FGAICarrier::FGAICarrier(FGAIManager* mgr) : FGAIShip(mgr) {
- _type_str = "carrier";
- _otype = otCarrier;
-
-
+ _type_str = "carrier";
+ _otype = otCarrier;
}
FGAICarrier::~FGAICarrier() {
}
void FGAICarrier::setWind_from_east(double fps) {
- wind_from_east = fps;
+ wind_from_east = fps;
}
void FGAICarrier::setWind_from_north(double fps) {
- wind_from_north = fps;
+ wind_from_north = fps;
}
void FGAICarrier::setMaxLat(double deg) {
- max_lat = fabs(deg);
+ max_lat = fabs(deg);
}
void FGAICarrier::setMinLat(double deg) {
- min_lat = fabs(deg);
+ min_lat = fabs(deg);
}
void FGAICarrier::setMaxLong(double deg) {
- max_long = fabs(deg);
+ max_long = fabs(deg);
}
void FGAICarrier::setMinLong(double deg) {
- min_long = fabs(deg);
+ min_long = fabs(deg);
}
void FGAICarrier::setSolidObjects(const list<string>& so) {
- solid_objects = so;
+ solid_objects = so;
}
void FGAICarrier::setWireObjects(const list<string>& wo) {
- wire_objects = wo;
+ wire_objects = wo;
}
void FGAICarrier::setCatapultObjects(const list<string>& co) {
- catapult_objects = co;
+ catapult_objects = co;
}
void FGAICarrier::setParkingPositions(const list<ParkPosition>& p) {
- ppositions = p;
+ ppositions = p;
}
void FGAICarrier::setSign(const string& s) {
- sign = s;
+ sign = s;
}
void FGAICarrier::setTACANChannelID(const string& id) {
- TACAN_channel_id = id;
+ TACAN_channel_id = id;
}
void FGAICarrier::setFlolsOffset(const Point3D& off) {
- flols_off = off;
+ flols_off = off;
}
void FGAICarrier::getVelocityWrtEarth(sgdVec3& v, sgdVec3& omega, sgdVec3& pivot) {
- sgdCopyVec3(v, vel_wrt_earth );
- sgdCopyVec3(omega, rot_wrt_earth );
- sgdCopyVec3(pivot, rot_pivot_wrt_earth );
+ sgdCopyVec3(v, vel_wrt_earth );
+ sgdCopyVec3(omega, rot_wrt_earth );
+ sgdCopyVec3(pivot, rot_pivot_wrt_earth );
}
void FGAICarrier::update(double dt) {
-
- // For computation of rotation speeds we just use finite differences her.
- // That is perfectly valid since this thing is not driven by accelerations
- // but by just apply discrete changes at its velocity variables.
- double old_hdg = hdg;
- double old_roll = roll;
- double old_pitch = pitch;
-
- // Update the velocity information stored in those nodes.
- double v_north = 0.51444444*speed*cos(hdg * SGD_DEGREES_TO_RADIANS);
- double v_east = 0.51444444*speed*sin(hdg * SGD_DEGREES_TO_RADIANS);
-
- double sin_lat = sin(pos.lat() * SGD_DEGREES_TO_RADIANS);
- double cos_lat = cos(pos.lat() * SGD_DEGREES_TO_RADIANS);
- double sin_lon = sin(pos.lon() * SGD_DEGREES_TO_RADIANS);
- double cos_lon = cos(pos.lon() * SGD_DEGREES_TO_RADIANS);
- double sin_roll = sin(roll * SGD_DEGREES_TO_RADIANS);
- double cos_roll = cos(roll * SGD_DEGREES_TO_RADIANS);
- double sin_pitch = sin(pitch * SGD_DEGREES_TO_RADIANS);
- double cos_pitch = cos(pitch * SGD_DEGREES_TO_RADIANS);
- double sin_hdg = sin(hdg * SGD_DEGREES_TO_RADIANS);
- double cos_hdg = cos(hdg * SGD_DEGREES_TO_RADIANS);
-
- // Transform this back the the horizontal local frame.
- sgdMat3 trans;
-
- // set up the transform matrix
- trans[0][0] = cos_pitch*cos_hdg;
- trans[0][1] = sin_roll*sin_pitch*cos_hdg - cos_roll*sin_hdg;
- trans[0][2] = cos_roll*sin_pitch*cos_hdg + sin_roll*sin_hdg;
-
- trans[1][0] = cos_pitch*sin_hdg;
- trans[1][1] = sin_roll*sin_pitch*sin_hdg + cos_roll*cos_hdg;
- trans[1][2] = cos_roll*sin_pitch*sin_hdg - sin_roll*cos_hdg;
-
- trans[2][0] = -sin_pitch;
- trans[2][1] = sin_roll*cos_pitch;
- trans[2][2] = cos_roll*cos_pitch;
-
- sgdSetVec3( vel_wrt_earth,
- - cos_lon*sin_lat*v_north - sin_lon*v_east,
- - sin_lon*sin_lat*v_north + cos_lon*v_east,
- cos_lat*v_north );
- sgGeodToCart(pos.lat() * SGD_DEGREES_TO_RADIANS,
- pos.lon() * SGD_DEGREES_TO_RADIANS,
- pos.elev(), rot_pivot_wrt_earth);
-
- // Now update the position and heading. This will compute new hdg and
- // roll values required for the rotation speed computation.
- FGAIShip::update(dt);
-
-
- //automatic turn into wind with a target wind of 25 kts otd
- if(turn_to_launch_hdg){
- TurnToLaunch();
- } else if(OutsideBox() || returning) {// check that the carrier is inside the operating box
- ReturnToBox();
- } else { //if(!returning
- TurnToBase();
- } //end if
-
- // Only change these values if we are able to compute them safely
- if (dt < DBL_MIN)
- sgdSetVec3( rot_wrt_earth, 0.0, 0.0, 0.0);
- else {
- // Compute the change of the euler angles.
- double hdg_dot = SGD_DEGREES_TO_RADIANS * (hdg-old_hdg)/dt;
- // Allways assume that the movement was done by the shorter way.
- if (hdg_dot < - SGD_DEGREES_TO_RADIANS * 180)
- hdg_dot += SGD_DEGREES_TO_RADIANS * 360;
- if (hdg_dot > SGD_DEGREES_TO_RADIANS * 180)
- hdg_dot -= SGD_DEGREES_TO_RADIANS * 360;
- double pitch_dot = SGD_DEGREES_TO_RADIANS * (pitch-old_pitch)/dt;
- // Allways assume that the movement was done by the shorter way.
- if (pitch_dot < - SGD_DEGREES_TO_RADIANS * 180)
- pitch_dot += SGD_DEGREES_TO_RADIANS * 360;
- if (pitch_dot > SGD_DEGREES_TO_RADIANS * 180)
- pitch_dot -= SGD_DEGREES_TO_RADIANS * 360;
- double roll_dot = SGD_DEGREES_TO_RADIANS * (roll-old_roll)/dt;
- // Allways assume that the movement was done by the shorter way.
