2006-02-09 12:29:05 +00:00
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// FGAIMultiplayer - FGAIBase-derived class creates an AI multiplayer aircraft
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//
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// Based on FGAIAircraft
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// Written by David Culp, started October 2003.
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// Also by Gregor Richards, started December 2005.
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//
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// Copyright (C) 2003 David P. Culp - davidculp2@comcast.net
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// Copyright (C) 2005 Gregor Richards
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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2006-02-21 01:16:04 +00:00
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// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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2006-02-09 12:29:05 +00:00
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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include <string>
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#include "AIMultiplayer.hxx"
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2006-02-17 09:43:33 +00:00
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// #define SG_DEBUG SG_ALERT
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2006-02-09 12:29:05 +00:00
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2006-02-11 13:16:56 +00:00
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FGAIMultiplayer::FGAIMultiplayer() : FGAIBase(otMultiplayer) {
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2006-02-17 09:43:33 +00:00
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no_roll = false;
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mTimeOffsetSet = false;
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mAllowExtrapolation = true;
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mLagAdjustSystemSpeed = 10;
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2006-02-09 12:29:05 +00:00
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}
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FGAIMultiplayer::~FGAIMultiplayer() {
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}
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bool FGAIMultiplayer::init() {
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2006-05-22 20:18:40 +00:00
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//refuel_node = fgGetNode("systems/refuel/contact", true);
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2006-05-18 16:59:04 +00:00
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isTanker = false; // do this until this property is
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// passed over the net
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string str1 = mCallSign;
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string str2 = "MOBIL";
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2006-10-17 21:21:26 +00:00
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string::size_type loc1= str1.find( str2, 0 );
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2006-05-22 20:18:40 +00:00
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if ( (loc1 != string::npos && str2 != "") ){
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2006-05-18 16:59:04 +00:00
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// cout << " string found " << str2 << " in " << str1 << endl;
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isTanker = true;
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// cout << "isTanker " << isTanker << " " << mCallSign <<endl;
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}
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2006-02-09 12:29:05 +00:00
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return FGAIBase::init();
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}
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void FGAIMultiplayer::bind() {
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FGAIBase::bind();
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2006-05-18 16:59:04 +00:00
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props->tie("refuel/contact", SGRawValuePointer<bool>(&contact));
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props->setBoolValue("tanker",isTanker);
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2006-02-17 09:43:33 +00:00
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#define AIMPROProp(type, name) \
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SGRawValueMethods<FGAIMultiplayer, type>(*this, &FGAIMultiplayer::get##name)
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#define AIMPRWProp(type, name) \
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SGRawValueMethods<FGAIMultiplayer, type>(*this, \
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&FGAIMultiplayer::get##name, &FGAIMultiplayer::set##name)
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2006-02-09 12:29:05 +00:00
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2006-02-17 09:43:33 +00:00
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props->tie("callsign", AIMPROProp(const char *, CallSign));
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props->tie("controls/allow-extrapolation",
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AIMPRWProp(bool, AllowExtrapolation));
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props->tie("controls/lag-adjust-system-speed",
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AIMPRWProp(double, LagAdjustSystemSpeed));
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2006-05-18 16:59:04 +00:00
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2006-02-17 09:43:33 +00:00
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#undef AIMPROProp
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#undef AIMPRWProp
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2006-02-09 12:29:05 +00:00
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}
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void FGAIMultiplayer::unbind() {
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FGAIBase::unbind();
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2006-02-17 09:43:33 +00:00
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props->untie("callsign");
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props->untie("controls/allow-extrapolation");
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props->untie("controls/lag-adjust-system-speed");
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2006-05-18 16:59:04 +00:00
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props->untie("refuel/contact");
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2006-02-09 12:29:05 +00:00
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}
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2006-02-17 09:43:33 +00:00
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void FGAIMultiplayer::update(double dt)
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{
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if (dt <= 0)
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return;
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FGAIBase::update(dt);
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// Check if we already got data
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if (mMotionInfo.empty())
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return;
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// The current simulation time we need to update for,
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// note that the simulation time is updated before calling all the
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// update methods. Thus it contains the time intervals *end* time
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double curtime = globals->get_sim_time_sec();
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// Get the last available time
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MotionInfo::reverse_iterator it = mMotionInfo.rbegin();
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double curentPkgTime = it->second.time;
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// Dynamically optimize the time offset between the feeder and the client
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// Well, 'dynamically' means that the dynamic of that update must be very
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// slow. You would otherwise notice huge jumps in the multiplayer models.
