Don't duplicate userpos in in AIObjects.
This commit is contained in:
James Turner
parent
4b21dc51ee
commit
d70e26d87b
7 changed files with 78 additions and 151 deletions
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@ -255,9 +255,9 @@ void FGAIBallistic::bind() {
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}
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void FGAIBallistic::update(double dt) {
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void FGAIBallistic::update(double dt)
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{
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FGAIBase::update(dt);
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_setUserPos();
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if (_slave_to_ac){
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slaveToAC(dt);
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@ -623,7 +623,7 @@ void FGAIBallistic::slaveToAC(double dt){
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pch = manager->get_user_pitch();
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rll = manager->get_user_roll();
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// agl = manager->get_user_agl();
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setOffsetPos(userpos, hdg, pch, rll);
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setOffsetPos(globals->get_aircraft_position(), hdg, pch, rll);
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setSpeed(manager->get_user_speed());
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}
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@ -1011,15 +1011,11 @@ void FGAIBallistic::report_impact(double elevation, const FGAIBase *object)
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_impact_report_node->setStringValue(props->getPath());
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}
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SGVec3d FGAIBallistic::getCartUserPos() const {
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SGVec3d cartUserPos = SGVec3d::fromGeod(userpos);
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return cartUserPos;
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}
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SGVec3d FGAIBallistic::getCartHitchPos() const{
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// convert geodetic positions to geocentered
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SGVec3d cartuserPos = SGVec3d::fromGeod(userpos);
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SGVec3d cartuserPos = globals->get_aircraft_position_cart();
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//SGVec3d cartPos = getCartPos();
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// Transform to the right coordinate frame, configuration is done in
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@ -1031,7 +1027,7 @@ SGVec3d FGAIBallistic::getCartHitchPos() const{
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-_z_offset * SG_FEET_TO_METER);
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// Transform the user position to the horizontal local coordinate system.
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SGQuatd hlTrans = SGQuatd::fromLonLat(userpos);
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SGQuatd hlTrans = SGQuatd::fromLonLat(globals->get_aircraft_position());
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// and postrotate the orientation of the user model wrt the horizontal
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// local frame
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@ -1103,7 +1099,7 @@ double FGAIBallistic::getRelBrgHitchToUser() const {
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//calculate the relative bearing
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double az1, az2, distance;
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geo_inverse_wgs_84(_offsetpos, userpos, &az1, &az2, &distance);
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geo_inverse_wgs_84(_offsetpos, globals->get_aircraft_position(), &az1, &az2, &distance);
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double rel_brg = az1 - hdg;
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@ -1116,14 +1112,14 @@ double FGAIBallistic::getElevHitchToUser() const {
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//calculate the distance from the user position
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SGVec3d carthitchPos = getCartHitchPos();
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SGVec3d cartuserPos = getCartUserPos();
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SGVec3d cartuserPos = globals->get_aircraft_position_cart();
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SGVec3d diff = cartuserPos - carthitchPos;
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double distance = norm(diff);
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double angle = 0;
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double daltM = userpos.getElevationM() - _offsetpos.getElevationM();
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double daltM = globals->get_aircraft_position().getElevationM() - _offsetpos.getElevationM();
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// now the angle, positive angles are upwards
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if (fabs(distance) < SGLimits<float>::min()) {
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@ -230,7 +230,6 @@ private:
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//void setOffsetPos(SGGeod pos, double heading, double pitch, double roll);
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//void setOffsetVelocity(double dt, SGGeod pos);
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SGVec3d getCartUserPos() const;
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SGVec3d getCartOffsetPos(SGGeod pos, double heading, double pitch, double roll) const;
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//double getDistanceLoadToHitch() const;
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@ -100,8 +100,6 @@ FGAIBase::FGAIBase(object_type ot, bool enableHot) :
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_roll_offset = 0;
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_yaw_offset = 0;
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userpos = SGGeod::fromDeg(0, 0);
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pos = SGGeod::fromDeg(0, 0);
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speed = 0;
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altitude_ft = 0;
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@ -479,106 +477,68 @@ void FGAIBase::removeSoundFx() {
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}
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}
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double FGAIBase::UpdateRadar(FGAIManager* manager) {
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double FGAIBase::UpdateRadar(FGAIManager* manager)
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{
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bool control = fgGetBool("/sim/controls/radar", true);
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if(!control) return 0;
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double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
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double radar_range_m = fgGetDouble("/instrumentation/radar/range");
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bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false);
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radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
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radar_range_ft2 *= radar_range_ft2;
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double user_latitude = manager->get_user_latitude();
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double user_longitude = manager->get_user_longitude();
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double lat_range = fabs(pos.getLatitudeDeg() - user_latitude) * ft_per_deg_lat;
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double lon_range = fabs(pos.getLongitudeDeg() - user_longitude) * ft_per_deg_lon;
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double range_ft2 = lat_range*lat_range + lon_range*lon_range;
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//
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// Test whether the target is within radar range.