- if (roll_dot < - SGD_DEGREES_TO_RADIANS * 180)
- roll_dot += SGD_DEGREES_TO_RADIANS * 360;
- if (roll_dot > SGD_DEGREES_TO_RADIANS * 180)
- roll_dot -= SGD_DEGREES_TO_RADIANS * 360;
- /*cout << "euler derivatives = "
- << roll_dot << " " << pitch_dot << " " << hdg_dot << endl;*/
-
- // Now Compute the rotation vector in the carriers coordinate frame
- // originating from the euler angle changes.
- sgdVec3 body;
- body[0] = roll_dot - hdg_dot*sin_pitch;
- body[1] = pitch_dot*cos_roll + hdg_dot*sin_roll*cos_pitch;
- body[2] = -pitch_dot*sin_roll + hdg_dot*cos_roll*cos_pitch;
-
- // Transform that back to the horizontal local frame.
- sgdVec3 hl;
- hl[0] = body[0]*trans[0][0] + body[1]*trans[0][1] + body[2]*trans[0][2];
- hl[1] = body[0]*trans[1][0] + body[1]*trans[1][1] + body[2]*trans[1][2];
- hl[2] = body[0]*trans[2][0] + body[1]*trans[2][1] + body[2]*trans[2][2];
-
- // Now we need to project out rotation components ending in speeds in y
- // direction in the hoirizontal local frame.
- hl[1] = 0;
-
- // Transform that to the earth centered frame.
- sgdSetVec3(rot_wrt_earth,
- - cos_lon*sin_lat*hl[0] - sin_lon*hl[1] - cos_lat*cos_lon*hl[2],
- - sin_lon*sin_lat*hl[0] + cos_lon*hl[1] - cos_lat*sin_lon*hl[2],
- cos_lat*hl[0] - sin_lat*hl[2]);
+
+ // For computation of rotation speeds we just use finite differences her.
+ // That is perfectly valid since this thing is not driven by accelerations
+ // but by just apply discrete changes at its velocity variables.
+ double old_hdg = hdg;
+ double old_roll = roll;
+ double old_pitch = pitch;
+
+ // Update the velocity information stored in those nodes.
+ double v_north = 0.51444444*speed*cos(hdg * SGD_DEGREES_TO_RADIANS);
+ double v_east = 0.51444444*speed*sin(hdg * SGD_DEGREES_TO_RADIANS);
+
+ double sin_lat = sin(pos.lat() * SGD_DEGREES_TO_RADIANS);
+ double cos_lat = cos(pos.lat() * SGD_DEGREES_TO_RADIANS);
+ double sin_lon = sin(pos.lon() * SGD_DEGREES_TO_RADIANS);
+ double cos_lon = cos(pos.lon() * SGD_DEGREES_TO_RADIANS);
+ double sin_roll = sin(roll * SGD_DEGREES_TO_RADIANS);
+ double cos_roll = cos(roll * SGD_DEGREES_TO_RADIANS);
+ double sin_pitch = sin(pitch * SGD_DEGREES_TO_RADIANS);
+ double cos_pitch = cos(pitch * SGD_DEGREES_TO_RADIANS);
+ double sin_hdg = sin(hdg * SGD_DEGREES_TO_RADIANS);
+ double cos_hdg = cos(hdg * SGD_DEGREES_TO_RADIANS);
+
+ // Transform this back the the horizontal local frame.
+ sgdMat3 trans;
+
+ // set up the transform matrix
+ trans[0][0] = cos_pitch*cos_hdg;
+ trans[0][1] = sin_roll*sin_pitch*cos_hdg - cos_roll*sin_hdg;
+ trans[0][2] = cos_roll*sin_pitch*cos_hdg + sin_roll*sin_hdg;
+
+ trans[1][0] = cos_pitch*sin_hdg;
+ trans[1][1] = sin_roll*sin_pitch*sin_hdg + cos_roll*cos_hdg;
+ trans[1][2] = cos_roll*sin_pitch*sin_hdg - sin_roll*cos_hdg;
+
+ trans[2][0] = -sin_pitch;
+ trans[2][1] = sin_roll*cos_pitch;
+ trans[2][2] = cos_roll*cos_pitch;
+
+ sgdSetVec3( vel_wrt_earth,
+ - cos_lon*sin_lat*v_north - sin_lon*v_east,
+ - sin_lon*sin_lat*v_north + cos_lon*v_east,
+ cos_lat*v_north );
+ sgGeodToCart(pos.lat() * SGD_DEGREES_TO_RADIANS,
+ pos.lon() * SGD_DEGREES_TO_RADIANS,
+ pos.elev(), rot_pivot_wrt_earth);
+
+ // Now update the position and heading. This will compute new hdg and
+ // roll values required for the rotation speed computation.
+ FGAIShip::update(dt);
+
+
+ //automatic turn into wind with a target wind of 25 kts otd
+ if(turn_to_launch_hdg){
+ TurnToLaunch();
+ } else if(OutsideBox() || returning) {// check that the carrier is inside the operating box
+ ReturnToBox();
+ } else {
+ TurnToBase();
+ }
+
+ // Only change these values if we are able to compute them safely
+ if (dt < DBL_MIN)
+ sgdSetVec3( rot_wrt_earth, 0.0, 0.0, 0.0);
+ else {
+ // Compute the change of the euler angles.
+ double hdg_dot = SGD_DEGREES_TO_RADIANS * (hdg-old_hdg)/dt;
+ // Always assume that the movement was done by the shorter way.
+ if (hdg_dot < - SGD_DEGREES_TO_RADIANS * 180)
+ hdg_dot += SGD_DEGREES_TO_RADIANS * 360;
+ if (hdg_dot > SGD_DEGREES_TO_RADIANS * 180)
+ hdg_dot -= SGD_DEGREES_TO_RADIANS * 360;
+ double pitch_dot = SGD_DEGREES_TO_RADIANS * (pitch-old_pitch)/dt;
+ // Always assume that the movement was done by the shorter way.
+ if (pitch_dot < - SGD_DEGREES_TO_RADIANS * 180)
+ pitch_dot += SGD_DEGREES_TO_RADIANS * 360;
+ if (pitch_dot > SGD_DEGREES_TO_RADIANS * 180)
+ pitch_dot -= SGD_DEGREES_TO_RADIANS * 360;
+ double roll_dot = SGD_DEGREES_TO_RADIANS * (roll-old_roll)/dt;
+ // Always assume that the movement was done by the shorter way.
+ if (roll_dot < - SGD_DEGREES_TO_RADIANS * 180)
+ roll_dot += SGD_DEGREES_TO_RADIANS * 360;
+ if (roll_dot > SGD_DEGREES_TO_RADIANS * 180)
+ roll_dot -= SGD_DEGREES_TO_RADIANS * 360;
+ /*cout << "euler derivatives = "
+ << roll_dot << " " << pitch_dot << " " << hdg_dot << endl;*/
+
+ // Now Compute the rotation vector in the carriers coordinate frame
+ // originating from the euler angle changes.
+ sgdVec3 body;
+ body[0] = roll_dot - hdg_dot*sin_pitch;
+ body[1] = pitch_dot*cos_roll + hdg_dot*sin_roll*cos_pitch;
+ body[2] = -pitch_dot*sin_roll + hdg_dot*cos_roll*cos_pitch;
+
+ // Transform that back to the horizontal local frame.
+ sgdVec3 hl;
+ hl[0] = body[0]*trans[0][0] + body[1]*trans[0][1] + body[2]*trans[0][2];
+ hl[1] = body[0]*trans[1][0] + body[1]*trans[1][1] + body[2]*trans[1][2];
+ hl[2] = body[0]*trans[2][0] + body[1]*trans[2][1] + body[2]*trans[2][2];
+
+ // Now we need to project out rotation components ending in speeds in y
+ // direction in the horizontal local frame.
+ hl[1] = 0;
+
+ // Transform that to the earth centered frame.
+ sgdSetVec3(rot_wrt_earth,
+ - cos_lon*sin_lat*hl[0] - sin_lon*hl[1] - cos_lat*cos_lon*hl[2],
+ - sin_lon*sin_lat*hl[0] + cos_lon*hl[1] - cos_lat*sin_lon*hl[2],
+ cos_lat*hl[0] - sin_lat*hl[2]);
}
UpdateWind(dt);
UpdateElevator(dt, transition_time);
} //end update
+
bool FGAICarrier::init() {
- if (!FGAIShip::init())
- return false;
-
- // process the 3d model here
- // mark some objects solid, mark the wires ...
-
- // The model should be used for altitude computations.
- // To avoid that every detail in a carrier 3D model will end into
- // the aircraft local cache, only set the HOT traversal bit on
- // selected objects.
- ssgEntity *sel = aip.getSceneGraph();
- // Clear the HOT traversal flag
- mark_nohot(sel);
- // Selectively set that flag again for wires/cats/solid objects.
- // Attach a pointer to this carrier class to those objects.
- mark_wires(sel, wire_objects);
- mark_cat(sel, catapult_objects);
- mark_solid(sel, solid_objects);
-
- _longitude_node = fgGetNode("/position/longitude-deg", true);
- _latitude_node = fgGetNode("/position/latitude-deg", true);
- _altitude_node = fgGetNode("/position/altitude-ft", true);
-// _elevator_node = fgGetNode("/controls/elevators", true);
-
- _surface_wind_from_deg_node =
- fgGetNode("/environment/config/boundary/entry[0]/wind-from-heading-deg", true);
- _surface_wind_speed_node =
- fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt", true);
-
-
- turn_to_launch_hdg = false;
- returning = false;
-
- initialpos = pos;
- base_course = hdg;
- base_speed = speed;
-
- step = 0;
- pos_norm = 0;
- elevators = false;
- transition_time = 150;
- time_constant = 0.005;
-
-
- return true;
+ if (!FGAIShip::init())
+ return false;
+
+ // process the 3d model here
+ // mark some objects solid, mark the wires ...
+
+ // The model should be used for altitude computations.
+ // To avoid that every detail in a carrier 3D model will end into
+ // the aircraft local cache, only set the HOT traversal bit on
+ // selected objects.
+ ssgEntity *sel = aip.getSceneGraph();
+ // Clear the HOT traversal flag
+ mark_nohot(sel);
+ // Selectively set that flag again for wires/cats/solid objects.
+ // Attach a pointer to this carrier class to those objects.
+ mark_wires(sel, wire_objects);
+ mark_cat(sel, catapult_objects);
+ mark_solid(sel, solid_objects);
+
+ _longitude_node = fgGetNode("/position/longitude-deg", true);
+ _latitude_node = fgGetNode("/position/latitude-deg", true);
+ _altitude_node = fgGetNode("/position/altitude-ft", true);
+ // _elevator_node = fgGetNode("/controls/elevators", true);
+
+ _surface_wind_from_deg_node =
+ fgGetNode("/environment/config/boundary/entry[0]/wind-from-heading-deg", true);
+ _surface_wind_speed_node =
+ fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt", true);
+
+
+ turn_to_launch_hdg = false;
+ returning = false;
+
+ initialpos = pos;
+ base_course = hdg;
+ base_speed = speed;
+
+ step = 0;
+ pos_norm = 0;
+ elevators = false;
+ transition_time = 150;
+ time_constant = 0.005;
+
+ return true;
}
void FGAICarrier::bind() {
- FGAIShip::bind();
+ FGAIShip::bind();
+
+ props->untie("velocities/true-airspeed-kt");
- props->untie("velocities/true-airspeed-kt");
-
- props->tie("controls/flols/source-lights",
+ props->tie("controls/flols/source-lights",
SGRawValuePointer<int>(&source));
- props->tie("controls/flols/distance-m",
+ props->tie("controls/flols/distance-m",
SGRawValuePointer<double>(&dist));
- props->tie("controls/flols/angle-degs",
+ props->tie("controls/flols/angle-degs",
SGRawValuePointer<double>(&angle));
- props->tie("controls/turn-to-launch-hdg",
+ props->tie("controls/turn-to-launch-hdg",
SGRawValuePointer<bool>(&turn_to_launch_hdg));
- props->tie("controls/in-to-wind",
+ props->tie("controls/in-to-wind",
SGRawValuePointer<bool>(&turn_to_launch_hdg));
- props->tie("controls/base-course-deg",
+ props->tie("controls/base-course-deg",
SGRawValuePointer<double>(&base_course));
- props->tie("controls/base-speed-kts",
+ props->tie("controls/base-speed-kts",
SGRawValuePointer<double>(&base_speed));
- props->tie("controls/start-pos-lat-deg",
+ props->tie("controls/start-pos-lat-deg",
SGRawValuePointer<double>(&initialpos[1]));
- props->tie("controls/start-pos-long-deg",
+ props->tie("controls/start-pos-long-deg",
SGRawValuePointer<double>(&initialpos[0]));
- props->tie("velocities/speed-kts",
+ props->tie("velocities/speed-kts",