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// The reason is that we want to avoid huge extrapolation times since
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// extrapolation is highly error prone. For that we need something
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// approaching the average latency of the packets. This first order lag
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// component will provide this. We just take the error of the currently
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// requested time to the most recent available packet. This is the
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// target we want to reach in average.
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double lag = it->second.lag;
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if (!mTimeOffsetSet) {
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mTimeOffsetSet = true;
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mTimeOffset = curentPkgTime - curtime - lag;
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} else {
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double offset = curentPkgTime - curtime - lag;
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if (!mAllowExtrapolation && offset + lag < mTimeOffset) {
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mTimeOffset = offset;
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SG_LOG(SG_GENERAL, SG_DEBUG, "Resetting time offset adjust system to "
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"avoid extrapolation: time offset = " << mTimeOffset);
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} else {
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// the error of the offset, respectively the negative error to avoid
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// a minus later ...
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double err = offset - mTimeOffset;
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// limit errors leading to shorter lag values somehow, that is late
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// arriving packets will pessimize the overall lag much more than
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// early packets will shorten the overall lag
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double sysSpeed;
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if (err < 0) {
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// Ok, we have some very late packets and nothing newer increase the
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// lag by the given speedadjust
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sysSpeed = mLagAdjustSystemSpeed*err;
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} else {
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// We have a too pessimistic display delay shorten that a small bit
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sysSpeed = SGMiscd::min(0.1*err*err, 0.5);
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}
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// simple euler integration for that first order system including some
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// overshooting guard to prevent to aggressive system speeds
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// (stiff systems) to explode the systems state
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double systemIncrement = dt*sysSpeed;
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if (fabs(err) < fabs(systemIncrement))
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systemIncrement = err;
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mTimeOffset += systemIncrement;
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SG_LOG(SG_GENERAL, SG_DEBUG, "Offset adjust system: time offset = "
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<< mTimeOffset << ", expected longitudinal position error due to "
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" current adjustment of the offset: "
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<< fabs(norm(it->second.linearVel)*systemIncrement));
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}
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}
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// Compute the time in the feeders time scale which fits the current time
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// we need to
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double tInterp = curtime + mTimeOffset;
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SGVec3d ecPos;
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SGQuatf ecOrient;
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2006-06-24 00:00:27 +00:00
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2006-02-17 09:43:33 +00:00
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if (tInterp <= curentPkgTime) {
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// Ok, we need a time prevous to the last available packet,
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// that is good ...
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// Find the first packet before the target time
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MotionInfo::iterator nextIt = mMotionInfo.upper_bound(tInterp);
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if (nextIt == mMotionInfo.begin()) {
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SG_LOG(SG_GENERAL, SG_DEBUG, "Taking oldest packet!");
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// We have no packet before the target time, just use the first one
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MotionInfo::iterator firstIt = mMotionInfo.begin();
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ecPos = firstIt->second.position;
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ecOrient = firstIt->second.orientation;
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2006-08-08 17:57:33 +00:00
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speed = norm(firstIt->second.linearVel) * SG_METER_TO_NM * 3600.0;
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2006-02-17 09:43:33 +00:00
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2006-10-10 05:17:07 +00:00
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std::vector<FGPropertyData*>::const_iterator firstPropIt;
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std::vector<FGPropertyData*>::const_iterator firstPropItEnd;
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2006-02-17 09:43:33 +00:00
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firstPropIt = firstIt->second.properties.begin();
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firstPropItEnd = firstIt->second.properties.end();
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while (firstPropIt != firstPropItEnd) {
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2006-10-10 05:17:07 +00:00
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//cout << " Setting property..." << (*firstPropIt)->id;
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PropertyMap::iterator pIt = mPropertyMap.find((*firstPropIt)->id);
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2006-02-17 09:43:33 +00:00
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if (pIt != mPropertyMap.end())
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2006-10-10 05:17:07 +00:00
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{
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//cout << "Found " << pIt->second->getPath() << ":";
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switch ((*firstPropIt)->type) {
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case SGPropertyNode::INT:
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case SGPropertyNode::BOOL:
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case SGPropertyNode::LONG:
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pIt->second->setIntValue((*firstPropIt)->int_value);
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//cout << "Int: " << (*firstPropIt)->int_value << "\n";
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break;
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case SGPropertyNode::FLOAT:
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case SGPropertyNode::DOUBLE:
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pIt->second->setFloatValue((*firstPropIt)->float_value);
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//cout << "Flo: " << (*firstPropIt)->float_value << "\n";
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break;
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case SGPropertyNode::STRING:
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case SGPropertyNode::UNSPECIFIED:
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pIt->second->setStringValue((*firstPropIt)->string_value);
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//cout << "Str: " << (*firstPropIt)->string_value << "\n";
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break;
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default:
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// FIXME - currently defaults to float values
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pIt->second->setFloatValue((*firstPropIt)->float_value);
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//cout << "Unknown: " << (*firstPropIt)->float_value << "\n";
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break;
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}
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}
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else
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{
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SG_LOG(SG_GENERAL, SG_DEBUG, "Unable to find property: " << (*firstPropIt)->id << "\n");
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}
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2006-02-17 09:43:33 +00:00
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++firstPropIt;
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}
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} else {
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// Ok, we have really found something where our target time is in between
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// do interpolation here
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MotionInfo::iterator prevIt = nextIt;
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--prevIt;
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// Interpolation coefficient is between 0 and 1
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double intervalStart = prevIt->second.time;
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double intervalEnd = nextIt->second.time;
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double intervalLen = intervalEnd - intervalStart;
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double tau = (tInterp - intervalStart)/intervalLen;
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SG_LOG(SG_GENERAL, SG_DEBUG, "Multiplayer vehicle interpolation: ["
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<< intervalStart << ", " << intervalEnd << "], intervalLen = "
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<< intervalLen << ", interpolation parameter = " << tau);
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// Here we do just linear interpolation on the position
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ecPos = ((1-tau)*prevIt->second.position + tau*nextIt->second.position);
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ecOrient = interpolate((float)tau, prevIt->second.orientation,
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nextIt->second.orientation);
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2006-08-08 17:57:33 +00:00
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speed = norm((1-tau)*prevIt->second.linearVel
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+ tau*nextIt->second.linearVel) * SG_METER_TO_NM * 3600.0;
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2006-02-17 09:43:33 +00:00
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if (prevIt->second.properties.size()
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== nextIt->second.properties.size()) {
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2006-10-10 05:17:07 +00:00
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std::vector<FGPropertyData*>::const_iterator prevPropIt;
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std::vector<FGPropertyData*>::const_iterator prevPropItEnd;
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std::vector<FGPropertyData*>::const_iterator nextPropIt;
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std::vector<FGPropertyData*>::const_iterator nextPropItEnd;
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2006-02-17 09:43:33 +00:00
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prevPropIt = prevIt->second.properties.begin();
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prevPropItEnd = prevIt->second.properties.end();
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nextPropIt = nextIt->second.properties.begin();
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nextPropItEnd = nextIt->second.properties.end();
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while (prevPropIt != prevPropItEnd) {
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2006-10-10 05:17:07 +00:00
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PropertyMap::iterator pIt = mPropertyMap.find((*prevPropIt)->id);
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//cout << " Setting property..." << (*prevPropIt)->id;
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2006-02-17 09:43:33 +00:00
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if (pIt != mPropertyMap.end())
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2006-10-10 05:17:07 +00:00
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{
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//cout << "Found " << pIt->second->getPath() << ":";
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int ival;
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float val;
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switch ((*prevPropIt)->type) {
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case SGPropertyNode::INT:
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case SGPropertyNode::BOOL:
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case SGPropertyNode::LONG:
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ival = (int) (1-tau)*((double) (*prevPropIt)->int_value) +
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tau*((double) (*nextPropIt)->int_value);
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pIt->second->setIntValue(ival);
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//cout << "Int: " << ival << "\n";
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break;
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case SGPropertyNode::FLOAT:
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case SGPropertyNode::DOUBLE:
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val = (1-tau)*(*prevPropIt)->float_value +
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tau*(*nextPropIt)->float_value;
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//cout << "Flo: " << val << "\n";
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pIt->second->setFloatValue(val);
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break;
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case SGPropertyNode::STRING:
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case SGPropertyNode::UNSPECIFIED:
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//cout << "Str: " << (*nextPropIt)->string_value << "\n";
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pIt->second->setStringValue((*nextPropIt)->string_value);
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break;
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default:
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// FIXME - currently defaults to float values
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val = (1-tau)*(*prevPropIt)->float_value +
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tau*(*nextPropIt)->float_value;
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//cout << "Unk: " << val << "\n";
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pIt->second->setFloatValue(val);
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break;
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}
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}
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else
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{
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SG_LOG(SG_GENERAL, SG_DEBUG, "Unable to find property: " << (*prevPropIt)->id << "\n");
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}
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2006-02-17 09:43:33 +00:00
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++prevPropIt;
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++nextPropIt;
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}
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}
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// Now throw away too old data
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2006-10-10 05:17:07 +00:00
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if (prevIt != mMotionInfo.begin())
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{
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2006-02-17 09:43:33 +00:00
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--prevIt;
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2006-10-10 05:17:07 +00:00
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MotionInfo::iterator delIt;
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delIt = mMotionInfo.begin();
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while (delIt != prevIt)
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{
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std::vector<FGPropertyData*>::const_iterator propIt;
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std::vector<FGPropertyData*>::const_iterator propItEnd;
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propIt = delIt->second.properties.begin();
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|
|
propItEnd = delIt->second.properties.end();
|
|
|
|
|
|
|
|
//cout << "Deleting data\n";
|
|
|
|
|
|
|
|
while (propIt != propItEnd)
|
|
|
|
{
|
|
|
|
delete *propIt;
|
|
|
|
propIt++;
|
|
|
|
}
|
|
|
|
|
|
|
|
delIt++;
|
|
|
|
}
|
|
|
|
|
2006-02-17 09:43:33 +00:00
|
|
|
mMotionInfo.erase(mMotionInfo.begin(), prevIt);
|
|
|
|
}
|
2006-02-09 12:29:05 +00:00
|
|
|
}
|
2006-02-17 09:43:33 +00:00
|
|
|
} else {
|
|
|
|
// Ok, we need to predict the future, so, take the best data we can have
|
|
|
|
// and do some eom computation to guess that for now.
|
|
|
|
FGExternalMotionData motionInfo = it->second;
|
|
|
|
|
|
|
|
// The time to predict, limit to 5 seconds
|
|
|
|
double t = tInterp - motionInfo.time;
|
|
|
|
t = SGMisc<double>::min(t, 5);
|
|
|
|
|
|
|
|
SG_LOG(SG_GENERAL, SG_DEBUG, "Multiplayer vehicle extrapolation: "
|
|
|
|
"extrapolation time = " << t);
|
|
|
|
|
|
|
|
// Do a few explicit euler steps with the constant acceleration's
|
|
|
|
// This must be sufficient ...
|
|
|
|
ecPos = motionInfo.position;
|
|
|
|
ecOrient = motionInfo.orientation;
|
|
|
|
SGVec3f linearVel = motionInfo.linearVel;
|
|
|
|
SGVec3f angularVel = motionInfo.angularVel;
|
|
|
|
while (0 < t) {
|
|
|
|
double h = 1e-1;
|
|
|
|
if (t < h)
|
|
|
|
h = t;
|
|
|
|
|
|
|
|
SGVec3d ecVel = toVec3d(ecOrient.backTransform(linearVel));
|
|
|
|
ecPos += h*ecVel;
|
|
|
|
ecOrient += h*ecOrient.derivative(angularVel);
|
|
|
|
|
|
|
|
linearVel += h*(cross(linearVel, angularVel) + motionInfo.linearAccel);
|
|
|
|
angularVel += h*motionInfo.angularAccel;
|
|
|
|
|
|
|
|
t -= h;
|
2006-02-09 12:29:05 +00:00
|
|
|
}
|
|
|
|
|
2006-10-10 05:17:07 +00:00
|
|
|
std::vector<FGPropertyData*>::const_iterator firstPropIt;
|
|
|
|
std::vector<FGPropertyData*>::const_iterator firstPropItEnd;
|
2006-08-08 17:57:33 +00:00
|
|
|
speed = norm(linearVel) * SG_METER_TO_NM * 3600.0;
|
2006-02-17 09:43:33 +00:00
|
|
|
firstPropIt = it->second.properties.begin();
|
|
|
|
firstPropItEnd = it->second.properties.end();
|
|
|
|
while (firstPropIt != firstPropItEnd) {
|
2006-10-10 05:17:07 +00:00
|
|
|
PropertyMap::iterator pIt = mPropertyMap.find((*firstPropIt)->id);
|
|
|
|
//cout << " Setting property..." << (*firstPropIt)->id;
|
|
|
|
|
2006-02-17 09:43:33 +00:00
|
|
|
if (pIt != mPropertyMap.end())
|
2006-10-10 05:17:07 +00:00
|
|
|
{
|
|
|
|
switch ((*firstPropIt)->type) {
|
|
|
|
case SGPropertyNode::INT:
|
|
|
|
case SGPropertyNode::BOOL:
|
|
|
|
case SGPropertyNode::LONG:
|
|
|
|
pIt->second->setIntValue((*firstPropIt)->int_value);
|
|
|
|
//cout << "Int: " << (*firstPropIt)->int_value << "\n";
|
|
|
|
break;
|
|
|
|
case SGPropertyNode::FLOAT:
|
|
|
|
case SGPropertyNode::DOUBLE:
|
|
|
|
pIt->second->setFloatValue((*firstPropIt)->float_value);
|
|
|
|
//cout << "Flo: " << (*firstPropIt)->float_value << "\n";
|
|
|
|
break;
|
|
|
|
case SGPropertyNode::STRING:
|
|
|
|
case SGPropertyNode::UNSPECIFIED:
|
|
|
|
pIt->second->setStringValue((*firstPropIt)->string_value);
|
|
|
|
//cout << "Str: " << (*firstPropIt)->string_value << "\n";
|
|
|
|
break;
|
|
|
|
default:
|
|
|
|
// FIXME - currently defaults to float values
|
|
|
|
pIt->second->setFloatValue((*firstPropIt)->float_value);
|
|
|
|
//cout << "Unk: " << (*firstPropIt)->float_value << "\n";
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
SG_LOG(SG_GENERAL, SG_DEBUG, "Unable to find property: " << (*firstPropIt)->id << "\n");
|
|
|
|
}
|
|
|
|
|
2006-02-17 09:43:33 +00:00
|
|
|
++firstPropIt;
|
2006-02-09 12:29:05 +00:00
|
|
|
}
|
2006-02-17 09:43:33 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
// extract the position
|
2006-06-15 08:29:43 +00:00
|
|
|
pos = SGGeod::fromCart(ecPos);
|
2006-06-24 00:00:27 +00:00
|
|
|
altitude_ft = pos.getElevationFt();
|
|
|
|
|
2006-02-17 09:43:33 +00:00
|
|
|
// The quaternion rotating from the earth centered frame to the
|
|
|
|
// horizontal local frame
|
2006-06-15 08:29:43 +00:00
|
|
|
SGQuatf qEc2Hl = SGQuatf::fromLonLatRad((float)pos.getLongitudeRad(),
|
|
|
|
(float)pos.getLatitudeRad());
|
2006-02-17 09:43:33 +00:00
|
|
|
// The orientation wrt the horizontal local frame
|
|
|
|
SGQuatf hlOr = conj(qEc2Hl)*ecOrient;
|
|
|
|
float hDeg, pDeg, rDeg;
|
|
|
|
hlOr.getEulerDeg(hDeg, pDeg, rDeg);
|
|
|
|
hdg = hDeg;
|
|
|
|
roll = rDeg;
|
|
|
|
pitch = pDeg;
|
|
|
|
|
|
|
|
SG_LOG(SG_GENERAL, SG_DEBUG, "Multiplayer position and orientation: "
|
2006-06-15 08:29:43 +00:00
|
|
|
<< ecPos << ", " << hlOr);
|
2006-02-17 09:43:33 +00:00
|
|
|
|
|
|
|
//###########################//
|
|
|
|
// do calculations for radar //
|
|
|
|
//###########################//
|
2006-05-18 16:59:04 +00:00
|
|
|
double range_ft2 = UpdateRadar(manager);
|
|
|
|
|
|
|
|
//************************************//
|
|
|
|
// Tanker code //
|
|
|
|
//************************************//
|
|
|
|
|
|
|
|
|
|
|
|
if ( isTanker) {
|
2006-05-22 20:18:40 +00:00
|
|
|
if ( (range_ft2 < 250.0 * 250.0) &&
|
|
|
|
(y_shift > 0.0) &&
|
|
|
|
(elevation > 0.0) ){
|
|
|
|
// refuel_node->setBoolValue(true);
|
2006-05-18 16:59:04 +00:00
|
|
|
contact = true;
|
|
|
|
} else {
|
2006-05-22 20:18:40 +00:00
|
|
|
// refuel_node->setBoolValue(false);
|
2006-05-18 16:59:04 +00:00
|
|
|
contact = false;
|
|
|
|
}
|
|
|
|
} else {
|
|
|
|
contact = false;
|
|
|
|
}
|
2006-02-17 09:43:33 +00:00
|
|
|
|
|
|
|
Transform();
|
|
|
|
}
|
|
|
|
|
|
|
|
void
|
|
|
|
FGAIMultiplayer::addMotionInfo(const FGExternalMotionData& motionInfo,
|
|
|
|
long stamp)
|
|
|
|
{
|
|
|
|
mLastTimestamp = stamp;
|
|
|
|
// Drop packets arriving out of order
|
|
|
|
if (!mMotionInfo.empty() && motionInfo.time < mMotionInfo.rbegin()->first)
|
|
|
|
return;
|
|
|
|
mMotionInfo[motionInfo.time] = motionInfo;
|
2006-02-09 12:29:05 +00:00
|
|
|
}
|
2006-02-11 13:16:56 +00:00
|
|
|
|
2006-02-17 09:43:33 +00:00
|
|
|
void
|
|
|
|
FGAIMultiplayer::setDoubleProperty(const std::string& prop, double val)
|
|
|
|
{
|
|
|
|
SGPropertyNode* pNode = props->getChild(prop.c_str(), true);
|
|
|
|
pNode->setDoubleValue(val);
|
2006-02-09 12:29:05 +00:00
|
|
|
}
|