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Vivian Meazza:

Browse source 
Some quite extensive changes to the AIModel code:

1. Mathias has made major changes to the AICarrier code to provide better
alignment of an aircraft on deck with the carrier - this feature is a major
improvement on the existing, but has a bug which might cause it to fail when
the computer carries out other tasks - changing window size is a known
example. This bug is outwith this code.

2.  I have made significant changes to the AIShip code to enable a ship the
turn and roll smoothly.

3. I have added some simple AI which enables the carrier to remain within,
or return to, an operating box.

4. An automated turn into wind for flying operations.

5. A simplistic implementation of TACAN within AICarrier. I am in the course
of implementing this as a generic instrument, but this is some time off
completion.
This commit is contained in:
ehofman 2005-08-16 09:37:23 +00:00
parent 7b824755ee
commit b92f034550
11 changed files with 694 additions and 104 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

3
src/AIModel/AIBase.cxx
View file

@ -56,6 +56,7 @@ FGAIBase::FGAIBase()
manager( NULL )
{
_type_str = "model";
tgt_heading = tgt_altitude = tgt_speed = 0.0;
tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
bearing = elevation = range = rdot = 0.0;
x_shift = y_shift = rotation = 0.0;
@ -343,7 +344,7 @@ FGAIBase::getCartPosAt(const Point3D& off) const
// Now transform to the wgs84 earth centeres system.
Point3D pos2(pos.lon()* SGD_DEGREES_TO_RADIANS,
pos.lat() * SGD_DEGREES_TO_RADIANS,
pos.elev() * SG_FEET_TO_METER);
pos.elev());
Point3D cartPos3D = sgGeodToCart(pos2);
sgdMat4 ecTrans;
sgdMakeCoordMat4(ecTrans, cartPos3D.x(), cartPos3D.y(), cartPos3D.z(),

6
src/AIModel/AIBase.hxx
View file

@ -91,6 +91,12 @@ typedef struct {
string pennant_number; // used by carrier objects
string acType; // used by aircraft objects
string company; // used by aircraft objects
string TACAN_channel_ID; // used by carrier objects
double max_lat; // used by carrier objects
double min_lat; // used by carrier objects
double max_long; // used by carrier objects
double min_long; // used by carrier objects
} FGAIModelEntity;

456
src/AIModel/AICarrier.cxx
View file

@ -32,18 +32,47 @@
#include "AICarrier.hxx"
#include "AIScenario.hxx"
/** Value of earth radius (meters) */
#define RADIUS_M SG_EQUATORIAL_RADIUS_M
FGAICarrier::FGAICarrier(FGAIManager* mgr) : FGAIShip(mgr) {
_type_str = "carrier";
_otype = otCarrier;
}
FGAICarrier::~FGAICarrier() {
}
void FGAICarrier::setWind_from_east(double fps) {
wind_from_east = fps;
}
void FGAICarrier::setWind_from_north(double fps) {
wind_from_north = fps;
}
void FGAICarrier::setMaxLat(double deg) {
max_lat = fabs(deg);
}
void FGAICarrier::setMinLat(double deg) {
min_lat = fabs(deg);
}
void FGAICarrier::setMaxLong(double deg) {
max_long = fabs(deg);
}
void FGAICarrier::setMinLong(double deg) {
min_long = fabs(deg);
}
void FGAICarrier::setSolidObjects(const list<string>& so) {
solid_objects = so;
}
@ -64,17 +93,28 @@ void FGAICarrier::setSign(const string& s) {
sign = s;
}
void FGAICarrier::setTACANChannelID(const string& id) {
TACAN_channel_id = id;
}
void FGAICarrier::setFlolsOffset(const Point3D& off) {
flols_off = off;
}
void FGAICarrier::getVelocityWrtEarth(sgVec3 v) {
sgCopyVec3(v, vel_wrt_earth );
void FGAICarrier::getVelocityWrtEarth(sgdVec3 v, sgdVec3 omega, sgdVec3 pivot) {
sgdCopyVec3(v, vel_wrt_earth );
sgdCopyVec3(omega, rot_wrt_earth );
sgdCopyVec3(pivot, rot_pivot_wrt_earth );
}
void FGAICarrier::update(double dt) {
UpdateFlols(dt);
FGAIShip::update(dt);
// For computation of rotation speeds we just use finite differences her.
// That is perfectly valid since this thing is not driven by accelerations
// but by just apply discrete changes at its velocity variables.
double old_hdg = hdg;
double old_roll = roll;
double old_pitch = pitch;
// Update the velocity information stored in those nodes.
double v_north = 0.51444444*speed*cos(hdg * SGD_DEGREES_TO_RADIANS);
@ -84,12 +124,105 @@ void FGAICarrier::update(double dt) {
double cos_lat = cos(pos.lat() * SGD_DEGREES_TO_RADIANS);
double sin_lon = sin(pos.lon() * SGD_DEGREES_TO_RADIANS);
double cos_lon = cos(pos.lon() * SGD_DEGREES_TO_RADIANS);
sgSetVec3( vel_wrt_earth,
double sin_roll = sin(roll * SGD_DEGREES_TO_RADIANS);
double cos_roll = cos(roll * SGD_DEGREES_TO_RADIANS);
double sin_pitch = sin(pitch * SGD_DEGREES_TO_RADIANS);
double cos_pitch = cos(pitch * SGD_DEGREES_TO_RADIANS);
double sin_hdg = sin(hdg * SGD_DEGREES_TO_RADIANS);
double cos_hdg = cos(hdg * SGD_DEGREES_TO_RADIANS);
// Transform this back the the horizontal local frame.
sgdMat3 trans;
// set up the transform matrix
trans[0][0] = cos_pitch*cos_hdg;
trans[0][1] = sin_roll*sin_pitch*cos_hdg - cos_roll*sin_hdg;
trans[0][2] = cos_roll*sin_pitch*cos_hdg + sin_roll*sin_hdg;
trans[1][0] = cos_pitch*sin_hdg;
trans[1][1] = sin_roll*sin_pitch*sin_hdg + cos_roll*cos_hdg;
trans[1][2] = cos_roll*sin_pitch*sin_hdg - sin_roll*cos_hdg;
trans[2][0] = -sin_pitch;
trans[2][1] = sin_roll*cos_pitch;
trans[2][2] = cos_roll*cos_pitch;
sgdSetVec3( vel_wrt_earth,
- cos_lon*sin_lat*v_north - sin_lon*v_east,
- sin_lon*sin_lat*v_north + cos_lon*v_east,
cos_lat*v_north );
sgGeodToCart(pos.lat() * SGD_DEGREES_TO_RADIANS,
pos.lon() * SGD_DEGREES_TO_RADIANS,
pos.elev(), rot_pivot_wrt_earth);
}
// Now update the position and heading. This will compute new hdg and
// roll values required for the rotation speed computation.
FGAIShip::update(dt);
//automatic turn into wind with a target wind of 25 kts otd
if(turn_to_launch_hdg){
TurnToLaunch();
} else if(OutsideBox() || returning) {// check that the carrier is inside the operating box
ReturnToBox();
} else { //if(!returning
TurnToBase();
} //end if
// Only change these values if we are able to compute them safely
if (dt < DBL_MIN)
sgdSetVec3( rot_wrt_earth, 0.0, 0.0, 0.0);
else {
// Compute the change of the euler angles.
double hdg_dot = SGD_DEGREES_TO_RADIANS * (hdg-old_hdg)/dt;
// Allways assume that the movement was done by the shorter way.
if (hdg_dot < - SGD_DEGREES_TO_RADIANS * 180)
hdg_dot += SGD_DEGREES_TO_RADIANS * 360;
if (hdg_dot > SGD_DEGREES_TO_RADIANS * 180)
hdg_dot -= SGD_DEGREES_TO_RADIANS * 360;
double pitch_dot = SGD_DEGREES_TO_RADIANS * (pitch-old_pitch)/dt;
// Allways assume that the movement was done by the shorter way.
if (pitch_dot < - SGD_DEGREES_TO_RADIANS * 180)
pitch_dot += SGD_DEGREES_TO_RADIANS * 360;
if (pitch_dot > SGD_DEGREES_TO_RADIANS * 180)
pitch_dot -= SGD_DEGREES_TO_RADIANS * 360;
double roll_dot = SGD_DEGREES_TO_RADIANS * (roll-old_roll)/dt;
// Allways assume that the movement was done by the shorter way.
if (roll_dot < - SGD_DEGREES_TO_RADIANS * 180)
roll_dot += SGD_DEGREES_TO_RADIANS * 360;
if (roll_dot > SGD_DEGREES_TO_RADIANS * 180)
roll_dot -= SGD_DEGREES_TO_RADIANS * 360;
/*cout << "euler derivatives = "
<< roll_dot << " " << pitch_dot << " " << hdg_dot << endl;*/
// Now Compute the rotation vector in the carriers coordinate frame
// originating from the euler angle changes.
sgdVec3 body;
body[0] = roll_dot - hdg_dot*sin_pitch;
body[1] = pitch_dot*cos_roll + hdg_dot*sin_roll*cos_pitch;
body[2] = -pitch_dot*sin_roll + hdg_dot*cos_roll*cos_pitch;
// Transform that back to the horizontal local frame.
sgdVec3 hl;
hl[0] = body[0]*trans[0][0] + body[1]*trans[0][1] + body[2]*trans[0][2];
hl[1] = body[0]*trans[1][0] + body[1]*trans[1][1] + body[2]*trans[1][2];
hl[2] = body[0]*trans[2][0] + body[1]*trans[2][1] + body[2]*trans[2][2];