SGRawValuePointer<double>(&speed));
- props->tie("environment/surface-wind-speed-true-kts",
+ props->tie("environment/surface-wind-speed-true-kts",
SGRawValuePointer<double>(&wind_speed_kts));
- props->tie("environment/surface-wind-from-true-degs",
+ props->tie("environment/surface-wind-from-true-degs",
SGRawValuePointer<double>(&wind_from_deg));
- props->tie("environment/rel-wind-from-degs",
+ props->tie("environment/rel-wind-from-degs",
SGRawValuePointer<double>(&rel_wind_from_deg));
- props->tie("environment/rel-wind-from-carrier-hdg-degs",
+ props->tie("environment/rel-wind-from-carrier-hdg-degs",
SGRawValuePointer<double>(&rel_wind));
- props->tie("environment/rel-wind-speed-kts",
+ props->tie("environment/rel-wind-speed-kts",
SGRawValuePointer<double>(&rel_wind_speed_kts));
- props->tie("controls/flols/wave-off-lights",
+ props->tie("controls/flols/wave-off-lights",
SGRawValuePointer<bool>(&wave_off_lights));
- props->tie("controls/elevators",
+ props->tie("controls/elevators",
SGRawValuePointer<bool>(&elevators));
- props->tie("surface-positions/elevators-pos-norm",
+ props->tie("surface-positions/elevators-pos-norm",
SGRawValuePointer<double>(&pos_norm));
- props->tie("controls/elevators-trans-time-s",
+ props->tie("controls/elevators-trans-time-s",
SGRawValuePointer<double>(&transition_time));
- props->tie("controls/elevators-time-constant",
+ props->tie("controls/elevators-time-constant",
SGRawValuePointer<double>(&time_constant));
-
- props->setBoolValue("controls/flols/cut-lights", false);
- props->setBoolValue("controls/flols/wave-off-lights", false);
- props->setBoolValue("controls/flols/cond-datum-lights", true);
- props->setBoolValue("controls/crew", false);
- props->setStringValue("navaids/tacan/channel-ID", TACAN_channel_id.c_str());
- props->setStringValue("sign", sign.c_str());
+
+ props->setBoolValue("controls/flols/cut-lights", false);
+ props->setBoolValue("controls/flols/wave-off-lights", false);
+ props->setBoolValue("controls/flols/cond-datum-lights", true);
+ props->setBoolValue("controls/crew", false);
+ props->setStringValue("navaids/tacan/channel-ID", TACAN_channel_id.c_str());
+ props->setStringValue("sign", sign.c_str());
}
+
void FGAICarrier::unbind() {
FGAIShip::unbind();
-
+
props->untie("velocities/true-airspeed-kt");
-
props->untie("controls/flols/source-lights");
props->untie("controls/flols/distance-m");
props->untie("controls/flols/angle-degs");
double& hdng, sgdVec3 uvw)
{
- // FIXME: does not yet cover rotation speeds.
- list<ParkPosition>::iterator it = ppositions.begin();
- while (it != ppositions.end()) {
- // Take either the specified one or the first one ...
- if ((*it).name == id || id.empty()) {
- ParkPosition ppos = *it;
- geodPos = getGeocPosAt(ppos.offset);
- hdng = hdg + ppos.heading_deg;
- double shdng = sin(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
- double chdng = cos(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
- double speed_fps = speed*1.6878099;
- sgdSetVec3(uvw, chdng*speed_fps, shdng*speed_fps, 0);
- return true;
+ // FIXME: does not yet cover rotation speeds.
+ list<ParkPosition>::iterator it = ppositions.begin();
+ while (it != ppositions.end()) {
+ // Take either the specified one or the first one ...
+ if ((*it).name == id || id.empty()) {
+ ParkPosition ppos = *it;
+ geodPos = getGeocPosAt(ppos.offset);
+ hdng = hdg + ppos.heading_deg;
+ double shdng = sin(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
+ double chdng = cos(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
+ double speed_fps = speed*1.6878099;
+ sgdSetVec3(uvw, chdng*speed_fps, shdng*speed_fps, 0);
+ return true;
+ }
+ ++it;
}
- ++it;
- }
- return false;
+ return false;
}
+
void FGAICarrier::mark_nohot(ssgEntity* e) {
- if (e->isAKindOf(ssgTypeBranch())) {
- ssgBranch* br = (ssgBranch*)e;
- ssgEntity* kid;
- for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
- mark_nohot(kid);
+ if (e->isAKindOf(ssgTypeBranch())) {
+ ssgBranch* br = (ssgBranch*)e;
+ ssgEntity* kid;
+ for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
+ mark_nohot(kid);
- br->clrTraversalMaskBits(SSGTRAV_HOT);
-
- } else if (e->isAKindOf(ssgTypeLeaf())) {
+ br->clrTraversalMaskBits(SSGTRAV_HOT);
- e->clrTraversalMaskBits(SSGTRAV_HOT);
+ } else if (e->isAKindOf(ssgTypeLeaf())) {
- }
+ e->clrTraversalMaskBits(SSGTRAV_HOT);
+ }
}
+
bool FGAICarrier::mark_wires(ssgEntity* e, const list<string>& wire_objects, bool mark) {
- bool found = false;
- if (e->isAKindOf(ssgTypeBranch())) {
- ssgBranch* br = (ssgBranch*)e;
- ssgEntity* kid;
-
- list<string>::const_iterator it;
- for (it = wire_objects.begin(); it != wire_objects.end(); ++it)
- mark = mark || (e->getName() && (*it) == e->getName());
-
- for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
- found = mark_wires(kid, wire_objects, mark) || found;
-
- if (found)
- br->setTraversalMaskBits(SSGTRAV_HOT);
-
- } else if (e->isAKindOf(ssgTypeLeaf())) {
- list<string>::const_iterator it;
- for (it = wire_objects.begin(); it != wire_objects.end(); ++it) {
- if (mark || (e->getName() && (*it) == e->getName())) {
- e->setTraversalMaskBits(SSGTRAV_HOT);
- ssgBase* ud = e->getUserData();
- if (ud) {
- FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
- if (ch) {
- SG_LOG(SG_GENERAL, SG_WARN,
- "AICarrier: Carrier hardware gets marked twice!\n"
- " You have propably a whole branch marked as"
- " a wire which also includes other carrier hardware."
- );
- } else {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "AICarrier: Found user data attached to a leaf node which "
- "should be marked as a wire!\n ****Skipping!****");
- }
- } else {
- e->setUserData( FGAICarrierHardware::newWire( this ) );
- ssgLeaf *l = (ssgLeaf*)e;
- if ( l->getNumLines() != 1 ) {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "AICarrier: Found wires not modelled with exactly one line!");
- }
- found = true;
+ bool found = false;
+ if (e->isAKindOf(ssgTypeBranch())) {
+ ssgBranch* br = (ssgBranch*)e;
+ ssgEntity* kid;
+
+ list<string>::const_iterator it;
+ for (it = wire_objects.begin(); it != wire_objects.end(); ++it)
+ mark = mark || (e->getName() && (*it) == e->getName());
+
+ for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
+ found = mark_wires(kid, wire_objects, mark) || found;
+
+ if (found)
+ br->setTraversalMaskBits(SSGTRAV_HOT);
+
+ } else if (e->isAKindOf(ssgTypeLeaf())) {
+ list<string>::const_iterator it;
+ for (it = wire_objects.begin(); it != wire_objects.end(); ++it) {
+ if (mark || (e->getName() && (*it) == e->getName())) {
+ e->setTraversalMaskBits(SSGTRAV_HOT);
+ ssgBase* ud = e->getUserData();
+ if (ud) {
+ FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
+ if (ch) {
+ SG_LOG(SG_GENERAL, SG_WARN,
+ "AICarrier: Carrier hardware gets marked twice!\n"
+ " You have probably a whole branch marked as"
+ " a wire which also includes other carrier hardware.");
+ } else {
+ SG_LOG(SG_GENERAL, SG_ALERT,
+ "AICarrier: Found user data attached to a leaf node which "
+ "should be marked as a wire!\n ****Skipping!****");
+ }
+ } else {
+ e->setUserData( FGAICarrierHardware::newWire( this ) );
+ ssgLeaf *l = (ssgLeaf*)e;
+ if ( l->getNumLines() != 1 ) {
+ SG_LOG(SG_GENERAL, SG_ALERT,
+ "AICarrier: Found wires not modeled with exactly one line!");
+ }
+ found = true;
+ }
+ }
}
- }
}
- }
- return found;
+ return found;
}
+
bool FGAICarrier::mark_solid(ssgEntity* e, const list<string>& solid_objects, bool mark) {
- bool found = false;
- if (e->isAKindOf(ssgTypeBranch())) {
- ssgBranch* br = (ssgBranch*)e;
- ssgEntity* kid;
-
- list<string>::const_iterator it;
- for (it = solid_objects.begin(); it != solid_objects.end(); ++it)
- mark = mark || (e->getName() && (*it) == e->getName());
-
- for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
- found = mark_solid(kid, solid_objects, mark) || found;
-
- if (found)
- br->setTraversalMaskBits(SSGTRAV_HOT);
-
- } else if (e->isAKindOf(ssgTypeLeaf())) {
- list<string>::const_iterator it;
- for (it = solid_objects.begin(); it != solid_objects.end(); ++it) {
- if (mark || (e->getName() && (*it) == e->getName())) {
- e->setTraversalMaskBits(SSGTRAV_HOT);
- ssgBase* ud = e->getUserData();
- if (ud) {
- FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
- if (ch) {
- SG_LOG(SG_GENERAL, SG_WARN,
- "AICarrier: Carrier hardware gets marked twice!\n"
- " You have propably a whole branch marked solid"
- " which also includes other carrier hardware."
- );
- } else {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "AICarrier: Found user data attached to a leaf node which "
- "should be marked solid!\n ****Skipping!****");
- }
- } else {
- e->setUserData( FGAICarrierHardware::newSolid( this ) );
- found = true;
+ bool found = false;
+ if (e->isAKindOf(ssgTypeBranch())) {
+ ssgBranch* br = (ssgBranch*)e;
+ ssgEntity* kid;
+
+ list<string>::const_iterator it;
+ for (it = solid_objects.begin(); it != solid_objects.end(); ++it)
+ mark = mark || (e->getName() && (*it) == e->getName());
+
+ for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
+ found = mark_solid(kid, solid_objects, mark) || found;
+
+ if (found)
+ br->setTraversalMaskBits(SSGTRAV_HOT);
+
+ } else if (e->isAKindOf(ssgTypeLeaf())) {
+ list<string>::const_iterator it;
+ for (it = solid_objects.begin(); it != solid_objects.end(); ++it) {
+ if (mark || (e->getName() && (*it) == e->getName())) {
+ e->setTraversalMaskBits(SSGTRAV_HOT);
+ ssgBase* ud = e->getUserData();
+
+ if (ud) {
+ FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
+ if (ch) {
+ SG_LOG(SG_GENERAL, SG_WARN,
+ "AICarrier: Carrier hardware gets marked twice!\n"
+ " You have probably a whole branch marked solid"
+ " which also includes other carrier hardware.");
+ } else {
+ SG_LOG(SG_GENERAL, SG_ALERT,
+ "AICarrier: Found user data attached to a leaf node which "
+ "should be marked solid!\n ****Skipping!****");
+ }
+ } else {
+ e->setUserData( FGAICarrierHardware::newSolid( this ) );
+ found = true;
+ }
+ }
}
- }
}
- }
- return found;
+ return found;
}
+
bool FGAICarrier::mark_cat(ssgEntity* e, const list<string>& cat_objects, bool mark) {
- bool found = false;
- if (e->isAKindOf(ssgTypeBranch())) {
- ssgBranch* br = (ssgBranch*)e;
- ssgEntity* kid;
-
- list<string>::const_iterator it;
- for (it = cat_objects.begin(); it != cat_objects.end(); ++it)
- mark = mark || (e->getName() && (*it) == e->getName());
-
- for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
- found = mark_cat(kid, cat_objects, mark) || found;
-
- if (found)
- br->setTraversalMaskBits(SSGTRAV_HOT);
-
- } else if (e->isAKindOf(ssgTypeLeaf())) {
- list<string>::const_iterator it;
- for (it = cat_objects.begin(); it != cat_objects.end(); ++it) {
- if (mark || (e->getName() && (*it) == e->getName())) {
- e->setTraversalMaskBits(SSGTRAV_HOT);
- ssgBase* ud = e->getUserData();
- if (ud) {
- FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
- if (ch) {
- SG_LOG(SG_GENERAL, SG_WARN,
- "AICarrier: Carrier hardware gets marked twice!\n"
- "You have probably a whole branch marked as"
- "a catapult which also includes other carrier hardware."
- );
- } else {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "AICarrier: Found user data attached to a leaf node which "
- "should be marked as a catapult!\n ****Skipping!****");
- }
- } else {
- e->setUserData( FGAICarrierHardware::newCatapult( this ) );
- ssgLeaf *l = (ssgLeaf*)e;
- if ( l->getNumLines() != 1 ) {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "AICarrier: Found a cat not modelled with exactly "
- "one line!");
- } else {
- // Now some special code to make sure the cat points in the right
- // direction. The 0 index must be the backward end, the 1 index
- // the forward end.
- // Forward is positive x-direction in our 3D model, also the model
- // as such is flattened when it is loaded, so we do not need to
- // care for transforms ...
- short v[2];
- l->getLine(0, v, v+1 );
- sgVec3 ends[2];
- for (int k=0; k<2; ++k)
- sgCopyVec3( ends[k], l->getVertex( v[k] ) );
-
- // When the 1 end is behind the 0 end, swap the coordinates.
