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Merge commit 'refs/merge-requests/1552' of git://gitorious.org/fg/flightgear into vivian/contrails

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This commit is contained in:
Frederic Bouvier 2010-08-03 08:27:57 +02:00
commit 61a81e855d
7 changed files with 264 additions and 173 deletions
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117
src/AIModel/AIBallistic.cxx
View file

@ -61,10 +61,12 @@ FGAIBallistic::FGAIBallistic(object_type ot) :
_slave_load_to_ac(false),
_contents_lb(0),
_report_collision(false),
_report_expiry(false),
_report_impact(false),
_external_force(false),
_impact_report_node(fgGetNode("/ai/models/model-impact", true)),
_old_height(0)
_old_height(0),
_elapsed_time(0)
{
no_roll = false;
@ -80,7 +82,8 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
FGAIBase::readFromScenario(scFileNode);
//setPath(scFileNode->getStringValue("model", "Models/Geometry/rocket.ac"));
//setPath(scFileNode->getStringValue("model", "Models/Geometry/rocket.ac"));
setRandom(scFileNode->getBoolValue("random", false));
setAzimuth(scFileNode->getDoubleValue("azimuth", 0.0));
setElevation(scFileNode->getDoubleValue("elevation", 0));
setDragArea(scFileNode->getDoubleValue("eda", 0.007));
@ -93,10 +96,11 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
setCd(scFileNode->getDoubleValue("cd", 0.029));
//setMass(scFileNode->getDoubleValue("mass", 0.007));
setWeight(scFileNode->getDoubleValue("weight", 0.25));
setStabilisation(scFileNode->getBoolValue("aero-stabilized", false));
setStabilisation(scFileNode->getBoolValue("aero-stabilised", false));
setNoRoll(scFileNode->getBoolValue("no-roll", false));
setRandom(scFileNode->getBoolValue("random", false));
setImpact(scFileNode->getBoolValue("impact", false));
setExpiry(scFileNode->getBoolValue("expiry", false));
setCollision(scFileNode->getBoolValue("collision", false));
setImpactReportNode(scFileNode->getStringValue("impact-reports"));
setName(scFileNode->getStringValue("name", "Rocket"));
setFuseRange(scFileNode->getDoubleValue("fuse-range", 0.0));
@ -104,7 +108,7 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
setSubID(scFileNode->getIntValue("SubID", 0));
setExternalForce(scFileNode->getBoolValue("external-force", false));
setForcePath(scFileNode->getStringValue("force-path", ""));
setForceStabilisation(scFileNode->getBoolValue("force-stabilized", false));
setForceStabilisation(scFileNode->getBoolValue("force-stabilised", false));
setXoffset(scFileNode->getDoubleValue("x-offset", 0.0));
setYoffset(scFileNode->getDoubleValue("y-offset", 0.0));
setZoffset(scFileNode->getDoubleValue("z-offset", 0.0));
@ -116,7 +120,6 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
setSlaved(scFileNode->getBoolValue("slaved", false));
setSlavedLoad(scFileNode->getBoolValue("slaved-load", false));
setContentsNode(scFileNode->getStringValue("contents"));
setRandom(scFileNode->getBoolValue("random", false));
}
bool FGAIBallistic::init(bool search_in_AI_path) {
@ -124,6 +127,16 @@ bool FGAIBallistic::init(bool search_in_AI_path) {
_impact_reported = false;
_collision_reported = false;
_expiry_reported = false;
_impact_lat = 0;
_impact_lon = 0;
_impact_elev = 0;
_impact_hdg = 0;
_impact_pitch = 0;
_impact_roll = 0;
_impact_speed = 0;
invisible = false;
_elapsed_time += (sg_random() * 100);
@ -131,6 +144,8 @@ bool FGAIBallistic::init(bool search_in_AI_path) {
props->setStringValue("material/name", "");
props->setStringValue("name", _name.c_str());
props->setStringValue("submodels/path", _submodel.c_str());
props->setStringValue("force/path", _force_path.c_str());
//props->setStringValue("vector/path", _vector_path.c_str());
// start with high value so that animations don't trigger yet
_ht_agl_ft = 1e10;
@ -263,7 +278,13 @@ void FGAIBallistic::update(double dt) {
}
void FGAIBallistic::setAzimuth(double az) {
hdg = _azimuth = 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) {
@ -291,7 +312,12 @@ void FGAIBallistic::setDragArea(double a) {
}
void FGAIBallistic::setLife(double seconds) {
life = seconds;
if (_random){
life = seconds * _randomness + (seconds * (1 -_randomness) * sg_random());
//cout << "life " << life << endl;
} else
life = seconds;
}
void FGAIBallistic::setBuoyancy(double fpss) {
@ -321,6 +347,11 @@ void FGAIBallistic::setMass(double m) {
void FGAIBallistic::setWeight(double w) {
_weight_lb = w;
}
void FGAIBallistic::setRandomness(double r) {
_randomness = r;
}
void FGAIBallistic::setRandom(bool r) {
_random = r;
}
@ -333,6 +364,11 @@ void FGAIBallistic::setCollision(bool c) {
_report_collision = c;
}
void FGAIBallistic::setExpiry(bool e) {
_report_expiry = e;
//cout << "_report_expiry " << _report_expiry << endl;
}
void FGAIBallistic::setExternalForce(bool f) {
_external_force = f;
}
@ -479,17 +515,17 @@ void FGAIBallistic::setHt(double h, double dt, double coeff){
}
void FGAIBallistic::setHdg(double az, double dt, double coeff){
double recip = getRecip(hdg);
double c = dt / (coeff + dt);
//we need to ensure that we turn the short way to the new hdg
if (az < recip && az < hdg && hdg > 180) {
hdg = ((az + 360) * c) + (hdg * (1 - c));
} else if (az > recip && az > hdg && hdg <= 180){
hdg = ((az - 360) * c) + (hdg * (1 - c));
} else {
hdg = (az * c) + (hdg * (1 - c));
}
}
double recip = getRecip(hdg);
double c = dt / (coeff + dt);
//we need to ensure that we turn the short way to the new hdg
if (az < recip && az < hdg && hdg > 180) {
hdg = ((az + 360) * c) + (hdg * (1 - c));
} else if (az > recip && az > hdg && hdg <= 180){
hdg = ((az - 360) * c) + (hdg * (1 - c));
} else {
hdg = (az * c) + (hdg * (1 - c));
}
}
double FGAIBallistic::getTgtXOffset() const {
return _tgt_x_offset;
@ -536,15 +572,22 @@ void FGAIBallistic::Run(double dt) {
_life_timer += dt;
// if life = -1 the object does not die
if (_life_timer > life && life != -1)
setDie(true);
if (_life_timer > life && life != -1){
if (_report_expiry && !_expiry_reported){
//cout<<"AIBallistic: expiry"<< endl;
handle_expiry();
} else
setDie(true);
}
//set the contents in the appropriate tank or other property in the parent to zero
setContents(0);
//randomise Cd by +- 5%
//randomise Cd by +- 10%
if (_random)
_Cd = _Cd * 0.95 + (0.05 * sg_random());
_Cd = _Cd * 0.90 + (0.10 * sg_random());
// Adjust Cd by Mach number. The equations are based on curves
// for a conventional shell/bullet (no boat-tail).
@ -617,12 +660,13 @@ void FGAIBallistic::Run(double dt) {
double friction_force_speed_east_deg_sec = 0;
double force_elevation_deg = 0;
if (_external_force) {
if (_external_force) {
SGPropertyNode *n = fgGetNode(_force_path.c_str(), true);
double force_lbs = n->getChild("force-lb", 0, true)->getDoubleValue();
force_elevation_deg = n->getChild("force-elevation-deg", 0, true)->getDoubleValue();
double force_azimuth_deg = n->getChild("force-azimuth-deg", 0, true)->getDoubleValue();
//resolve force into vertical and horizontal components:
double v_force_lbs = force_lbs * sin( force_elevation_deg * SG_DEGREES_TO_RADIANS );
h_force_lbs = force_lbs * cos( force_elevation_deg * SG_DEGREES_TO_RADIANS );
@ -751,14 +795,19 @@ void FGAIBallistic::Run(double dt) {
if (_azimuth < 0)
_azimuth += 360;
//cout << "_azimuth " << _azimuth << " hdg "<< hdg << endl;
if (_aero_stabilised) { // we simulate rotational moment of inertia by using a filter
//cout<< "_aero_stabilised "<< endl;
const double coeff = 0.9;
// 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
const double coeff = 0.9;
//cout<< "_force_stabilised "<< endl;
const double coeff = 0.9;
double ratio = h_force_lbs/(_mass * slugs_to_lbs);
if (ratio > 1) ratio = 1;
@ -809,6 +858,20 @@ void FGAIBallistic::handle_impact() {
}
}
void FGAIBallistic::handle_expiry() {
SG_LOG(SG_GENERAL, 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);
}
void FGAIBallistic::handle_collision()
{
const FGAIBase *object = manager->calcCollision(pos.getElevationFt(),
@ -857,7 +920,7 @@ SGVec3d FGAIBallistic::getCartHitchPos() const{
// convert geodetic positions to geocentered
SGVec3d cartuserPos = getCartUserPos();
SGVec3d cartPos = getCartPos();
//SGVec3d cartPos = getCartPos();
// Transform to the right coordinate frame, configuration is done in
// the x-forward, y-right, z-up coordinates (feet), computation

9
src/AIModel/AIBallistic.hxx
View file

@ -68,8 +68,10 @@ public:
void setWeight( double w );
void setNoRoll( bool nr );
void setRandom( bool r );
void setRandomness( double r );
void setName(const string&);
void setCollision(bool c);
void setExpiry(bool e);
void setImpact(bool i);
void setImpactReportNode(const string&);
void setContentsNode(const string&);
@ -150,7 +152,8 @@ private:
bool _wind; // if true, local wind will be applied to object
double _Cd; // drag coefficient
double _mass; // slugs
bool _random; // modifier for Cd
bool _random; // modifier for Cd, life, az
double _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
@ -164,6 +167,7 @@ private:
bool _report_collision; // if true a collision point with AI Objects is calculated
bool _report_impact; // if true an impact point on the terrain is calculated
bool _external_force; // if true then apply external force
bool _report_expiry;
SGPropertyNode_ptr _impact_report_node; // report node for impact and collision
SGPropertyNode_ptr _contents_node; // report node for impact and collision
@ -181,6 +185,7 @@ private:
const SGMaterial* _material;
void handle_collision();
void handle_expiry();
void handle_impact();
void report_impact(double elevation, const FGAIBase *target = 0);
void slaveToAC(double dt);
@ -192,13 +197,13 @@ private:
double getDistanceLoadToHitch() const;
double getElevLoadToHitch() const;
double getBearingLoadToHitch() const;
double getRecip(double az);
double getMass() const;
double hs;
double _ground_offset;
double _load_offset;
double _force;
double _old_height;
SGVec3d _oldcarthitchPos;

6
src/AIModel/AIBase.cxx
View file

@ -81,6 +81,8 @@ FGAIBase::FGAIBase(object_type ot) :
delete_me = false;
_impact_reported = false;
_collision_reported = false;
_expiry_reported = false;
_subID = 0;
_x_offset = 0;
@ -579,6 +581,10 @@ bool FGAIBase::_getCollisionData() {
return _collision_reported;
}
bool FGAIBase::_getExpiryData() {
return _expiry_reported;
}
bool FGAIBase::_getImpactData() {
return _impact_reported;
}

2
src/AIModel/AIBase.hxx
View file

@ -177,6 +177,7 @@ protected:
bool _impact_reported;
bool _collision_reported;
bool _expiry_reported;
double _impact_lat;
double _impact_lon;
@ -246,6 +247,7 @@ public:
bool _getImpact();
bool _getImpactData();
bool _getCollisionData();
bool _getExpiryData();
SGPropertyNode* _getProps() const;

272
src/AIModel/submodel.cxx
View file

@ -37,6 +37,7 @@ FGSubmodelMgr::FGSubmodelMgr()
string contents_node;
contrail_altitude = 30000;
_count = 0;
_found_sub = true;
}
FGSubmodelMgr::~FGSubmodelMgr()
@ -82,7 +83,9 @@ void FGSubmodelMgr::init()
void FGSubmodelMgr::postinit() {
// postinit, so that the AI list is populated
loadAI();
loadSubmodels();
while (_found_sub)
loadSubmodels();
//TODO reload submodels if an MP ac joins
}
@ -106,6 +109,7 @@ void FGSubmodelMgr::update(double dt)
_impact = false;
_hit = false;
_expiry = false;
// check if the submodel hit an object or terrain
sm_list = ai->get_ai_list();
@ -115,14 +119,18 @@ void FGSubmodelMgr::update(double dt)
for (; sm_list_itr != end; ++sm_list_itr) {
_impact = (*sm_list_itr)->_getImpactData();
_hit = (*sm_list_itr)->_getCollisionData();
_expiry = (*sm_list_itr)->_getExpiryData();
int parent_subID = (*sm_list_itr)->_getSubID();
//SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! "
// << _hit <<" parent_subID " << parent_subID);
if ( parent_subID == 0) // this entry in the list has no associated submodel
continue; // so we can continue
if (_impact || _hit) {
//SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! " << _hit );
if (_impact || _hit || _expiry) {
// SG_LOG(SG_GENERAL, SG_ALERT, "Submodel: Impact " << _impact << " hit! " << _hit
//<< " exipiry :-( " << _expiry );
submodel_iterator = submodels.begin();
@ -139,9 +147,11 @@ void FGSubmodelMgr::update(double dt)
_parent_roll = (*sm_list_itr)->_getImpactRoll();
_parent_speed = (*sm_list_itr)->_getImpactSpeed();
(*submodel_iterator)->first_time = true;
//cout << "Impact: parent SubID = child_ID elev " << _parent_elev << endl;
if (release(*submodel_iterator, dt))
if (release(*submodel_iterator, dt))
(*sm_list_itr)->setDie(true);
}
++submodel_iterator;
@ -169,64 +179,26 @@ void FGSubmodelMgr::update(double dt)
if ((*submodel_iterator)->trigger_node != 0) {
_trigger_node = (*submodel_iterator)->trigger_node;
trigger = _trigger_node->getBoolValue();
//cout << "trigger node found " << trigger << endl;
//cout << (*submodel_iterator)->name << "trigger node found " << trigger << endl;
} else {
trigger = true;
//cout << (*submodel_iterator)->name << "trigger node not found " << trigger << endl;
}
if (trigger) {
int id = (*submodel_iterator)->id;
string name = (*submodel_iterator)->name;
// don't release submodels from AI Objects if they are
// too far away to be seen. id 0 is not an AI model,
// so we can skip the whole process
sm_list_iterator sm_list_itr = sm_list.begin();
sm_list_iterator end = sm_list.end();
if (trigger && (*submodel_iterator)->count != 0) {
while (sm_list_itr != end) {
in_range = true;
int id = (*submodel_iterator)->id;
string name = (*submodel_iterator)->name;
/*SG_LOG(SG_GENERAL, SG_DEBUG,
"Submodels end: " << (*submodel_iterator)->id
<< " name " << (*submodel_iterator)->name
<< " count " << (*submodel_iterator)->count
<< " in range " << in_range);*/
if (id == 0) {
//SG_LOG(SG_GENERAL, SG_DEBUG,
// "Submodels: continuing: " << id << " name " << name );
++sm_list_itr;
continue;
}
int parent_id = (*submodel_iterator)->id;
if (parent_id == id) {
double parent_lat = (*sm_list_itr)->_getLatitude();
double parent_lon = (*sm_list_itr)->_getLongitude();
string parent_name = (*sm_list_itr)->_getName();
double own_lat = _user_lat_node->getDoubleValue();
double own_lon = _user_lon_node->getDoubleValue();
double range_nm = getRange(parent_lat, parent_lon, own_lat, own_lon);
//cout << "parent name " << parent_name << ", "<< parent_id << ", "<< parent_lat << ", " << parent_lon << endl;
//cout << "own name " << own_lat << ", " << own_lon << " range " << range_nm << endl;
if (range_nm > 15) {
//SG_LOG(SG_GENERAL, SG_DEBUG,
// "Submodels: skipping release, out of range: " << id);
in_range = false;
}
}
++sm_list_itr;
} // end while
/*SG_LOG(SG_GENERAL, SG_DEBUG,
"Submodels end: " << (*submodel_iterator)->id
<< " name " << (*submodel_iterator)->name
<< " count " << (*submodel_iterator)->count
<< " in range " << in_range);*/
if ((*submodel_iterator)->count != 0 && in_range)
release(*submodel_iterator, dt);
} else
(*submodel_iterator)->first_time = true;
release(*submodel_iterator, dt);
} else
(*submodel_iterator)->first_time = true;
++submodel_iterator;
} // end while
@ -247,9 +219,11 @@ bool FGSubmodelMgr::release(submodel *sm, double dt)
sm->timer += dt;
if (sm->timer < sm->delay) {
//cout << "not yet: timer" << sm->timer << " delay " << sm->delay<< endl;
//cout << "not yet: timer " << sm->timer << " delay " << sm->delay << endl;
return false;
}
//cout << "released timer: " << sm->timer << " delay " << sm->delay << endl;
sm->timer = 0.0;
@ -262,9 +236,12 @@ bool FGSubmodelMgr::release(submodel *sm, double dt)
FGAIBallistic* ballist = new FGAIBallistic;
ballist->setPath(sm->model.c_str());
ballist->setLatitude(IC.lat);
ballist->setLongitude(IC.lon);
ballist->setAltitude(IC.alt);
ballist->setName(sm->name);
ballist->setRandom(sm->random);
ballist->setRandomness(sm->randomness);
ballist->setLatitude(offsetpos.getLatitudeDeg());
ballist->setLongitude(offsetpos.getLongitudeDeg());
ballist->setAltitude(offsetpos.getElevationFt());
ballist->setAzimuth(IC.azimuth);
ballist->setElevation(IC.elevation);
ballist->setRoll(IC.roll);
@ -279,8 +256,8 @@ bool FGSubmodelMgr::release(submodel *sm, double dt)
ballist->setCd(sm->cd);
ballist->setStabilisation(sm->aero_stabilised);
ballist->setNoRoll(sm->no_roll);
ballist->setName(sm->name);
ballist->setCollision(sm->collision);
ballist->setExpiry(sm->expiry);
ballist->setImpact(sm->impact);
ballist->setImpactReportNode(sm->impact_report);
ballist->setFuseRange(sm->fuse_range);
@ -293,7 +270,6 @@ bool FGSubmodelMgr::release(submodel *sm, double dt)
if (sm->count > 0)
sm->count--;
return true;
}
@ -338,16 +314,11 @@ void FGSubmodelMgr::transform(submodel *sm)
//cout << " name " << name << " id " << id << " sub id" << sub_id << endl;
if (_impact || _hit) {
// set the Initial Conditions for the types of submodel parent
if (_impact || _hit || _expiry) {
// set the data for a submodel tied to a submodel
_count++;
//cout << "Submodels: release sub sub " << _count<< endl;
//cout << " id " << sm->id
// << " lat " << _parent_lat
// << " lon " << _parent_lon
// << " elev " << _parent_elev
// << " name " << sm->name
// << endl;
IC.lat = _parent_lat;
IC.lon = _parent_lon;
@ -362,10 +333,7 @@ void FGSubmodelMgr::transform(submodel *sm)
} else if (id == 0) {
//set the data for a submodel tied to the main model
/*cout << "Submodels: release main sub " << endl;
cout << " name " << sm->name
<< " id" << sm->id
<< endl;*/
IC.lat = _user_lat_node->getDoubleValue();
IC.lon = _user_lon_node->getDoubleValue();
IC.alt = _user_alt_node->getDoubleValue();
@ -413,12 +381,22 @@ void FGSubmodelMgr::transform(submodel *sm)
cout << "speed north " << IC.speed_north_fps << endl ;
cout << "parent speed fps in" << IC.speed << "sm speed in " << sm->speed << endl ;*/
// Set the Initial Conditions that are common to all types of parent
IC.wind_from_east = _user_wind_from_east_node->getDoubleValue();
IC.wind_from_north = _user_wind_from_north_node->getDoubleValue();
in[0] = sm->x_offset;
in[1] = sm->y_offset;
in[2] = sm->z_offset;
userpos.setLatitudeDeg(IC.lat);
userpos.setLongitudeDeg(IC.lon);
userpos.setElevationFt(IC.alt);
_x_offset = sm->x_offset;
_y_offset = sm->y_offset;
_z_offset = sm->z_offset;
setOffsetPos();
//IC.elevation += sm->pitch_offset;
//IC.azimuth += sm->yaw_offset ;
// pre-process the trig functions
cosRx = cos(-IC.roll * SG_DEGREES_TO_RADIANS);
@ -428,43 +406,9 @@ void FGSubmodelMgr::transform(submodel *sm)
cosRz = cos(IC.azimuth * SG_DEGREES_TO_RADIANS);
sinRz = sin(IC.azimuth * SG_DEGREES_TO_RADIANS);
// set up the transform matrix
trans[0][0] = cosRy * cosRz;
trans[0][1] = -1 * cosRx * sinRz + sinRx * sinRy * cosRz ;
trans[0][2] = sinRx * sinRz + cosRx * sinRy * cosRz;
trans[1][0] = cosRy * sinRz;
trans[1][1] = cosRx * cosRz + sinRx * sinRy * sinRz;
trans[1][2] = -1 * sinRx * cosRx + cosRx * sinRy * sinRz;
trans[2][0] = -1 * sinRy;
trans[2][1] = sinRx * cosRy;
trans[2][2] = cosRx * cosRy;
// multiply the input and transform matrices
out[0] = in[0] * trans[0][0] + in[1] * trans[0][1] + in[2] * trans[0][2];
out[1] = in[0] * trans[1][0] + in[1] * trans[1][1] + in[2] * trans[1][2];
out[2] = in[0] * trans[2][0] + in[1] * trans[2][1] + in[2] * trans[2][2];
// convert ft to degrees of latitude
out[0] = out[0] / (366468.96 - 3717.12 * cos(IC.lat * SG_DEGREES_TO_RADIANS));
// convert ft to degrees of longitude
out[1] = out[1] / (365228.16 * cos(IC.lat * SG_DEGREES_TO_RADIANS));
// set submodel initial position
IC.lat += out[0];
IC.lon += out[1];
IC.alt += out[2];
// get aircraft velocity vector angles in XZ and XY planes
//double alpha = _user_alpha_node->getDoubleValue();
//double velXZ = IC.elevation - alpha * cosRx;
//double velXY = IC.azimuth - (IC.elevation - alpha * sinRx);
// Get submodel initial velocity vector angles in XZ and XY planes.
// This needs to be fixed. This vector should be added to aircraft's vector.
// This vector should be added to aircraft's vector.
IC.elevation += (sm->yaw_offset * sinRx) + (sm->pitch_offset * cosRx);
IC.azimuth += (sm->yaw_offset * cosRx) - (sm->pitch_offset * sinRx);
@ -487,7 +431,7 @@ void FGSubmodelMgr::transform(submodel *sm)
// if speeds are low this calculation can become unreliable
if (IC.speed > 1) {
IC.azimuth = atan2(IC.total_speed_east , IC.total_speed_north) * SG_RADIANS_TO_DEGREES;
//IC.azimuth = atan2(IC.total_speed_east, IC.total_speed_north) * SG_RADIANS_TO_DEGREES;
// cout << "azimuth1 " << IC.azimuth<<endl;
// rationalise the output
@ -539,15 +483,6 @@ void FGSubmodelMgr::loadAI()
}
double FGSubmodelMgr::getRange(double lat, double lon, double lat2, double lon2) const
{
double course, distance, az2;
//calculate the bearing and range of the second pos from the first
geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
distance *= SG_METER_TO_NM;
return distance;
}
void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
{
@ -595,6 +530,7 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
sm->no_roll = entry_node->getBoolValue("no-roll", false);
sm->collision = entry_node->getBoolValue("collision", false);
sm->expiry = entry_node->getBoolValue("expiry", false);
sm->impact = entry_node->getBoolValue("impact", false);
sm->impact_report = entry_node->getStringValue("impact-reports");
sm->fuse_range = entry_node->getDoubleValue("fuse-range", 0.0);
@ -604,6 +540,10 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
sm->ext_force = entry_node->getBoolValue("external-force", false);
sm->force_path = entry_node->getStringValue("force-path", "");
sm->random = entry_node->getBoolValue("random", false);
sm->randomness = entry_node->getDoubleValue("randomness", 0.5);
//cout << "sm->contents_node " << sm->contents_node << endl;
if (sm->contents_node != 0)
sm->contents = sm->contents_node->getDoubleValue();
@ -626,11 +566,13 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
sm->sub_id = 0;
sm->prop = fgGetNode("/ai/submodels/submodel", index, true);
sm->prop->tie("delay", SGRawValuePointer<double>(&(sm->delay)));
sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
string name = sm->name;
sm->prop->setStringValue("name", name.c_str());
@ -640,7 +582,7 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
string force_path = sm->force_path;
sm->prop->setStringValue("force_path", force_path.c_str());
//cout << "set force_path " << force_path << endl;
//cout << "set force_path Sub " << force_path << endl;
if (sm->contents_node != 0)
sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
@ -698,14 +640,18 @@ void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable)
sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
sm->no_roll = entry_node->getBoolValue("no-roll", false);
sm->collision = entry_node->getBoolValue("collision", false);
sm->expiry = entry_node->getBoolValue("expiry", false);
sm->impact = entry_node->getBoolValue("impact", false);
sm->impact_report = entry_node->getStringValue("impact-reports");
sm->fuse_range = entry_node->getDoubleValue("fuse-range", 0.0);
sm->contents_node = fgGetNode(entry_node->getStringValue("contents", "none"), false);
sm->speed_node = fgGetNode(entry_node->getStringValue("speed-node", "none"), false);
sm->submodel = entry_node->getStringValue("submodel-path", "");
sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
sm->ext_force = entry_node->getBoolValue("external-force", false);
sm->force_path = entry_node->getStringValue("force-path", "");
sm->random = entry_node->getBoolValue("random", false);
sm->randomness = entry_node->getDoubleValue("randomness", 0.5);
//cout << "sm->contents_node " << sm->contents_node << endl;
if (sm->contents_node != 0)
@ -734,16 +680,17 @@ void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable)
sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
string name = sm->name;
sm->prop->setStringValue("name", name.c_str());
string submodel = sm->submodel;
sm->prop->setStringValue("submodel", submodel.c_str());
// cout << " set submodel path " << submodel<< endl;
// cout << " set submodel path AI" << submodel<< endl;
string force_path = sm->force_path;
sm->prop->setStringValue("force_path", force_path.c_str());
//cout << "set force_path " << force_path << endl;
//cout << "set force_path AI" << force_path << endl;
if (sm->contents_node != 0)
sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
@ -757,31 +704,38 @@ void FGSubmodelMgr::loadSubmodels()
{
SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Loading sub submodels");
_found_sub = false;
submodel_iterator = submodels.begin();
while (submodel_iterator != submodels.end()) {
string submodel = (*submodel_iterator)->submodel;
if (!submodel.empty()) {
//int id = (*submodel_iterator)->id;
bool serviceable = true;
//SG_LOG(SG_GENERAL, SG_DEBUG, "found path sub sub "
// << submodel
// << " index " << index
// << "name " << (*submodel_iterator)->name);
while (submodel_iterator != submodels.end()) {
string submodel = (*submodel_iterator)->submodel;
if (!submodel.empty()) {
//int id = (*submodel_iterator)->id;
bool serviceable = true;
//SG_LOG(SG_GENERAL, SG_DEBUG, "found path sub sub "
// << submodel
// << " index " << index
// << "name " << (*submodel_iterator)->name);
(*submodel_iterator)->sub_id = index;
setSubData(index, submodel, serviceable);
}
if ((*submodel_iterator)->sub_id == 0){
(*submodel_iterator)->sub_id = index;
_found_sub = true;
setSubData(index, submodel, serviceable);
}
}
++submodel_iterator;
}
++submodel_iterator;
} // end while
subsubmodel_iterator = subsubmodels.begin();
while (subsubmodel_iterator != subsubmodels.end()) {
submodels.push_back(*subsubmodel_iterator);
++subsubmodel_iterator;
}
} // end while
subsubmodels.clear();
//submodel_iterator = submodels.begin();
@ -796,4 +750,44 @@ void FGSubmodelMgr::loadSubmodels()
//}
}
SGVec3d FGSubmodelMgr::getCartOffsetPos() const{
// convert geodetic positions to geocentered
SGVec3d cartuserPos = SGVec3d::fromGeod(userpos);
// Transform to the right coordinate frame, configuration is done in
// the x-forward, y-right, z-up coordinates (feet), computation
// in the simulation usual body x-forward, y-right, z-down coordinates
// (meters) )
SGVec3d _off(_x_offset * SG_FEET_TO_METER,
_y_offset * SG_FEET_TO_METER,
-_z_offset * SG_FEET_TO_METER);
// Transform the user position to the horizontal local coordinate system.
SGQuatd hlTrans = SGQuatd::fromLonLat(userpos);
// and postrotate the orientation of the user model wrt the horizontal
// local frame
hlTrans *= SGQuatd::fromYawPitchRollDeg(
IC.azimuth,
IC.elevation,
IC.roll);
// The offset converted to the usual body fixed coordinate system
// rotated to the earth-fixed coordinates axis
SGVec3d off = hlTrans.backTransform(_off);
// Add the position offset of the user model to get the geocentered position
SGVec3d offsetPos = cartuserPos + off;
return offsetPos;
}
void FGSubmodelMgr::setOffsetPos(){
// convert the offset geocentered position to geodetic
SGVec3d cartoffsetPos = getCartOffsetPos();
SGGeodesy::SGCartToGeod(cartoffsetPos, offsetpos);
}
// end of submodel.cxx

15
src/AIModel/submodel.hxx
View file

@ -53,6 +53,7 @@ public:
double drag_area;
double life;
double buoyancy;
double randomness;
bool wind;
bool first_time;
double cd;
@ -62,7 +63,9 @@ public:
int id;
bool no_roll;
bool serviceable;
bool random;
bool collision;
bool expiry;
bool impact;
string impact_report;
double fuse_range;
@ -141,6 +144,10 @@ private:
double _parent_pitch;
double _parent_roll;
double _parent_speed;
double _x_offset;
double _y_offset;
double _z_offset;
static const double lbs_to_slugs; //conversion factor
@ -148,6 +155,8 @@ private:
bool _impact;
bool _hit;
bool _expiry;
bool _found_sub;
SGPropertyNode_ptr _serviceable_node;
SGPropertyNode_ptr _user_lat_node;
@ -190,9 +199,13 @@ private:
bool release(submodel *, double dt);
double getRange(double lat, double lon, double lat2, double lon2) const;
int _count;
SGGeod userpos;
SGGeod offsetpos;
SGVec3d getCartOffsetPos() const;
void setOffsetPos();
};

16
src/Environment/environment_mgr.cxx
View file

@ -24,8 +24,6 @@
# include <config.h>
#endif
#include <cstring>
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/scene/sky/sky.hxx>
@ -294,12 +292,22 @@ FGEnvironmentMgr::update (double dt)
_environment->set_elevation_ft(fgGetDouble("/position/altitude-ft"));
_environment->set_local_weather_lift_fps(fgGetDouble("/local-weather/current/thermal-lift"));
osg::Vec3 windVec(-_environment->get_wind_from_north_fps(),
osg::Vec3 windVec(_environment->get_wind_from_north_fps(),
-_environment->get_wind_from_east_fps(),
_environment->get_wind_from_down_fps());
0);
// SG_LOG(SG_GENERAL, SG_ALERT, "-_environment->get_wind_from_north_mps() " <<
//_environment->get_wind_from_north_fps() * SG_FEET_TO_METER
//<< " -_environment->get_wind_from_east_mps() "
//<< -_environment->get_wind_from_east_fps() * SG_FEET_TO_METER
//);
// simgear::Particles::setWindVector(windVec * SG_FEET_TO_METER);
simgear::Particles::setWindFrom( _environment->get_wind_from_heading_deg(),
_environment->get_wind_speed_kt() );
//double wind_true_deg = _environment->get_wind_from_heading_deg();
//simgear::Particles::setWindFrom( wind_true_deg,
// _environment->get_wind_speed_kt() );
}
FGEnvironment