Vivian MEAZZA: add terrain collision for submodels on request
(set <impact>1</impact> in the submodel config) mf: minor modifications & cleanup; more to come
This commit is contained in:
mfranz
parent
1bdea279cd
commit
7d5952b185
4 changed files with 210 additions and 95 deletions
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@ -25,86 +25,133 @@
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#include <simgear/math/point3d.hxx>
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#include <simgear/math/sg_random.h>
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#include <simgear/scene/material/mat.hxx>
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#include <math.h>
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#include <vector>
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#include <Scenery/scenery.hxx>
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#include "AIBallistic.hxx"
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SG_USING_STD(vector);
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const double FGAIBallistic::slugs_to_kgs = 14.5939029372;
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FGAIBallistic::FGAIBallistic() : FGAIBase(otBallistic) {
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drag_area = 0.007;
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life_timer = 0.0;
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gravity = 32;
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// buoyancy = 64;
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// buoyancy = 64;
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no_roll = false;
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aero_stabilised = false;
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ht_agl_ft = 0;
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impact_data = false;
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impact_energy = 0;
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impact_speed = 0;
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impact_lat = 0;
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impact_lon = 0;
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impact_elev = 0;
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load_resistance = 0;
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solid = false;
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mat_name = "";
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}
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FGAIBallistic::~FGAIBallistic() {
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}
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void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
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if (!scFileNode)
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return;
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if (!scFileNode)
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return;
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FGAIBase::readFromScenario(scFileNode);
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FGAIBase::readFromScenario(scFileNode);
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setAzimuth(scFileNode->getDoubleValue("azimuth", 0.0));
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setElevation(scFileNode->getDoubleValue("elevation", 0.0));
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setDragArea(scFileNode->getDoubleValue("eda", 0.007));
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setLife(scFileNode->getDoubleValue("life", 900.0));
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setBuoyancy(scFileNode->getDoubleValue("buoyancy", 0));
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setWind_from_east(scFileNode->getDoubleValue("wind_from_east", 0));
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setWind_from_north(scFileNode->getDoubleValue("wind_from_north", 0));
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setWind(scFileNode->getBoolValue("wind", false));
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setRoll(scFileNode->getDoubleValue("roll", 0.0));
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setCd(scFileNode->getDoubleValue("cd", 0.029));
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setMass(scFileNode->getDoubleValue("mass", 0.007));
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setStabilisation(scFileNode->getBoolValue("aero_stabilized", false));
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setNoRoll(scFileNode->getBoolValue("no-roll", false));
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setRandom(scFileNode->getBoolValue("random", false));
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setAzimuth(scFileNode->getDoubleValue("azimuth", 0.0));
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setElevation(scFileNode->getDoubleValue("elevation", 0.0));
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setDragArea(scFileNode->getDoubleValue("eda", 0.007));
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setLife(scFileNode->getDoubleValue("life", 900.0));
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setBuoyancy(scFileNode->getDoubleValue("buoyancy", 0));
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setWind_from_east(scFileNode->getDoubleValue("wind_from_east", 0));
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setWind_from_north(scFileNode->getDoubleValue("wind_from_north", 0));
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setWind(scFileNode->getBoolValue("wind", false));
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setRoll(scFileNode->getDoubleValue("roll", 0.0));
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setCd(scFileNode->getDoubleValue("cd", 0.029));
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setMass(scFileNode->getDoubleValue("mass", 0.007));
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setStabilisation(scFileNode->getBoolValue("aero_stabilized", false));
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setNoRoll(scFileNode->getBoolValue("no-roll", false));
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setRandom(scFileNode->getBoolValue("random", false));
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setImpact(scFileNode->getBoolValue("impact", false));
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setName(scFileNode->getStringValue("name", "Bomb"));
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}
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bool FGAIBallistic::init(bool search_in_AI_path) {
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FGAIBase::init(search_in_AI_path);
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hdg = azimuth;
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pitch = elevation;
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roll = rotation;
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Transform();
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return true;
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FGAIBase::init(search_in_AI_path);
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props->setStringValue("material/name", mat_name.c_str());
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props->setStringValue("name", name.c_str());
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hdg = azimuth;
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pitch = elevation;
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roll = rotation;
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Transform();
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return true;
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}
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void FGAIBallistic::bind() {
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// FGAIBase::bind();
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props->tie("sim/time/elapsed-sec",
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SGRawValueMethods<FGAIBallistic,double>(*this,
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&FGAIBallistic::_getTime));
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// FGAIBase::bind();
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props->tie("sim/time/elapsed-sec",
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SGRawValueMethods<FGAIBallistic,double>(*this,
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&FGAIBallistic::_getTime));
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props->tie("material/load-resistance",
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SGRawValuePointer<double>(&load_resistance));
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props->tie("material/solid",
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SGRawValuePointer<bool>(&solid));
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props->tie("altitude-agl-ft",
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SGRawValuePointer<double>(&ht_agl_ft));
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props->tie("impact/latitude-deg",
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SGRawValuePointer<double>(&impact_lat));
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props->tie("impact/longitude-deg",
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SGRawValuePointer<double>(&impact_lon));
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props->tie("impact/elevation-m",
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SGRawValuePointer<double>(&impact_elev));
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props->tie("impact/speed-mps",
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SGRawValuePointer<double>(&impact_speed));
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props->tie("impact/energy-kJ",
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SGRawValuePointer<double>(&impact_energy));
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}
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void FGAIBallistic::unbind() {
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// FGAIBase::unbind();
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props->untie("sim/time/elapsed-sec");
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// FGAIBase::unbind();
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props->untie("sim/time/elapsed-sec");
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props->untie("material/load-resistance");
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props->untie("material/solid");
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props->untie("altitude-agl-ft");
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props->untie("impact/latitude-deg");
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props->untie("impact/longitude-deg");
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props->untie("impact/elevation-m");
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props->untie("impact/speed-mps");
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props->untie("impact/energy-kJ");
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}
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void FGAIBallistic::update(double dt) {
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FGAIBase::update(dt);
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Run(dt);
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Transform();
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FGAIBase::update(dt);
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Run(dt);
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Transform();
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}
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void FGAIBallistic::setAzimuth(double az) {
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hdg = azimuth = az;
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hdg = azimuth = az;
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}
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void FGAIBallistic::setElevation(double el) {
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pitch = elevation = el;
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pitch = elevation = el;
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}
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void FGAIBallistic::setRoll(double rl) {
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rotation = rl;
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rotation = rl;
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}
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void FGAIBallistic::setStabilisation(bool val) {
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aero_stabilised = val;
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aero_stabilised = val;
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}
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void FGAIBallistic::setNoRoll(bool nr) {
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@ -112,62 +159,66 @@ void FGAIBallistic::setNoRoll(bool nr) {
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}
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void FGAIBallistic::setDragArea(double a) {
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drag_area = a;
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drag_area = a;
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}
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void FGAIBallistic::setLife(double seconds) {
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life = seconds;
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life = seconds;
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}
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void FGAIBallistic::setBuoyancy(double fpss) {
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buoyancy = fpss;
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buoyancy = fpss;
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}
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void FGAIBallistic::setWind_from_east(double fps) {
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wind_from_east = fps;
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wind_from_east = fps;
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}
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void FGAIBallistic::setWind_from_north(double fps) {
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wind_from_north = fps;
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wind_from_north = fps;
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}
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void FGAIBallistic::setWind(bool val) {
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wind = val;
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wind = val;
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}
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void FGAIBallistic::setCd(double c) {
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Cd = c;
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Cd = c;
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}
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void FGAIBallistic::setMass(double m) {
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mass = m;
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mass = m;
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}
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void FGAIBallistic::setRandom(bool r) {
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random = r;
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}
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void FGAIBallistic::setImpact(bool i) {
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impact = i;
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}
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void FGAIBallistic::setName(const string& n) {
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name = n;
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}
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void FGAIBallistic::Run(double dt) {
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life_timer += dt;
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// cout << "life timer 1" << life_timer << dt << endl;
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if (life_timer > life) setDie(true);
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life_timer += dt;
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// cout << "life timer 1" << life_timer << dt << endl;
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if (life_timer > life) setDie(true);
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double speed_north_deg_sec;
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double speed_east_deg_sec;
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double wind_speed_from_north_deg_sec;
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double wind_speed_from_east_deg_sec;
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double Cdm; // Cd adjusted by Mach Number
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double speed_north_deg_sec;
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double speed_east_deg_sec;
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double wind_speed_from_north_deg_sec;
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double wind_speed_from_east_deg_sec;
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double Cdm; // Cd adjusted by Mach Number
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//randomise Cd by +- 5%
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if (random)
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Cd = Cd * 0.95 + (0.05 * sg_random());
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// Adjust Cd by Mach number. The equations are based on curves
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// for a conventional shell/bullet (no boat-tail).
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// Adjust Cd by Mach number. The equations are based on curves
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// for a conventional shell/bullet (no boat-tail).
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if ( Mach < 0.7 )
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Cdm = 0.0125 * Mach + Cd;
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else if ( 0.7 < Mach && Mach < 1.2 )
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@ -176,69 +227,111 @@ void FGAIBallistic::Run(double dt) {
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Cdm = 0.2965 * pow ( Mach, -1.1506 ) + Cd;
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//cout << " Mach , " << Mach << " , Cdm , " << Cdm << " ballistic speed kts //"<< speed << endl;
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// drag = Cd * 0.5 * rho * speed * speed * drag_area;
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// rho is adjusted for altitude in void FGAIBase::update,
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// using Standard Atmosphere (sealevel temperature 15C)
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// acceleration = drag/mass;
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// adjust speed by drag
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speed -= (Cdm * 0.5 * rho * speed * speed * drag_area/mass) * dt;
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// don't let speed become negative
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// drag = Cd * 0.5 * rho * speed * speed * drag_area;
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// rho is adjusted for altitude in void FGAIBase::update,
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// using Standard Atmosphere (sealevel temperature 15C)
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// acceleration = drag/mass;
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// adjust speed by drag
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speed -= (Cdm * 0.5 * rho * speed * speed * drag_area/mass) * dt;
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// don't let speed become negative
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if ( speed < 0.0 )
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speed = 0.0;
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double speed_fps = speed * SG_KT_TO_FPS;
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// calculate vertical and horizontal speed components
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// calculate vertical and horizontal speed components
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vs = sin( pitch * SG_DEGREES_TO_RADIANS ) * speed_fps;
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double hs = cos( pitch * SG_DEGREES_TO_RADIANS ) * speed_fps;
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// convert horizontal speed (fps) to degrees per second
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speed_north_deg_sec = cos(hdg / SG_RADIANS_TO_DEGREES) * hs / ft_per_deg_lat;
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speed_east_deg_sec = sin(hdg / SG_RADIANS_TO_DEGREES) * hs / ft_per_deg_lon;
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// if wind not required, set to zero
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if (!wind) {
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wind_from_north = 0;
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wind_from_east = 0;
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}
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// convert wind speed (fps) to degrees per second
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wind_speed_from_north_deg_sec = wind_from_north / ft_per_deg_lat;
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wind_speed_from_east_deg_sec = wind_from_east / ft_per_deg_lon;
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// set new position
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// convert horizontal speed (fps) to degrees per second
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speed_north_deg_sec = cos(hdg / SG_RADIANS_TO_DEGREES) * hs / ft_per_deg_lat;
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speed_east_deg_sec = sin(hdg / SG_RADIANS_TO_DEGREES) * hs / ft_per_deg_lon;
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// if wind not required, set to zero
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if (!wind) {
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wind_from_north = 0;
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wind_from_east = 0;
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}
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// convert wind speed (fps) to degrees per second
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wind_speed_from_north_deg_sec = wind_from_north / ft_per_deg_lat;
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wind_speed_from_east_deg_sec = wind_from_east / ft_per_deg_lon;
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// set new position
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pos.setLatitudeDeg( pos.getLatitudeDeg()
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+ (speed_north_deg_sec - wind_speed_from_north_deg_sec) * dt );
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pos.setLongitudeDeg( pos.getLongitudeDeg()
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+ (speed_east_deg_sec - wind_speed_from_east_deg_sec) * dt );
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// adjust vertical speed for acceleration of gravity and buoyancy
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vs -= (gravity - buoyancy) * dt;
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// adjust altitude (feet)
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altitude_ft += vs * dt;
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pos.setElevationFt(altitude_ft);
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// adjust vertical speed for acceleration of gravity and buoyancy
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vs -= (gravity - buoyancy) * dt;
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// recalculate pitch (velocity vector) if aerostabilized
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// adjust altitude (feet)
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altitude_ft += vs * dt;
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pos.setElevationFt(altitude_ft);
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// recalculate pitch (velocity vector) if aerostabilized
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/*cout << name << ": " << "aero_stabilised " << aero_stabilised
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<< " pitch " << pitch <<" vs " << vs <<endl ;*/
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if (aero_stabilised)
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pitch = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
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// recalculate total speed
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// recalculate total speed
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speed = sqrt( vs * vs + hs * hs) / SG_KT_TO_FPS;
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// set destruction flag if altitude less than sea level -1000
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if (altitude_ft < -1000.0) setDie(true);
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if (impact && !impact_data && vs < 0)
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handle_impact();
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// set destruction flag if altitude less than sea level -1000