- if (ends[0][0] < ends[1][0]) {
- sgCopyVec3( l->getVertex( v[0] ), ends[1] );
- sgCopyVec3( l->getVertex( v[1] ), ends[0] );
+ bool found = false;
+ if (e->isAKindOf(ssgTypeBranch())) {
+ ssgBranch* br = (ssgBranch*)e;
+ ssgEntity* kid;
+
+ list<string>::const_iterator it;
+ for (it = cat_objects.begin(); it != cat_objects.end(); ++it)
+ mark = mark || (e->getName() && (*it) == e->getName());
+
+ for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
+ found = mark_cat(kid, cat_objects, mark) || found;
+
+ if (found)
+ br->setTraversalMaskBits(SSGTRAV_HOT);
+
+ } else if (e->isAKindOf(ssgTypeLeaf())) {
+ list<string>::const_iterator it;
+ for (it = cat_objects.begin(); it != cat_objects.end(); ++it) {
+ if (mark || (e->getName() && (*it) == e->getName())) {
+ e->setTraversalMaskBits(SSGTRAV_HOT);
+ ssgBase* ud = e->getUserData();
+ if (ud) {
+ FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
+ if (ch) {
+ SG_LOG(SG_GENERAL, SG_WARN,
+ "AICarrier: Carrier hardware gets marked twice!\n"
+ "You have probably a whole branch marked as"
+ "a catapult which also includes other carrier hardware.");
+ } else {
+ SG_LOG(SG_GENERAL, SG_ALERT,
+ "AICarrier: Found user data attached to a leaf node which "
+ "should be marked as a catapult!\n ****Skipping!****");
+ }
+ } else {
+ e->setUserData( FGAICarrierHardware::newCatapult( this ) );
+ ssgLeaf *l = (ssgLeaf*)e;
+ if ( l->getNumLines() != 1 ) {
+ SG_LOG(SG_GENERAL, SG_ALERT,
+ "AICarrier: Found a cat not modeled with exactly "
+ "one line!");
+ } else {
+ // Now some special code to make sure the cat points in the right
+ // direction. The 0 index must be the backward end, the 1 index
+ // the forward end.
+ // Forward is positive x-direction in our 3D model, also the model
+ // as such is flattened when it is loaded, so we do not need to
+ // care for transforms ...
+ short v[2];
+ l->getLine(0, v, v+1 );
+ sgVec3 ends[2];
+ for (int k=0; k<2; ++k)
+ sgCopyVec3( ends[k], l->getVertex( v[k] ) );
+
+ // When the 1 end is behind the 0 end, swap the coordinates.
+ if (ends[0][0] < ends[1][0]) {
+ sgCopyVec3( l->getVertex( v[0] ), ends[1] );
+ sgCopyVec3( l->getVertex( v[1] ), ends[0] );
+ }
+ found = true;
+ }
+ }
}
-
- found = true;
- }
}
- }
}
- }
- return found;
+ return found;
}
+
void FGAICarrier::UpdateFlols(const sgdMat3& trans) {
-
+
float in[3];
float out[3];
- double flolsXYZ[3], eyeXYZ[3];
+ double flolsXYZ[3], eyeXYZ[3];
double lat, lon, alt;
Point3D eyepos;
- Point3D flolspos;
-
-/* cout << "x_offset " << flols_x_offset
- << " y_offset " << flols_y_offset
- << " z_offset " << flols_z_offset << endl;
-
- cout << "roll " << roll
- << " heading " << hdg
- << " pitch " << pitch << endl;
-
- cout << "carrier lon " << pos[0]
- << " lat " << pos[1]
- << " alt " << pos[2] << endl;*/
-
-// set the Flols intitial position to the carrier position
-
- flolspos = pos;
-
-/* cout << "flols lon " << flolspos[0]
- << " lat " << flolspos[1]
- << " alt " << flolspos[2] << endl;*/
-
-// set the offsets in metres
-
-/* cout << "flols_x_offset " << flols_x_offset << endl
- << "flols_y_offset " << flols_y_offset << endl
- << "flols_z_offset " << flols_z_offset << endl;*/
-
- in[0] = flols_off.x();
- in[1] = flols_off.y();
- in[2] = flols_off.z();
-
-// 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 meters to ft to degrees of latitude
- out[0] = (out[0] * 3.28083989501) /(366468.96 - 3717.12 * cos(flolspos[0] * SG_DEGREES_TO_RADIANS));
-
-// convert meters to ft to degrees of longitude
- out[1] = (out[1] * 3.28083989501)/(365228.16 * cos(flolspos[1] * SG_DEGREES_TO_RADIANS));
-
-//print out the result
-/* cout << "lat adjust deg" << out[0]
- << " lon adjust deg " << out[1]
- << " alt adjust m " << out[2] << endl;*/
-
-// adjust Flols position
- flolspos[0] += out[0];
- flolspos[1] += out[1];
- flolspos[2] += out[2];
-
-// convert flols position to cartesian co-ordinates
-
- sgGeodToCart(flolspos[1] * SG_DEGREES_TO_RADIANS,
- flolspos[0] * SG_DEGREES_TO_RADIANS,
- flolspos[2] , flolsXYZ );
-
-
-/* cout << "flols X " << flolsXYZ[0]
- << " Y " << flolsXYZ[1]
- << " Z " << flolsXYZ[2] << endl;
-
-// check the conversion
-
- sgCartToGeod(flolsXYZ, &lat, &lon, &alt);
-
- cout << "flols check lon " << lon
- << " lat " << lat
- << " alt " << alt << endl; */
-
-//get the current position of the pilot's eyepoint (cartesian cordinates)
-
- sgdCopyVec3( eyeXYZ, globals->get_current_view()->get_absolute_view_pos() );
-
- /* cout << "Eye_X " << eyeXYZ[0]
- << " Eye_Y " << eyeXYZ[1]
- << " Eye_Z " << eyeXYZ[2] << endl; */
-
- sgCartToGeod(eyeXYZ, &lat, &lon, &alt);
-
- eyepos[0] = lon * SG_RADIANS_TO_DEGREES;
- eyepos[1] = lat * SG_RADIANS_TO_DEGREES;
- eyepos[2] = alt;
-
+ Point3D flolspos;
+
+/* cout << "x_offset " << flols_x_offset
+ << " y_offset " << flols_y_offset
+ << " z_offset " << flols_z_offset << endl;
+
+ cout << "roll " << roll
+ << " heading " << hdg
+ << " pitch " << pitch << endl;
+
+ cout << "carrier lon " << pos[0]
+ << " lat " << pos[1]
+ << " alt " << pos[2] << endl;
+*/
+
+ // set the Flols initial position to the carrier position
+
+ flolspos = pos;
+
+/* cout << "flols lon " << flolspos[0]
+ << " lat " << flolspos[1]
+ << " alt " << flolspos[2] << endl;
+
+ // set the offsets in metres
+
