Ballistics underslung load changes from Vivian Meazza
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timoore
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a1f268f2df
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2 changed files with 213 additions and 95 deletions
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@ -3,7 +3,7 @@
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// Written by David Culp, started November 2003.
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// - davidculp2@comcast.net
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//
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// With major additions by Mathias Froehlich & Vivian Meazza 2004-2007
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// With major additions by Mathias Froehlich & Vivian Meazza 2004-2008
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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@ -25,7 +25,6 @@
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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 <simgear/math/sg_geodesy.hxx>
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#include <Scenery/scenery.hxx>
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@ -33,6 +32,7 @@
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#include "AIBallistic.hxx"
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const double FGAIBallistic::slugs_to_kgs = 14.5939029372;
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const double FGAIBallistic::slugs_to_lbs = 32.1740485564;
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FGAIBallistic::FGAIBallistic() :
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FGAIBase(otBallistic),
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@ -40,7 +40,7 @@ FGAIBallistic::FGAIBallistic() :
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_aero_stabilised(false),
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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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_gravity(32.1740485564),
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_buoyancy(0),
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_random(false),
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_ht_agl_ft(0),
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@ -48,6 +48,7 @@ FGAIBallistic::FGAIBallistic() :
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_solid(false),
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_report_collision(false),
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_report_impact(false),
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_wind(true),
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_impact_report_node(fgGetNode("/ai/models/model-impact", true)),
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_external_force(false)
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@ -59,13 +60,15 @@ 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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if (!scFileNode){
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return;
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}
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FGAIBase::readFromScenario(scFileNode);
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//setPath(scFileNode->getStringValue("model", "Models/Geometry/rocket.ac"));
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setAzimuth(scFileNode->getDoubleValue("azimuth", 0.0));
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setElevation(scFileNode->getDoubleValue("elevation", 0.0));
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setElevation(scFileNode->getDoubleValue("elevation", 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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@ -80,10 +83,16 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
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setRandom(scFileNode->getBoolValue("random", false));
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setImpact(scFileNode->getBoolValue("impact", false));
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setImpactReportNode(scFileNode->getStringValue("impact-reports"));
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setName(scFileNode->getStringValue("name", "Bomb"));
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setName(scFileNode->getStringValue("name", "Rocket"));
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setFuseRange(scFileNode->getDoubleValue("fuse-range", 0.0));
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setSMPath(scFileNode->getStringValue("submodel-path", ""));
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setSubID(scFileNode->getIntValue("SubID", 0));
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setExternalForce(scFileNode->getBoolValue("external-force", false));
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setForcePath(scFileNode->getStringValue("force-path", ""));
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setForceStabilisation(scFileNode->getBoolValue("force_stabilized", false));
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setXOffset(scFileNode->getDoubleValue("x-offset", 0.0));
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setYOffset(scFileNode->getDoubleValue("y-offset", 0.0));
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setZOffset(scFileNode->getDoubleValue("z-offset", 0.0));
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}
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bool FGAIBallistic::init(bool search_in_AI_path) {
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@ -98,6 +107,7 @@ bool FGAIBallistic::init(bool 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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@ -146,6 +156,10 @@ void FGAIBallistic::setStabilisation(bool val) {
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_aero_stabilised = val;
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}
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void FGAIBallistic::setForceStabilisation(bool val) {
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_force_stabilised = val;
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}
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void FGAIBallistic::setNoRoll(bool nr) {
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no_roll = nr;