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//
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in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
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if ( in_range || force_on ) {
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props->setBoolValue("radar/in-range", true);
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// copy values from the AIManager
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double user_altitude = manager->get_user_altitude();
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double user_heading = manager->get_user_heading();
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double user_pitch = manager->get_user_pitch();
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//double user_yaw = manager->get_user_yaw();
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//double user_speed = manager->get_user_speed();
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// calculate range to target in feet and nautical miles
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double range_ft = sqrt( range_ft2 );
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range = range_ft / 6076.11549;
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// calculate bearing to target
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if (pos.getLatitudeDeg() >= user_latitude) {
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bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
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if (pos.getLongitudeDeg() >= user_longitude) {
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bearing = 90.0 - bearing;
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} else {
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bearing = 270.0 + bearing;
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}
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} else {
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bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
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if (pos.getLongitudeDeg() >= user_longitude) {
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bearing = 180.0 - bearing;
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} else {
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bearing = 180.0 + bearing;
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}
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}
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// This is an alternate way to compute bearing and distance which
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// agrees with the original scheme within about 0.1 degrees.
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//
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// Point3D start( user_longitude * SGD_DEGREES_TO_RADIANS,
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// user_latitude * SGD_DEGREES_TO_RADIANS, 0 );
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// Point3D dest( pos.getLongitudeRad(), pos.getLatitudeRad(), 0 );
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// double gc_bearing, gc_range;
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// calc_gc_course_dist( start, dest, &gc_bearing, &gc_range );
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// gc_range *= SG_METER_TO_NM;
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// gc_bearing *= SGD_RADIANS_TO_DEGREES;
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// printf("orig b = %.3f %.2f gc b= %.3f, %.2f\n",
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// bearing, range, gc_bearing, gc_range);
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// calculate look left/right to target, without yaw correction
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horiz_offset = bearing - user_heading;
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if (horiz_offset > 180.0) horiz_offset -= 360.0;
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if (horiz_offset < -180.0) horiz_offset += 360.0;
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// calculate elevation to target
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elevation = atan2( altitude_ft - user_altitude, range_ft ) * SG_RADIANS_TO_DEGREES;
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// calculate look up/down to target
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vert_offset = elevation - user_pitch;
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/* this calculation needs to be fixed, but it isn't important anyway
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// calculate range rate
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double recip_bearing = bearing + 180.0;
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if (recip_bearing > 360.0) recip_bearing -= 360.0;
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double my_horiz_offset = recip_bearing - hdg;
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if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
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if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
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rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
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+(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
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*/
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// now correct look left/right for yaw
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// horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
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// calculate values for radar display
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y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
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x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
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rotation = hdg - user_heading;
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if (rotation < 0.0) rotation += 360.0;
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ht_diff = altitude_ft - user_altitude;
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radar_range_m *= SG_NM_TO_METER * 1.1; // + 10%
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radar_range_m *= radar_range_m; // squared
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double d2 = distSqr(SGVec3d::fromGeod(pos), globals->get_aircraft_position_cart());
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double range_ft = sqrt(d2) * SG_METER_TO_FEET;
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if (!force_on && (d2 > radar_range_m)) {
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return range_ft * range_ft;
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}
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props->setBoolValue("radar/in-range", true);
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return range_ft2;
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// copy values from the AIManager
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double user_heading = manager->get_user_heading();
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double user_pitch = manager->get_user_pitch();
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range = range_ft * SG_FEET_TO_METER * SG_METER_TO_NM;
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// calculate bearing to target
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bearing = SGGeodesy::courseDeg(globals->get_aircraft_position(), pos);
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// calculate look left/right to target, without yaw correction
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horiz_offset = bearing - user_heading;
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SG_NORMALIZE_RANGE(horiz_offset, -180.0, 180.0);
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// calculate elevation to target
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ht_diff = altitude_ft - globals->get_aircraft_position().getElevationFt();
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elevation = atan2( ht_diff, range_ft ) * SG_RADIANS_TO_DEGREES;
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// calculate look up/down to target
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vert_offset = elevation - user_pitch;
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/* this calculation needs to be fixed, but it isn't important anyway
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// calculate range rate
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double recip_bearing = bearing + 180.0;
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if (recip_bearing > 360.0) recip_bearing -= 360.0;
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double my_horiz_offset = recip_bearing - hdg;
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if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
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if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
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rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
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+(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
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*/
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// now correct look left/right for yaw
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// horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
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// calculate values for radar display
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y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
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x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
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rotation = hdg - user_heading;
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SG_NORMALIZE_RANGE(rotation, 0.0, 360.0);
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return range_ft * range_ft;
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}
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/*
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@ -637,12 +597,6 @@ void FGAIBase::_setLatitude ( double latitude ) {
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pos.setLatitudeDeg(latitude);
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}
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void FGAIBase::_setUserPos(){
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userpos.setLatitudeDeg(manager->get_user_latitude());
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userpos.setLongitudeDeg(manager->get_user_longitude());
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userpos.setElevationM(manager->get_user_altitude() * SG_FEET_TO_METER);
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}
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void FGAIBase::_setSubID( int s ) {
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_subID = s;
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}
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@ -140,9 +140,6 @@ public:
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std::string _name;
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string _parent;
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SGGeod userpos;
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protected:
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/**
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* Tied-properties helper, record nodes which are tied for easy un-tie-ing
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@ -255,7 +252,6 @@ public:
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void _setLongitude( double longitude );
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void _setLatitude ( double latitude );
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void _setSubID( int s );
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void _setUserPos();
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double _getAltitudeAGL(SGGeod inpos, double start);
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@ -155,17 +155,11 @@ void FGAIStorm::Run(double dt) {
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// ***************************************************
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// copy user's position from the AIManager
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double user_latitude = manager->get_user_latitude();
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double user_longitude = manager->get_user_longitude();
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double user_altitude = manager->get_user_altitude();
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// calculate range to target in feet and nautical miles
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double lat_range = fabs(pos.getLatitudeDeg() - user_latitude) * ft_per_deg_lat;
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double lon_range = fabs(pos.getLongitudeDeg() - user_longitude) * ft_per_deg_lon;
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double range_ft = sqrt(lat_range*lat_range + lon_range*lon_range);
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range = range_ft / 6076.11549;
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if (range < (diameter * 0.5) &&
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double d = dist(SGVec3d::fromGeod(pos), globals->get_aircraft_position_cart());
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double rangeNm = d * SG_METER_TO_NM;
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double user_altitude = globals->get_aircraft_position().getElevationFt();
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if (rangeNm < (diameter * 0.5) &&
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user_altitude > (altitude_ft - 1000.0) &&
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user_altitude < height) {
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turb_mag_node->setDoubleValue(strength_norm);
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@ -201,14 +201,6 @@ double slice_center_lat;
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// **************************************
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// various variables relative to the user
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// **************************************
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double user_latitude = manager->get_user_latitude();
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double user_longitude = manager->get_user_longitude();
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double user_altitude = manager->get_user_altitude(); // MSL
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//we need to know the thermal foot AGL altitude
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@ -227,6 +219,9 @@ if (dt_count >= 10.0 ) {
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}
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//user altitude relative to the thermal height, seen AGL from the thermal foot
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double user_altitude = globals->get_aircraft_position().getElevationFt();
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if ( user_altitude < 1.0 ) { user_altitude = 1.0 ;}; // an ugly way to avoid NaNs for users at alt 0
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double user_altitude_agl= ( user_altitude - ground_elev_ft ) ;
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alt_rel = user_altitude_agl / altitude_agl_ft;
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@ -343,14 +338,9 @@ double dt_slice_lat = dt_slice_lat_FT / ft_per_deg_lat;
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slice_center_lon = thermal_foot_lon + dt_slice_lon;
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slice_center_lat = thermal_foot_lat + dt_slice_lat;
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double dist_center_lon = fabs(slice_center_lon - user_longitude)* ft_per_deg_lon;
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double dist_center_lat = fabs(slice_center_lat - user_latitude)* ft_per_deg_lat;
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double dist_center_FT = sqrt ( dist_center_lon*dist_center_lon + dist_center_lat*dist_center_lat ); // feet
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dist_center = dist_center_FT/ 6076.11549; //nautic miles
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dist_center = SGGeodesy::distanceNm(SGGeod::fromDeg(slice_center_lon, slice_center_lat),
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globals->get_aircraft_position());
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// Now we can calculate Vup
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if ( max_strength >=0.0 ) { // this is a thermal
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@ -243,7 +243,6 @@ void FGAIWingman::formateToAC(double dt){
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double p_hdg, p_pch, p_rll, p_agl, p_ht, p_wow = 0;
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setTgtOffsets(dt, 25);
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_setUserPos();
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if (_pnode != 0) {
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setParentPos();
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@ -257,8 +256,8 @@ void FGAIWingman::formateToAC(double dt){
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p_hdg = manager->get_user_heading();
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p_pch = manager->get_user_pitch();
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p_rll = manager->get_user_roll();
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p_ht = manager->get_user_altitude();
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setOffsetPos(userpos, p_hdg,p_pch, p_rll);
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p_ht = globals->get_aircraft_position().getElevationFt();
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setOffsetPos(globals->get_aircraft_position(), p_hdg,p_pch, p_rll);
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setSpeed(manager->get_user_speed());
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}
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@ -341,7 +340,6 @@ void FGAIWingman::Join(double dt) {
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double p_hdg, p_pch, p_rll = 0;
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setTgtOffsets(dt, 25);
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_setUserPos();
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if (_pnode != 0) {
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setParentPos();
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@ -355,7 +353,7 @@ void FGAIWingman::Join(double dt) {
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p_hdg = manager->get_user_heading();
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p_pch = manager->get_user_pitch();
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p_rll = manager->get_user_roll();
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setOffsetPos(userpos, p_hdg, p_pch, p_rll);
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setOffsetPos(globals->get_aircraft_position(), p_hdg, p_pch, p_rll);
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parent_hdg = manager->get_user_heading();
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parent_spd = manager->get_user_speed();
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}
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