+ cout << "flols_x_offset " << flols_x_offset << endl
+ << "flols_y_offset " << flols_y_offset << endl
+ << "flols_z_offset " << flols_z_offset << endl;
+*/
+
+ in[0] = flols_off.x();
+ in[1] = flols_off.y();
+ in[2] = flols_off.z();
+
+ // 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 meters to ft to degrees of latitude
+ out[0] = (out[0] * 3.28083989501) /
+ (366468.96 - 3717.12 * cos(flolspos[0] * SG_DEGREES_TO_RADIANS));
+
+ // convert meters to ft to degrees of longitude
+ out[1] = (out[1] * 3.28083989501) /
+ (365228.16 * cos(flolspos[1] * SG_DEGREES_TO_RADIANS));
+
+/* cout << "lat adjust deg" << out[0]
+ << " lon adjust deg " << out[1]
+ << " alt adjust m " << out[2] << endl;
+*/
+
+ // adjust Flols position
+ flolspos[0] += out[0];
+ flolspos[1] += out[1];
+ flolspos[2] += out[2];
+
+ // convert flols position to cartesian co-ordinates
+ sgGeodToCart(flolspos[1] * SG_DEGREES_TO_RADIANS,
+ flolspos[0] * SG_DEGREES_TO_RADIANS,
+ flolspos[2] , flolsXYZ );
+
+
+/* cout << "flols X " << flolsXYZ[0]
+ << " Y " << flolsXYZ[1]
+ << " Z " << flolsXYZ[2] << endl;
+
+ // check the conversion
+
+ sgCartToGeod(flolsXYZ, &lat, &lon, &alt);
+
+ cout << "flols check lon " << lon
+ << " lat " << lat
+ << " alt " << alt << endl;
+*/
+
+ // get the current position of the pilot's eyepoint (cartesian coordinates)
+ sgdCopyVec3( eyeXYZ, globals->get_current_view()->get_absolute_view_pos() );
+
+/* cout << "Eye_X " << eyeXYZ[0]
+ << " Eye_Y " << eyeXYZ[1]
+ << " Eye_Z " << eyeXYZ[2] << endl;
+*/
+
+ sgCartToGeod(eyeXYZ, &lat, &lon, &alt);
+
+ eyepos[0] = lon * SG_RADIANS_TO_DEGREES;
+ eyepos[1] = lat * SG_RADIANS_TO_DEGREES;
+ eyepos[2] = alt;
+
/* cout << "eye lon " << eyepos[0]
- << " eye lat " << eyepos[1]
- << " eye alt " << eyepos[2] << endl; */
-
-//calculate the ditance from eye to flols
-
- dist = sgdDistanceVec3( flolsXYZ, eyeXYZ );
-
-//apply an index error
-
- dist -= 100;
-
- //cout << "distance " << dist << endl;
-
- if ( dist < 5000 ) {
- // calculate height above FLOLS
- double y = eyepos[2] - flolspos[2];
-
- // calculate the angle from the flols to eye
- // above the horizontal
- // double angle;
-
- if ( dist != 0 ) {
- angle = asin( y / dist );
- } else {
- angle = 0.0;
- }
-
- angle *= SG_RADIANS_TO_DEGREES;
-
-
- // cout << " height " << y << " angle " << angle ;
-
-// set the value of source
-
- if ( angle <= 4.35 && angle > 4.01 )
- { source = 1; }
- else if ( angle <= 4.01 && angle > 3.670 )
- { source = 2; }
- else if ( angle <= 3.670 && angle > 3.330 )
- { source = 3; }
- else if ( angle <= 3.330 && angle > 2.990 )
- { source = 4; }
- else if ( angle <= 2.990 && angle > 2.650 )
- { source = 5; }
- else if ( angle <= 2.650 )
- { source = 6; }
- else
- { source = 0; }
-
-// cout << " source " << source << endl;
-
- }
-} // end updateflols
+ << " eye lat " << eyepos[1]
+ << " eye alt " << eyepos[2] << endl;
+*/
-// find relative wind
+ //calculate the distance from eye to flols
+ dist = sgdDistanceVec3( flolsXYZ, eyeXYZ );
+
+ //apply an index error
+ dist -= 100;
+
+ //cout << "distance " << dist << endl;
+ if ( dist > 5000 )
+ return;
+
+ // calculate height above FLOLS
+ double y = eyepos[2] - flolspos[2];
+ // calculate the angle from the flols to eye
+ // above the horizontal
+ // double angle;
+ if ( dist != 0 )
+ angle = asin( y / dist );
+ else
+ angle = 0.0;
+ angle *= SG_RADIANS_TO_DEGREES;
+
+
+ // cout << " height " << y << " angle " << angle ;
+
+ // set the value of source
+
+ if ( angle <= 4.35 && angle > 4.01 )
+ source = 1;
+ else if ( angle <= 4.01 && angle > 3.670 )
+ source = 2;
+ else if ( angle <= 3.670 && angle > 3.330 )
+ source = 3;
+ else if ( angle <= 3.330 && angle > 2.990 )
+ source = 4;
+ else if ( angle <= 2.990 && angle > 2.650 )
+ source = 5;
+ else if ( angle <= 2.650 )
+ source = 6;
+ else
+ source = 0;
+
+ // cout << " source " << source << endl;
+
+} // end updateflols
+
+
+// find relative wind
void FGAICarrier::UpdateWind( double dt) {
double recip;
-
+
//calculate the reciprocal hdg
-
- if (hdg >= 180){
+
+ if (hdg >= 180)
recip = hdg - 180;
- }
- else{
+ else
recip = hdg + 180;
- }
-
+
//cout <<" heading: " << hdg << "recip: " << recip << endl;
-
+
//get the surface wind speed and direction
wind_from_deg = _surface_wind_from_deg_node->getDoubleValue();
wind_speed_kts = _surface_wind_speed_node->getDoubleValue();
-
- //calculate the surface wind speed north and east in kts
+
+ //calculate the surface wind speed north and east in kts
double wind_speed_from_north_kts = cos( wind_from_deg / SGD_RADIANS_TO_DEGREES )* wind_speed_kts ;
double wind_speed_from_east_kts = sin( wind_from_deg / SGD_RADIANS_TO_DEGREES )* wind_speed_kts ;
-
- //calculate the carrier speed north and east in kts
+
+ //calculate the carrier speed north and east in kts
double speed_north_kts = cos( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
double speed_east_kts = sin( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
-
+
//calculate the relative wind speed north and east in kts
double rel_wind_speed_from_east_kts = wind_speed_from_east_kts + speed_east_kts;
double rel_wind_speed_from_north_kts = wind_speed_from_north_kts + speed_north_kts;
-
- //combine relative speeds north and east to get relative windspeed in kts
- rel_wind_speed_kts = sqrt((rel_wind_speed_from_east_kts * rel_wind_speed_from_east_kts)
+
+ //combine relative speeds north and east to get relative windspeed in kts
+ rel_wind_speed_kts = sqrt((rel_wind_speed_from_east_kts * rel_wind_speed_from_east_kts)
+ (rel_wind_speed_from_north_kts * rel_wind_speed_from_north_kts));
-
+
//calculate the relative wind direction
- rel_wind_from_deg = atan(rel_wind_speed_from_east_kts/rel_wind_speed_from_north_kts)
+ rel_wind_from_deg = atan(rel_wind_speed_from_east_kts/rel_wind_speed_from_north_kts)
* SG_RADIANS_TO_DEGREES;
-
+
// rationalise the output
- if (rel_wind_speed_from_north_kts <= 0){
+ if (rel_wind_speed_from_north_kts <= 0) {
rel_wind_from_deg = 180 + rel_wind_from_deg;
- }
- else{
- if(rel_wind_speed_from_east_kts <= 0){
+ } else {
+ if(rel_wind_speed_from_east_kts <= 0)
rel_wind_from_deg = 360 + rel_wind_from_deg;
- }
}
-
+
//calculate rel wind
- rel_wind = rel_wind_from_deg - hdg ;
- if (rel_wind > 180) rel_wind -= 360;
-
+ rel_wind = rel_wind_from_deg - hdg;
+ if (rel_wind > 180)
+ rel_wind -= 360;
+
//switch the wave-off lights
- if (InToWind()){
+ if (InToWind())
wave_off_lights = false;
- }else{
+ else
wave_off_lights = true;
- }
-
+
// cout << "rel wind: " << rel_wind << endl;
}// end update wind
+
void FGAICarrier::TurnToLaunch(){
-
- //calculate tgt speed
- double tgt_speed = 25 - wind_speed_kts;
- if (tgt_speed < 10) tgt_speed = 10;
-
- //turn the carrier
- FGAIShip::TurnTo(wind_from_deg);
- FGAIShip::AccelTo(tgt_speed);
-
-
-
-} // end turn to launch
-
+
+ //calculate tgt speed
+ double tgt_speed = 25 - wind_speed_kts;
+ if (tgt_speed < 10)
+ tgt_speed = 10;
+
+ //turn the carrier
+ FGAIShip::TurnTo(wind_from_deg);
+ FGAIShip::AccelTo(tgt_speed);
+
+}
+
+
void FGAICarrier::TurnToBase(){
-
+
//turn the carrier
- FGAIShip::TurnTo(base_course);
- FGAIShip::AccelTo(base_speed);
-
-} // end turn to base
+ FGAIShip::TurnTo(base_course);
+ FGAIShip::AccelTo(base_speed);
+
+}
+
void FGAICarrier::ReturnToBox(){
double course, distance, az2;
-
+
//get the carrier position
carrierpos = pos;
-
+
//cout << "lat: " << carrierpos[1] << " lon: " << carrierpos[0] << endl;
-
+
//calculate the bearing and range of the initial position from the carrier
geo_inverse_wgs_84(carrierpos[2],
carrierpos[1],
initialpos[1],
initialpos[0],
&course, &az2, &distance);
-
+
distance *= SG_METER_TO_NM;
//cout << "return course: " << course << " distance: " << distance << endl;
//turn the carrier
- FGAIShip::TurnTo(course);
- FGAIShip::AccelTo(base_speed);
- if (distance >= 1 ){
- returning = true;
- }else{
- returning = false;
- }
-
-} // end turn to base
-
-
-
-
-bool FGAICarrier::OutsideBox(){ //returns true if the carrier is outside operating box
+ FGAIShip::TurnTo(course);
+ FGAIShip::AccelTo(base_speed);
+
+ if (distance >= 1)
+ returning = true;
+ else
+ returning = false;
+
+} // end turn to base
+
+
+bool FGAICarrier::OutsideBox() { //returns true if the carrier is outside operating box
if ( max_lat == 0 && min_lat == 0 && max_long == 0 && min_long == 0) {
- SG_LOG(SG_GENERAL, SG_DEBUG, "AICarrier: No Operating Box defined" );
- return false;
- }
-
- if (initialpos[1] >= 0){//northern hemisphere
- if (pos[1] >= initialpos[1] + max_lat) {return true;}
- else if (pos[1] <= initialpos[1] - min_lat) {return true;}
- }else{ //southern hemisphere
- if (pos[1] <= initialpos[1] - max_lat) {return true;}
- else if (pos[1] >= initialpos[1] + min_lat) {return true;}
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AICarrier: No Operating Box defined" );
+ return false;
}
-
- if (initialpos[0] >=0) {//eastern hemisphere
- if (pos[0] >= initialpos[0] + max_long) {return true;}
- else if (pos[0] <= initialpos[0] - min_long) {return true;}
- }else{ //western hemisphere
- if (pos[0] <= initialpos[0] - max_long) {return true;}
- else if (pos[0] >= initialpos[0] + min_long) {return true;}
+
+ if (initialpos[1] >= 0) { //northern hemisphere
+ if (pos[1] >= initialpos[1] + max_lat)
+ return true;
+
+ if (pos[1] <= initialpos[1] - min_lat)
+ return true;
+
+ } else { //southern hemisphere
+ if (pos[1] <= initialpos[1] - max_lat)
+ return true;
+
+ if (pos[1] >= initialpos[1] + min_lat)
+ return true;
}
-
+
+ if (initialpos[0] >=0) { //eastern hemisphere
+ if (pos[0] >= initialpos[0] + max_long)
+ return true;
+
+ if (pos[0] <= initialpos[0] - min_long)
+ return true;
+
+ } else { //western hemisphere
+ if (pos[0] <= initialpos[0] - max_long)
+ return true;
+
+ if (pos[0] >= initialpos[0] + min_long)
+ return true;
+ }
+
SG_LOG(SG_GENERAL, SG_DEBUG, "AICarrier: Inside Operating Box" );
-
- return false;
+ return false;
} // end OutsideBox
+
// return the distance to the horizon, given the altitude and the radius of the earth
-float FGAICarrier::Horizon(float h) { return RADIUS_M * acos(RADIUS_M / (RADIUS_M + h)); }
-
-bool FGAICarrier::InToWind(){
-
- // test
- if ( fabs(rel_wind) < 5 ) return true;
+float FGAICarrier::Horizon(float h) {
+ return RADIUS_M * acos(RADIUS_M / (RADIUS_M + h));
+}
+
+
+bool FGAICarrier::InToWind() {
+ if ( fabs(rel_wind) < 5 )
+ return true;
+
return false;
-
-} //end InToWind
+}
+
void FGAICarrier::UpdateElevator(double dt, double transition_time) {
int FGAICarrierHardware::unique_id = 1;
+
projects / flightgear.git / commitdiff