From 1b6326e057940bb6e1a72c454e59d2a6c0506e9a Mon Sep 17 00:00:00 2001 From: onox Date: Thu, 21 May 2015 00:23:33 +0200 Subject: [PATCH] submodel: Fix randomness of Cd and life Signed-off-by: onox --- src/AIModel/AIBallistic.cxx | 335 +++++++++++++++++------------------- src/AIModel/AIBallistic.hxx | 45 ++--- src/AIModel/submodel.cxx | 2 +- 3 files changed, 169 insertions(+), 213 deletions(-) diff --git a/src/AIModel/AIBallistic.cxx b/src/AIModel/AIBallistic.cxx index 6d41d5d50..d0868bef6 100644 --- a/src/AIModel/AIBallistic.cxx +++ b/src/AIModel/AIBallistic.cxx @@ -52,11 +52,14 @@ hs(0), _elapsed_time(0), _aero_stabilised(false), _drag_area(0.007), +_cd(0.029), +_cd_randomness(0.0), _life_timer(0.0), _buoyancy(0), _wind(true), _mass(0), _random(false), +_life_randomness(0.0), _load_resistance(0), _solid(false), _force_stabilised(false), @@ -153,7 +156,7 @@ void FGAIBallistic::reinit() { props->setStringValue("name", _name.c_str()); props->setStringValue("submodels/path", _path.c_str()); - if (_slave_to_ac){ + if (_slave_to_ac) { props->setStringValue("force/path", _force_path.c_str()); props->setStringValue("contents/path", _contents_path.c_str()); } @@ -177,7 +180,7 @@ void FGAIBallistic::reinit() { Transform(); - if(_parent != ""){ + if (_parent != "") { setParentNode(); } @@ -207,7 +210,7 @@ void FGAIBallistic::bind() { tie("controls/invisible", SGRawValuePointer(&invisible)); - if(_external_force || _slave_to_ac){ + if (_external_force || _slave_to_ac) { tie("controls/force_stabilized", SGRawValuePointer(&_force_stabilised)); tie("position/global-x", @@ -252,17 +255,17 @@ void FGAIBallistic::bind() { tie("material/load-resistance", SGRawValuePointer(&_load_resistance)); } - } void FGAIBallistic::update(double dt) { FGAIBase::update(dt); - if (_slave_to_ac){ + if (_slave_to_ac) { slaveToAC(dt); Transform(); - } else if (!invisible){ + } + else if (!invisible) { Run(dt); Transform(); } @@ -270,13 +273,10 @@ void FGAIBallistic::update(double dt) } void FGAIBallistic::setAzimuth(double az) { - if (_random) hdg = _azimuth = (az - 5 ) + (10 * sg_random()); else hdg = _azimuth = az; - - //cout << _name << " init hdg " << hdg << " random " << _random << endl; } void FGAIBallistic::setElevation(double el) { @@ -304,11 +304,9 @@ void FGAIBallistic::setDragArea(double a) { } void FGAIBallistic::setLife(double seconds) { - - if (_random){ - life = seconds * _randomness + (seconds * (1 -_randomness) * sg_random()); - //cout << " set life " << life << endl; - } else + if (_random) + life = seconds * (1 - _life_randomness + 2 * _life_randomness * sg_random()); + else life = seconds; } @@ -328,8 +326,12 @@ void FGAIBallistic::setWind(bool val) { _wind = val; } -void FGAIBallistic::setCd(double c) { - _Cd = c; +void FGAIBallistic::setCd(double cd) { + _cd = cd; +} + +void FGAIBallistic::setCdRandomness(double randomness) { + _cd_randomness = randomness; } void FGAIBallistic::setMass(double m) { @@ -340,8 +342,8 @@ void FGAIBallistic::setWeight(double w) { _weight_lb = w; } -void FGAIBallistic::setRandomness(double r) { - _randomness = r; +void FGAIBallistic::setLifeRandomness(double randomness) { + _life_randomness = randomness; } void FGAIBallistic::setRandom(bool r) { @@ -365,7 +367,6 @@ void FGAIBallistic::setExternalForce(bool f) { } void FGAIBallistic::setImpactReportNode(const string& path) { - if (!path.empty()) _impact_report_node = fgGetNode(path.c_str(), true); } @@ -404,7 +405,6 @@ void FGAIBallistic::setSlaved(bool s) { } void FGAIBallistic::setContentsPath(const string& path) { - _contents_path = path; if (!path.empty()) { @@ -413,7 +413,6 @@ void FGAIBallistic::setContentsPath(const string& path) { } void FGAIBallistic::setContentsNode(SGPropertyNode_ptr node) { - if (node != 0) { _contents_node = node; _contents_path = _contents_node->getDisplayName(); @@ -421,7 +420,6 @@ void FGAIBallistic::setContentsNode(SGPropertyNode_ptr node) { } void FGAIBallistic::setParentNodes(SGPropertyNode_ptr node) { - if (node != 0) { _pnode = node; _p_pos_node = _pnode->getChild("position", 0, true); @@ -439,14 +437,10 @@ void FGAIBallistic::setParentNodes(SGPropertyNode_ptr node) { _p_vel_node = _pnode->getChild("velocities", 0, true); _p_spd_node = _p_vel_node->getChild("true-airspeed-kt", 0, true); } - } void FGAIBallistic::setParentPos() { - if (_pnode != 0) { - //cout << "set parent pos" << endl; - double lat = _p_lat_node->getDoubleValue(); double lon = _p_lon_node->getDoubleValue(); double alt = _p_alt_node->getDoubleValue(); @@ -454,9 +448,7 @@ void FGAIBallistic::setParentPos() { _parentpos.setLongitudeDeg(lon); _parentpos.setLatitudeDeg(lat); _parentpos.setElevationFt(alt); - } - } bool FGAIBallistic::getSlaved() const { @@ -468,15 +460,15 @@ double FGAIBallistic::getMass() const { } double FGAIBallistic::getContents() { - if(_contents_node){ - _contents_lb = _contents_node->getChild("level-lbs",0,1)->getDoubleValue(); + if (_contents_node) { + _contents_lb = _contents_node->getChild("level-lbs", 0, 1)->getDoubleValue(); } return _contents_lb; } void FGAIBallistic::setContents(double c) { - if(_contents_node) - _contents_lb = _contents_node->getChild("level-gal_us",0,1)->setDoubleValue(c); + if (_contents_node) + _contents_lb = _contents_node->getChild("level-gal_us", 0, 1)->setDoubleValue(c); } void FGAIBallistic::setSlavedLoad(bool l) { @@ -497,7 +489,7 @@ void FGAIBallistic::setForcePath(const string& p) { } } -bool FGAIBallistic::getHtAGL(double start){ +bool FGAIBallistic::getHtAGL(double start) { const simgear::BVHMaterial* mat = 0; if (getGroundElevationM(SGGeod::fromGeodM(pos, start), _elevation_m, &mat)) { @@ -522,46 +514,46 @@ bool FGAIBallistic::getHtAGL(double start){ //<< " load " << _load_resistance //<< " frictionFactor " << _frictionFactor //<< endl; - } return true; - } else { + } + else { return false; } - } -double FGAIBallistic::getRecip(double az){ +double FGAIBallistic::getRecip(double az) { // calculate the reciprocal of the input azimuth - if(az - 180 < 0){ + if (az - 180 < 0) { return az + 180; - } else { + } + else { return az - 180; } } -void FGAIBallistic::setPch(double e, double dt, double coeff){ +void FGAIBallistic::setPch(double e, double dt, double coeff) { double c = dt / (coeff + dt); pitch = (e * c) + (pitch * (1 - c)); } -void FGAIBallistic::setBnk(double r, double dt, double coeff){ +void FGAIBallistic::setBnk(double r, double dt, double coeff) { double c = dt / (coeff + dt); roll = (r * c) + (roll * (1 - c)); } -void FGAIBallistic::setSpd(double s, double dt, double coeff){ +void FGAIBallistic::setSpd(double s, double dt, double coeff) { double c = dt / (coeff + dt); _speed = (s * c) + (_speed * (1 - c)); } -void FGAIBallistic::setHt(double h, double dt, double coeff){ +void FGAIBallistic::setHt(double h, double dt, double coeff) { double c = dt / (coeff + dt); _height = (h * c) + (_height * (1 - c)); } -int FGAIBallistic::setHdg(double tgt_hdg, double dt, double coeff){ +int FGAIBallistic::setHdg(double tgt_hdg, double dt, double coeff) { double recip = getRecip(hdg); double c = dt / (coeff + dt); //cout << "set heading " << tgt_hdg << endl; @@ -591,20 +583,19 @@ double FGAIBallistic::getTgtZOffset() const { return _tgt_z_offset; } -void FGAIBallistic::setTgtXOffset(double x){ +void FGAIBallistic::setTgtXOffset(double x) { _tgt_x_offset = x; } -void FGAIBallistic::setTgtYOffset(double y){ +void FGAIBallistic::setTgtYOffset(double y) { _tgt_y_offset = y; } -void FGAIBallistic::setTgtZOffset(double z){ +void FGAIBallistic::setTgtZOffset(double z) { _tgt_z_offset = z; } -void FGAIBallistic::slaveToAC(double dt){ - +void FGAIBallistic::slaveToAC(double dt) { if (invisible) return; @@ -618,7 +609,8 @@ void FGAIBallistic::slaveToAC(double dt){ // agl = _p_agl_node->getDoubleValue(); setOffsetPos(_parentpos, hdg, pch, rll); setSpeed(_p_spd_node->getDoubleValue()); - }else { + } + else { hdg = manager->get_user_heading(); pch = manager->get_user_pitch(); rll = manager->get_user_roll(); @@ -654,13 +646,13 @@ void FGAIBallistic::Run(double dt) { // << " dt " << dt << " _life_timer " << _life_timer << " pass " << _pass << endl; // if life = -1 the object does not die - if (_life_timer > life && life != -1){ - - if (_report_expiry && !_expiry_reported && !_impact_reported && !_collision_reported){ + if (_life_timer > life && life != -1) { + if (_report_expiry && !_expiry_reported && !_impact_reported && !_collision_reported) { //cout<<"AIBallistic run: name " << _name.c_str() << " expiry " //<< " _life_timer " << _life_timer<< endl; handle_expiry(); - } else{ + } + else { //cout<<"AIBallistic run: name " << _name.c_str() // << " die " << " _life_timer " << _life_timer << endl; setDie(true); @@ -669,23 +661,26 @@ void FGAIBallistic::Run(double dt) { setTime(0); } - //set the contents in the appropriate tank or other property in the parent to zero + // Set the contents in the appropriate tank or other property in the parent to zero setContents(0); - //randomise Cd by +- 10% + // Randomize Cd by +- a certain percentage of the ideal Cd + double Cd; if (_random) - _Cd = _Cd * 0.90 + (0.10 * sg_random()); + Cd = _cd * (1 - _cd_randomness + 2 * _cd_randomness * sg_random()); + else + Cd = _cd; // Adjust Cd by Mach number. The equations are based on curves // for a conventional shell/bullet (no boat-tail). double Cdm; if (Mach < 0.7) - Cdm = 0.0125 * Mach + _Cd; - else if (Mach < 1.2 ) - Cdm = 0.3742 * pow(Mach, 2) - 0.252 * Mach + 0.0021 + _Cd; + Cdm = 0.0125 * Mach + Cd; + else if (Mach < 1.2) + Cdm = 0.3742 * pow(Mach, 2) - 0.252 * Mach + 0.0021 + Cd; else - Cdm = 0.2965 * pow(Mach, -1.1506) + _Cd; + Cdm = 0.2965 * pow(Mach, -1.1506) + Cd; //cout <<_name << " Mach " << Mach << " Cdm " << Cdm // << " ballistic speed kts "<< speed << endl; @@ -698,7 +693,7 @@ void FGAIBallistic::Run(double dt) { speed -= (Cdm * 0.5 * rho * speed * speed * _drag_area/_mass) * dt; // don't let speed become negative - if ( speed < 0.0 ) + if (speed < 0.0) speed = 0.0; // double speed_fps = speed * SG_KT_TO_FPS; @@ -710,19 +705,19 @@ void FGAIBallistic::Run(double dt) { //and convert horizontal speed (fps) to degrees per second calcNE(); - // if wind not required, set to zero + // If wind not required, set to zero if (!