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Add the capability of switching slaved objects at runtime.

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Signed-off-by: Vivian Meazza <vivian.meazza@lineone.net>
This commit is contained in:
Vivian Meazza 2011-05-21 17:08:36 +01:00 committed by Anders Gidenstam
parent bdeeab8453
commit a6cc487b74
2 changed files with 71 additions and 57 deletions
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124
src/AIModel/AIBallistic.cxx
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@ -182,7 +182,7 @@ void FGAIBallistic::bind() {
props->tie("sim/time/elapsed-sec",
SGRawValueMethods<FGAIBallistic,double>(*this,
&FGAIBallistic::_getTime));
&FGAIBallistic::_getTime, &FGAIBallistic::setTime));
//props->tie("mass-slug",
// SGRawValueMethods<FGAIBallistic,double>(*this,
// &FGAIBallistic::getMass));
@ -586,6 +586,7 @@ void FGAIBallistic::setHt(double h, 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;
//we need to ensure that we turn the short way to the new hdg
if (tgt_hdg < recip && tgt_hdg < hdg && hdg > 180) {
hdg = ((tgt_hdg + 360) * c) + (hdg * (1 - c));
@ -626,6 +627,9 @@ void FGAIBallistic::setTgtZOffset(double z){
void FGAIBallistic::slaveToAC(double dt){
if (invisible)
return;
double hdg, pch, rll, agl = 0;
if (_pnode != 0) {
@ -652,6 +656,7 @@ void FGAIBallistic::slaveToAC(double dt){
setPitch(pch + _pitch_offset);
setBank(rll + _roll_offset);
setOffsetVelocity(dt, pos);
setTime(0);
//update the mass (slugs)
_mass = (_weight_lb + getContents()) / slugs_to_lbs;
@ -710,23 +715,13 @@ void FGAIBallistic::Run(double dt) {
speed = 0.0;
double speed_fps = speed * SG_KT_TO_FPS;
//double hs;
// calculate vertical and horizontal speed components
if (speed == 0.0) {
hs = vs = 0.0;
} else {
vs = sin( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps;
hs = cos( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps;
}
calcVSHS();
//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 = speed_north_fps / ft_per_deg_lat;
double speed_east_deg_sec = speed_east_fps / ft_per_deg_lon;
//and convert horizontal speed (fps) to degrees per second
calcNE();
// if wind not required, set to zero
if (!_wind) {
@ -755,55 +750,61 @@ void FGAIBallistic::Run(double dt) {
double friction_force_speed_north_deg_sec = 0;
double friction_force_speed_east_deg_sec = 0;
double force_elevation_deg = 0;
double force_azimuth_deg = 0;
double force_lbs = 0;
if (_external_force) {
//cout << _name << " external force" << endl;
//cout << _name << " external force " << hdg << " az " << _azimuth << endl;
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();
force_lbs = n->getChild("force-lb", 0, true)->getDoubleValue();
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:
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){
if (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;
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);
//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;
//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;
@ -835,10 +836,10 @@ void FGAIBallistic::Run(double dt) {
double wind_speed_from_east_deg_sec = _wind_from_east / ft_per_deg_lon;
//recombine the horizontal velocity components
hs = sqrt(((speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps)
* (speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps))
+ ((speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps)
* (speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps)));
hs = sqrt(((_speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps)
* (_speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps))
+ ((_speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps)
* (_speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps)));
if (hs <= 0.00001)
hs = 0;
@ -890,8 +891,8 @@ void FGAIBallistic::Run(double dt) {
// recalculate elevation and azimuth (velocity vectors)
_elevation = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
_azimuth = atan2((speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps),
(speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps))
_azimuth = atan2((_speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps),
(_speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps))
* SG_RADIANS_TO_DEGREES;
// rationalise azimuth
@ -899,7 +900,7 @@ void FGAIBallistic::Run(double dt) {
_azimuth += 360;
if (_aero_stabilised) { // we simulate rotational moment of inertia by using a filter
//cout<< "_aero_stabilised "<< endl;
//cout<< "_aero_stabilised " << hdg << " az " << _azimuth << endl;
const double coeff = 0.9;
// we assume a symetrical MI about the pitch and yaw axis
@ -941,16 +942,20 @@ double FGAIBallistic::_getTime() const {
return _life_timer;
}
void FGAIBallistic::setTime(double s){
_life_timer = s;
}
void FGAIBallistic::handle_impact() {
// try terrain intersection
double start = pos.getElevationM() + 10;
double start = pos.getElevationM() + 100;
if(!getHtAGL(start))
return;
if (_ht_agl_ft <= 0) {
SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: terrain impact");
SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: terrain impact material" << _mat_name);
report_impact(_elevation_m);
_impact_reported = true;
@ -1004,7 +1009,8 @@ void FGAIBallistic::report_impact(double elevation, const FGAIBase *object)
else
n->setStringValue("type", "terrain");
SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: object impact" << _name << " lon " <<_impact_lon);
SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: object impact " << _name
<< " lon " <<_impact_lon << " lat " <<_impact_lat);
n->setDoubleValue("longitude-deg", _impact_lon);
n->setDoubleValue("latitude-deg", _impact_lat);
@ -1239,9 +1245,17 @@ void FGAIBallistic::setOffsetVelocity(double dt, SGGeod offsetpos) {
calcVSHS();
//calculate the bearing of the new offset position from the old
double az1, az2, dist;
geo_inverse_wgs_84(_oldoffsetpos, offsetpos, &az1, &az2, &dist);
_azimuth = az1;
//don't do this if speed is low
//cout << "speed " << speed << endl;
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 {
_azimuth = hdg;
//cout << " slow offset az " << _azimuth << endl;
}
//resolve horizontal speed into north and east components:
calcNE();

4
src/AIModel/AIBallistic.hxx
View file

@ -96,9 +96,9 @@ public:
void setParentPos();
void setOffsetPos(SGGeod pos, double heading, double pitch, double roll);
void setOffsetVelocity(double dt, SGGeod pos);
void setTime(double sec);
double _getTime() const;
double _getTime()const;
double getRelBrgHitchToUser() const;
double getElevHitchToUser() const;
double getLoadOffset() const;