entry_node->getDoubleValue("z-offset", 0.0); + sm->yaw_offset = entry_node->getDoubleValue("yaw-offset", 0.0); + sm->pitch_offset = entry_node->getDoubleValue("pitch-offset", 0.0); + sm->drag_area = entry_node->getDoubleValue("eda", 0.034); + sm->life = entry_node->getDoubleValue("life", 900.0); + sm->buoyancy = entry_node->getDoubleValue("buoyancy", 0); + sm->wind = entry_node->getBoolValue("wind", false); + sm->cd = entry_node->getDoubleValue("cd", 0.193); + sm->weight = entry_node->getDoubleValue("weight", 0.25); + 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-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); + + if (sm->contents_node != 0) + sm->contents = sm->contents_node->getDoubleValue(); + + const char *trigger_path = entry_node->getStringValue("trigger", 0); + if (trigger_path) { + sm->trigger_node = fgGetNode(trigger_path, true); + sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue()); + } else { + sm->trigger_node = 0; } - submodel_iterator = submodels.begin(); - ++sm_list_itr; + if (sm->speed_node != 0) + sm->speed = sm->speed_node->getDoubleValue(); + + sm->timer = sm->delay; + sm->id = index; + sm->first_time = false; + sm->serviceable = serviceable; + sm->sub_id = 0; + + sm->prop = fgGetNode("/ai/submodels/subsubmodel", index, true); + 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-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))); + + 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()) { + string submodel = (*submodel_iterator)->submodel; + if (!submodel.empty()) { + //int id = (*submodel_iterator)->id; + bool serviceable = true; + 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 + + subsubmodels.clear(); + + //submodel_iterator = submodels.begin(); + + //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; } -double FGSubmodelMgr::getRange(double lat, double lon, double lat2, double lon2) const +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; + } + +} - double course, distance, az2; +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 "); + } - //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; } // end of submodel.cxx