_wind) { _wind_from_north = 0; _wind_from_east = 0; - } else { + } + else { _wind_from_north = manager->get_wind_from_north(); _wind_from_east = manager->get_wind_from_east(); } - //calculate velocity due to external force + // Calculate velocity due to external force double force_speed_north_deg_sec = 0; double force_speed_east_deg_sec = 0; -// double vs_force_fps = 0; double hs_force_fps = 0; double v_force_acc_fpss = 0; double force_speed_north_fps = 0; @@ -748,56 +743,50 @@ void FGAIBallistic::Run(double dt) { force_elevation_deg = n->getChild("force-elevation-deg", 0, true)->getDoubleValue(); force_azimuth_deg = n->getChild("force-azimuth-deg", 0, true)->getDoubleValue(); - //resolve force into vertical and horizontal components: + // Resolve force into vertical and horizontal components: double v_force_lbs = force_lbs * sin( force_elevation_deg * SG_DEGREES_TO_RADIANS ); h_force_lbs = force_lbs * cos( force_elevation_deg * SG_DEGREES_TO_RADIANS ); - //ground interaction - //we don't do this if impacts are calculated - if(!_report_impact){ - - if (getHtAGL(10000)){ - double deadzone = 0.1; - - if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){ - normal_force_lbs = (_mass * slugs_to_lbs) - v_force_lbs; - - if ( normal_force_lbs < 0 ) - normal_force_lbs = 0; + // Perform ground interaction if impacts are not calculated + if (!_report_impact && getHtAGL(10000)) { + double deadzone = 0.1; - pos.setElevationFt(0 + _ground_offset); - if (vs < 0) - vs = -vs * 0.5; + if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid) { + normal_force_lbs = (_mass * slugs_to_lbs) - v_force_lbs; - // calculate friction - // we assume a static Coefficient of Friction (mu) of 0.62 (wood on concrete) - double mu = 0.62; + if (normal_force_lbs < 0) + normal_force_lbs = 0; - static_friction_force_lbs = mu * normal_force_lbs * _frictionFactor; + pos.setElevationFt(0 + _ground_offset); + if (vs < 0) + vs = -vs * 0.5; - //adjust horizontal force. We assume that a speed of <= 5 fps is static - if (h_force_lbs <= static_friction_force_lbs && hs <= 5){ - h_force_lbs = hs = 0; - _speed_north_fps = _speed_east_fps = 0; - } else - dynamic_friction_force_lbs = (static_friction_force_lbs * 0.95); + // Calculate friction. We assume a static coefficient of + // friction (mu) of 0.62 (wood on concrete) + double mu = 0.62; - //ignore wind when on the ground for now - //TODO fix this - _wind_from_north = 0; - _wind_from_east = 0; + static_friction_force_lbs = mu * normal_force_lbs * _frictionFactor; + // Adjust horizontal force. We assume that a speed of <= 5 fps is static + if (h_force_lbs <= static_friction_force_lbs && hs <= 5) { + h_force_lbs = hs = 0; + _speed_north_fps = _speed_east_fps = 0; } + else + dynamic_friction_force_lbs = (static_friction_force_lbs * 0.95); + // Ignore wind when on the ground for now + //TODO fix this + _wind_from_north = 0; + _wind_from_east = 0; } - - } //endif + } //acceleration = (force(lbsf)/mass(slugs)) - 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; + 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; @@ -839,7 +828,7 @@ void FGAIBallistic::Run(double dt) { vs = 0; // set new position - if(_slave_load_to_ac) { + if (_slave_load_to_ac) { setOffsetPos(pos, manager->get_user_heading(), manager->get_user_pitch(), @@ -849,17 +838,18 @@ void FGAIBallistic::Run(double dt) { pos.setLongitudeDeg(_offsetpos.getLongitudeDeg()); pos.setElevationFt(_offsetpos.getElevationFt()); - if (getHtAGL(10000)){ + if (getHtAGL(10000)) { double deadzone = 0.1; - if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){ + if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid) { pos.setElevationFt(0 + _ground_offset); - } else { + } + else { pos.setElevationFt(_offsetpos.getElevationFt() + _load_offset); } - } - } else { + } + else { pos.setLatitudeDeg( pos.getLatitudeDeg() + (speed_north_deg_sec - wind_speed_from_north_deg_sec + force_speed_north_deg_sec + friction_force_speed_north_deg_sec) * dt ); @@ -894,7 +884,8 @@ void FGAIBallistic::Run(double dt) { // we assume a symetrical MI about the pitch and yaw axis setPch(_elevation, dt, coeff); setHdg(_azimuth, dt, coeff); - } else if (_force_stabilised) { // we simulate rotational moment of inertia by using a filter + } + else if (_force_stabilised) { // we simulate rotational moment of inertia by using a filter //cout<< "_force_stabilised "<< endl; const double coeff = 0.9; @@ -913,60 +904,56 @@ void FGAIBallistic::Run(double dt) { setHdg(_azimuth, dt, coeff); } - //do impacts and collisions + // Do impacts and collisions if (_report_impact && !_impact_reported) handle_impact(); if (_report_collision && !_collision_reported) handle_collision(); - // set destruction flag if altitude less than sea level -1000 + // Set destruction flag if altitude less than sea level -1000 if (altitude_ft < -1000.0 && life != -1) setDie(true); - -} // end Run +} double FGAIBallistic::_getTime() const { return _life_timer; } -void FGAIBallistic::setTime(double s){ +void FGAIBallistic::setTime(double s) { _life_timer = s; } -void FGAIBallistic::handle_impact() { +void FGAIBallistic::handleEndOfLife(double elevation) { + report_impact(elevation); + + // Make the submodel invisible if the submodel is immortal, otherwise kill it if it has no subsubmodels + if (life == -1) { + invisible = true; + } + else if (_subID == 0) { + // Kill the AIObject if there is no subsubmodel + setDie(true); + } +} - // try terrain intersection +void FGAIBallistic::handle_impact() { + // Try terrain intersection double start = pos.getElevationM() + 100; - if(!getHtAGL(start)) + if (!getHtAGL(start)) return; if (_ht_agl_ft <= 0) { SG_LOG(SG_AI, SG_DEBUG, "AIBallistic: terrain impact material" << _mat_name); - report_impact(_elevation_m); _impact_reported = true; - - if (life == -1){ - invisible = true; - } else if (_subID == 0) // kill the AIObject if there is no subsubmodel - setDie(true); + handleEndOfLife(_elevation_m); } } void FGAIBallistic::handle_expiry() { - - //SG_LOG(SG_AI, SG_DEBUG, "AIBallistic: handle_expiry " << pos.getElevationM()); - - report_impact(pos.getElevationM()); _expiry_reported = true; - - if (life == -1){ - invisible = true; - } else if (_subID == 0){ // kill the AIObject if there is no subsubmodel - setDie(true); - } - + handleEndOfLife(pos.getElevationM()); } void FGAIBallistic::handle_collision() @@ -1011,8 +998,7 @@ void FGAIBallistic::report_impact(double elevation, const FGAIBase *object) _impact_report_node->setStringValue(props->getPath()); } -SGVec3d FGAIBallistic::getCartHitchPos() const{ - +SGVec3d FGAIBallistic::getCartHitchPos() const { // convert geodetic positions to geocentered SGVec3d cartuserPos = globals->get_aircraft_position_cart(); @@ -1042,20 +1028,13 @@ SGVec3d FGAIBallistic::getCartHitchPos() const{ // Add the position offset of the user model to get the geocentered position SGVec3d offsetPos = cartuserPos + off; - return offsetPos; } -void FGAIBallistic::setOffsetPos(SGGeod inpos, double heading, double pitch, double roll){ - // convert the hitch geocentered position to geodetic - +void FGAIBallistic::setOffsetPos(SGGeod inpos, double heading, double pitch, double roll) { + // Convert the hitch geocentered position to geodetic SGVec3d cartoffsetPos = getCartOffsetPos(inpos, heading, pitch, roll); - - //SGVec3d cartoffsetPos = getCartHitchPos(); - - //SGGeodesy::SGCartToGeod(cartoffsetPos, hitchpos); SGGeodesy::SGCartToGeod(cartoffsetPos, _offsetpos); - } double FGAIBallistic::getDistanceToHitch() const { @@ -1109,8 +1088,7 @@ double FGAIBallistic::getRelBrgHitchToUser() const { } double FGAIBallistic::getElevHitchToUser() const { - - //calculate the distance from the user position + // Calculate the distance from the user position SGVec3d carthitchPos = getCartHitchPos(); SGVec3d cartuserPos = globals->get_aircraft_position_cart(); @@ -1121,10 +1099,11 @@ double FGAIBallistic::getElevHitchToUser() const { double daltM = globals->get_aircraft_position().getElevationM() - _offsetpos.getElevationM(); - // now the angle, positive angles are upwards + // Now the angle, positive angles are upwards if (fabs(distance) < SGLimits::min()) { angle = 0; - } else { + } + else { double sAngle = daltM/distance; sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle)); angle = SGMiscd::rad2deg(asin(sAngle)); @@ -1133,7 +1112,7 @@ double FGAIBallistic::getElevHitchToUser() const { return angle; } -void FGAIBallistic::setTgtOffsets(double dt, double coeff){ +void FGAIBallistic::setTgtOffsets(double dt, double coeff) { double c = dt / (coeff + dt); _x_offset = (_tgt_x_offset * c) + (_x_offset * (1 - c)); @@ -1141,38 +1120,34 @@ void FGAIBallistic::setTgtOffsets(double dt, double coeff){ _z_offset = (_tgt_z_offset * c) + (_z_offset * (1 - c)); } - -void FGAIBallistic::calcVSHS(){ - // calculate vertical and horizontal speed components +void FGAIBallistic::calcVSHS() { + // Calculate vertical and horizontal speed components double speed_fps = speed * SG_KT_TO_FPS; if (speed == 0.0) { hs = vs = 0.0; - } else { + } + else { vs = sin( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps; hs = cos( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps; } } -void FGAIBallistic::calcNE(){ - //resolve horizontal speed into north and east components: +void FGAIBallistic::calcNE() { + // Resolve horizontal speed into north and east components: _speed_north_fps = cos(_azimuth / SG_RADIANS_TO_DEGREES) * hs; _speed_east_fps = sin(_azimuth / SG_RADIANS_TO_DEGREES) * hs; - // convert horizontal speed (fps) to degrees per second + // Convert horizontal speed (fps) to degrees per second speed_north_deg_sec = _speed_north_fps / ft_per_deg_lat; speed_east_deg_sec = _speed_east_fps / ft_per_deg_lon; - } SGVec3d FGAIBallistic::getCartOffsetPos(SGGeod inpos, double user_heading, double user_pitch, double user_roll - ) const{ - - // convert geodetic positions to geocentered - SGVec3d cartuserPos = SGVec3d::fromGeod(inpos); - //SGVec3d cartuserPos = getCartUserPos(); - //SGVec3d cartPos = getCartPos(); + ) const { + // Convert geodetic positions to geocentered + SGVec3d cartuserPos = SGVec3d::fromGeod(inpos); // Transform to the right coordinate frame, configuration is done in // the x-forward, y-right, z-up coordinates (feet), computation @@ -1185,7 +1160,7 @@ SGVec3d FGAIBallistic::getCartOffsetPos(SGGeod inpos, double user_heading, // Transform the user position to the horizontal local coordinate system. SGQuatd hlTrans = SGQuatd::fromLonLat(inpos); - // and postrotate the orientation of the user model wrt the horizontal + // And postrotate the orientation of the user model wrt the horizontal // local frame hlTrans *= SGQuatd::fromYawPitchRollDeg( user_heading, @@ -1203,50 +1178,50 @@ SGVec3d FGAIBallistic::getCartOffsetPos(SGGeod inpos, double user_heading, } void FGAIBallistic::setOffsetVelocity(double dt, SGGeod offsetpos) { - //calculate the distance from the previous offset position + // Calculate the distance from the previous offset position SGVec3d cartoffsetPos = SGVec3d::fromGeod(offsetpos); SGVec3d diff = cartoffsetPos - _oldcartoffsetPos; double distance = norm(diff); - //calculate speed knots - speed = (distance/dt) * SG_MPS_TO_KT; + // Calculate speed knots + speed = (distance / dt) * SG_MPS_TO_KT; - //now calulate the angle between the old and current postion positions (degrees) + // Now calulate the angle between the old and current postion positions (degrees) double angle = 0; double daltM = offsetpos.getElevationM() - _oldoffsetpos.getElevationM(); if (fabs(distance) < SGLimits::min()) { angle = 0; - } else { - double sAngle = daltM/distance; + } + else { + double sAngle = daltM / distance; sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle)); angle = SGMiscd::rad2deg(asin(sAngle)); } _elevation = angle; - //calculate vertical and horizontal speed components + // Calculate vertical and horizontal speed components calcVSHS(); - //calculate the bearing of the new offset position from the old - //don't do this if speed is low + // Calculate the bearing of the new offset position from the old + // Don't do this if speed is low //cout << "speed " << speed << endl; - if (speed > 0.1){ + if (speed > 0.1) { double az1, az2, dist; geo_inverse_wgs_84(_oldoffsetpos, offsetpos, &az1, &az2, &dist); _azimuth = az1; //cout << "offset az " << _azimuth << endl; - } else { + } + else { _azimuth = hdg; //cout << " slow offset az " << _azimuth << endl; } - //resolve horizontal speed into north and east components: + // Resolve horizontal speed into north and east components calcNE(); - // and finally store the new values + // And finally store the new values _oldcartoffsetPos = cartoffsetPos; _oldoffsetpos = offsetpos; } - -// end AIBallistic diff --git a/src/AIModel/AIBallistic.hxx b/src/AIModel/AIBallistic.hxx index 07866c395..01f08f87c 100644 --- a/src/AIModel/AIBallistic.hxx +++ b/src/AIModel/AIBallistic.hxx @@ -59,13 +59,13 @@ public: void setWind_from_east( double fps ); void setWind_from_north( double fps ); void setWind( bool val ); - void setCd( double c ); + void setCd(double cd); + void setCdRandomness(double randomness); void setMass( double m ); void setWeight( double w ); void setNoRoll( bool nr ); void setRandom( bool r ); - void setRandomness( double r ); -// void setName(const string&); + void setLifeRandomness(double randomness); void setCollision(bool c); void setExpiry(bool e); void setImpact(bool i); @@ -107,7 +107,6 @@ public: bool getHtAGL(double start); bool getSlaved() const; -// bool getFormate() const; bool getSlavedLoad() const; FGAIBallistic *ballistic; @@ -119,8 +118,11 @@ public: SGPropertyNode_ptr _force_azimuth_node; SGPropertyNode_ptr _force_elevation_node; - SGPropertyNode_ptr _pnode; // node for parent model - SGPropertyNode_ptr _p_pos_node; // nodes for parent parameters + // Node for parent model + SGPropertyNode_ptr _pnode; + + // Nodes for parent parameters + SGPropertyNode_ptr _p_pos_node; SGPropertyNode_ptr _p_lat_node; SGPropertyNode_ptr _p_lon_node; SGPropertyNode_ptr _p_alt_node; @@ -169,13 +171,14 @@ private: bool _aero_stabilised; // if true, object will align with trajectory double _drag_area; // equivalent drag area in ft2 - double _life_timer; // seconds double _buoyancy; // fps^2 bool _wind; // if true, local wind will be applied to object - double _Cd; // drag coefficient + double _cd; // drag coefficient + double _cd_randomness; // randomness of Cd. 1.0 means +- 100%, 0.0 means no randomness + double _life_timer; // seconds double _mass; // slugs bool _random; // modifier for Cd, life, az - double _randomness; // dimension for _random, only applies to life at present + double _life_randomness; // dimension for _random, only applies to life at present double _load_resistance; // ground load resistanc N/m^2 double _frictionFactor; // dimensionless modifier for Coefficient of Friction bool _solid; // if true ground is solid for FDMs @@ -194,18 +197,6 @@ private: SGPropertyNode_ptr _impact_report_node; // report node for impact and collision SGPropertyNode_ptr _contents_node; // node for droptank etc. contents - //SGPropertyNode_ptr _pnode; // node for parent model - //SGPropertyNode_ptr _p_pos_node; // nodes for parent parameters - //SGPropertyNode_ptr _p_lat_node; - //SGPropertyNode_ptr _p_lon_node; - //SGPropertyNode_ptr _p_alt_node; - //SGPropertyNode_ptr _p_agl_node; - //SGPropertyNode_ptr _p_ori_node; - //SGPropertyNode_ptr _p_pch_node; - //SGPropertyNode_ptr _p_rll_node; - //SGPropertyNode_ptr _p_hdg_node; - //SGPropertyNode_ptr _p_vel_node; - //SGPropertyNode_ptr _p_spd_node; double _fuse_range; @@ -213,6 +204,7 @@ private: std::string _force_path; std::string _contents_path; + void handleEndOfLife(double); void handle_collision(); void handle_expiry(); void handle_impact(); @@ -221,14 +213,9 @@ private: void setContents(double c); void calcVSHS(); void calcNE(); - //void setOffsetPos(SGGeod pos, double heading, double pitch, double roll); - //void setOffsetVelocity(double dt, SGGeod pos); SGVec3d getCartOffsetPos(SGGeod pos, double heading, double pitch, double roll) const; - //double getDistanceLoadToHitch() const; - //double getElevLoadToHitch() const; - //double getBearingLoadToHitch() const; double getRecip(double az); double getMass() const; @@ -237,12 +224,6 @@ private: SGVec3d _oldcartoffsetPos; SGVec3d _oldcartPos; - - //SGGeod _parentpos; - //SGGeod _oldpos; - //SGGeod _offsetpos; - //SGGeod _oldoffsetpos; - }; #endif // _FG_AIBALLISTIC_HXX diff --git a/src/AIModel/submodel.cxx b/src/AIModel/submodel.cxx index acec600c6..4e58fcb0c 100644 --- a/src/AIModel/submodel.cxx +++ b/src/AIModel/submodel.cxx @@ -259,7 +259,7 @@ bool FGSubmodelMgr::release(submodel *sm, double dt) ballist->setName(sm->name); ballist->setSlaved(sm->slaved); ballist->setRandom(sm->random); - ballist->setRandomness(sm->randomness); + ballist->setLifeRandomness(sm->randomness); ballist->setLatitude(offsetpos.getLatitudeDeg()); ballist->setLongitude(offsetpos.getLongitudeDeg()); ballist->setAltitude(offsetpos.getElevationFt()); -- 2.39.5