// Now we need to project out rotation components ending in speeds in y
// direction in the hoirizontal local frame.
hl[1] = 0;
// Transform that to the earth centered frame.
sgdSetVec3(rot_wrt_earth,
- cos_lon*sin_lat*hl[0] - sin_lon*hl[1] - cos_lat*cos_lon*hl[2],
- sin_lon*sin_lat*hl[0] + cos_lon*hl[1] - cos_lat*sin_lon*hl[2],
cos_lat*hl[0] - sin_lat*hl[2]);
}
UpdateWind(dt);
UpdateTACAN(dt);
UpdateFlols(trans);
} //end update
bool FGAICarrier::init() {
if (!FGAIShip::init())
@ -111,36 +244,103 @@ bool FGAICarrier::init() {
mark_cat(sel, catapult_objects);
mark_solid(sel, solid_objects);
_longitude_node = fgGetNode("/position/longitude-deg", true);
_latitude_node = fgGetNode("/position/latitude-deg", true);
_altitude_node = fgGetNode("/position/altitude-ft", true);
_dme_freq_node = fgGetNode("/instrumentation/dme/frequencies/selected-mhz", true);
_surface_wind_from_deg_node =
fgGetNode("/environment/config/boundary/entry[0]/wind-from-heading-deg", true);
_surface_wind_speed_node =
fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt", true);
turn_to_launch_hdg = false;
returning = false;
initialpos = pos;
base_course = hdg;
base_speed = speed;
return true;
}
void FGAICarrier::bind() {
FGAIShip::bind();
props->untie("velocities/true-airspeed-kt");
props->tie("controls/flols/source-lights",
SGRawValuePointer<int>(&source));
props->tie("controls/flols/distance-m",
SGRawValuePointer<double>(&dist));
props->tie("controls/flols/angle-degs",
SGRawValuePointer<double>(&angle));
props->tie("controls/turn-to-launch-hdg",
SGRawValuePointer<bool>(&turn_to_launch_hdg));
props->tie("controls/in-to-wind",
SGRawValuePointer<bool>(&turn_to_launch_hdg));
props->tie("controls/base-course-deg",
SGRawValuePointer<double>(&base_course));
props->tie("controls/base-speed-kts",
SGRawValuePointer<double>(&base_speed));
props->tie("controls/start-pos-lat-deg",
SGRawValuePointer<double>(&initialpos[1]));
props->tie("controls/start-pos-long-deg",
SGRawValuePointer<double>(&initialpos[0]));
props->tie("velocities/speed-kts",
SGRawValuePointer<double>(&speed));
props->tie("environment/surface-wind-speed-true-kts",
SGRawValuePointer<double>(&wind_speed_kts));
props->tie("environment/surface-wind-from-true-degs",
SGRawValuePointer<double>(&wind_from_deg));
props->tie("environment/rel-wind-from-degs",
SGRawValuePointer<double>(&rel_wind_from_deg));
props->tie("environment/rel-wind-from-carrier-hdg-degs",
SGRawValuePointer<double>(&rel_wind));
props->tie("environment/rel-wind-speed-kts",
SGRawValuePointer<double>(&rel_wind_speed_kts));
props->tie("controls/flols/wave-off-lights",
SGRawValuePointer<bool>(&wave_off_lights));
props->tie("instrumentation/TACAN/bearing-true-deg",
SGRawValuePointer<double>(&bearing));
props->tie("instrumentation/TACAN/range-nm",
SGRawValuePointer<double>(&range));
props->setBoolValue("controls/flols/cut-lights", false);
props->setBoolValue("controls/flols/wave-off-lights", false);
props->setBoolValue("controls/flols/cond-datum-lights", true);
props->setBoolValue("controls/crew", false);
props->setStringValue("instrumentation/TACAN/channel-ID", TACAN_channel_id.c_str());
props->setStringValue("sign", sign.c_str());
}
void FGAICarrier::unbind() {
FGAIShip::unbind();
props->untie("velocities/true-airspeed-kt");
props->untie("controls/flols/source-lights");
props->untie("controls/flols/distance-m");
props->untie("controls/flols/angle-degs");
props->untie("controls/turn-to-launch-hdg");
props->untie("velocities/speed-kts");
props->untie("environment/wind-speed-true-kts");
props->untie("environment/wind-from-true-degs");
props->untie("environment/rel-wind-from-degs");
props->untie("environment/rel-wind-speed-kts");
props->untie("controls/flols/wave-off-lights");
props->untie("instrumentation/TACAN/bearing-true-deg");
props->untie("instrumentation/TACAN/range-nm");
props->untie("instrumentation/TACAN/channel-ID");
}
bool FGAICarrier::getParkPosition(const string& id, Point3D& geodPos,
double& hdng, sgdVec3 uvw)
{
// FIXME: does not yet cover rotation speeds.
list<ParkPosition>::iterator it = ppositions.begin();
while (it != ppositions.end()) {
// Take either the specified one or the first one ...
@ -341,16 +541,11 @@ bool FGAICarrier::mark_cat(ssgEntity* e, const list<string>& cat_objects, bool m
return found;
}
void FGAICarrier::UpdateFlols( double dt) {
void FGAICarrier::UpdateFlols(sgdMat3 trans) {
float trans[3][3];
float in[3];
float out[3];
float cosRx, sinRx;
float cosRy, sinRy;
float cosRz, sinRz;
double flolsXYZ[3], eyeXYZ[3];
double lat, lon, alt;
Point3D eyepos;
@ -386,29 +581,6 @@ void FGAICarrier::UpdateFlols( double dt) {
in[1] = flols_off.y();
in[2] = flols_off.z();
// pre-process the trig functions
cosRx = cos(roll * SG_DEGREES_TO_RADIANS);
sinRx = sin(roll * SG_DEGREES_TO_RADIANS);
cosRy = cos(pitch * SG_DEGREES_TO_RADIANS);
sinRy = sin(pitch * SG_DEGREES_TO_RADIANS);
cosRz = cos(hdg * SG_DEGREES_TO_RADIANS);
sinRz = sin(hdg * 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];
@ -519,4 +691,216 @@ void FGAICarrier::UpdateFlols( double dt) {
}
} // end updateflols
// find relative wind
void FGAICarrier::UpdateWind( double dt) {
double recip;
//calculate the reciprocal hdg
if (hdg >= 180){
recip = hdg - 180;
}
else{
recip = hdg + 180;
}
//cout <<" heading: " << hdg << "recip: " << recip << endl;
//get the surface wind speed and direction
wind_from_deg = _surface_wind_from_deg_node->getDoubleValue();
wind_speed_kts = _surface_wind_speed_node->getDoubleValue();
//calculate the surface wind speed north and east in kts
double wind_speed_from_north_kts = cos( wind_from_deg / SGD_RADIANS_TO_DEGREES )* wind_speed_kts ;
double wind_speed_from_east_kts = sin( wind_from_deg / SGD_RADIANS_TO_DEGREES )* wind_speed_kts ;
//calculate the carrier speed north and east in kts
double speed_north_kts = cos( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
double speed_east_kts = sin( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
//calculate the relative wind speed north and east in kts
double rel_wind_speed_from_east_kts = wind_speed_from_east_kts + speed_east_kts;
double rel_wind_speed_from_north_kts = wind_speed_from_north_kts + speed_north_kts;
//combine relative speeds north and east to get relative windspeed in kts
rel_wind_speed_kts = sqrt((rel_wind_speed_from_east_kts * rel_wind_speed_from_east_kts)
+ (rel_wind_speed_from_north_kts * rel_wind_speed_from_north_kts));
//calculate the relative wind direction
rel_wind_from_deg = atan(rel_wind_speed_from_east_kts/rel_wind_speed_from_north_kts)
* SG_RADIANS_TO_DEGREES;
// rationalise the output
if (rel_wind_speed_from_north_kts <= 0){
rel_wind_from_deg = 180 + rel_wind_from_deg;
}
else{
if(rel_wind_speed_from_east_kts <= 0){
rel_wind_from_deg = 360 + rel_wind_from_deg;
}
}
//calculate rel wind
rel_wind = rel_wind_from_deg - hdg ;
if (rel_wind > 180) rel_wind -= 360;
//switch the wave-off lights
if (InToWind()){
wave_off_lights = false;
}else{
wave_off_lights = true;
}
cout << "rel wind: " << rel_wind << endl;
}// end update wind
void FGAICarrier::TurnToLaunch(){
//calculate tgt speed
double tgt_speed = 25 - wind_speed_kts;
if (tgt_speed < 10) tgt_speed = 10;
//turn the carrier
FGAIShip::TurnTo(wind_from_deg);
FGAIShip::AccelTo(tgt_speed);
} // end turn to launch
void FGAICarrier::TurnToBase(){
//turn the carrier
FGAIShip::TurnTo(base_course);
FGAIShip::AccelTo(base_speed);
} // end turn to base
void FGAICarrier::ReturnToBox(){
double course, distance;
//get the carrier position
carrierpos = pos;
//cout << "lat: " << carrierpos[1] << " lon: " << carrierpos[0] << endl;
//calculate the bearing and range of the initial position from the carrier
geo_inverse_wgs_84(carrierpos[2],
carrierpos[1],
carrierpos[0],
initialpos[1],
initialpos[0],
&course, &az2, &distance);
distance *= SG_METER_TO_NM;
cout << "return course: " << course << " distance: " << distance << endl;
//turn the carrier
FGAIShip::TurnTo(course);
FGAIShip::AccelTo(base_speed);
if (distance >= 1 ){
returning = true;
}else{
returning = false;
}
} // end turn to base
void FGAICarrier::UpdateTACAN(double dt){ //update the TACAN
//cout << "TACAN: " << TACAN_channel_id << endl;
double max_range_nm = 100; //nm
double dme_freq = _dme_freq_node->getDoubleValue();
//cout << "dme_freq: " << dme_freq << endl;
if (TACAN_channel_id == "017X"){
//get the aircraft position
double longitude_deg = _longitude_node->getDoubleValue();
double latitude_deg = _latitude_node->getDoubleValue();
double altitude_m = _altitude_node->getDoubleValue() * SG_FEET_TO_METER;
//get the carrier position
carrierpos = pos;
//cout << "lat: " << carrierpos[1] << " lon: " << carrierpos[0] << endl;
//calculate the bearing and range of the carrier from the aircraft
geo_inverse_wgs_84(altitude_m,
latitude_deg,
longitude_deg,
carrierpos[1],
carrierpos[0],
&bearing, &az2, &range);
range *= SG_METER_TO_NM;
double aircraft_horizon_nm = Horizon(altitude_m) * SG_METER_TO_NM;
double carrier_horizon_nm = Horizon(50) * SG_METER_TO_NM;
double horizon_nm = aircraft_horizon_nm + carrier_horizon_nm;
if (range > horizon_nm || range > max_range_nm) {
range = 0;
bearing = 0 ;
}
/*cout << "bearing: " << bearing << " range: " << range << " altitude: " << altitude_m
<< " horizon: " << horizon_nm << endl; */
} else {
range = 0;
bearing = 0 ;
} // end if
}// end update TACAN
bool FGAICarrier::OutsideBox(){ //returns true if the carrier is outside operating box
if ( max_lat == 0 && min_lat == 0 && max_long == 0 && min_long == 0) {
SG_LOG(SG_GENERAL, SG_INFO,"AICarrier: No Operating Box defined" );
return false;
}
if (initialpos[1] >= 0){//northern hemisphere
if (pos[1] >= initialpos[1] + max_lat) {return true;}
else if (pos[1] <= initialpos[1] - min_lat) {return true;}
}else{ //southern hemisphere
if (pos[1] <= initialpos[1] - max_lat) {return true;}
else if (pos[1] >= initialpos[1] + min_lat) {return true;}
}
if (initialpos[0] >=0) {//eastern hemisphere
if (pos[0] >= initialpos[0] + max_long) {return true;}
else if (pos[0] <= initialpos[0] - min_long) {return true;}
}else{ //western hemisphere
if (pos[0] <= initialpos[0] - max_long) {return true;}
else if (pos[0] >= initialpos[0] + min_long) {return true;}
}
SG_LOG(SG_GENERAL, SG_INFO,"AICarrier: Inside Operating Box" );
return false;
} // end OutsideBox
// return the distance to the horizon, given the altitude and the radius of the earth
float FGAICarrier::Horizon(float h) { return RADIUS_M * acos(RADIUS_M / (RADIUS_M + h)); }
bool FGAICarrier::InToWind(){
// test
if ( fabs(rel_wind) < 5 ) return true;
return false;
} //end InToWind
int FGAICarrierHardware::unique_id = 1;

65
src/AIModel/AICarrier.hxx
View file

@ -30,6 +30,10 @@ SG_USING_STD(string);
SG_USING_STD(list);
#include "AIShip.hxx"
#include "AIManager.hxx"
#include "AIBase.hxx"
class FGAIManager;
class FGAICarrier;
@ -81,11 +85,27 @@ public:
void setParkingPositions(const list<ParkPosition>& p);
void setSign(const string& );
void setFlolsOffset(const Point3D& off);
void setTACANChannelID(const string &);
void getVelocityWrtEarth(sgVec3 v);
void getVelocityWrtEarth(sgdVec3 v, sgdVec3 omega, sgdVec3 pivot);
virtual void bind();
virtual void unbind();
void UpdateFlols ( double dt );
void UpdateFlols ( sgdMat3 trans );
void UpdateWind ( double dt );
void UpdateTACAN( double dt );
void setWind_from_east( double fps );
void setWind_from_north( double fps );
void setMaxLat( double deg );
void setMinLat( double deg );
void setMaxLong( double deg );
void setMinLong( double deg );
void TurnToLaunch();
void TurnToBase();
void ReturnToBox();
float Horizon(float h);
double TACAN_freq;
bool OutsideBox();
bool init();
@ -96,9 +116,15 @@ private:
void update(double dt);
void mark_nohot(ssgEntity*);
bool mark_wires(ssgEntity*, const list<string>&, bool = false);
bool mark_cat(ssgEntity*, const list<string>&, bool = false);
bool mark_solid(ssgEntity*, const list<string>&, bool = false);
double wind_from_east; // fps
double wind_from_north; // fps
double rel_wind_speed_kts;
double rel_wind_from_deg;
list<string> solid_objects; // List of solid object names
list<string> wire_objects; // List of wire object names
@ -107,7 +133,10 @@ private:
string sign; // The sign of this carrier.
// Velocity wrt earth.
sgVec3 vel_wrt_earth;
sgdVec3 vel_wrt_earth;
sgdVec3 rot_wrt_earth;
sgdVec3 rot_pivot_wrt_earth;
// these describe the flols
Point3D flols_off;
@ -115,6 +144,36 @@ private:
double dist; // the distance of the eyepoint from the flols
double angle;
int source; // the flols light which is visible at the moment
bool wave_off_lights;
// these are for manoeuvring the carrier
Point3D carrierpos;
Point3D initialpos;
double wind_speed_from_north_kts ;
double wind_speed_from_east_kts ;
double wind_speed_kts; //true wind speed
double wind_from_deg; //true wind direction
double rel_wind;
double max_lat, min_lat, max_long, min_long;
double base_course, base_speed;
bool turn_to_launch_hdg;
bool returning; // set if the carrier is returning to an operating box
bool InToWind(); // set if the carrier is in to wind
SGPropertyNode_ptr _longitude_node;
SGPropertyNode_ptr _latitude_node;
SGPropertyNode_ptr _altitude_node;
SGPropertyNode_ptr _surface_wind_from_deg_node;
SGPropertyNode_ptr _surface_wind_speed_node;
// these are for TACAN
SGPropertyNode_ptr _dme_freq_node;
double bearing, az2, range;
string TACAN_channel_id;
};
#endif // _FG_AICARRIER_HXX

22
src/AIModel/AIManager.cxx
View file

@ -75,6 +75,9 @@ void FGAIManager::init() {
return;
wind_from_down_node = fgGetNode("/environment/wind-from-down-fps", true);
wind_from_east_node = fgGetNode("/environment/wind-from-east-fps",true);
wind_from_north_node = fgGetNode("/environment/wind-from-north-fps",true);
user_latitude_node = fgGetNode("/position/latitude-deg", true);
user_longitude_node = fgGetNode("/position/longitude-deg", true);
user_altitude_node = fgGetNode("/position/altitude-ft", true);
@ -209,7 +212,7 @@ FGAIManager::createShip( FGAIModelEntity *entity ) {
ai_ship->setAltitude(entity->altitude);
ai_ship->setLongitude(entity->longitude);
ai_ship->setLatitude(entity->latitude);
ai_ship->setBank(entity->rudder);
ai_ship->setRudder(entity->rudder);
ai_ship->setName(entity->name);
if ( entity->fp ) {
@ -236,7 +239,7 @@ FGAIManager::createCarrier( FGAIModelEntity *entity ) {
ai_carrier->setAltitude(entity->altitude);
ai_carrier->setLongitude(entity->longitude);
ai_carrier->setLatitude(entity->latitude);
ai_carrier->setBank(entity->rudder);
ai_carrier->setRudder(entity->rudder);
ai_carrier->setSolidObjects(entity->solid_objects);
ai_carrier->setWireObjects(entity->wire_objects);
ai_carrier->setCatapultObjects(entity->catapult_objects);
@ -245,6 +248,14 @@ FGAIManager::createCarrier( FGAIModelEntity *entity ) {
ai_carrier->setSign(entity->pennant_number);
ai_carrier->setName(entity->name);
ai_carrier->setFlolsOffset(entity->flols_offset);
ai_carrier->setWind_from_east(entity->wind_from_east);
ai_carrier->setWind_from_north(entity->wind_from_north);
ai_carrier->setTACANChannelID(entity->TACAN_channel_ID);
ai_carrier->setMaxLat(entity->max_lat);
ai_carrier->setMinLat(entity->min_lat);
ai_carrier->setMaxLong(entity->max_long);
ai_carrier->setMinLong(entity->min_long);
if ( entity->fp ) {
ai_carrier->setFlightPlan(entity->fp);
@ -366,6 +377,10 @@ void FGAIManager::fetchUserState( void ) {
user_pitch = user_pitch_node->getDoubleValue();
user_yaw = user_yaw_node->getDoubleValue();
user_speed = user_speed_node->getDoubleValue() * 0.592484;
wind_from_east = wind_from_east_node->getDoubleValue();
wind_from_north = wind_from_north_node->getDoubleValue();
}
@ -458,6 +473,9 @@ bool FGAIManager::getStartPosition(const string& id, const string& pid,
ai_carrier->setLatitude(en->latitude);
ai_carrier->setBank(en->rudder);
ai_carrier->setParkingPositions(en->ppositions);
ai_carrier->setWind_from_east(en->wind_from_east);
ai_carrier->setWind_from_north(en->wind_from_north);
//ai_carrier->setTACANFreq(en->TACAN_freq);
if (ai_carrier->getParkPosition(pid, geodPos, heading, uvw)) {
delete ai_carrier;

6
src/AIModel/AIManager.hxx
View file

@ -99,6 +99,8 @@ public:
inline double get_user_pitch() { return user_pitch; }
inline double get_user_yaw() { return user_yaw; }
inline double get_user_speed() {return user_speed; }
inline double get_wind_from_east() {return wind_from_east; }
inline double get_wind_from_north() {return wind_from_north; }
inline int getNum( FGAIBase::object_type ot ) {
return (0 < ot && ot < FGAIBase::MAX_OBJECTS) ? numObjects[ot] : numObjects[0];
@ -126,6 +128,8 @@ private:
SGPropertyNode* user_pitch_node;
SGPropertyNode* user_yaw_node;
SGPropertyNode* user_speed_node;
SGPropertyNode* wind_from_east_node ;
SGPropertyNode* wind_from_north_node ;
string scenario_filename;
@ -136,6 +140,8 @@ private:
double user_pitch;
double user_yaw;
double user_speed;
double wind_from_east;
double wind_from_north;
double _dt;
int dt_count;
void fetchUserState( void );

8
src/AIModel/AIScenario.cxx
View file

@ -47,6 +47,7 @@ FGAIScenario::FGAIScenario(const string &filename)
path.append( ("/Data/AI/" + filename + ".xml").c_str() );
SGPropertyNode root;
readProperties(path.str(), &root);
// cout <<"path " << path.str() << endl;
@ -84,7 +85,7 @@ FGAIScenario::FGAIScenario(const string &filename)
en->roll = entry_node->getDoubleValue("roll", 0.0);
en->azimuth = entry_node->getDoubleValue("azimuth", 0.0);
en->elevation = entry_node->getDoubleValue("elevation", 0.0);
en->rudder = entry_node->getDoubleValue("rudder", 0.0);
en->rudder = entry_node->getFloatValue("rudder", 0.0);
en->strength = entry_node->getDoubleValue("strength-fps", 8.0);
en->strength = entry_node->getDoubleValue("strength-norm", 1.0);
en->diameter = entry_node->getDoubleValue("diameter-ft", 0.0);
@ -98,12 +99,17 @@ FGAIScenario::FGAIScenario(const string &filename)
en->cd = entry_node->getDoubleValue("cd", 0.029);
en->mass = entry_node->getDoubleValue("mass", 0.007);
en->radius = entry_node->getDoubleValue("turn-radius-ft", 2000);
en->TACAN_channel_ID= entry_node->getStringValue("TACAN-channel-ID", "017X");
en->name = entry_node->getStringValue("name", "");
en->pennant_number = entry_node->getStringValue("pennant-number", "");
en->wire_objects = getAllStringNodeVals("wire", entry_node);
en->catapult_objects = getAllStringNodeVals("catapult", entry_node);
en->solid_objects = getAllStringNodeVals("solid", entry_node);
en->ppositions = getAllOffsetNodeVals("parking-pos", entry_node);
en->max_lat = entry_node->getDoubleValue("max-lat", 0);
en->min_lat = entry_node->getDoubleValue("min-lat",0);
en->max_long = entry_node->getDoubleValue("max-long", 0);
en->min_long = entry_node->getDoubleValue("min-long", 0);
list<ParkPosition> flolspos = getAllOffsetNodeVals("flols-pos", entry_node);
en->flols_offset = flolspos.front().offset;

117
src/AIModel/AIShip.cxx
View file

@ -32,8 +32,6 @@ FGAIShip::FGAIShip(FGAIManager* mgr) {
_type_str = "ship";
_otype = otShip;
hdg_lock = false;
rudder = 0.0;
}
FGAIShip::~FGAIShip() {
@ -41,6 +39,16 @@ FGAIShip::~FGAIShip() {
bool FGAIShip::init() {
hdg_lock = false;
rudder = 0.0;
no_roll = false;
rudder_constant = 0.5;
roll_constant = 0.001;
speed_constant = 0.05;
hdg_constant = 0.01;
return FGAIBase::init();
}
@ -48,7 +56,21 @@ void FGAIShip::bind() {
FGAIBase::bind();
props->tie("surface-positions/rudder-pos-deg",
SGRawValuePointer<double>(&rudder));
SGRawValuePointer<float>(&rudder));
props->tie("controls/heading-lock",
SGRawValuePointer<bool>(&hdg_lock));
props->tie("controls/tgt-speed-kts",
SGRawValuePointer<double>(&tgt_speed));
props->tie("controls/tgt-heading-degs",
SGRawValuePointer<double>(&tgt_heading));
props->tie("controls/constants/rudder",
SGRawValuePointer<double>(&rudder_constant));
props->tie("controls/constants/roll",
SGRawValuePointer<double>(&roll_constant));
props->tie("controls/constants/rudder",
SGRawValuePointer<double>(&rudder_constant));
props->tie("controls/constants/speed",
SGRawValuePointer<double>(&speed_constant));
props->setStringValue("name", name.c_str());
}
@ -56,6 +78,13 @@ void FGAIShip::bind() {
void FGAIShip::unbind() {
FGAIBase::unbind();
props->untie("surface-positions/rudder-pos-deg");
props->untie("controls/heading-lock");
props->untie("controls/tgt-speed-kts");
props->untie("controls/tgt-heading-degs");
props->untie("controls/constants/roll");
props->untie("controls/constants/rudder");
props->untie("controls/constants/speed");
}
void FGAIShip::update(double dt) {
@ -77,12 +106,14 @@ void FGAIShip::Run(double dt) {
double speed_east_deg_sec;
double dist_covered_ft;
double alpha;
double rudder_limit;
double raw_roll;
// adjust speed
double speed_diff = tgt_speed - speed;
if (fabs(speed_diff) > 0.1) {
if (speed_diff > 0.0) speed += 0.1 * dt;
if (speed_diff < 0.0) speed -= 0.1 * dt;
if (speed_diff > 0.0) speed += speed_constant * dt;
if (speed_diff < 0.0) speed -= speed_constant * dt;
}
// convert speed to degrees per second
@ -97,7 +128,7 @@ void FGAIShip::Run(double dt) {
// adjust heading based on current rudder angle
if (rudder != 0.0) {
if (rudder <= -0.25 or rudder >= 0.25) {
/* turn_radius_ft = 0.088362 * speed * speed
/ tan( fabs(rudder) / SG_RADIANS_TO_DEGREES );
turn_circum_ft = SGD_2PI * turn_radius_ft;
@ -105,32 +136,46 @@ void FGAIShip::Run(double dt) {
alpha = dist_covered_ft / turn_circum_ft * 360.0;*/
if (turn_radius_ft <= 0) turn_radius_ft = 0; // don't allow nonsense values
// cout << "speed " << speed << " turn radius " << turn_radius_ft << endl;
if (rudder > 45) rudder = 45;
if (rudder < -45) rudder = -45;
// adjust turn radius for speed. The equation is very approximate.
sp_turn_radius_ft = 10 * pow ((speed - 15),2) + turn_radius_ft;
// cout << "speed " << speed << " speed turn radius " << sp_turn_radius_ft << endl;
// cout << " speed turn radius " << sp_turn_radius_ft ;
// adjust turn radius for rudder angle. The equation is even more approximate.
rd_turn_radius_ft = -130 * (rudder - 15) + sp_turn_radius_ft;
// cout << "rudder " << rudder << " rudder turn radius " << rd_turn_radius_ft << endl;
float a = 19;
float b = -0.2485;
float c = 0.543;
rd_turn_radius_ft = (a * exp(b * fabs(rudder)) + c) * sp_turn_radius_ft;
// cout <<" rudder turn radius " << rd_turn_radius_ft << endl;
// calculate the angle, alpha, subtended by the arc traversed in time dt
alpha = ((speed * 1.686 * dt)/rd_turn_radius_ft) * SG_RADIANS_TO_DEGREES;
// make sure that alpha is applied in the right direction
// make sure that alpha is applied in the right direction
hdg += alpha * sign( rudder );
if ( hdg > 360.0 ) hdg -= 360.0;
if ( hdg < 0.0) hdg += 360.0;
//adjust roll for rudder angle and speed
roll = - ( speed / 2 - rudder / 6 );
// cout << " hdg " << hdg << "roll "<< roll << endl;
//adjust roll for rudder angle and speed. Another bit of voodoo
raw_roll = -0.0166667 * speed * rudder;
}
else
{
// rudder angle is 0
raw_roll = 0;
// cout << " roll "<< roll << endl;
}
//low pass filter
roll = (raw_roll * roll_constant) + (roll * (1 - roll_constant));
cout << " rudder: " << rudder << " raw roll: "<< raw_roll<<" roll: " << roll ;
cout << " hdg: " << hdg << endl ;
// adjust target rudder angle if heading lock engaged
if (hdg_lock) {
@ -144,24 +189,43 @@ void FGAIShip::Run(double dt) {
} else {
rudder_sense = -1.0;
}
if (diff < 30) tgt_roll = diff * rudder_sense;
if (diff < 15){
tgt_rudder = diff * rudder_sense;
}
else
{
tgt_rudder = 45 * rudder_sense;
}
}
// adjust rudder angle
double rudder_diff = tgt_roll - rudder;
if (fabs(rudder_diff) > 0.1) {
if (rudder_diff > 0.0) rudder += 5.0 * dt;
if (rudder_diff < 0.0) rudder -= 5.0 * dt;
double rudder_diff = tgt_rudder - rudder;
// set the rudder limit by speed
if (speed <= 40 ){
rudder_limit = (-0.825 * speed) + 35;
}else{
rudder_limit = 2;
}
if (fabs(rudder_diff) > 0.1) {
if (rudder_diff > 0.0){
rudder += rudder_constant * dt;
if (rudder > rudder_limit) rudder = rudder_limit;// apply the rudder limit
} else if (rudder_diff < 0.0){
rudder -= rudder_constant * dt;
if (rudder < -rudder_limit) rudder = -rudder_limit;
}
}
}//end function
void FGAIShip::AccelTo(double speed) {
tgt_speed = speed;
}
void FGAIShip::PitchTo(double angle) {
tgt_pitch = angle;
}
@ -204,3 +268,10 @@ void FGAIShip::ProcessFlightPlan(double dt) {
// not implemented yet
}
void FGAIShip::setRudder(float r) {
rudder = r;
}
void FGAIShip::setRoll(double rl) {
roll = rl;
}

8
src/AIModel/AIShip.hxx
View file

@ -37,6 +37,9 @@ public:
void update(double dt);
void setFlightPlan(FGAIFlightPlan* f);
void setName(const string&);
void setRudder(float r);
void setRoll(double rl);
void ProcessFlightPlan( double dt );
void AccelTo(double speed);
@ -45,6 +48,7 @@ public:
void YawTo(double angle);
void ClimbTo(double altitude);
void TurnTo(double heading);
bool hdg_lock;
protected:
@ -52,8 +56,8 @@ protected:
private:
bool hdg_lock;
double rudder;
float rudder, tgt_rudder;
double rudder_constant, roll_constant, speed_constant, hdg_constant;
void Run(double dt);
double sign(double x);

95
src/FDM/groundcache.cxx
View file

@ -226,13 +226,15 @@ FGGroundCache::extractGroundProperty( ssgLeaf* l )
}
// Copy the velocity from the carrier class.
ud->carrier->getVelocityWrtEarth( gp.vel );
ud->carrier->getVelocityWrtEarth( gp.vel, gp.rot, gp.pivot );
}
else {
// Initialize velocity field.
sgSetVec3( gp.vel, 0.0, 0.0, 0.0 );
sgdSetVec3( gp.vel, 0.0, 0.0, 0.0 );
sgdSetVec3( gp.rot, 0.0, 0.0, 0.0 );
sgdSetVec3( gp.pivot, 0.0, 0.0, 0.0 );
}
// Get the texture name and decide what ground type we have.
@ -285,7 +287,9 @@ FGGroundCache::putLineLeafIntoCache(const sgdSphere *wsp, const sgdMat4 xform,
Wire wire;
sgdCopyVec3(wire.ends[0], ends[0]);
sgdCopyVec3(wire.ends[1], ends[1]);
sgdSetVec3(wire.velocity, gp.vel);
sgdCopyVec3(wire.velocity, gp.vel);
sgdCopyVec3(wire.rotation, gp.rot);
sgdSubVec3(wire.rotation_pivot, gp.pivot, cache_center);
wire.wire_id = gp.wire_id;
wires.push_back(wire);
@ -294,7 +298,9 @@ FGGroundCache::putLineLeafIntoCache(const sgdSphere *wsp, const sgdMat4 xform,
Catapult cat;
sgdCopyVec3(cat.start, ends[0]);
sgdCopyVec3(cat.end, ends[1]);
sgdSetVec3(cat.velocity, gp.vel);
sgdCopyVec3(cat.velocity, gp.vel);
sgdCopyVec3(cat.rotation, gp.rot);
sgdSubVec3(cat.rotation_pivot, gp.pivot, cache_center);
catapults.push_back(cat);
}
@ -334,7 +340,9 @@ FGGroundCache::putSurfaceLeafIntoCache(const sgdSphere *sp,
// Check if the sphere around the vehicle intersects the sphere
// around that triangle. If so, put that triangle into the cache.
if (sphIsec && sp->intersects(&t.sphere)) {
sgdSetVec3(t.velocity, gp.vel);
sgdCopyVec3(t.velocity, gp.vel);
sgdCopyVec3(t.rotation, gp.rot);
sgdSubVec3(t.rotation_pivot, gp.pivot, cache_center);
t.type = gp.type;
triangles.push_back(t);
}
@ -373,15 +381,25 @@ FGGroundCache::velocityTransformTriangle(double dt,
dst.sphere.radius = src.sphere.radius;
sgdCopyVec3(dst.velocity, src.velocity);
sgdCopyVec3(dst.rotation, src.rotation);
sgdCopyVec3(dst.rotation_pivot, src.rotation_pivot);
dst.type = src.type;
if (dt*sgdLengthSquaredVec3(src.velocity) != 0) {
sgdAddScaledVec3(dst.vertices[0], src.velocity, dt);
sgdAddScaledVec3(dst.vertices[1], src.velocity, dt);
sgdAddScaledVec3(dst.vertices[2], src.velocity, dt);
sgdVec3 pivotoff, vel;
for (int i = 0; i < 3; ++i) {
sgdSubVec3(pivotoff, src.vertices[i], src.rotation_pivot);
sgdVectorProductVec3(vel, src.rotation, pivotoff);
sgdAddVec3(vel, src.velocity);
sgdAddScaledVec3(dst.vertices[i], vel, dt);
}
dst.plane[3] += dt*sgdScalarProductVec3(dst.plane, src.velocity);
// Transform the plane equation
sgdSubVec3(pivotoff, dst.plane, src.rotation_pivot);
sgdVectorProductVec3(vel, src.rotation, pivotoff);
sgdAddVec3(vel, src.velocity);
dst.plane[3] += dt*sgdScalarProductVec3(dst.plane, vel);
sgdAddScaledVec3(dst.sphere.center, src.velocity, dt);
}
@ -554,15 +572,23 @@ FGGroundCache::get_cat(double t, const double dpt[3],
size_t sz = catapults.size();
for (size_t i = 0; i < sz; ++i) {
sgdVec3 pivotoff, rvel[2];
sgdLineSegment3 ls;
sgdCopyVec3(ls.a, catapults[i].start);
sgdCopyVec3(ls.b, catapults[i].end);
sgdSubVec3(pivotoff, ls.a, catapults[i].rotation_pivot);
sgdVectorProductVec3(rvel[0], catapults[i].rotation, pivotoff);
sgdAddVec3(rvel[0], catapults[i].velocity);
sgdSubVec3(pivotoff, ls.b, catapults[i].rotation_pivot);
sgdVectorProductVec3(rvel[1], catapults[i].rotation, pivotoff);
sgdAddVec3(rvel[1], catapults[i].velocity);
sgdAddVec3(ls.a, cache_center);
sgdAddVec3(ls.b, cache_center);
sgdAddScaledVec3(ls.a, catapults[i].velocity, t);
sgdAddScaledVec3(ls.b, catapults[i].velocity, t);
sgdAddScaledVec3(ls.a, rvel[0], t);
sgdAddScaledVec3(ls.b, rvel[1], t);
double this_dist = sgdDistSquaredToLineSegmentVec3( ls, dpt );
if (this_dist < dist) {
@ -573,8 +599,8 @@ FGGroundCache::get_cat(double t, const double dpt[3],
// The carrier code takes care of that ordering.
sgdCopyVec3( end[0], ls.a );
sgdCopyVec3( end[1], ls.b );
sgdCopyVec3( vel[0], catapults[i].velocity );
sgdCopyVec3( vel[1], catapults[i].velocity );
sgdCopyVec3( vel[0], rvel[0] );
sgdCopyVec3( vel[1], rvel[1] );
}
}
@ -641,8 +667,10 @@ FGGroundCache::get_agl(double t, const double dpt[3], double max_altoff,
// The first three values in the vector are the plane normal.
sgdCopyVec3( normal, triangle.plane );
// The velocity wrt earth.
/// FIXME: only true for non rotating objects!!!!
sgdCopyVec3( vel, triangle.velocity );
sgdVec3 pivotoff;
sgdSubVec3(pivotoff, pt, triangle.rotation_pivot);
sgdVectorProductVec3(vel, triangle.rotation, pivotoff);
sgdAddVec3(vel, triangle.velocity);
// Save the ground type.
*type = triangle.type;
// FIXME: figure out how to get that sign ...
@ -704,14 +732,15 @@ bool FGGroundCache::caught_wire(double t, const double pt[4][3])
// You have cautght a wire if they intersect.
for (size_t i = 0; i < sz; ++i) {
sgdVec3 le[2];
sgdCopyVec3(le[0], wires[i].ends[0]);
sgdCopyVec3(le[1], wires[i].ends[1]);
sgdAddVec3(le[0], cache_center);
sgdAddVec3(le[1], cache_center);
sgdAddScaledVec3(le[0], wires[i].velocity, t);
sgdAddScaledVec3(le[1], wires[i].velocity, t);
for (int k = 0; k < 2; ++k) {
sgdVec3 pivotoff, vel;
sgdCopyVec3(le[k], wires[i].ends[k]);
sgdSubVec3(pivotoff, le[k], wires[i].rotation_pivot);
sgdVectorProductVec3(vel, wires[i].rotation, pivotoff);
sgdAddVec3(vel, wires[i].velocity);
sgdAddScaledVec3(le[k], vel, t);
sgdAddVec3(le[k], cache_center);
}
for (int k=0; k<2; ++k) {
sgdVec3 isecpoint;
@ -742,17 +771,15 @@ bool FGGroundCache::get_wire_ends(double t, double end[2][3], double vel[2][3])
size_t sz = wires.size();
for (size_t i = 0; i < sz; ++i) {
if (wires[i].wire_id == wire_id) {
sgdCopyVec3(end[0], wires[i].ends[0]);
sgdCopyVec3(end[1], wires[i].ends[1]);
sgdAddVec3(end[0], cache_center);
sgdAddVec3(end[1], cache_center);
sgdAddScaledVec3(end[0], wires[i].velocity, t);
sgdAddScaledVec3(end[1], wires[i].velocity, t);
sgdCopyVec3(vel[0], wires[i].velocity);
sgdCopyVec3(vel[1], wires[i].velocity);
for (size_t k = 0; k < 2; ++k) {
sgdVec3 pivotoff;
sgdCopyVec3(end[k], wires[i].ends[k]);
sgdSubVec3(pivotoff, end[k], wires[i].rotation_pivot);
sgdVectorProductVec3(vel[k], wires[i].rotation, pivotoff);
sgdAddVec3(vel[k], wires[i].velocity);
sgdAddScaledVec3(end[k], vel[k], t);
sgdAddVec3(end[k], cache_center);
}
return true;
}
}

12
src/FDM/groundcache.hxx
View file

@ -88,8 +88,10 @@ private:
sgdVec4 plane;
// The bounding shpere.
sgdSphere sphere;
// The linear velocity.
// The linear and angular velocity.
sgdVec3 velocity;
sgdVec3 rotation;
sgdVec3 rotation_pivot;
// Ground type
int type;
};
@ -97,10 +99,14 @@ private:
sgdVec3 start;
sgdVec3 end;
sgdVec3 velocity;
sgdVec3 rotation;
sgdVec3 rotation_pivot;
};
struct Wire {
sgdVec3 ends[2];
sgdVec3 velocity;
sgdVec3 rotation;
sgdVec3 rotation_pivot;
int wire_id;
};
@ -144,7 +150,9 @@ private:
GroundProperty() : type(0) {}
int type;
int wire_id;
sgVec3 vel;
sgdVec3 vel;
sgdVec3 rot;
sgdVec3 pivot;
// not yet implemented ...
// double loadCapacity;
};