submodel: Fix randomness of Cd and life
Signed-off-by: onox <denkpadje@gmail.com>
This commit is contained in:
onox
Erik Hofman
parent
e049a9ab03
commit
1b6326e057
3 changed files with 169 additions and 213 deletions
|
|
@ -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<bool>(&invisible));
|
||||
|
||||
if(_external_force || _slave_to_ac){
|
||||
if (_external_force || _slave_to_ac) {
|
||||
tie("controls/force_stabilized",
|
||||
SGRawValuePointer<bool>(&_force_stabilised));
|
||||
tie("position/global-x",
|
||||
|
|
@ -252,17 +255,17 @@ void FGAIBallistic::bind() {
|
|||
tie("material/load-resistance",
|
||||
SGRawValuePointer<double>(&_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){
|
||||
// Perform ground interaction if impacts are not calculated
|
||||
if (!_report_impact && getHtAGL(10000)) {
|
||||
double deadzone = 0.1;
|
||||
|
||||
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 (_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;
|
||||
|
||||
if ( normal_force_lbs < 0 )
|
||||
normal_force_lbs = 0;
|
||||
pos.setElevationFt(0 + _ground_offset);
|
||||
if (vs < 0)
|
||||
vs = -vs * 0.5;
|
||||
|
||||
pos.setElevationFt(0 + _ground_offset);
|
||||
if (vs < 0)
|
||||
vs = -vs * 0.5;
|
||||
// Calculate friction. We assume a static coefficient of
|
||||
// friction (mu) of 0.62 (wood on concrete)
|
||||
double mu = 0.62;
|
||||
|
||||
// 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. 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;
|
||||
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);
|
||||
|
||||
// try terrain intersection
|
||||
// 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);
|
||||
}
|
||||
}
|
||||
|
||||
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<float>::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<float>::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
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
|
|
@ -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());
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue