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Experimental patch for applying force to ballistic objects

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From Vivian Meazza
This commit is contained in:
timoore 2007-12-21 23:37:05 +00:00
parent 4ac892c23e
commit 9ecc3415fb
4 changed files with 145 additions and 26 deletions
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119
src/AIModel/AIBallistic.cxx
View file

@ -48,7 +48,9 @@ FGAIBallistic::FGAIBallistic() :
_solid(false),
_report_collision(false),
_report_impact(false),
_impact_report_node(fgGetNode("/ai/models/model-impact", true))
_impact_report_node(fgGetNode("/ai/models/model-impact", true)),
_external_force(false)
{
no_roll = false;
}
@ -192,7 +194,12 @@ void FGAIBallistic::setCollision(bool c) {
_report_collision = c;
}
void FGAIBallistic::setExternalForce(bool f) {
_external_force = f;
}
void FGAIBallistic::setImpactReportNode(const string& path) {
if (!path.empty())
_impact_report_node = fgGetNode(path.c_str(), true);
}
@ -218,6 +225,16 @@ void FGAIBallistic::setSubmodel(const string& s) {
_submodel = s;
}
void FGAIBallistic::setForcePath(const string& p) {
_force_path = p;
if (!_force_path.empty()) {
SGPropertyNode *fnode = fgGetNode(_force_path.c_str(), 0, true );
_force_node = fnode->getChild("force-lb", 0, true);
_force_azimuth_node = fnode->getChild("force-azimuth-deg", 0, true);
_force_elevation_node = fnode->getChild("force-elevation-deg", 0, true);
}
}
void FGAIBallistic::Run(double dt) {
_life_timer += dt;
//cout << "life timer" <<_name <<" " << _life_timer << dt << endl;
@ -263,9 +280,13 @@ void FGAIBallistic::Run(double dt) {
hs = cos( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps;
}
//resolve horizontal speed into north and east components:
double speed_north_fps = cos(_azimuth / SG_RADIANS_TO_DEGREES) * hs;
double speed_east_fps = sin(_azimuth / SG_RADIANS_TO_DEGREES) * hs;
// convert horizontal speed (fps) to degrees per second
double speed_north_deg_sec = cos(hdg / SG_RADIANS_TO_DEGREES) * hs / ft_per_deg_lat;
double speed_east_deg_sec = sin(hdg / SG_RADIANS_TO_DEGREES) * hs / ft_per_deg_lon;
double speed_north_deg_sec = speed_north_fps / ft_per_deg_lat;
double speed_east_deg_sec = speed_east_fps / ft_per_deg_lon;
// if wind not required, set to zero
if (!_wind) {
@ -273,38 +294,108 @@ void FGAIBallistic::Run(double dt) {
_wind_from_east = 0;
}
// convert wind speed (fps) to degrees per second
// convert wind speed (fps) to degrees lat/lon per second
double wind_speed_from_north_deg_sec = _wind_from_north / ft_per_deg_lat;
double wind_speed_from_east_deg_sec = _wind_from_east / ft_per_deg_lon;
//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;
double force_speed_east_fps = 0;
if (_external_force) {
SGPropertyNode *n = fgGetNode(_force_path.c_str(), true);
double force_lbs = n->getChild("force-lb", 0, true)->getDoubleValue();
double 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 );
double h_force_lbs = force_lbs * cos( force_elevation_deg * SG_DEGREES_TO_RADIANS );
//acceleration = (force(lbsf)/mass(slugs))
v_force_acc_fpss = (v_force_lbs/_mass);
double h_force_acc_fpss = (h_force_lbs/_mass);
// velocity = acceleration * dt
hs_force_fps = h_force_acc_fpss * dt;
//resolve horizontal speed into north and east components:
force_speed_north_fps = cos(force_azimuth_deg * SG_DEGREES_TO_RADIANS) * hs_force_fps;
force_speed_east_fps = sin(force_azimuth_deg * SG_DEGREES_TO_RADIANS) * hs_force_fps;
// convert horizontal speed (fps) to degrees per second
double force_speed_north_deg_sec = force_speed_north_fps / ft_per_deg_lat;
double force_speed_east_deg_sec = force_speed_east_fps / ft_per_deg_lon;
//recombine the horizontal velocity components
hs = sqrt(((speed_north_fps + force_speed_north_fps) * (speed_north_fps + force_speed_north_fps))
+ ((speed_east_fps + force_speed_east_fps) * (speed_east_fps + force_speed_east_fps)));
/*cout << "mass " << _mass
<< " force " << force_lbs
<< " elevation " << force_elevation_deg
<< " azimuth " << force_azimuth_deg
<< endl; */
//cout << " _hs_force_fps " << hs_force_fps
//<< " force_speed_north_fps " << force_speed_north_fps
//<< " force_speed_east_fps " << force_speed_east_fps
//<< " speed_north_fps " << speed_north_fps
//<< " speed_east_fps " << speed_east_fps
//<< endl;
}
// set new position
pos.setLatitudeDeg( pos.getLatitudeDeg()
+ (speed_north_deg_sec - wind_speed_from_north_deg_sec) * dt );
+ (speed_north_deg_sec - wind_speed_from_north_deg_sec + force_speed_north_deg_sec) * dt );
pos.setLongitudeDeg( pos.getLongitudeDeg()
+ (speed_east_deg_sec - wind_speed_from_east_deg_sec) * dt );
+ (speed_east_deg_sec - wind_speed_from_east_deg_sec + force_speed_east_deg_sec) * dt );
// adjust vertical speed for acceleration of gravity and buoyancy
vs -= (_gravity - _buoyancy) * dt;
// adjust vertical speed for acceleration of gravity, buoyancy, and vertical force
//v_force_acc_fpss = 0;
vs -= (_gravity - _buoyancy - v_force_acc_fpss) * dt;
// adjust altitude (feet)
// adjust altitude (feet) and set new elevation
altitude_ft += vs * dt;
pos.setElevationFt(altitude_ft);
// recalculate elevation (velocity vector) if aerostabilized
/*cout << _name << ": " << "aero_stabilised " << _aero_stabilised
<< " pitch " << pitch <<" vs " << vs <<endl ;*/
// recalculate elevation and azimuth (velocity vectors)
_elevation = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
_azimuth = atan2((speed_east_fps + force_speed_east_fps),
(speed_north_fps + force_speed_north_fps)) * SG_RADIANS_TO_DEGREES;
// rationalise azimuth
if (_azimuth < 0) _azimuth += 360;
if (_aero_stabilised) { // we simulate rotational moment of inertia by using a filter
const double coeff = 0.9;
double c = dt / (coeff + dt);
//cout << "c " << c << endl;
_elevation = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
pitch = (_elevation * c) + (pitch * (1 - c));
if (_azimuth - hdg > 180) {
hdg = (_azimuth * c) - (hdg * (1 - c));
} else {
hdg = (_azimuth * c) + (hdg * (1 - c));
}
}
// recalculate total speed
speed = sqrt( vs * vs + hs * hs) / SG_KT_TO_FPS;
/*cout << "_elevation " << _elevation
<< " pitch " << pitch
<<" _yaw " << _yaw
<< " hdg " << hdg
<< " speed " << speed
<< endl;*/
//do impacts and collisions
if (_report_impact && !_impact_reported)
handle_impact();

11
src/AIModel/AIBallistic.hxx
View file

@ -68,13 +68,17 @@ public:
void setSMPath(const string&);
void setSubID(int i);
void setSubmodel(const string&);
void setExternalForce( bool f );
void setForcePath(const string&);
double _getTime() const;
virtual const char* getTypeString(void) const { return "ballistic"; }
static const double slugs_to_kgs; //conversion factor
SGPropertyNode_ptr _force_node;
SGPropertyNode_ptr _force_azimuth_node;
SGPropertyNode_ptr _force_elevation_node;
private:
double _azimuth; // degrees true
@ -94,9 +98,11 @@ private:
double _ht_agl_ft; // height above ground level
double _load_resistance; // ground load resistanc N/m^2
bool _solid; // if true ground is solid for FDMs
//double _hs_force_fps; // horizontal speed due to external force
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
SGPropertyNode_ptr _impact_report_node; // report node for impact and collision
@ -108,6 +114,7 @@ private:
string _name;
string _path;
string _submodel;
string _force_path;
void Run(double dt);
void handle_collision();

39
src/AIModel/submodel.cxx
View file

@ -184,11 +184,11 @@ void FGSubmodelMgr::update(double dt)
sm_list_iterator end = sm_list.end();
while (sm_list_itr != end) {
in_range = true;
if (id == 0) {
SG_LOG(SG_GENERAL, SG_DEBUG,
"Submodels: continuing: " << id << " name " << name );
in_range = true;
++sm_list_itr;
continue;
}
@ -198,15 +198,16 @@ void FGSubmodelMgr::update(double dt)
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 " << parent_id << ", "<< parent_lat << ", " << parent_lon << endl;
//cout << "own " << own_lat << ", " << own_lon << " range " << range_nm << endl;
//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: " << id);
"Submodels: skipping release, out of range: " << id);
in_range = false;
}
}
@ -284,6 +285,8 @@ bool FGSubmodelMgr::release(submodel *sm, double dt)
ballist->setFuseRange(sm->fuse_range);
ballist->setSubmodel(sm->submodel.c_str());
ballist->setSubID(sm->sub_id);
ballist->setExternalForce(sm->ext_force);
ballist->setForcePath(sm->force_path.c_str());
ai->attach(ballist);
if (sm->count > 0)
@ -309,14 +312,18 @@ void FGSubmodelMgr::transform(submodel *sm)
// set initial conditions
if (sm->contents_node != 0) {
// get the weight of the contents (lbs) and convert to mass (slugs)
sm->contents = sm->contents_node->getDoubleValue();
sm->contents = sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue();
//cout << "transform: contents " << sm->contents << endl;
IC.mass = (sm->weight + sm->contents) * lbs_to_slugs;
//cout << "mass inc contents" << IC.mass << endl;
// set contents to 0 in the parent
sm->contents_node->setDoubleValue(0);
} else {
sm->contents_node->getChild("level-gal_us",0,1)->setDoubleValue(0);
/*cout << "contents " << sm->contents_node->getChild("level-gal_us")->getDoubleValue()
<< " " << sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue()
<< endl;*/
} else
IC.mass = sm->weight * lbs_to_slugs;
}
// cout << "mass " << IC.mass << endl;
@ -592,7 +599,8 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
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->ext_force = entry_node->getBoolValue("external-force", false);
sm->force_path = entry_node->getStringValue("force-path", "");
//cout << "sm->contents_node " << sm->contents_node << endl;
if (sm->contents_node != 0)
sm->contents = sm->contents_node->getDoubleValue();
@ -606,6 +614,7 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
}
SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: trigger " << sm->trigger_node->getBoolValue() );
if (sm->speed_node != 0)
sm->speed = sm->speed_node->getDoubleValue();
@ -629,6 +638,10 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
sm->prop->setStringValue("submodel", submodel.c_str());
//cout << " set submodel path " << submodel << endl;
string force_path = sm->force_path;
sm->prop->setStringValue("force_path", force_path.c_str());
//cout << "set force_path " << force_path << endl;
if (sm->contents_node != 0)
sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
@ -691,6 +704,8 @@ void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable)
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->ext_force = entry_node->getBoolValue("external-force", false);
sm->force_path = entry_node->getStringValue("force-path", "");
//cout << "sm->contents_node " << sm->contents_node << endl;
if (sm->contents_node != 0)
@ -726,6 +741,10 @@ void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable)
sm->prop->setStringValue("submodel", submodel.c_str());
// cout << " set submodel path " << submodel<< endl;
string force_path = sm->force_path;
sm->prop->setStringValue("force_path", force_path.c_str());
//cout << "set force_path " << force_path << endl;
if (sm->contents_node != 0)
sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
@ -768,7 +787,7 @@ void FGSubmodelMgr::loadSubmodels()
while (submodel_iterator != submodels.end()) {
int id = (*submodel_iterator)->id;
SG_LOG(SG_GENERAL, SG_DEBUG,"after pusback "
SG_LOG(SG_GENERAL, SG_DEBUG,"after pushback "
<< " id " << id
<< " name " << (*submodel_iterator)->name
<< " sub id " << (*submodel_iterator)->sub_id);

2
src/AIModel/submodel.hxx
View file

@ -68,6 +68,8 @@ public:
double fuse_range;
string submodel;
int sub_id;
bool ext_force;
string force_path;
} submodel;
typedef struct {