// Written by David Culp, started November 2003.
// - davidculp2@comcast.net
//
-// With major additions by Mathias Froehlich & Vivian Meazza 2004-2007
+// With major additions by Mathias Froehlich & Vivian Meazza 2004-2008
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
#include <simgear/math/point3d.hxx>
#include <simgear/math/sg_random.h>
-#include <simgear/scene/material/mat.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <Scenery/scenery.hxx>
#include "AIBallistic.hxx"
const double FGAIBallistic::slugs_to_kgs = 14.5939029372;
+const double FGAIBallistic::slugs_to_lbs = 32.1740485564;
FGAIBallistic::FGAIBallistic() :
FGAIBase(otBallistic),
_aero_stabilised(false),
_drag_area(0.007),
_life_timer(0.0),
- _gravity(32),
+_gravity(32.1740485564),
_buoyancy(0),
_random(false),
_ht_agl_ft(0),
_solid(false),
_report_collision(false),
_report_impact(false),
+_wind(true),
_impact_report_node(fgGetNode("/ai/models/model-impact", true)),
_external_force(false)
}
void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
- if (!scFileNode)
+ if (!scFileNode){
return;
+ }
FGAIBase::readFromScenario(scFileNode);
+ //setPath(scFileNode->getStringValue("model", "Models/Geometry/rocket.ac"));
setAzimuth(scFileNode->getDoubleValue("azimuth", 0.0));
- setElevation(scFileNode->getDoubleValue("elevation", 0.0));
+ setElevation(scFileNode->getDoubleValue("elevation", 0));
setDragArea(scFileNode->getDoubleValue("eda", 0.007));
setLife(scFileNode->getDoubleValue("life", 900.0));
setBuoyancy(scFileNode->getDoubleValue("buoyancy", 0));
setRandom(scFileNode->getBoolValue("random", false));
setImpact(scFileNode->getBoolValue("impact", false));
setImpactReportNode(scFileNode->getStringValue("impact-reports"));
- setName(scFileNode->getStringValue("name", "Bomb"));
+ setName(scFileNode->getStringValue("name", "Rocket"));
setFuseRange(scFileNode->getDoubleValue("fuse-range", 0.0));
setSMPath(scFileNode->getStringValue("submodel-path", ""));
setSubID(scFileNode->getIntValue("SubID", 0));
+ setExternalForce(scFileNode->getBoolValue("external-force", false));
+ setForcePath(scFileNode->getStringValue("force-path", ""));
+ setForceStabilisation(scFileNode->getBoolValue("force_stabilized", false));
+ setXOffset(scFileNode->getDoubleValue("x-offset", 0.0));
+ setYOffset(scFileNode->getDoubleValue("y-offset", 0.0));
+ setZOffset(scFileNode->getDoubleValue("z-offset", 0.0));
}
bool FGAIBallistic::init(bool search_in_AI_path) {
hdg = _azimuth;
pitch = _elevation;
roll = _rotation;
+
Transform();
return true;
_aero_stabilised = val;
}
+void FGAIBallistic::setForceStabilisation(bool val) {
+ _force_stabilised = val;
+}
+
void FGAIBallistic::setNoRoll(bool nr) {
no_roll = nr;
}
_fuse_range = f;
}
+void FGAIBallistic::setXOffset(double x) {
+ _x_offset = x;
+}
+
+void FGAIBallistic::setYOffset(double y) {
+ _y_offset = y;
+}
+
+void FGAIBallistic::setZOffset(double z) {
+ _z_offset = z;
+}
+
void FGAIBallistic::setSubID(int i) {
_subID = i;
//cout << "sub id " << _subID << " name " << _name << endl;
}
}
+bool FGAIBallistic::getHtAGL(){
+
+ if (globals->get_scenery()->get_elevation_m(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
+ 10000.0, _elevation_m, &_material)){
+ _ht_agl_ft = pos.getElevationFt() - _elevation_m * SG_METER_TO_FEET;
+ if (_material) {
+ const vector<string>& names = _material->get_names();
+
+ _solid = _material->get_solid();
+ _load_resistance = _material->get_load_resistance();
+ _frictionFactor =_material->get_friction_factor();
+ if (!names.empty())
+ props->setStringValue("material/name", names[0].c_str());
+ else
+ props->setStringValue("material/name", "");
+ /*cout << "material " << mat_name
+ << " solid " << _solid
+ << " load " << _load_resistance
+ << " frictionFactor " << frictionFactor
+ << endl;*/
+ }
+ return true;
+ } else {
+ return false;
+ }
+
+}
+
+double FGAIBallistic::getRecip(double az){
+ // calculate the reciprocal of the input azimuth
+ if(az - 180 < 0){
+ return az + 180;
+ } else {
+ return az - 180;
+ }
+}
+
+void FGAIBallistic::setPitch(double e, double dt, double coeff){
+ double c = dt / (coeff + dt);
+ pitch = (e * c) + (pitch * (1 - c));
+}
+
+void FGAIBallistic::setHdg(double dt, double coeff){
+ double recip = getRecip(hdg);
+ double c = dt / (coeff + dt);
+ //we need to ensure that we turn the short way to the new hdg
+ if (_azimuth < recip && _azimuth < hdg && hdg > 180) {
+ hdg = ((_azimuth + 360) * c) + (hdg * (1 - c));
+ } else if (_azimuth > recip && _azimuth > hdg && hdg <= 180){
+ hdg = ((_azimuth - 360) * c) + (hdg * (1 - c));
+ } else {
+ hdg = (_azimuth * c) + (hdg * (1 - c));
+ }
+}
+
void FGAIBallistic::Run(double dt) {
_life_timer += dt;
- //cout << "life timer" <<_name <<" " << _life_timer << dt << endl;
- if (_life_timer > life)
+
+ if (_life_timer > life && life != -1)
setDie(true);
//randomise Cd by +- 5%
if (!_wind) {
_wind_from_north = 0;
_wind_from_east = 0;
+ } else {
+ _wind_from_north = manager->get_wind_from_north();
+ _wind_from_east = manager->get_wind_from_east();
}
- // convert wind speed (fps) to degrees lat/lon per second
- double wind_speed_from_north_deg_sec = _wind_from_north / ft_per_deg_lat;
- double wind_speed_from_east_deg_sec = _wind_from_east / ft_per_deg_lon;
-
//calculate velocity due to external force
double force_speed_north_deg_sec = 0;
double force_speed_east_deg_sec = 0;
double v_force_acc_fpss = 0;
double force_speed_north_fps = 0;
double force_speed_east_fps = 0;
+ double h_force_lbs = 0;
+ double normal_force_lbs = 0;
+ double normal_force_fpss = 0;
+ double static_friction_force_lbs = 0;
+ double dynamic_friction_force_lbs = 0;
+ double friction_force_speed_north_fps = 0;
+ double friction_force_speed_east_fps = 0;
+ double friction_force_speed_north_deg_sec = 0;
+ double friction_force_speed_east_deg_sec = 0;
+ double force_elevation_deg = 0;
if (_external_force) {
SGPropertyNode *n = fgGetNode(_force_path.c_str(), true);
double force_lbs = n->getChild("force-lb", 0, true)->getDoubleValue();
- double force_elevation_deg = n->getChild("force-elevation-deg", 0, true)->getDoubleValue();
+ force_elevation_deg = n->getChild("force-elevation-deg", 0, true)->getDoubleValue();
double force_azimuth_deg = n->getChild("force-azimuth-deg", 0, true)->getDoubleValue();
//resolve force into vertical and horizontal components:
double v_force_lbs = force_lbs * sin( force_elevation_deg * SG_DEGREES_TO_RADIANS );
- double h_force_lbs = force_lbs * cos( force_elevation_deg * SG_DEGREES_TO_RADIANS );
+ h_force_lbs = force_lbs * cos( force_elevation_deg * SG_DEGREES_TO_RADIANS );
+
+ //ground interaction
+
+ if (getHtAGL()){
+ double deadzone = 0.1;
+
+ if ( _ht_agl_ft <= (0 + _z_offset + deadzone) && _solid){
+ normal_force_lbs = (_mass * slugs_to_lbs) - v_force_lbs;
+ pos.setElevationFt((_elevation_m * SG_METER_TO_FEET) + _z_offset);
+ vs = 0;
+
+ // calculate friction
+ // we assume a static Coefficient of Friction (mu) of 0.62 (wood on concrete)
+ double mu = 0.62;
+
+ static_friction_force_lbs = mu * normal_force_lbs * _frictionFactor;
+
+ //adjust horizontal force
+ if (h_force_lbs <= static_friction_force_lbs && hs <= 0.1)
+ h_force_lbs = hs = 0;
+ else
+ dynamic_friction_force_lbs = (static_friction_force_lbs * 0.75);
+
+ //ignore wind when on the ground for now
+ //TODO fix this
+ _wind_from_north = 0;
+ _wind_from_east = 0;
+
+ }
+
+ }
//acceleration = (force(lbsf)/mass(slugs))
- v_force_acc_fpss = (v_force_lbs/_mass);
- double h_force_acc_fpss = (h_force_lbs/_mass);
+ v_force_acc_fpss = v_force_lbs/_mass;
+ normal_force_fpss = normal_force_lbs/_mass;
+ double h_force_acc_fpss = h_force_lbs/_mass;
+ double dynamic_friction_acc_fpss = dynamic_friction_force_lbs/_mass;
// velocity = acceleration * dt
hs_force_fps = h_force_acc_fpss * dt;
+ double friction_force_fps = dynamic_friction_acc_fpss * dt;
- //resolve horizontal speed into north and east components:
+ //resolve horizontal speeds into north and east components:
force_speed_north_fps = cos(force_azimuth_deg * SG_DEGREES_TO_RADIANS) * hs_force_fps;
force_speed_east_fps = sin(force_azimuth_deg * SG_DEGREES_TO_RADIANS) * hs_force_fps;
+ double friction_force_speed_north_fps = cos(getRecip(hdg) * SG_DEGREES_TO_RADIANS) * friction_force_fps;
+ double friction_force_speed_east_fps = sin(getRecip(hdg) * SG_DEGREES_TO_RADIANS) * friction_force_fps;
+
// convert horizontal speed (fps) to degrees per second
- double force_speed_north_deg_sec = force_speed_north_fps / ft_per_deg_lat;
- double force_speed_east_deg_sec = force_speed_east_fps / ft_per_deg_lon;
-
- //recombine the horizontal velocity components
- hs = sqrt(((speed_north_fps + force_speed_north_fps) * (speed_north_fps + force_speed_north_fps))
- + ((speed_east_fps + force_speed_east_fps) * (speed_east_fps + force_speed_east_fps)));
-
- /*cout << "mass " << _mass
- << " force " << force_lbs
- << " elevation " << force_elevation_deg
- << " azimuth " << force_azimuth_deg
- << endl; */
-
- //cout << " _hs_force_fps " << hs_force_fps
- //<< " force_speed_north_fps " << force_speed_north_fps
- //<< " force_speed_east_fps " << force_speed_east_fps
- //<< " speed_north_fps " << speed_north_fps
- //<< " speed_east_fps " << speed_east_fps
- //<< endl;
+ force_speed_north_deg_sec = force_speed_north_fps / ft_per_deg_lat;
+ force_speed_east_deg_sec = force_speed_east_fps / ft_per_deg_lon;
+
+ friction_force_speed_north_deg_sec = friction_force_speed_north_fps / ft_per_deg_lat;
+ friction_force_speed_east_deg_sec = friction_force_speed_east_fps / ft_per_deg_lon;
}
+ // convert wind speed (fps) to degrees lat/lon per second
+ double wind_speed_from_north_deg_sec = _wind_from_north / ft_per_deg_lat;
+ double wind_speed_from_east_deg_sec = _wind_from_east / ft_per_deg_lon;
+
// set new position
pos.setLatitudeDeg( pos.getLatitudeDeg()
- + (speed_north_deg_sec - wind_speed_from_north_deg_sec + force_speed_north_deg_sec) * dt );
+ + (speed_north_deg_sec - wind_speed_from_north_deg_sec
+ + force_speed_north_deg_sec + friction_force_speed_north_deg_sec) * dt );
pos.setLongitudeDeg( pos.getLongitudeDeg()
- + (speed_east_deg_sec - wind_speed_from_east_deg_sec + force_speed_east_deg_sec) * dt );
+ + (speed_east_deg_sec - wind_speed_from_east_deg_sec
+ + force_speed_east_deg_sec + friction_force_speed_east_deg_sec) * dt );
+
+ //recombine the horizontal velocity components
+ hs = sqrt(((speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps)
+ * (speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps))
+ + ((speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps)
+ * (speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps)));
+
+ if (hs <= 0.00001)
+ hs = 0;
// adjust vertical speed for acceleration of gravity, buoyancy, and vertical force
- //v_force_acc_fpss = 0;
- vs -= (_gravity - _buoyancy - v_force_acc_fpss) * dt;
+ vs -= (_gravity - _buoyancy - v_force_acc_fpss - normal_force_fpss) * dt;
+
+ if (vs <= 0.00001 && vs >= -0.00001)
+ vs = 0;
// adjust altitude (feet) and set new elevation
+ altitude_ft = pos.getElevationFt();
altitude_ft += vs * dt;
pos.setElevationFt(altitude_ft);
+ // recalculate total speed
+ if ( vs == 0 && hs == 0)
+ speed = 0;
+ else
+ speed = sqrt( vs * vs + hs * hs) / SG_KT_TO_FPS;
+
// recalculate elevation and azimuth (velocity vectors)
_elevation = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
_azimuth = atan2((speed_east_fps + force_speed_east_fps),
(speed_north_fps + force_speed_north_fps)) * SG_RADIANS_TO_DEGREES;
// rationalise azimuth
- if (_azimuth < 0) _azimuth += 360;
+ if (_azimuth < 0)
+ _azimuth += 360;
if (_aero_stabilised) { // we simulate rotational moment of inertia by using a filter
const double coeff = 0.9;
- double c = dt / (coeff + dt);
- double recip;
-
- // calculate the recip
- if(hdg - 180 < 0){
- recip = hdg + 180;
- } else {
- recip = hdg - 180;
- }
- //cout << "recip " << recip << endl;
// we assume a symetrical MI about the pitch and yaw axis
- pitch = (_elevation * c) + (pitch * (1 - c));
-
- //we need to ensure that we turn the short way to the new hdg
- if (_azimuth < recip && _azimuth < hdg && hdg > 180) {
- //cout << "_azimuth - hdg 1 " << _azimuth << " " << hdg << endl;
- hdg = ((_azimuth + 360) * c) + (hdg * (1 - c));
- } else if (_azimuth > recip && _azimuth > hdg && hdg <= 180){
- //cout << "_azimuth - hdg 2 " << _azimuth <<" " << hdg << endl;
- hdg = ((_azimuth - 360) * c) + (hdg * (1 - c));
- } else {
- //cout << "_azimuth - hdg 3 " << _azimuth <<" " << hdg << endl;
- hdg = (_azimuth * c) + (hdg * (1 - c));
- }
+ setPitch(_elevation, dt, coeff);
+ setHdg(dt, coeff);
- }
+ } else if (_force_stabilised) { // we simulate rotational moment of inertia by using a filter
+ const double coeff = 0.9;
+ double ratio = h_force_lbs/(_mass * slugs_to_lbs);
- // recalculate total speed
- speed = sqrt( vs * vs + hs * hs) / SG_KT_TO_FPS;
+ double force_pitch = acos(ratio) * SG_RADIANS_TO_DEGREES;
- /*cout << "_elevation " << _elevation
- << " pitch " << pitch
- <<" _yaw " << _yaw
- << " hdg " << hdg
- << " speed " << speed
- << endl;*/
+ if (force_pitch <= force_elevation_deg)
+ force_pitch = force_elevation_deg;
+
+ // we assume a symetrical MI about the pitch and yaw axis
+ setPitch(force_pitch,dt, coeff);
+ setHdg(dt, coeff);
+ }
//do impacts and collisions
if (_report_impact && !_impact_reported)
} // end Run
double FGAIBallistic::_getTime() const {
- // cout << "life timer 2" << _life_timer << endl;
return _life_timer;
}
void FGAIBallistic::handle_impact() {
- double elevation_m;
- const SGMaterial* material;
// try terrain intersection
- if (!globals->get_scenery()->get_elevation_m(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
- 10000.0, elevation_m, &material))
+ if(!getHtAGL())
return;
- if (material) {
- const vector<string> names = material->get_names();
- string mat_name;
-
- if (!names.empty())
- mat_name = names[0].c_str();
-
- _solid = material->get_solid();
- _load_resistance = material->get_load_resistance();
- props->setStringValue("material/name", mat_name.c_str());
- //cout << "material " << mat_name << " solid " << _solid << " load " << _load_resistance << endl;
- }
-
- _ht_agl_ft = pos.getElevationFt() - elevation_m * SG_METER_TO_FEET;
-
if (_ht_agl_ft <= 0) {
SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: terrain impact");
- report_impact(elevation_m);
+ report_impact(_elevation_m);
_impact_reported = true;
// kill the AIObject if there is no subsubmodel
projects / flightgear.git / commitdiff