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}
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@ -216,6 +230,18 @@ void FGAIBallistic::setFuseRange(double f) {
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_fuse_range = f;
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}
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void FGAIBallistic::setXOffset(double x) {
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_x_offset = x;
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}
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void FGAIBallistic::setYOffset(double y) {
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_y_offset = y;
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}
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void FGAIBallistic::setZOffset(double z) {
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_z_offset = z;
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}
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void FGAIBallistic::setSubID(int i) {
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_subID = i;
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//cout << "sub id " << _subID << " name " << _name << endl;
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@ -235,10 +261,65 @@ void FGAIBallistic::setForcePath(const string& p) {
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}
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}
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bool FGAIBallistic::getHtAGL(){
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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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_ht_agl_ft = pos.getElevationFt() - _elevation_m * SG_METER_TO_FEET;
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if (_material) {
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const vector<string>& names = _material->get_names();
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_solid = _material->get_solid();
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_load_resistance = _material->get_load_resistance();
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_frictionFactor =_material->get_friction_factor();
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if (!names.empty())
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props->setStringValue("material/name", names[0].c_str());
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else
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props->setStringValue("material/name", "");
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/*cout << "material " << mat_name
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<< " solid " << _solid
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<< " load " << _load_resistance
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<< " frictionFactor " << frictionFactor
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<< endl;*/
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}
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return true;
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} else {
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return false;
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}
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}
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double FGAIBallistic::getRecip(double az){
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// calculate the reciprocal of the input azimuth
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if(az - 180 < 0){
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return az + 180;
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} else {
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return az - 180;
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}
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}
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void FGAIBallistic::setPitch(double e, double dt, double coeff){
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double c = dt / (coeff + dt);
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pitch = (e * c) + (pitch * (1 - c));
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}
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void FGAIBallistic::setHdg(double dt, double coeff){
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double recip = getRecip(hdg);
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double c = dt / (coeff + dt);
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//we need to ensure that we turn the short way to the new hdg
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if (_azimuth < recip && _azimuth < hdg && hdg > 180) {
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hdg = ((_azimuth + 360) * c) + (hdg * (1 - c));
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} else if (_azimuth > recip && _azimuth > hdg && hdg <= 180){
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hdg = ((_azimuth - 360) * c) + (hdg * (1 - c));
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} else {
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hdg = (_azimuth * c) + (hdg * (1 - c));
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}
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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" <<_name <<" " << _life_timer << dt << endl;
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if (_life_timer > life)
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if (_life_timer > life && life != -1)
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setDie(true);
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//randomise Cd by +- 5%
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@ -292,12 +373,11 @@ void FGAIBallistic::Run(double dt) {
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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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} else {
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_wind_from_north = manager->get_wind_from_north();
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_wind_from_east = manager->get_wind_from_east();
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}
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// convert wind speed (fps) to degrees lat/lon per second
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double wind_speed_from_north_deg_sec = _wind_from_north / ft_per_deg_lat;
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double wind_speed_from_east_deg_sec = _wind_from_east / ft_per_deg_lon;
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//calculate velocity due to external force
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double force_speed_north_deg_sec = 0;
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double force_speed_east_deg_sec = 0;
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@ -306,112 +386,151 @@ void FGAIBallistic::Run(double dt) {
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double v_force_acc_fpss = 0;
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double force_speed_north_fps = 0;
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double force_speed_east_fps = 0;
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double h_force_lbs = 0;
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double normal_force_lbs = 0;
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double normal_force_fpss = 0;
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double static_friction_force_lbs = 0;
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double dynamic_friction_force_lbs = 0;
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double friction_force_speed_north_fps = 0;
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double friction_force_speed_east_fps = 0;
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double friction_force_speed_north_deg_sec = 0;
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double friction_force_speed_east_deg_sec = 0;
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double force_elevation_deg = 0;
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if (_external_force) {
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SGPropertyNode *n = fgGetNode(_force_path.c_str(), true);
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double force_lbs = n->getChild("force-lb", 0, true)->getDoubleValue();
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double force_elevation_deg = n->getChild("force-elevation-deg", 0, true)->getDoubleValue();
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force_elevation_deg = n->getChild("force-elevation-deg", 0, true)->getDoubleValue();
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double force_azimuth_deg = n->getChild("force-azimuth-deg", 0, true)->getDoubleValue();
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//resolve force into vertical and horizontal components:
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double v_force_lbs = force_lbs * sin( force_elevation_deg * SG_DEGREES_TO_RADIANS );
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double h_force_lbs = force_lbs * cos( force_elevation_deg * SG_DEGREES_TO_RADIANS );
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h_force_lbs = force_lbs * cos( force_elevation_deg * SG_DEGREES_TO_RADIANS );
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//ground interaction
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if (getHtAGL()){
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double deadzone = 0.1;
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if ( _ht_agl_ft <= (0 + _z_offset + deadzone) && _solid){
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normal_force_lbs = (_mass * slugs_to_lbs) - v_force_lbs;
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pos.setElevationFt((_elevation_m * SG_METER_TO_FEET) + _z_offset);
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vs = 0;
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// calculate friction
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// we assume a static Coefficient of Friction (mu) of 0.62 (wood on concrete)
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double mu = 0.62;
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static_friction_force_lbs = mu * normal_force_lbs * _frictionFactor;
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//adjust horizontal force
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if (h_force_lbs <= static_friction_force_lbs && hs <= 0.1)
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h_force_lbs = hs = 0;
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else
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dynamic_friction_force_lbs = (static_friction_force_lbs * 0.75);
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//ignore wind when on the ground for now
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//TODO fix this
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_wind_from_north = 0;
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_wind_from_east = 0;
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}
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}
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//acceleration = (force(lbsf)/mass(slugs))
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v_force_acc_fpss = (v_force_lbs/_mass);
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double h_force_acc_fpss = (h_force_lbs/_mass);
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v_force_acc_fpss = v_force_lbs/_mass;
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normal_force_fpss = normal_force_lbs/_mass;
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double h_force_acc_fpss = h_force_lbs/_mass;
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double dynamic_friction_acc_fpss = dynamic_friction_force_lbs/_mass;
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// velocity = acceleration * dt
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hs_force_fps = h_force_acc_fpss * dt;
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double friction_force_fps = dynamic_friction_acc_fpss * dt;
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//resolve horizontal speed into north and east components:
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//resolve horizontal speeds into north and east components:
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force_speed_north_fps = cos(force_azimuth_deg * SG_DEGREES_TO_RADIANS) * hs_force_fps;
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force_speed_east_fps = sin(force_azimuth_deg * SG_DEGREES_TO_RADIANS) * hs_force_fps;
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double friction_force_speed_north_fps = cos(getRecip(hdg) * SG_DEGREES_TO_RADIANS) * friction_force_fps;
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double friction_force_speed_east_fps = sin(getRecip(hdg) * SG_DEGREES_TO_RADIANS) * friction_force_fps;
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// convert horizontal speed (fps) to degrees per second
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double force_speed_north_deg_sec = force_speed_north_fps / ft_per_deg_lat;
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double force_speed_east_deg_sec = force_speed_east_fps / ft_per_deg_lon;
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force_speed_north_deg_sec = force_speed_north_fps / ft_per_deg_lat;
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force_speed_east_deg_sec = force_speed_east_fps / ft_per_deg_lon;
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//recombine the horizontal velocity components
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hs = sqrt(((speed_north_fps + force_speed_north_fps) * (speed_north_fps + force_speed_north_fps))
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+ ((speed_east_fps + force_speed_east_fps) * (speed_east_fps + force_speed_east_fps)));
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/*cout << "mass " << _mass
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<< " force " << force_lbs
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<< " elevation " << force_elevation_deg
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<< " azimuth " << force_azimuth_deg
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<< endl; */
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//cout << " _hs_force_fps " << hs_force_fps
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//<< " force_speed_north_fps " << force_speed_north_fps
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//<< " force_speed_east_fps " << force_speed_east_fps
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//<< " speed_north_fps " << speed_north_fps
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//<< " speed_east_fps " << speed_east_fps
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//<< endl;
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friction_force_speed_north_deg_sec = friction_force_speed_north_fps / ft_per_deg_lat;
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friction_force_speed_east_deg_sec = friction_force_speed_east_fps / ft_per_deg_lon;
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}
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// convert wind speed (fps) to degrees lat/lon per second
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double wind_speed_from_north_deg_sec = _wind_from_north / ft_per_deg_lat;
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double 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 + force_speed_north_deg_sec) * dt );
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+ (speed_north_deg_sec - wind_speed_from_north_deg_sec
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+ force_speed_north_deg_sec + friction_force_speed_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 + force_speed_east_deg_sec) * dt );
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+ (speed_east_deg_sec - wind_speed_from_east_deg_sec
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+ force_speed_east_deg_sec + friction_force_speed_east_deg_sec) * dt );
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//recombine the horizontal velocity components
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hs = sqrt(((speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps)
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* (speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps))
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+ ((speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps)
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* (speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps)));
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if (hs <= 0.00001)
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hs = 0;
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// adjust vertical speed for acceleration of gravity, buoyancy, and vertical force
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//v_force_acc_fpss = 0;
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vs -= (_gravity - _buoyancy - v_force_acc_fpss) * dt;
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vs -= (_gravity - _buoyancy - v_force_acc_fpss - normal_force_fpss) * dt;
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if (vs <= 0.00001 && vs >= -0.00001)
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vs = 0;
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// adjust altitude (feet) and set new elevation
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altitude_ft = pos.getElevationFt();
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altitude_ft += vs * dt;
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pos.setElevationFt(altitude_ft);
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// recalculate total speed
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if ( vs == 0 && hs == 0)
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speed = 0;
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else
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speed = sqrt( vs * vs + hs * hs) / SG_KT_TO_FPS;
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// recalculate elevation and azimuth (velocity vectors)
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_elevation = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
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_azimuth = atan2((speed_east_fps + force_speed_east_fps),
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(speed_north_fps + force_speed_north_fps)) * SG_RADIANS_TO_DEGREES;
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// rationalise azimuth
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if (_azimuth < 0) _azimuth += 360;
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if (_azimuth < 0)
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_azimuth += 360;
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if (_aero_stabilised) { // we simulate rotational moment of inertia by using a filter
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const double coeff = 0.9;
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double c = dt / (coeff + dt);
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double recip;
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// calculate the recip
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if(hdg - 180 < 0){
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recip = hdg + 180;
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} else {
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recip = hdg - 180;
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}
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//cout << "recip " << recip << endl;
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// we assume a symetrical MI about the pitch and yaw axis
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pitch = (_elevation * c) + (pitch * (1 - c));
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setPitch(_elevation, dt, coeff);
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setHdg(dt, coeff);
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//we need to ensure that we turn the short way to the new hdg
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if (_azimuth < recip && _azimuth < hdg && hdg > 180) {
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//cout << "_azimuth - hdg 1 " << _azimuth << " " << hdg << endl;
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hdg = ((_azimuth + 360) * c) + (hdg * (1 - c));
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} else if (_azimuth > recip && _azimuth > hdg && hdg <= 180){
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//cout << "_azimuth - hdg 2 " << _azimuth <<" " << hdg << endl;
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hdg = ((_azimuth - 360) * c) + (hdg * (1 - c));
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} else {
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//cout << "_azimuth - hdg 3 " << _azimuth <<" " << hdg << endl;
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hdg = (_azimuth * c) + (hdg * (1 - c));
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}
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} else if (_force_stabilised) { // we simulate rotational moment of inertia by using a filter
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const double coeff = 0.9;
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double ratio = h_force_lbs/(_mass * slugs_to_lbs);
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double force_pitch = acos(ratio) * SG_RADIANS_TO_DEGREES;
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if (force_pitch <= force_elevation_deg)
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force_pitch = force_elevation_deg;
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|
||||
// we assume a symetrical MI about the pitch and yaw axis
|
||||
setPitch(force_pitch,dt, coeff);
|
||||
setHdg(dt, coeff);
|
||||
}
|
||||
|
||||
// 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();
|
||||
|
|
@ -426,37 +545,18 @@ void FGAIBallistic::Run(double dt) {
|
|||
} // end Run
|
||||
|
||||
double FGAIBallistic::_getTime() const {
|
||||
// cout << "life timer 2" << _life_timer << endl;
|
||||
return _life_timer;
|
||||
}
|
||||
|
||||
void FGAIBallistic::handle_impact() {
|
||||
double elevation_m;
|
||||
const SGMaterial* material;
|
||||
|
||||
// try terrain intersection
|
||||
if (!globals->get_scenery()->get_elevation_m(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
|
||||
10000.0, elevation_m, &material))
|
||||
if(!getHtAGL())
|
||||
return;
|
||||
|
||||
if (material) {
|
||||
const vector<string> names = material->get_names();
|
||||
string mat_name;
|
||||
|
||||
if (!names.empty())
|
||||
mat_name = names[0].c_str();
|
||||
|
||||
_solid = material->get_solid();
|
||||
_load_resistance = material->get_load_resistance();
|
||||
props->setStringValue("material/name", mat_name.c_str());
|
||||
//cout << "material " << mat_name << " solid " << _solid << " load " << _load_resistance << endl;
|
||||
}
|
||||
|
||||
_ht_agl_ft = pos.getElevationFt() - elevation_m * SG_METER_TO_FEET;
|
||||
|
||||
if (_ht_agl_ft <= 0) {
|
||||
SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: terrain impact");
|
||||
report_impact(elevation_m);
|
||||
report_impact(_elevation_m);
|
||||
_impact_reported = true;
|
||||
|
||||
// kill the AIObject if there is no subsubmodel
|
||||
|
|
|
|||
|
|
@ -23,6 +23,7 @@
|
|||
#include <math.h>
|
||||
#include <vector>
|
||||
#include <simgear/structure/SGSharedPtr.hxx>
|
||||
#include <simgear/scene/material/mat.hxx>
|
||||
|
||||
|
||||
#include "AIManager.hxx"
|
||||
|
|
@ -71,9 +72,16 @@ public:
|
|||
void setExternalForce( bool f );
|
||||
void setForcePath(const string&);
|
||||
double _getTime() const;
|
||||
bool getHtAGL();
|
||||
void setForceStabilisation( bool val );
|
||||
void setXOffset(double x);
|
||||
void setYOffset(double y);
|
||||
void setZOffset(double z);
|
||||
|
||||
|
||||
virtual const char* getTypeString(void) const { return "ballistic"; }
|
||||
static const double slugs_to_kgs; //conversion factor
|
||||
static const double slugs_to_lbs; //conversion factor
|
||||
|
||||
SGPropertyNode_ptr _force_node;
|
||||
SGPropertyNode_ptr _force_azimuth_node;
|
||||
|
|
@ -97,8 +105,13 @@ private:
|
|||
bool _random; // modifier for Cd
|
||||
double _ht_agl_ft; // height above ground level
|
||||
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
|
||||
//double _hs_force_fps; // horizontal speed due to external force
|
||||
double _elevation_m; // ground elevation in meters
|
||||
bool _force_stabilised;// if true, object will align to external force
|
||||
double _x_offset;
|
||||
double _y_offset;
|
||||
double _z_offset;
|
||||
|
||||
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
|
||||
|
|
@ -116,12 +129,17 @@ private:
|
|||
string _submodel;
|
||||
string _force_path;
|
||||
|
||||
const SGMaterial* _material;
|
||||
|
||||
void Run(double dt);
|
||||
void handle_collision();
|
||||
void handle_impact();
|
||||
|
||||
void setPitch (double e, double dt, double c);
|
||||
void setHdg (double dt, double c);
|
||||
void report_impact(double elevation, const FGAIBase *target = 0);
|
||||
|
||||
double getRecip(double az);
|
||||
|
||||
};
|
||||
|
||||
#endif // _FG_AIBALLISTIC_HXX
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue