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Move the velocity computations for aimodels into AIShip.

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You should now be able to step on any ship with your model.

Modified Files:
	src/AIModel/AICarrier.cxx src/AIModel/AIShip.cxx
	src/AIModel/AIShip.hxx
This commit is contained in:
frohlich 2009-03-01 16:40:32 +00:00 committed by Tim Moore
parent 1708e43a39
commit 3afc7e0690
3 changed files with 51 additions and 39 deletions
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49
src/AIModel/AICarrier.cxx
View file

@ -34,7 +34,6 @@
#include <simgear/sg_inlines.h>
#include <simgear/math/SGMath.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/scene/util/SGNodeMasks.hxx>
#include <simgear/scene/util/SGSceneUserData.hxx>
#include <simgear/scene/bvh/BVHGroup.hxx>
#include <simgear/scene/bvh/BVHLineGeometry.hxx>
@ -270,28 +269,10 @@ void FGAICarrier::setTACANChannelID(const string& id) {
}
void FGAICarrier::update(double dt) {
// For computation of rotation speeds we just use finite differences here.
// That is perfectly valid since this thing is not driven by accelerations
// but by just apply discrete changes at its velocity variables.
// Update the velocity information stored in those nodes.
// Transform that one to the horizontal local coordinate system.
SGQuatd ec2hl = SGQuatd::fromLonLat(pos);
// The orientation of the carrier wrt the horizontal local frame
SGQuatd hl2body = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
// and postrotate the orientation of the AIModel wrt the horizontal
// local frame
SGQuatd ec2body = ec2hl*hl2body;
// The cartesian position of the carrier in the wgs84 world
SGVec3d cartPos = SGVec3d::fromGeod(pos);
// Compute the velocity in m/s in the body frame
aip.setBodyLinearVelocity(SGVec3d(0.51444444*speed, 0, 0));
// Now update the position and heading. This will compute new hdg and
// roll values required for the rotation speed computation.
FGAIShip::update(dt);
//automatic turn into wind with a target wind of 25 kts otd
if(turn_to_launch_hdg){
TurnToLaunch();
@ -301,28 +282,19 @@ void FGAICarrier::update(double dt) {
TurnToBase();
}
// Only change these values if we are able to compute them safely
if (SGLimits<double>::min() < dt) {
// Now here is the finite difference ...
// Transform that one to the horizontal local coordinate system.
SGQuatd ec2hlNew = SGQuatd::fromLonLat(pos);
// compute the new orientation
SGQuatd hl2bodyNew = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
// The rotation difference
SGQuatd dOr = inverse(ec2body)*ec2hlNew*hl2bodyNew;
SGVec3d dOrAngleAxis;
dOr.getAngleAxis(dOrAngleAxis);
// divided by the time difference provides a rotation speed vector
dOrAngleAxis /= dt;
aip.setBodyAngularVelocity(dOrAngleAxis);
}
UpdateWind(dt);
UpdateElevator(dt, transition_time);
UpdateJBD(dt, jbd_transition_time);
// For the flols reuse some computations done above ...
// Transform that one to the horizontal local coordinate system.
SGQuatd ec2hl = SGQuatd::fromLonLat(pos);
// The orientation of the carrier wrt the horizontal local frame
SGQuatd hl2body = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
// and postrotate the orientation of the AIModel wrt the horizontal
// local frame
SGQuatd ec2body = ec2hl*hl2body;
// The cartesian position of the carrier in the wgs84 world
SGVec3d cartPos = SGVec3d::fromGeod(pos);
// The position of the eyepoint - at least near that ...
SGVec3d eyePos(globals->get_current_view()->get_view_pos());
@ -405,7 +377,6 @@ void FGAICarrier::initModel(osg::Node *node)
// mark some objects solid, mark the wires ...
FGCarrierVisitor carrierVisitor(this, wire_objects, catapult_objects);
model->accept(carrierVisitor);
model->setNodeMask(model->getNodeMask() | SG_NODEMASK_TERRAIN_BIT);
}
void FGAICarrier::bind() {

40
src/AIModel/AIShip.cxx
View file

@ -32,6 +32,7 @@
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/timing/sg_time.hxx>
#include <simgear/math/sg_random.h>
#include <simgear/scene/util/SGNodeMasks.hxx>
#include "AIShip.hxx"
@ -115,6 +116,10 @@ bool FGAIShip::init(bool search_in_AI_path) {
return FGAIBase::init(search_in_AI_path);
}
void FGAIShip::initModel(osg::Node *node) {
FGAIBase::initModel(node);
model->setNodeMask(model->getNodeMask() | SG_NODEMASK_TERRAIN_BIT);
}
void FGAIShip::bind() {
FGAIBase::bind();
@ -182,9 +187,44 @@ void FGAIShip::unbind() {
}
void FGAIShip::update(double dt) {
// For computation of rotation speeds we just use finite differences here.
// That is perfectly valid since this thing is not driven by accelerations
// but by just apply discrete changes at its velocity variables.
// Update the velocity information stored in those nodes.
// Transform that one to the horizontal local coordinate system.
SGQuatd ec2hl = SGQuatd::fromLonLat(pos);
// The orientation of the carrier wrt the horizontal local frame
SGQuatd hl2body = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
// and postrotate the orientation of the AIModel wrt the horizontal
// local frame
SGQuatd ec2body = ec2hl*hl2body;
// The cartesian position of the carrier in the wgs84 world
SGVec3d cartPos = SGVec3d::fromGeod(pos);
// Compute the velocity in m/s in the body frame
aip.setBodyLinearVelocity(SGVec3d(0.51444444*speed, 0, 0));
FGAIBase::update(dt);
Run(dt);
Transform();
// Only change these values if we are able to compute them safely
if (SGLimits<double>::min() < dt) {
// Now here is the finite difference ...
// Transform that one to the horizontal local coordinate system.
SGQuatd ec2hlNew = SGQuatd::fromLonLat(pos);
// compute the new orientation
SGQuatd hl2bodyNew = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
// The rotation difference
SGQuatd dOr = inverse(ec2body)*ec2hlNew*hl2bodyNew;
SGVec3d dOrAngleAxis;
dOr.getAngleAxis(dOrAngleAxis);
// divided by the time difference provides a rotation speed vector
dOrAngleAxis /= dt;
aip.setBodyAngularVelocity(dOrAngleAxis);
}
}
void FGAIShip::Run(double dt) {

1
src/AIModel/AIShip.hxx
View file

@ -37,6 +37,7 @@ public:
virtual void readFromScenario(SGPropertyNode* scFileNode);
virtual bool init(bool search_in_AI_path=false);
virtual void initModel(osg::Node *node);
virtual void bind();
virtual void unbind();
virtual void update(double dt);