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if (altitude_ft < -1000.0)
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setDie(true);
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} // end Run
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double FGAIBallistic::_getTime() const {
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// cout << "life timer 2" << life_timer << endl;
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return life_timer;
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// cout << "life timer 2" << life_timer << endl;
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return life_timer;
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}
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void FGAIBallistic::handle_impact() {
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double elevation_m;
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const SGMaterial* material;
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// try terrain intersection
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if (!globals->get_scenery()->get_elevation_m(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
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10000.0, elevation_m, &material))
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return;
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if (material) {
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const vector<string> names = material->get_names();
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if (!names.empty())
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mat_name = names[0].c_str();
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solid = material->get_solid();
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load_resistance = material->get_load_resistance();
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props->setStringValue("material/name", mat_name.c_str());
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//cout << "material " << mat_name << " solid " << solid << " load " << load_resistance << endl;
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}
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ht_agl_ft = pos.getElevationFt() - elevation_m * SG_METER_TO_FEET;
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// report impact by setting tied variables
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if (ht_agl_ft <= 0) {
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impact_lat = pos.getLatitudeDeg();
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impact_lon = pos.getLongitudeDeg();
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impact_elev = elevation_m;
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impact_speed = speed * SG_KT_TO_MPS;
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impact_energy = (mass * slugs_to_kgs) * impact_speed
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* impact_speed / (2 * 1000);
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props->setBoolValue("impact/signal", true); // for listeners
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impact_data = true;
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}
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}
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// end AIBallistic
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@ -54,10 +54,12 @@ public:
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void setNoRoll( bool nr );
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void setRandom( bool r );
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void setName(const string&);
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void setImpact(bool i);
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double _getTime() const;
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virtual const char* getTypeString(void) const { return "ballistic"; }
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static const double slugs_to_kgs; //conversion factor
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private:
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@ -71,13 +73,29 @@ private:
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double buoyancy; // fps2
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double wind_from_east; // fps
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double wind_from_north; // fps
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bool wind; // if true, local wind will be applied to object
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bool wind; // if true, local wind will be applied to object
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double Cd; // drag coefficient
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double mass; // slugs
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bool random; // modifier for Cd
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bool random; // modifier for Cd
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double ht_agl_ft; // height above ground level
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double load_resistance; // ground load resistanc N/m^2
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bool solid; // if true ground is solid for FDMs
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bool impact; // if true an impact point on the terrain is calculated
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bool impact_data; // if true impact data have been set
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double impact_energy;
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double impact_speed;
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double impact_lat;
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double impact_lon;
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double impact_elev;
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string mat_name;
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string name;
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void Run(double dt);
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void handle_impact();
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FGAIBase* ai;
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};
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#endif // _FG_AIBALLISTIC_HXX
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@ -210,6 +210,7 @@ bool FGSubmodelMgr::release(submodel* sm, double dt)
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ballist->setStabilisation(sm->aero_stabilised);
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ballist->setNoRoll(sm->no_roll);
|
||||
ballist->setName(sm->name);
|
||||
ballist->setImpact(sm->impact);
|
||||
ai->attach(ballist);
|
||||
|
||||
if (sm->count > 0)
|
||||
|
|
@ -487,6 +488,7 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
|
|||
sm->weight = entry_node->getDoubleValue("weight", 0.25);
|
||||
sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
|
||||
sm->no_roll = entry_node->getBoolValue("no-roll", false);
|
||||
sm->impact = entry_node->getBoolValue("impact", false);
|
||||
sm->contents_node = fgGetNode(entry_node->getStringValue("contents", "none"), false);
|
||||
sm->speed_node = fgGetNode(entry_node->getStringValue("speed-node", "none"), false);
|
||||
|
||||
|
|
|
|||
|
|
@ -59,6 +59,7 @@ public:
|
|||
int id;
|
||||
bool no_roll;
|
||||
bool serviceable;
|
||||
bool impact;
|
||||
}
|
||||
submodel;
|
||||
|
||||
|
|
@ -82,6 +83,7 @@ public:
|
|||
double mass;
|
||||
int id;
|
||||
bool no_roll;
|
||||
bool impact;
|
||||
}
|
||||
IC_struct;
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue