From 72c5a314e6daa5052165310a600c4a9a4c20e43f Mon Sep 17 00:00:00 2001
From: Vivian Meazza <vivian.meazza@lineone.net>
Date: Sat, 14 Aug 2010 13:39:30 +0100
Subject: [PATCH 1/2] Add aubmodels to AI objects
Signed-off-by: Vivian Meazza <vivian.meazza@lineone.net>
---
src/AIModel/AIBallistic.cxx | 177 ++++++++++-----------
src/AIModel/AIBase.cxx | 14 +-
src/AIModel/AIBase.hxx | 19 ++-
src/AIModel/AIGroundVehicle.cxx | 2 +-
src/AIModel/AIWingman.cxx | 43 +++++-
src/AIModel/submodel.cxx | 228 ++++++++++++++++++----------
src/AIModel/submodel.hxx | 27 ++--
src/Environment/environment_mgr.cxx | 16 +-
8 files changed, 315 insertions(+), 211 deletions(-)
diff --git a/src/AIModel/AIBallistic.cxx b/src/AIModel/AIBallistic.cxx
index 76e412c0c..e94844eaf 100644
--- a/src/AIModel/AIBallistic.cxx
+++ b/src/AIModel/AIBallistic.cxx
@@ -39,34 +39,34 @@ const double FGAIBallistic::slugs_to_kgs = 14.5939029372;
const double FGAIBallistic::slugs_to_lbs = 32.1740485564;
FGAIBallistic::FGAIBallistic(object_type ot) :
- FGAIBase(ot),
- _height(0.0),
- _ht_agl_ft(0.0),
- _azimuth(0.0),
- _elevation(0.0),
- _rotation(0.0),
- _formate_to_ac(false),
- _aero_stabilised(false),
- _drag_area(0.007),
- _life_timer(0.0),
- _gravity(32.1740485564),
- _buoyancy(0),
- _wind(true),
- _mass(0),
- _random(false),
- _load_resistance(0),
- _solid(false),
- _force_stabilised(false),
- _slave_to_ac(false),
- _slave_load_to_ac(false),
- _contents_lb(0),
- _report_collision(false),
- _report_expiry(false),
- _report_impact(false),
- _external_force(false),
- _impact_report_node(fgGetNode("/ai/models/model-impact", true)),
- _old_height(0),
- _elapsed_time(0)
+FGAIBase(ot),
+_height(0.0),
+_ht_agl_ft(0.0),
+_azimuth(0.0),
+_elevation(0.0),
+_rotation(0.0),
+_formate_to_ac(false),
+_aero_stabilised(false),
+_drag_area(0.007),
+_life_timer(0.0),
+_gravity(32.1740485564),
+_buoyancy(0),
+_wind(true),
+_mass(0),
+_random(false),
+_load_resistance(0),
+_solid(false),
+_force_stabilised(false),
+_slave_to_ac(false),
+_slave_load_to_ac(false),
+_contents_lb(0),
+_report_collision(false),
+_report_expiry(false),
+_report_impact(false),
+_external_force(false),
+_impact_report_node(fgGetNode("/ai/models/model-impact", true)),
+_old_height(0),
+_elapsed_time(0)
{
no_roll = false;
@@ -83,7 +83,7 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
FGAIBase::readFromScenario(scFileNode);
//setPath(scFileNode->getStringValue("model", "Models/Geometry/rocket.ac"));
- setRandom(scFileNode->getBoolValue("random", false));
+ setRandom(scFileNode->getBoolValue("random", false));
setAzimuth(scFileNode->getDoubleValue("azimuth", 0.0));
setElevation(scFileNode->getDoubleValue("elevation", 0));
setDragArea(scFileNode->getDoubleValue("eda", 0.007));
@@ -99,8 +99,8 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
setStabilisation(scFileNode->getBoolValue("aero-stabilised", false));
setNoRoll(scFileNode->getBoolValue("no-roll", false));
setImpact(scFileNode->getBoolValue("impact", false));
- setExpiry(scFileNode->getBoolValue("expiry", false));
- setCollision(scFileNode->getBoolValue("collision", false));
+ setExpiry(scFileNode->getBoolValue("expiry", false));
+ setCollision(scFileNode->getBoolValue("collision", false));
setImpactReportNode(scFileNode->getStringValue("impact-reports"));
setName(scFileNode->getStringValue("name", "Rocket"));
setFuseRange(scFileNode->getDoubleValue("fuse-range", 0.0));
@@ -127,9 +127,9 @@ bool FGAIBallistic::init(bool search_in_AI_path) {
_impact_reported = false;
_collision_reported = false;
- _expiry_reported = false;
+ _expiry_reported = false;
- _impact_lat = 0;
+ _impact_lat = 0;
_impact_lon = 0;
_impact_elev = 0;
_impact_hdg = 0;
@@ -144,8 +144,8 @@ bool FGAIBallistic::init(bool search_in_AI_path) {
props->setStringValue("material/name", "");
props->setStringValue("name", _name.c_str());
props->setStringValue("submodels/path", _submodel.c_str());
- props->setStringValue("force/path", _force_path.c_str());
- //props->setStringValue("vector/path", _vector_path.c_str());
+ props->setStringValue("force/path", _force_path.c_str());
+ //props->setStringValue("vector/path", _vector_path.c_str());
// start with high value so that animations don't trigger yet
_ht_agl_ft = 1e10;
@@ -168,11 +168,11 @@ void FGAIBallistic::bind() {
SGRawValueMethods<FGAIBallistic,double>(*this,
&FGAIBallistic::getMass));
props->tie("material/load-resistance",
- SGRawValuePointer<double>(&_load_resistance));
+ SGRawValuePointer<double>(&_load_resistance));
props->tie("material/solid",
- SGRawValuePointer<bool>(&_solid));
+ SGRawValuePointer<bool>(&_solid));
props->tie("altitude-agl-ft",
- SGRawValuePointer<double>(&_ht_agl_ft));
+ SGRawValuePointer<double>(&_ht_agl_ft));
props->tie("controls/slave-to-ac",
SGRawValueMethods<FGAIBallistic,bool>
(*this, &FGAIBallistic::getSlaved, &FGAIBallistic::setSlaved));
@@ -271,20 +271,20 @@ void FGAIBallistic::update(double dt) {
Transform();
setHitchVelocity(dt);
} else if (!invisible){
- Run(dt);
- Transform();
-}
+ Run(dt);
+ Transform();
+ }
}
void FGAIBallistic::setAzimuth(double az) {
-
- if (_random)
- hdg = _azimuth = (az - 5 ) + (10 * sg_random());
- else
- hdg = _azimuth = az;
- //cout << _name << " init hdg " << hdg << " random " << _random << endl;
+ if (_random)
+ hdg = _azimuth = (az - 5 ) + (10 * sg_random());
+ else
+ hdg = _azimuth = az;
+
+ //cout << _name << " init hdg " << hdg << " random " << _random << endl;
}
void FGAIBallistic::setElevation(double el) {
@@ -313,11 +313,11 @@ void FGAIBallistic::setDragArea(double a) {
void FGAIBallistic::setLife(double seconds) {
- if (_random){
- life = seconds * _randomness + (seconds * (1 -_randomness) * sg_random());
- //cout << "life " << life << endl;
- } else
- life = seconds;
+ if (_random){
+ life = seconds * _randomness + (seconds * (1 -_randomness) * sg_random());
+ //cout << "life " << life << endl;
+ } else
+ life = seconds;
}
void FGAIBallistic::setBuoyancy(double fpss) {
@@ -366,7 +366,7 @@ void FGAIBallistic::setCollision(bool c) {
void FGAIBallistic::setExpiry(bool e) {
_report_expiry = e;
- //cout << "_report_expiry " << _report_expiry << endl;
+ //cout << "_report_expiry " << _report_expiry << endl;
}
void FGAIBallistic::setExternalForce(bool f) {
@@ -465,7 +465,7 @@ void FGAIBallistic::setForcePath(const string& p) {
bool FGAIBallistic::getHtAGL(){
if (getGroundElevationM(SGGeod::fromGeodM(pos, 10000),
- _elevation_m, &_material)) {
+ _elevation_m, &_material)) {
_ht_agl_ft = pos.getElevationFt() - _elevation_m * SG_METER_TO_FEET;
if (_material) {
const vector<string>& names = _material->get_names();
@@ -515,16 +515,16 @@ void FGAIBallistic::setHt(double h, double dt, double coeff){
}
void FGAIBallistic::setHdg(double az, double dt, double coeff){
- double recip = getRecip(hdg);
- double c = dt / (coeff + dt);
- //we need to ensure that we turn the short way to the new hdg
- if (az < recip && az < hdg && hdg > 180) {
- hdg = ((az + 360) * c) + (hdg * (1 - c));
- } else if (az > recip && az > hdg && hdg <= 180){
- hdg = ((az - 360) * c) + (hdg * (1 - c));
- } else {
- hdg = (az * c) + (hdg * (1 - c));
- }
+ double recip = getRecip(hdg);
+ double c = dt / (coeff + dt);
+ //we need to ensure that we turn the short way to the new hdg
+ if (az < recip && az < hdg && hdg > 180) {
+ hdg = ((az + 360) * c) + (hdg * (1 - c));
+ } else if (az > recip && az > hdg && hdg <= 180){
+ hdg = ((az - 360) * c) + (hdg * (1 - c));
+ } else {
+ hdg = (az * c) + (hdg * (1 - c));
+ }
}
double FGAIBallistic::getTgtXOffset() const {
@@ -541,6 +541,7 @@ double FGAIBallistic::getTgtZOffset() const {
void FGAIBallistic::setTgtXOffset(double x){
_tgt_x_offset = x;
+ cout <<"setTgtXOffset " <<_tgt_x_offset << endl;
}
void FGAIBallistic::setTgtYOffset(double y){
@@ -572,15 +573,15 @@ void FGAIBallistic::Run(double dt) {
_life_timer += dt;
// if life = -1 the object does not die
- if (_life_timer > life && life != -1){
+ if (_life_timer > life && life != -1){
- if (_report_expiry && !_expiry_reported){
- //cout<<"AIBallistic: expiry"<< endl;
- handle_expiry();
- } else
- setDie(true);
+ if (_report_expiry && !_expiry_reported){
+ //cout<<"AIBallistic: expiry"<< endl;
+ handle_expiry();
+ } else
+ setDie(true);
- }
+ }
//set the contents in the appropriate tank or other property in the parent to zero
setContents(0);
@@ -644,7 +645,7 @@ void FGAIBallistic::Run(double dt) {
//calculate velocity due to external force
double force_speed_north_deg_sec = 0;
double force_speed_east_deg_sec = 0;
-// double vs_force_fps = 0;
+ // double vs_force_fps = 0;
double hs_force_fps = 0;
double v_force_acc_fpss = 0;
double force_speed_north_fps = 0;
@@ -660,13 +661,13 @@ void FGAIBallistic::Run(double dt) {
double friction_force_speed_east_deg_sec = 0;
double force_elevation_deg = 0;
- if (_external_force) {
+ if (_external_force) {
SGPropertyNode *n = fgGetNode(_force_path.c_str(), true);
double force_lbs = n->getChild("force-lb", 0, true)->getDoubleValue();
force_elevation_deg = n->getChild("force-elevation-deg", 0, true)->getDoubleValue();
double force_azimuth_deg = n->getChild("force-azimuth-deg", 0, true)->getDoubleValue();
-
+
//resolve force into vertical and horizontal components:
double v_force_lbs = force_lbs * sin( force_elevation_deg * SG_DEGREES_TO_RADIANS );
h_force_lbs = force_lbs * cos( force_elevation_deg * SG_DEGREES_TO_RADIANS );
@@ -795,10 +796,10 @@ void FGAIBallistic::Run(double dt) {
if (_azimuth < 0)
_azimuth += 360;
- //cout << "_azimuth " << _azimuth << " hdg "<< hdg << endl;
+ //cout << "_azimuth " << _azimuth << " hdg "<< hdg << endl;
if (_aero_stabilised) { // we simulate rotational moment of inertia by using a filter
- //cout<< "_aero_stabilised "<< endl;
+ //cout<< "_aero_stabilised "<< endl;
const double coeff = 0.9;
// we assume a symetrical MI about the pitch and yaw axis
@@ -806,8 +807,8 @@ void FGAIBallistic::Run(double dt) {
setHdg(_azimuth, dt, coeff);
} else if (_force_stabilised) { // we simulate rotational moment of inertia by using a filter
//cout<< "_force_stabilised "<< endl;
-
- const double coeff = 0.9;
+
+ const double coeff = 0.9;
double ratio = h_force_lbs/(_mass * slugs_to_lbs);
if (ratio > 1) ratio = 1;
@@ -859,23 +860,23 @@ void FGAIBallistic::handle_impact() {
}
void FGAIBallistic::handle_expiry() {
-
- SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: handle_expiry " << pos.getElevationM());
- report_impact(pos.getElevationM());
- _expiry_reported = true;
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: handle_expiry " << pos.getElevationM());
+
+ report_impact(pos.getElevationM());
+ _expiry_reported = true;
+
+ //if (life == -1){
+ // invisible = true;
+ //} else if (_subID == 0) // kill the AIObject if there is no subsubmodel
+ // setDie(true);
- //if (life == -1){
- // invisible = true;
- //} else if (_subID == 0) // kill the AIObject if there is no subsubmodel
- // setDie(true);
-
}
void FGAIBallistic::handle_collision()
{
const FGAIBase *object = manager->calcCollision(pos.getElevationFt(),
- pos.getLatitudeDeg(),pos.getLongitudeDeg(), _fuse_range);
+ pos.getLatitudeDeg(),pos.getLongitudeDeg(), _fuse_range);
if (object) {
SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: object hit");
diff --git a/src/AIModel/AIBase.cxx b/src/AIModel/AIBase.cxx
index d143296a1..460ccc2e0 100644
--- a/src/AIModel/AIBase.cxx
+++ b/src/AIModel/AIBase.cxx
@@ -154,6 +154,9 @@ void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
SGPropertyNode* submodels = scFileNode->getChild("submodels");
if (submodels) {
+ //cout << "IN submodels path " << submodels->getStringValue("path")
+ // << "IN serviceable " << submodels->getBoolValue("serviceable")
+ // << endl;
setServiceable(submodels->getBoolValue("serviceable", false));
setSMPath(submodels->getStringValue("path", ""));
}
@@ -227,14 +230,17 @@ bool FGAIBase::init(bool search_in_AI_path) {
void FGAIBase::initModel(osg::Node *node)
{
if (model.valid()) {
-
+ if( _path != ""){
+ props->setStringValue("submodels/path", _path.c_str());
+ //props->setStringValue("submodel/path", _path.c_str());
+ SG_LOG(SG_INPUT, SG_ALERT, "AIBase: submodels/path " << _path);
+ }
fgSetString("/ai/models/model-added", props->getPath().c_str());
-
} else if (!model_path.empty()) {
SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
}
- props->setStringValue("submodels/path", _path.c_str());
+ //props->setStringValue("submodels/path", _path.c_str());
setDie(false);
}
@@ -533,7 +539,7 @@ double FGAIBase::_getLatitude() const {
return pos.getLatitudeDeg();
}
-double FGAIBase::_getElevationFt () const {
+double FGAIBase::_getElevationFt() const {
return pos.getElevationFt();
}
diff --git a/src/AIModel/AIBase.hxx b/src/AIModel/AIBase.hxx
index e47f778d0..68127fe4d 100644
--- a/src/AIModel/AIBase.hxx
+++ b/src/AIModel/AIBase.hxx
@@ -44,9 +44,9 @@ class FGAIBase : public SGReferenced {
public:
enum object_type { otNull = 0, otAircraft, otShip, otCarrier, otBallistic,
- otRocket, otStorm, otThermal, otStatic, otWingman, otGroundVehicle,
- otEscort, otMultiplayer,
- MAX_OBJECTS }; // Needs to be last!!!
+ otRocket, otStorm, otThermal, otStatic, otWingman, otGroundVehicle,
+ otEscort, otMultiplayer,
+ MAX_OBJECTS }; // Needs to be last!!!
FGAIBase(object_type ot);
virtual ~FGAIBase();
@@ -95,7 +95,7 @@ public:
SGVec3d getCartPos() const;
bool getGroundElevationM(const SGGeod& pos, double& elev,
- const SGMaterial** material) const;
+ const SGMaterial** material) const;
double _getCartPosX() const;
double _getCartPosY() const;
@@ -177,7 +177,7 @@ protected:
bool _impact_reported;
bool _collision_reported;
- bool _expiry_reported;
+ bool _expiry_reported;
double _impact_lat;
double _impact_lon;
@@ -247,7 +247,7 @@ public:
bool _getImpact();
bool _getImpactData();
bool _getCollisionData();
- bool _getExpiryData();
+ bool _getExpiryData();
SGPropertyNode* _getProps() const;
@@ -274,8 +274,8 @@ public:
inline double _getBearing() { return bearing; };
virtual osg::Node* load3DModel(const string &path,
- SGPropertyNode *prop_root);
-
+ SGPropertyNode *prop_root);
+
static bool _isNight();
};
@@ -289,6 +289,7 @@ inline void FGAIBase::setPath(const char* model ) {
}
inline void FGAIBase::setSMPath(const string& p) {
+ cout << "setSMPath " << p <<endl;
_path = p;
}
@@ -335,6 +336,8 @@ inline void FGAIBase::setCallSign(const string& s) {
}
inline void FGAIBase::setXoffset(double x) {
_x_offset = x;
+ cout << "setXoffset " << _x_offset << endl;
+
}
inline void FGAIBase::setYoffset(double y) {
diff --git a/src/AIModel/AIGroundVehicle.cxx b/src/AIModel/AIGroundVehicle.cxx
index bde684941..e65ea5b7e 100644
--- a/src/AIModel/AIGroundVehicle.cxx
+++ b/src/AIModel/AIGroundVehicle.cxx
@@ -316,7 +316,7 @@ bool FGAIGroundVehicle::getPitch() {
//cout << "new waypoint, calculating pitch " << endl;
curr_alt = curr->altitude;
prev_alt = prev->altitude;
- cout << "prev_alt" <<prev_alt << endl;
+ //cout << "prev_alt" <<prev_alt << endl;
d_alt = (curr_alt - prev_alt) * SG_METER_TO_FEET;
//_elevation = prev->altitude;
distance = SGGeodesy::distanceM(SGGeod::fromDeg(prev->longitude, prev->latitude),
diff --git a/src/AIModel/AIWingman.cxx b/src/AIModel/AIWingman.cxx
index 4a081ee11..82874017b 100644
--- a/src/AIModel/AIWingman.cxx
+++ b/src/AIModel/AIWingman.cxx
@@ -42,7 +42,7 @@ void FGAIWingman::readFromScenario(SGPropertyNode* scFileNode) {
setLife(scFileNode->getDoubleValue("life", -1));
setNoRoll(scFileNode->getBoolValue("no-roll", false));
setName(scFileNode->getStringValue("name", "Wingman"));
- setSMPath(scFileNode->getStringValue("submodel-path", ""));
+ //setSMPath(scFileNode->getStringValue("submodel-path", ""));
setSubID(scFileNode->getIntValue("SubID", 0));
setXoffset(scFileNode->getDoubleValue("x-offset", 0.0));
setYoffset(scFileNode->getDoubleValue("y-offset", 0.0));
@@ -57,6 +57,28 @@ void FGAIWingman::readFromScenario(SGPropertyNode* scFileNode) {
void FGAIWingman::bind() {
FGAIBallistic::bind();
+ props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
+ &FGAIBase::getID));
+ props->tie("subID", SGRawValueMethods<FGAIBase,int>(*this,
+ &FGAIBase::_getSubID));
+ props->tie("position/altitude-ft",
+ SGRawValueMethods<FGAIBase,double>(*this,
+ &FGAIBase::_getElevationFt,
+ &FGAIBase::_setAltitude));
+ props->tie("position/latitude-deg",
+ SGRawValueMethods<FGAIBase,double>(*this,
+ &FGAIBase::_getLatitude,
+ &FGAIBase::_setLatitude));
+ props->tie("position/longitude-deg",
+ SGRawValueMethods<FGAIBase,double>(*this,
+ &FGAIBase::_getLongitude,
+ &FGAIBase::_setLongitude));
+
+ props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
+ props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
+ props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
+
+
props->tie("load/rel-brg-to-user-deg",
SGRawValueMethods<FGAIBallistic,double>
(*this, &FGAIBallistic::getRelBrgHitchToUser));
@@ -64,7 +86,7 @@ void FGAIWingman::bind() {
SGRawValueMethods<FGAIBallistic,double>
(*this, &FGAIBallistic::getElevHitchToUser));
props->tie("velocities/vertical-speed-fps",
- SGRawValuePointer<double>(&vs));
+ SGRawValuePointer<double>(&vs));
props->tie("position/x-offset",
SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getXOffset, &FGAIBase::setXoffset));
props->tie("position/y-offset",
@@ -72,16 +94,27 @@ void FGAIWingman::bind() {
props->tie("position/z-offset",
SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getZOffset, &FGAIBase::setZoffset));
props->tie("position/tgt-x-offset",
- SGRawValueMethods<FGAIWingman,double>(*this, &FGAIWingman::getTgtXOffset, &FGAIWingman::setTgtXOffset));
+ SGRawValueMethods<FGAIBallistic,double>(*this, &FGAIBallistic::getTgtXOffset, &FGAIBallistic::setTgtXOffset));
props->tie("position/tgt-y-offset",
- SGRawValueMethods<FGAIWingman,double>(*this, &FGAIWingman::getTgtYOffset, &FGAIWingman::setTgtYOffset));
+ SGRawValueMethods<FGAIBallistic,double>(*this, &FGAIBallistic::getTgtYOffset, &FGAIBallistic::setTgtYOffset));
props->tie("position/tgt-z-offset",
- SGRawValueMethods<FGAIWingman,double>(*this, &FGAIWingman::getTgtZOffset, &FGAIWingman::setTgtZOffset));
+ SGRawValueMethods<FGAIBallistic,double>(*this, &FGAIBallistic::getTgtZOffset, &FGAIBallistic::setTgtZOffset));
}
void FGAIWingman::unbind() {
FGAIBallistic::unbind();
+ props->untie("id");
+ props->untie("SubID");
+
+ props->untie("position/altitude-ft");
+ props->untie("position/latitude-deg");
+ props->untie("position/longitude-deg");
+
+ props->untie("orientation/pitch-deg");
+ props->untie("orientation/roll-deg");
+ props->untie("orientation/true-heading-deg");
+
props->untie("load/rel-brg-to-user-deg");
props->untie("load/elev-to-user-deg");
props->untie("velocities/vertical-speed-fps");
diff --git a/src/AIModel/submodel.cxx b/src/AIModel/submodel.cxx
index 0958923c1..733bff3cb 100644
--- a/src/AIModel/submodel.cxx
+++ b/src/AIModel/submodel.cxx
@@ -37,7 +37,7 @@ FGSubmodelMgr::FGSubmodelMgr()
string contents_node;
contrail_altitude = 30000;
_count = 0;
- _found_sub = true;
+ _found_sub = true;
}
FGSubmodelMgr::~FGSubmodelMgr()
@@ -78,16 +78,23 @@ void FGSubmodelMgr::init()
ai = (FGAIManager*)globals->get_subsystem("ai_model");
load();
+
+// _model_added_node = fgGetNode("ai/models/model-added", true);
+ //_model_added_node->addChangeListener(this, false);
+
}
void FGSubmodelMgr::postinit() {
// postinit, so that the AI list is populated
loadAI();
- while (_found_sub)
- loadSubmodels();
+ while (_found_sub)
+ loadSubmodels();
//TODO reload submodels if an MP ac joins
+
+ _model_added_node = fgGetNode("ai/models/model-added", true);
+ _model_added_node->addChangeListener(this, false);
}
void FGSubmodelMgr::bind()
@@ -109,7 +116,7 @@ void FGSubmodelMgr::update(double dt)
_impact = false;
_hit = false;
- _expiry = false;
+ _expiry = false;
// check if the submodel hit an object or terrain
sm_list = ai->get_ai_list();
@@ -119,7 +126,8 @@ void FGSubmodelMgr::update(double dt)
for (; sm_list_itr != end; ++sm_list_itr) {
_impact = (*sm_list_itr)->_getImpactData();
_hit = (*sm_list_itr)->_getCollisionData();
- _expiry = (*sm_list_itr)->_getExpiryData();
+ _expiry = (*sm_list_itr)->_getExpiryData();
+
int parent_subID = (*sm_list_itr)->_getSubID();
//SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! "
@@ -130,7 +138,7 @@ void FGSubmodelMgr::update(double dt)
if (_impact || _hit || _expiry) {
// SG_LOG(SG_GENERAL, SG_ALERT, "Submodel: Impact " << _impact << " hit! " << _hit
- //<< " exipiry :-( " << _expiry );
+ //<< " exipiry :-( " << _expiry );
submodel_iterator = submodels.begin();
@@ -147,9 +155,9 @@ void FGSubmodelMgr::update(double dt)
_parent_roll = (*sm_list_itr)->_getImpactRoll();
_parent_speed = (*sm_list_itr)->_getImpactSpeed();
(*submodel_iterator)->first_time = true;
- //cout << "Impact: parent SubID = child_ID elev " << _parent_elev << endl;
+ //cout << "Impact: parent SubID = child_ID elev " << _parent_elev << endl;
- if (release(*submodel_iterator, dt))
+ if (release(*submodel_iterator, dt))
(*sm_list_itr)->setDie(true);
}
@@ -162,19 +170,18 @@ void FGSubmodelMgr::update(double dt)
_contrail_trigger->setBoolValue(_user_alt_node->getDoubleValue() > contrail_altitude);
- bool in_range = true;
+// bool in_range = true;
bool trigger = false;
int i = -1;
submodel_iterator = submodels.begin();
while (submodel_iterator != submodels.end()) {
i++;
- in_range = true;
/*SG_LOG(SG_GENERAL, SG_DEBUG,
"Submodels: " << (*submodel_iterator)->id
<< " name " << (*submodel_iterator)->name
- << " in range " << in_range);*/
+ );*/
if ((*submodel_iterator)->trigger_node != 0) {
_trigger_node = (*submodel_iterator)->trigger_node;
@@ -185,20 +192,20 @@ void FGSubmodelMgr::update(double dt)
//cout << (*submodel_iterator)->name << "trigger node not found " << trigger << endl;
}
- if (trigger && (*submodel_iterator)->count != 0) {
+ if (trigger && (*submodel_iterator)->count != 0) {
- int id = (*submodel_iterator)->id;
- string name = (*submodel_iterator)->name;
-
- /*SG_LOG(SG_GENERAL, SG_DEBUG,
- "Submodels end: " << (*submodel_iterator)->id
- << " name " << (*submodel_iterator)->name
- << " count " << (*submodel_iterator)->count
- << " in range " << in_range);*/
+ int id = (*submodel_iterator)->id;
+ string name = (*submodel_iterator)->name;
+
+ SG_LOG(SG_GENERAL, SG_DEBUG,
+ "Submodels release: " << (*submodel_iterator)->id
+ << " name " << (*submodel_iterator)->name
+ << " count " << (*submodel_iterator)->count
+ );
- release(*submodel_iterator, dt);
- } else
- (*submodel_iterator)->first_time = true;
+ release(*submodel_iterator, dt);
+ } else
+ (*submodel_iterator)->first_time = true;
++submodel_iterator;
} // end while
@@ -222,8 +229,8 @@ bool FGSubmodelMgr::release(submodel *sm, double dt)
//cout << "not yet: timer " << sm->timer << " delay " << sm->delay << endl;
return false;
}
-
- //cout << "released timer: " << sm->timer << " delay " << sm->delay << endl;
+
+ //cout << "released timer: " << sm->timer << " delay " << sm->delay << endl;
sm->timer = 0.0;
@@ -237,11 +244,11 @@ bool FGSubmodelMgr::release(submodel *sm, double dt)
FGAIBallistic* ballist = new FGAIBallistic;
ballist->setPath(sm->model.c_str());
ballist->setName(sm->name);
- ballist->setRandom(sm->random);
- ballist->setRandomness(sm->randomness);
- ballist->setLatitude(offsetpos.getLatitudeDeg());
- ballist->setLongitude(offsetpos.getLongitudeDeg());
- ballist->setAltitude(offsetpos.getElevationFt());
+ ballist->setRandom(sm->random);
+ ballist->setRandomness(sm->randomness);
+ ballist->setLatitude(offsetpos.getLatitudeDeg());
+ ballist->setLongitude(offsetpos.getLongitudeDeg());
+ ballist->setAltitude(offsetpos.getElevationFt());
ballist->setAzimuth(IC.azimuth);
ballist->setElevation(IC.elevation);
ballist->setRoll(IC.roll);
@@ -257,7 +264,7 @@ bool FGSubmodelMgr::release(submodel *sm, double dt)
ballist->setStabilisation(sm->aero_stabilised);
ballist->setNoRoll(sm->no_roll);
ballist->setCollision(sm->collision);
- ballist->setExpiry(sm->expiry);
+ ballist->setExpiry(sm->expiry);
ballist->setImpact(sm->impact);
ballist->setImpactReportNode(sm->impact_report);
ballist->setFuseRange(sm->fuse_range);
@@ -309,12 +316,12 @@ void FGSubmodelMgr::transform(submodel *sm)
sm->speed = sm->speed_node->getDoubleValue();
int id = sm->id;
- //int sub_id = (*submodel)->sub_id;
+ int sub_id = sm->sub_id;
string name = sm->name;
//cout << " name " << name << " id " << id << " sub id" << sub_id << endl;
- // set the Initial Conditions for the types of submodel parent
+ // set the Initial Conditions for the types of submodel parent
if (_impact || _hit || _expiry) {
// set the data for a submodel tied to a submodel
@@ -347,6 +354,7 @@ void FGSubmodelMgr::transform(submodel *sm)
} else {
// set the data for a submodel tied to an AI Object
+ //cout << " set the data for a submodel tied to an AI Object " << id << endl;
sm_list_iterator sm_list_itr = sm_list.begin();
sm_list_iterator end = sm_list.end();
@@ -358,19 +366,20 @@ void FGSubmodelMgr::transform(submodel *sm)
continue;
}
- //cout << "found id " << id << endl;
+ //cout << " AI found id " << id << " alt " << (*sm_list_itr)->_getElevationFt()<< endl;
IC.lat = (*sm_list_itr)->_getLatitude();
IC.lon = (*sm_list_itr)->_getLongitude();
- IC.alt = (*sm_list_itr)->_getAltitude();
+ IC.alt = (*sm_list_itr)->_getElevationFt();
IC.roll = (*sm_list_itr)->_getRoll();
IC.elevation = (*sm_list_itr)->_getPitch();
IC.azimuth = (*sm_list_itr)->_getHeading();
- IC.alt = (*sm_list_itr)->_getAltitude();
IC.speed = (*sm_list_itr)->_getSpeed() * SG_KT_TO_FPS;
IC.speed_down_fps = -(*sm_list_itr)->_getVS_fps();
IC.speed_east_fps = (*sm_list_itr)->_get_speed_east_fps();
IC.speed_north_fps = (*sm_list_itr)->_get_speed_north_fps();
+ break;
+
++sm_list_itr;
}
}
@@ -381,22 +390,22 @@ void FGSubmodelMgr::transform(submodel *sm)
cout << "speed north " << IC.speed_north_fps << endl ;
cout << "parent speed fps in" << IC.speed << "sm speed in " << sm->speed << endl ;*/
- // Set the Initial Conditions that are common to all types of parent
+ // Set the Initial Conditions that are common to all types of parent
IC.wind_from_east = _user_wind_from_east_node->getDoubleValue();
IC.wind_from_north = _user_wind_from_north_node->getDoubleValue();
- userpos.setLatitudeDeg(IC.lat);
- userpos.setLongitudeDeg(IC.lon);
- userpos.setElevationFt(IC.alt);
+ userpos.setLatitudeDeg(IC.lat);
+ userpos.setLongitudeDeg(IC.lon);
+ userpos.setElevationFt(IC.alt);
_x_offset = sm->x_offset;
_y_offset = sm->y_offset;
_z_offset = sm->z_offset;
- setOffsetPos();
+ setOffsetPos();
- //IC.elevation += sm->pitch_offset;
- //IC.azimuth += sm->yaw_offset ;
+ //IC.elevation += sm->pitch_offset;
+ //IC.azimuth += sm->yaw_offset ;
// pre-process the trig functions
cosRx = cos(-IC.roll * SG_DEGREES_TO_RADIANS);
@@ -460,7 +469,7 @@ void FGSubmodelMgr::loadAI()
sm_list = ai->get_ai_list();
if (sm_list.empty()) {
- SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Unable to read AI submodel list");
+ SG_LOG(SG_GENERAL, SG_ALERT, "Submodels: Unable to read AI submodel list");
return;
}
@@ -476,7 +485,11 @@ void FGSubmodelMgr::loadAI()
}
int id = (*sm_list_itr)->getID();
+ string type = (*sm_list_itr)->getTypeString();
bool serviceable = (*sm_list_itr)->_getServiceable();
+
+ //cout << "loadAI: type " << type << " path "<< path << " serviceable " << serviceable << endl;
+
setData(id, path, serviceable);
++sm_list_itr;
}
@@ -490,13 +503,13 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
SGPath config(globals->get_fg_root());
config.append(path);
- SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: path " << path);
+ SG_LOG(SG_GENERAL, SG_DEBUG, "setData: path " << path);
try {
SG_LOG(SG_GENERAL, SG_DEBUG,
"Submodels: Trying to read AI submodels file: " << config.str());
readProperties(config.str(), &root);
} catch (const sg_exception &) {
- SG_LOG(SG_GENERAL, SG_DEBUG,
+ SG_LOG(SG_GENERAL, SG_ALERT,
"Submodels: Unable to read AI submodels file: " << config.str());
return;
}
@@ -530,18 +543,18 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
sm->no_roll = entry_node->getBoolValue("no-roll", false);
sm->collision = entry_node->getBoolValue("collision", false);
- sm->expiry = entry_node->getBoolValue("expiry", false);
+ sm->expiry = entry_node->getBoolValue("expiry", false);
sm->impact = entry_node->getBoolValue("impact", false);
sm->impact_report = entry_node->getStringValue("impact-reports");
sm->fuse_range = entry_node->getDoubleValue("fuse-range", 0.0);
sm->contents_node = fgGetNode(entry_node->getStringValue("contents", "none"), false);
- sm->speed_node = fgGetNode(entry_node->getStringValue("speed-node", "none"), false);
+ sm->speed_node = fgGetNode(entry_node->getStringValue("speed-prop", "none"), false);
sm->submodel = entry_node->getStringValue("submodel-path", "");
sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
sm->ext_force = entry_node->getBoolValue("external-force", false);
sm->force_path = entry_node->getStringValue("force-path", "");
- sm->random = entry_node->getBoolValue("random", false);
- sm->randomness = entry_node->getDoubleValue("randomness", 0.5);
+ sm->random = entry_node->getBoolValue("random", false);
+ sm->randomness = entry_node->getDoubleValue("randomness", 0.5);
//cout << "sm->contents_node " << sm->contents_node << endl;
@@ -566,7 +579,7 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
sm->sub_id = 0;
sm->prop = fgGetNode("/ai/submodels/submodel", index, true);
- sm->prop->tie("delay", SGRawValuePointer<double>(&(sm->delay)));
+ sm->prop->tie("delay", SGRawValuePointer<double>(&(sm->delay)));
sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
@@ -598,10 +611,10 @@ void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable)
SGPath config(globals->get_fg_root());
config.append(path);
- SG_LOG(SG_GENERAL, SG_DEBUG,
- "Submodels: path " << path);
+ SG_LOG(SG_GENERAL, SG_ALERT, "setSubData: path " << path);
+
try {
- SG_LOG(SG_GENERAL, SG_DEBUG,
+ SG_LOG(SG_GENERAL, SG_ALERT,
"Submodels: Trying to read AI submodels file: " << config.str());
readProperties(config.str(), &root);
@@ -640,18 +653,18 @@ void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable)
sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
sm->no_roll = entry_node->getBoolValue("no-roll", false);
sm->collision = entry_node->getBoolValue("collision", false);
- sm->expiry = entry_node->getBoolValue("expiry", false);
+ sm->expiry = entry_node->getBoolValue("expiry", false);
sm->impact = entry_node->getBoolValue("impact", false);
sm->impact_report = entry_node->getStringValue("impact-reports");
sm->fuse_range = entry_node->getDoubleValue("fuse-range", 0.0);
sm->contents_node = fgGetNode(entry_node->getStringValue("contents", "none"), false);
- sm->speed_node = fgGetNode(entry_node->getStringValue("speed-node", "none"), false);
+ sm->speed_node = fgGetNode(entry_node->getStringValue("speed-prop", "none"), false);
sm->submodel = entry_node->getStringValue("submodel-path", "");
- sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
+ sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
sm->ext_force = entry_node->getBoolValue("external-force", false);
sm->force_path = entry_node->getStringValue("force-path", "");
- sm->random = entry_node->getBoolValue("random", false);
- sm->randomness = entry_node->getDoubleValue("randomness", 0.5);
+ sm->random = entry_node->getBoolValue("random", false);
+ sm->randomness = entry_node->getDoubleValue("randomness", 0.5);
//cout << "sm->contents_node " << sm->contents_node << endl;
if (sm->contents_node != 0)
@@ -680,7 +693,7 @@ void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable)
sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
- sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
+ sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
string name = sm->name;
sm->prop->setStringValue("name", name.c_str());
@@ -704,29 +717,29 @@ void FGSubmodelMgr::loadSubmodels()
{
SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Loading sub submodels");
- _found_sub = false;
+ _found_sub = false;
submodel_iterator = submodels.begin();
- while (submodel_iterator != submodels.end()) {
- string submodel = (*submodel_iterator)->submodel;
- if (!submodel.empty()) {
- //int id = (*submodel_iterator)->id;
- bool serviceable = true;
- //SG_LOG(SG_GENERAL, SG_DEBUG, "found path sub sub "
- // << submodel
- // << " index " << index
- // << "name " << (*submodel_iterator)->name);
+ while (submodel_iterator != submodels.end()) {
+ string submodel = (*submodel_iterator)->submodel;
+ if (!submodel.empty()) {
+ //int id = (*submodel_iterator)->id;
+ bool serviceable = true;
+ //SG_LOG(SG_GENERAL, SG_DEBUG, "found path sub sub "
+ // << submodel
+ // << " index " << index
+ // << "name " << (*submodel_iterator)->name);
- if ((*submodel_iterator)->sub_id == 0){
- (*submodel_iterator)->sub_id = index;
- _found_sub = true;
- setSubData(index, submodel, serviceable);
- }
- }
+ if ((*submodel_iterator)->sub_id == 0){
+ (*submodel_iterator)->sub_id = index;
+ _found_sub = true;
+ setSubData(index, submodel, serviceable);
+ }
+ }
- ++submodel_iterator;
- } // end while
+ ++submodel_iterator;
+ } // end while
subsubmodel_iterator = subsubmodels.begin();
@@ -735,7 +748,7 @@ void FGSubmodelMgr::loadSubmodels()
++subsubmodel_iterator;
} // end while
- subsubmodels.clear();
+ subsubmodels.clear();
//submodel_iterator = submodels.begin();
@@ -760,7 +773,7 @@ SGVec3d FGSubmodelMgr::getCartOffsetPos() const{
// in the simulation usual body x-forward, y-right, z-down coordinates
// (meters) )
- SGVec3d _off(_x_offset * SG_FEET_TO_METER,
+ SGVec3d _off(_x_offset * SG_FEET_TO_METER,
_y_offset * SG_FEET_TO_METER,
-_z_offset * SG_FEET_TO_METER);
@@ -789,5 +802,60 @@ void FGSubmodelMgr::setOffsetPos(){
SGVec3d cartoffsetPos = getCartOffsetPos();
SGGeodesy::SGCartToGeod(cartoffsetPos, offsetpos);
+}
+
+void FGSubmodelMgr::valueChanged(SGPropertyNode *prop)
+{
+
+ const char* _model_added = _model_added_node->getStringValue();
+
+ basic_string <char>::size_type indexCh2b;
+
+ string str2 = _model_added;
+ const char *cstr2b = "ballistic";
+ indexCh2b = str2.find( cstr2b, 0 );
+
+ if (indexCh2b != string::npos ){ // we will ignore Ballistic Objects - there are potentially too many
+ return;
+ } else {
+ //cout << "model added - " << str2 <<" now do something "<< endl;
+
+ SGPropertyNode *a_node = fgGetNode(_model_added, true );
+ SGPropertyNode *sub_node = a_node->getChild("submodels", 0, true);
+ SGPropertyNode_ptr path_node = sub_node->getChild("path", 0, true);
+
+ string path = path_node->getStringValue();
+
+ if (path.empty()){
+ // nothing to do - return
+ //cout << "subpath empty - return" << endl << endl;
+ return;
+ } else {
+ //cout << "subpath not empty: " << path << endl << endl;
+ SGPropertyNode_ptr ident_node = a_node->getChild("id", 0, true);
+ int id = ident_node->getIntValue();
+
+ setData(id, path, true);
+
+ _found_sub = true;
+
+ while (_found_sub)
+ loadSubmodels();
+
+ }
+
+
+
+
+ }
+
+
+
+
+
+
+
+
+
}
// end of submodel.cxx
diff --git a/src/AIModel/submodel.hxx b/src/AIModel/submodel.hxx
index cd645f64e..95e62f6b7 100644
--- a/src/AIModel/submodel.hxx
+++ b/src/AIModel/submodel.hxx
@@ -25,7 +25,7 @@ using std::list;
class FGAIBase;
-class FGSubmodelMgr : public SGSubsystem
+class FGSubmodelMgr : public SGSubsystem, public SGPropertyChangeListener
{
public:
@@ -53,7 +53,7 @@ public:
double drag_area;
double life;
double buoyancy;
- double randomness;
+ double randomness;
bool wind;
bool first_time;
double cd;
@@ -63,9 +63,9 @@ public:
int id;
bool no_roll;
bool serviceable;
- bool random;
+ bool random;
bool collision;
- bool expiry;
+ bool expiry;
bool impact;
string impact_report;
double fuse_range;
@@ -144,7 +144,7 @@ private:
double _parent_pitch;
double _parent_roll;
double _parent_speed;
- double _x_offset;
+ double _x_offset;
double _y_offset;
double _z_offset;
@@ -155,8 +155,8 @@ private:
bool _impact;
bool _hit;
- bool _expiry;
- bool _found_sub;
+ bool _expiry;
+ bool _found_sub;
SGPropertyNode_ptr _serviceable_node;
SGPropertyNode_ptr _user_lat_node;
@@ -178,6 +178,9 @@ private:
SGPropertyNode_ptr _count_node;
SGPropertyNode_ptr _trigger_node;
SGPropertyNode_ptr props;
+ SGPropertyNode_ptr _model_added_node;
+ SGPropertyNode_ptr _path_node;
+
FGAIManager* ai;
IC_struct IC;
@@ -201,11 +204,11 @@ private:
int _count;
-
- SGGeod userpos;
- SGGeod offsetpos;
- SGVec3d getCartOffsetPos() const;
- void setOffsetPos();
+
+ SGGeod userpos;
+ SGGeod offsetpos;
+ SGVec3d getCartOffsetPos() const;
+ void setOffsetPos();
};
diff --git a/src/Environment/environment_mgr.cxx b/src/Environment/environment_mgr.cxx
index 4a3fc9606..98184acf9 100644
--- a/src/Environment/environment_mgr.cxx
+++ b/src/Environment/environment_mgr.cxx
@@ -297,19 +297,9 @@ FGEnvironmentMgr::update (double dt)
osg::Vec3 windVec(_environment->get_wind_from_north_fps(),
-_environment->get_wind_from_east_fps(),
0);
- // SG_LOG(SG_GENERAL, SG_ALERT, "-_environment->get_wind_from_north_mps() " <<
- //_environment->get_wind_from_north_fps() * SG_FEET_TO_METER
- //<< " -_environment->get_wind_from_east_mps() "
- //<< -_environment->get_wind_from_east_fps() * SG_FEET_TO_METER
- //);
-
- // simgear::Particles::setWindVector(windVec * SG_FEET_TO_METER);
- simgear::Particles::setWindFrom( _environment->get_wind_from_heading_deg(),
- _environment->get_wind_speed_kt() );
- //double wind_true_deg = _environment->get_wind_from_heading_deg();
- //simgear::Particles::setWindFrom( wind_true_deg,
- // _environment->get_wind_speed_kt() );
-
+ simgear::Particles::setWindVector(windVec * SG_FEET_TO_METER);
+ //simgear::Particles::setWindFrom( _environment->get_wind_from_heading_deg(),
+ // _environment->get_wind_speed_kt() );
}
FGEnvironment
From dff8099994e9205d0790aaf91e3a6a9795150e74 Mon Sep 17 00:00:00 2001
From: Vivian Meazza <vivian.meazza@lineone.net>
Date: Sun, 29 Aug 2010 00:00:09 +0100
Subject: [PATCH 2/2] Major update of Ballistic objects and submodels.
Introduce submodels slaved to AI Objects. Remove deprecated code. Try to
increase framerate. Use quaternion calculations for Initial Conditions.
Signed-off-by: Vivian Meazza <vivian.meazza@lineone.net>
---
src/AIModel/AIBallistic.cxx | 397 +++++++++++++++++++++++++-----------
src/AIModel/AIBallistic.hxx | 54 +++--
src/AIModel/AIBase.cxx | 10 +-
src/AIModel/AIBase.hxx | 3 -
src/AIModel/AIManager.cxx | 3 +-
src/AIModel/AIWingman.cxx | 29 ++-
src/AIModel/submodel.cxx | 229 +++++++++++++--------
src/AIModel/submodel.hxx | 6 +
8 files changed, 496 insertions(+), 235 deletions(-)
diff --git a/src/AIModel/AIBallistic.cxx b/src/AIModel/AIBallistic.cxx
index e94844eaf..5f67d88e4 100644
--- a/src/AIModel/AIBallistic.cxx
+++ b/src/AIModel/AIBallistic.cxx
@@ -66,7 +66,8 @@ _report_impact(false),
_external_force(false),
_impact_report_node(fgGetNode("/ai/models/model-impact", true)),
_old_height(0),
-_elapsed_time(0)
+_elapsed_time(0),
+hs(0)
{
no_roll = false;
@@ -89,8 +90,8 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
setDragArea(scFileNode->getDoubleValue("eda", 0.007));
setLife(scFileNode->getDoubleValue("life", 900.0));
setBuoyancy(scFileNode->getDoubleValue("buoyancy", 0));
- setWind_from_east(scFileNode->getDoubleValue("wind_from_east", 0));
- setWind_from_north(scFileNode->getDoubleValue("wind_from_north", 0));
+ //setWind_from_east(scFileNode->getDoubleValue("wind_from_east", 0));
+ //setWind_from_north(scFileNode->getDoubleValue("wind_from_north", 0));
setWind(scFileNode->getBoolValue("wind", false));
setRoll(scFileNode->getDoubleValue("roll", 0.0));
setCd(scFileNode->getDoubleValue("cd", 0.029));
@@ -119,7 +120,7 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
setLoadOffset(scFileNode->getDoubleValue("load-offset", 0.0));
setSlaved(scFileNode->getBoolValue("slaved", false));
setSlavedLoad(scFileNode->getBoolValue("slaved-load", false));
- setContentsNode(scFileNode->getStringValue("contents"));
+ setContentsPath(scFileNode->getStringValue("contents"));
}
bool FGAIBallistic::init(bool search_in_AI_path) {
@@ -143,8 +144,13 @@ bool FGAIBallistic::init(bool search_in_AI_path) {
props->setStringValue("material/name", "");
props->setStringValue("name", _name.c_str());
- props->setStringValue("submodels/path", _submodel.c_str());
- props->setStringValue("force/path", _force_path.c_str());
+ props->setStringValue("submodels/path", _path.c_str());
+
+ if (_slave_to_ac){
+ props->setStringValue("force/path", _force_path.c_str());
+ props->setStringValue("contents/path", _contents_path.c_str());
+ }
+
//props->setStringValue("vector/path", _vector_path.c_str());
// start with high value so that animations don't trigger yet
@@ -155,6 +161,8 @@ bool FGAIBallistic::init(bool search_in_AI_path) {
Transform();
+ //cout << _name << " speed init: " << speed << endl;
+
return true;
}
@@ -164,11 +172,10 @@ void FGAIBallistic::bind() {
props->tie("sim/time/elapsed-sec",
SGRawValueMethods<FGAIBallistic,double>(*this,
&FGAIBallistic::_getTime));
- props->tie("mass-slug",
- SGRawValueMethods<FGAIBallistic,double>(*this,
- &FGAIBallistic::getMass));
- props->tie("material/load-resistance",
- SGRawValuePointer<double>(&_load_resistance));
+ //props->tie("mass-slug",
+ // SGRawValueMethods<FGAIBallistic,double>(*this,
+ // &FGAIBallistic::getMass));
+
props->tie("material/solid",
SGRawValuePointer<bool>(&_solid));
props->tie("altitude-agl-ft",
@@ -179,7 +186,7 @@ void FGAIBallistic::bind() {
props->tie("controls/invisible",
SGRawValuePointer<bool>(&invisible));
- if(_external_force){
+ if(_external_force || _slave_to_ac){
props->tie("controls/force_stabilized",
SGRawValuePointer<bool>(&_force_stabilised));
props->tie("position/global-x",
@@ -195,7 +202,7 @@ void FGAIBallistic::bind() {
props->tie("velocities/horizontal-speed-fps",
SGRawValuePointer<double>(&hs));
props->tie("position/altitude-ft",
- SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getAltitude, &FGAIBase::_setAltitude));
+ SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getElevationFt, &FGAIBase::_setAltitude));
props->tie("position/latitude-deg",
SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getLatitude, &FGAIBase::_setLatitude));
props->tie("position/longitude-deg",
@@ -221,22 +228,23 @@ void FGAIBallistic::bind() {
props->tie("load/bearing-to-hitch-deg",
SGRawValueMethods<FGAIBallistic,double>
(*this, &FGAIBallistic::getBearingLoadToHitch));
+ props->tie("material/load-resistance",
+ SGRawValuePointer<double>(&_load_resistance));
}
}
void FGAIBallistic::unbind() {
- // FGAIBase::unbind();
+// FGAIBase::unbind();
props->untie("sim/time/elapsed-sec");
props->untie("mass-slug");
- props->untie("material/load-resistance");
props->untie("material/solid");
props->untie("altitude-agl-ft");
props->untie("controls/slave-to-ac");
props->untie("controls/invisible");
- if(_external_force){
+ if(_external_force || _slave_to_ac){
props->untie("position/global-y");
props->untie("position/global-x");
props->untie("position/global-z");
@@ -255,6 +263,7 @@ void FGAIBallistic::unbind() {
props->untie("load/distance-to-hitch-ft");
props->untie("load/elevation-to-hitch-deg");
props->untie("load/bearing-to-hitch-deg");
+ props->untie("material/load-resistance");
}
}
@@ -262,14 +271,12 @@ void FGAIBallistic::update(double dt) {
FGAIBase::update(dt);
_setUserPos();
- if (_slave_to_ac){
- slaveToAC(dt);
- Transform();
- setHitchVelocity(dt);
- } else if (_formate_to_ac){
+ if (_formate_to_ac){
formateToAC(dt);
Transform();
- setHitchVelocity(dt);
+ } else if (_slave_to_ac){
+ slaveToAC(dt);
+ Transform();
} else if (!invisible){
Run(dt);
Transform();
@@ -366,7 +373,6 @@ void FGAIBallistic::setCollision(bool c) {
void FGAIBallistic::setExpiry(bool e) {
_report_expiry = e;
- //cout << "_report_expiry " << _report_expiry << endl;
}
void FGAIBallistic::setExternalForce(bool f) {
@@ -384,7 +390,8 @@ void FGAIBallistic::setName(const string& n) {
}
void FGAIBallistic::setSMPath(const string& s) {
- _submodel = s;
+ _path = s;
+ //cout << "submodel path " << _path << endl;
}
void FGAIBallistic::setFuseRange(double f) {
@@ -419,23 +426,67 @@ void FGAIBallistic::setFormate(bool f) {
_formate_to_ac = f;
}
-void FGAIBallistic::setContentsNode(const string& path) {
+void FGAIBallistic::setContentsPath(const string& path) {
+
+ _contents_path = path;
+
if (!path.empty()) {
_contents_node = fgGetNode(path.c_str(), true);
}
}
+void FGAIBallistic::setContentsNode(SGPropertyNode_ptr node) {
+
+ if (node != 0) {
+ _contents_node = node;
+ _contents_path = _contents_node->getDisplayName();
+ }
+}
+
+void FGAIBallistic::setParentNode(SGPropertyNode_ptr node) {
+ if (node != 0) {
+ _pnode = node;
+ _p_pos_node = _pnode->getChild("position", 0, true);
+ _p_lat_node = _p_pos_node->getChild("latitude-deg", 0, true);
+ _p_lon_node = _p_pos_node->getChild("longitude-deg", 0, true);
+ _p_alt_node = _p_pos_node->getChild("altitude-ft", 0, true);
+
+ _p_ori_node = _pnode->getChild("orientation", 0, true);
+ _p_pch_node = _p_ori_node->getChild("pitch-deg", 0, true);
+ _p_rll_node = _p_ori_node->getChild("roll-deg", 0, true);
+ _p_hdg_node = _p_ori_node->getChild("true-heading-deg",0, true);
+
+ _p_vel_node = _pnode->getChild("velocities", 0, true);
+ _p_spd_node = _p_vel_node->getChild("true-airspeed-kt", 0, true);
+
+ }
+}
+
+void FGAIBallistic::setParentPos() {
+ if (_pnode != 0) {
+ double lat = _p_lat_node->getDoubleValue();
+ double lon = _p_lon_node->getDoubleValue();
+ double alt = _p_alt_node->getDoubleValue();
+
+ _parentpos.setLongitudeDeg(lon);
+ _parentpos.setLatitudeDeg(lat);
+ _parentpos.setElevationFt(alt);
+
+ }
+}
+
bool FGAIBallistic::getSlaved() const {
return _slave_to_ac;
-}
+}
double FGAIBallistic::getMass() const {
return _mass;
}
double FGAIBallistic::getContents() {
- if(_contents_node)
+ if(_contents_node){
_contents_lb = _contents_node->getChild("level-lbs",0,1)->getDoubleValue();
+ }
return _contents_lb;
}
@@ -462,27 +513,33 @@ void FGAIBallistic::setForcePath(const string& p) {
}
}
-bool FGAIBallistic::getHtAGL(){
+bool FGAIBallistic::getHtAGL(double start){
- if (getGroundElevationM(SGGeod::fromGeodM(pos, 10000),
+ if (getGroundElevationM(SGGeod::fromGeodM(pos, start),
_elevation_m, &_material)) {
_ht_agl_ft = pos.getElevationFt() - _elevation_m * SG_METER_TO_FEET;
+
if (_material) {
const vector<string>& names = _material->get_names();
-
_solid = _material->get_solid();
_load_resistance = _material->get_load_resistance();
_frictionFactor =_material->get_friction_factor();
+
if (!names.empty())
props->setStringValue("material/name", names[0].c_str());
else
props->setStringValue("material/name", "");
- /*cout << "material " << mat_name
- << " solid " << _solid
- << " load " << _load_resistance
- << " frictionFactor " << frictionFactor
- << endl;*/
+
+ _mat_name = names[0];
+
+ //cout << "material " << _mat_name
+ //<< " solid " << _solid
+ //<< " load " << _load_resistance
+ //<< " frictionFactor " << _frictionFactor
+ //<< endl;
+
}
+
return true;
} else {
return false;
@@ -541,7 +598,6 @@ double FGAIBallistic::getTgtZOffset() const {
void FGAIBallistic::setTgtXOffset(double x){
_tgt_x_offset = x;
- cout <<"setTgtXOffset " <<_tgt_x_offset << endl;
}
void FGAIBallistic::setTgtYOffset(double y){
@@ -554,19 +610,39 @@ void FGAIBallistic::setTgtZOffset(double z){
void FGAIBallistic::slaveToAC(double dt){
- setHitchPos();
- pos.setLatitudeDeg(hitchpos.getLatitudeDeg());
- pos.setLongitudeDeg(hitchpos.getLongitudeDeg());
- pos.setElevationFt(hitchpos.getElevationFt());
- setHeading(manager->get_user_heading());
- setPitch(manager->get_user_pitch() + _pitch_offset);
- setBank(manager->get_user_roll() + _roll_offset);
- setSpeed(manager->get_user_speed());
+ double hdg, pch, rll = 0;
+
+ if (_pnode != 0) {
+ setParentPos();
+ hdg = _p_hdg_node->getDoubleValue();
+ pch = _p_pch_node->getDoubleValue();
+ rll = _p_rll_node->getDoubleValue();
+ setOffsetPos(_parentpos, hdg, pch, rll);
+ setSpeed(_p_spd_node->getDoubleValue());
+ }else {
+ hdg = manager->get_user_heading();
+ pch = manager->get_user_pitch();
+ rll = manager->get_user_roll();
+ setOffsetPos(userpos, hdg, pch, rll);
+ setSpeed(manager->get_user_speed());
+ }
+
+ pos.setLatitudeDeg(_offsetpos.getLatitudeDeg());
+ pos.setLongitudeDeg(_offsetpos.getLongitudeDeg());
+ pos.setElevationFt(_offsetpos.getElevationFt());
+ setHeading(hdg);
+ setPitch(pch + _pitch_offset);
+ setBank(rll + _roll_offset);
+ setOffsetVelocity(dt, pos);
+
//update the mass (slugs)
_mass = (_weight_lb + getContents()) / slugs_to_lbs;
- /*cout <<"_mass "<<_mass <<" " << getContents()
- <<" " << getContents() / slugs_to_lbs << endl;*/
+ _impact_reported = false;
+
+ //cout << _name << " _mass "<<_mass <<" " << getContents()
+ //<< " " << getContents() / slugs_to_lbs << " weight " << _weight_lb << endl;
+ // cout << _name << " update hs " << hs << " vs " << vs << endl;
}
void FGAIBallistic::Run(double dt) {
@@ -575,7 +651,7 @@ void FGAIBallistic::Run(double dt) {
// if life = -1 the object does not die
if (_life_timer > life && life != -1){
- if (_report_expiry && !_expiry_reported){
+ if (_report_expiry && !_expiry_reported && !_impact_reported && !_collision_reported){
//cout<<"AIBallistic: expiry"<< endl;
handle_expiry();
} else
@@ -601,7 +677,8 @@ void FGAIBallistic::Run(double dt) {
else
Cdm = 0.2965 * pow(Mach, -1.1506) + _Cd;
- //cout << "Mach " << Mach << " Cdm " << Cdm << "// ballistic speed kts "<< speed << endl;
+ //cout <<_name << " Mach " << Mach << " Cdm " << Cdm
+ // << " ballistic speed kts "<< speed << endl;
// drag = Cd * 0.5 * rho * speed * speed * drag_area;
// rho is adjusted for altitude in void FGAIBase::update,
@@ -645,7 +722,7 @@ void FGAIBallistic::Run(double dt) {
//calculate velocity due to external force
double force_speed_north_deg_sec = 0;
double force_speed_east_deg_sec = 0;
- // double vs_force_fps = 0;
+// double vs_force_fps = 0;
double hs_force_fps = 0;
double v_force_acc_fpss = 0;
double force_speed_north_fps = 0;
@@ -662,19 +739,20 @@ void FGAIBallistic::Run(double dt) {
double force_elevation_deg = 0;
if (_external_force) {
+ //cout << _name << " external force" << endl;
SGPropertyNode *n = fgGetNode(_force_path.c_str(), true);
double force_lbs = n->getChild("force-lb", 0, true)->getDoubleValue();
force_elevation_deg = n->getChild("force-elevation-deg", 0, true)->getDoubleValue();
double force_azimuth_deg = n->getChild("force-azimuth-deg", 0, true)->getDoubleValue();
-
+
//resolve force into vertical and horizontal components:
double v_force_lbs = force_lbs * sin( force_elevation_deg * SG_DEGREES_TO_RADIANS );
h_force_lbs = force_lbs * cos( force_elevation_deg * SG_DEGREES_TO_RADIANS );
//ground interaction
- if (getHtAGL()){
+ if (getHtAGL(10000)){
double deadzone = 0.1;
if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){
@@ -755,18 +833,22 @@ void FGAIBallistic::Run(double dt) {
// set new position
if(_slave_load_to_ac) {
- setHitchPos();
- pos.setLatitudeDeg(hitchpos.getLatitudeDeg());
- pos.setLongitudeDeg(hitchpos.getLongitudeDeg());
- pos.setElevationFt(hitchpos.getElevationFt());
+ setOffsetPos(pos,
+ manager->get_user_heading(),
+ manager->get_user_pitch(),
+ manager->get_user_roll()
+ );
+ pos.setLatitudeDeg(_offsetpos.getLatitudeDeg());
+ pos.setLongitudeDeg(_offsetpos.getLongitudeDeg());
+ pos.setElevationFt(_offsetpos.getElevationFt());
- if (getHtAGL()){
+ if (getHtAGL(10000)){
double deadzone = 0.1;
if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){
pos.setElevationFt(0 + _ground_offset);
} else {
- pos.setElevationFt(hitchpos.getElevationFt() + _load_offset);
+ pos.setElevationFt(_offsetpos.getElevationFt() + _load_offset);
}
}
@@ -780,6 +862,8 @@ void FGAIBallistic::Run(double dt) {
pos.setElevationFt(pos.getElevationFt() + vs * dt);
}
+// cout << _name << " run hs " << hs << " vs " << vs << endl;
+
// recalculate total speed
if ( vs == 0 && hs == 0)
speed = 0;
@@ -796,8 +880,6 @@ void FGAIBallistic::Run(double dt) {
if (_azimuth < 0)
_azimuth += 360;
- //cout << "_azimuth " << _azimuth << " hdg "<< hdg << endl;
-
if (_aero_stabilised) { // we simulate rotational moment of inertia by using a filter
//cout<< "_aero_stabilised "<< endl;
const double coeff = 0.9;
@@ -807,7 +889,7 @@ void FGAIBallistic::Run(double dt) {
setHdg(_azimuth, dt, coeff);
} else if (_force_stabilised) { // we simulate rotational moment of inertia by using a filter
//cout<< "_force_stabilised "<< endl;
-
+
const double coeff = 0.9;
double ratio = h_force_lbs/(_mass * slugs_to_lbs);
@@ -844,7 +926,9 @@ double FGAIBallistic::_getTime() const {
void FGAIBallistic::handle_impact() {
// try terrain intersection
- if(!getHtAGL())
+ double start = pos.getElevationM() + 10;
+
+ if(!getHtAGL(start))
return;
if (_ht_agl_ft <= 0) {
@@ -866,10 +950,11 @@ void FGAIBallistic::handle_expiry() {
report_impact(pos.getElevationM());
_expiry_reported = true;
- //if (life == -1){
- // invisible = true;
- //} else if (_subID == 0) // kill the AIObject if there is no subsubmodel
- // setDie(true);
+ if (life == -1){
+ invisible = true;
+ } else if (_subID == 0){ // kill the AIObject if there is no subsubmodel
+ setDie(true);
+ }
}
@@ -879,7 +964,6 @@ void FGAIBallistic::handle_collision()
pos.getLatitudeDeg(),pos.getLongitudeDeg(), _fuse_range);
if (object) {
- SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: object hit");
report_impact(pos.getElevationM(), object);
_collision_reported = true;
}
@@ -896,11 +980,14 @@ void FGAIBallistic::report_impact(double elevation, const FGAIBase *object)
_impact_roll = roll;
SGPropertyNode *n = props->getNode("impact", true);
+
if (object)
n->setStringValue("type", object->getTypeString());
else
n->setStringValue("type", "terrain");
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: object impact" << _name << " lon " <<_impact_lon);
+
n->setDoubleValue("longitude-deg", _impact_lon);
n->setDoubleValue("latitude-deg", _impact_lat);
n->setDoubleValue("elevation-m", _impact_elev);
@@ -920,7 +1007,7 @@ SGVec3d FGAIBallistic::getCartUserPos() const {
SGVec3d FGAIBallistic::getCartHitchPos() const{
// convert geodetic positions to geocentered
- SGVec3d cartuserPos = getCartUserPos();
+ SGVec3d cartuserPos = SGVec3d::fromGeod(userpos);
//SGVec3d cartPos = getCartPos();
// Transform to the right coordinate frame, configuration is done in
@@ -928,8 +1015,8 @@ SGVec3d FGAIBallistic::getCartHitchPos() const{
// in the simulation usual body x-forward, y-right, z-down coordinates
// (meters) )
SGVec3d _off(_x_offset * SG_FEET_TO_METER,
- _y_offset * SG_FEET_TO_METER,
- -_z_offset * SG_FEET_TO_METER);
+ _y_offset * SG_FEET_TO_METER,
+ -_z_offset * SG_FEET_TO_METER);
// Transform the user position to the horizontal local coordinate system.
SGQuatd hlTrans = SGQuatd::fromLonLat(userpos);
@@ -951,11 +1038,16 @@ SGVec3d FGAIBallistic::getCartHitchPos() const{
return offsetPos;
}
-void FGAIBallistic::setHitchPos(){
+void FGAIBallistic::setOffsetPos(SGGeod inpos, double heading, double pitch, double roll){
// convert the hitch geocentered position to geodetic
- SGVec3d carthitchPos = getCartHitchPos();
- SGGeodesy::SGCartToGeod(carthitchPos, hitchpos);
+ SGVec3d cartoffsetPos = getCartOffsetPos(inpos, heading, pitch, roll);
+
+ //SGVec3d cartoffsetPos = getCartHitchPos();
+
+ //SGGeodesy::SGCartToGeod(cartoffsetPos, hitchpos);
+ SGGeodesy::SGCartToGeod(cartoffsetPos, _offsetpos);
+
}
double FGAIBallistic::getDistanceLoadToHitch() const {
@@ -968,47 +1060,12 @@ double FGAIBallistic::getDistanceLoadToHitch() const {
return distance * SG_METER_TO_FEET;
}
-void FGAIBallistic::setHitchVelocity(double dt) {
- //calculate the distance from the previous hitch position
- SGVec3d carthitchPos = getCartHitchPos();
- SGVec3d diff = carthitchPos - _oldcarthitchPos;
-
- double distance = norm(diff);
-
- //calculate speed knots
- speed = (distance/dt) * SG_MPS_TO_KT;
-
- //now calulate the angle between the old and current hitch positions (degrees)
- double angle = 0;
- double daltM = hitchpos.getElevationM() - oldhitchpos.getElevationM();
-
- if (fabs(distance) < SGLimits<float>::min()) {
- angle = 0;
- } else {
- double sAngle = daltM/distance;
- sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
- angle = SGMiscd::rad2deg(asin(sAngle));
- }
-
- _elevation = angle;
-
- //calculate the bearing of the new hitch position from the old
- double az1, az2, dist;
-
- geo_inverse_wgs_84(oldhitchpos, hitchpos, &az1, &az2, &dist);
-
- _azimuth = az1;
-
- // and finally store the new values
- _oldcarthitchPos = carthitchPos;
- oldhitchpos = hitchpos;
-}
double FGAIBallistic::getElevLoadToHitch() const {
// now the angle, positive angles are upwards
double distance = getDistanceLoadToHitch() * SG_FEET_TO_METER;
double angle = 0;
- double daltM = hitchpos.getElevationM() - pos.getElevationM();
+ double daltM = _offsetpos.getElevationM() - pos.getElevationM();
if (fabs(distance) < SGLimits<float>::min()) {
angle = 0;
@@ -1025,7 +1082,7 @@ double FGAIBallistic::getBearingLoadToHitch() const {
//calculate the bearing and range of the second pos from the first
double az1, az2, distance;
- geo_inverse_wgs_84(pos, hitchpos, &az1, &az2, &distance);
+ geo_inverse_wgs_84(pos, _offsetpos, &az1, &az2, &distance);
return az1;
}
@@ -1034,7 +1091,7 @@ double FGAIBallistic::getRelBrgHitchToUser() const {
//calculate the relative bearing
double az1, az2, distance;
- geo_inverse_wgs_84(hitchpos, userpos, &az1, &az2, &distance);
+ geo_inverse_wgs_84(_offsetpos, userpos, &az1, &az2, &distance);
double rel_brg = az1 - hdg;
@@ -1055,7 +1112,7 @@ double FGAIBallistic::getElevHitchToUser() const {
double distance = norm(diff);
double angle = 0;
- double daltM = userpos.getElevationM() - hitchpos.getElevationM();
+ double daltM = userpos.getElevationM() - _offsetpos.getElevationM();
// now the angle, positive angles are upwards
if (fabs(distance) < SGLimits<float>::min()) {
@@ -1080,8 +1137,11 @@ void FGAIBallistic::setTgtOffsets(double dt, double coeff){
void FGAIBallistic::formateToAC(double dt){
setTgtOffsets(dt, 25);
- setHitchPos();
- setHitchVelocity(dt);
+ setOffsetPos(userpos,
+ manager->get_user_heading(),
+ manager->get_user_pitch(),
+ manager->get_user_roll()
+ );
// elapsed time has a random initialisation so that each
// wingman moves differently
@@ -1095,19 +1155,19 @@ void FGAIBallistic::formateToAC(double dt){
double h_angle = 5 * factor;
double h_feet = 3 * factor;
- pos.setLatitudeDeg(hitchpos.getLatitudeDeg());
- pos.setLongitudeDeg(hitchpos.getLongitudeDeg());
+ pos.setLatitudeDeg(_offsetpos.getLatitudeDeg());
+ pos.setLongitudeDeg(_offsetpos.getLongitudeDeg());
- if (getHtAGL()){
+ if (getHtAGL(10000)){
if(_ht_agl_ft <= 10) {
_height = userpos.getElevationFt();
} else if (_ht_agl_ft > 10 && _ht_agl_ft <= 150 ) {
setHt(userpos.getElevationFt(), dt, 1.0);
} else if (_ht_agl_ft > 150 && _ht_agl_ft <= 250) {
- setHt(hitchpos.getElevationFt()+ h_feet, dt, 0.75);
+ setHt(_offsetpos.getElevationFt()+ h_feet, dt, 0.75);
} else
- setHt(hitchpos.getElevationFt()+ h_feet, dt, 0.5);
+ setHt(_offsetpos.getElevationFt()+ h_feet, dt, 0.5);
pos.setElevationFt(_height);
}
@@ -1128,6 +1188,105 @@ void FGAIBallistic::formateToAC(double dt){
setBnk(manager->get_user_roll() + _roll_offset, dt, 0.9);
}
- setSpeed(speed);
+ setOffsetVelocity(dt, pos);
}
+void FGAIBallistic::calcVSHS(){
+ // calculate vertical and horizontal speed components
+ double speed_fps = speed * SG_KT_TO_FPS;
+
+ if (speed == 0.0) {
+ hs = vs = 0.0;
+ } else {
+ vs = sin( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps;
+ hs = cos( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps;
+ }
+}
+
+void FGAIBallistic::calcNE(){
+ //resolve horizontal speed into north and east components:
+ _speed_north_fps = cos(_azimuth / SG_RADIANS_TO_DEGREES) * hs;
+ _speed_east_fps = sin(_azimuth / SG_RADIANS_TO_DEGREES) * hs;
+
+ // convert horizontal speed (fps) to degrees per second
+ speed_north_deg_sec = _speed_north_fps / ft_per_deg_lat;
+ speed_east_deg_sec = _speed_east_fps / ft_per_deg_lon;
+
+}
+
+SGVec3d FGAIBallistic::getCartOffsetPos(SGGeod inpos, double user_heading,
+ double user_pitch, double user_roll
+ ) const{
+
+ // convert geodetic positions to geocentered
+ SGVec3d cartuserPos = SGVec3d::fromGeod(inpos);
+ //SGVec3d cartuserPos = getCartUserPos();
+ //SGVec3d cartPos = getCartPos();
+
+ // Transform to the right coordinate frame, configuration is done in
+ // the x-forward, y-right, z-up coordinates (feet), computation
+ // in the simulation usual body x-forward, y-right, z-down coordinates
+ // (meters) )
+ SGVec3d _off(_x_offset * SG_FEET_TO_METER,
+ _y_offset * SG_FEET_TO_METER,
+ -_z_offset * SG_FEET_TO_METER);
+
+ // Transform the user position to the horizontal local coordinate system.
+ SGQuatd hlTrans = SGQuatd::fromLonLat(userpos);
+
+ // and postrotate the orientation of the user model wrt the horizontal
+ // local frame
+ hlTrans *= SGQuatd::fromYawPitchRollDeg(
+ user_heading,
+ user_pitch,
+ user_roll);
+
+ // The offset converted to the usual body fixed coordinate system
+ // rotated to the earth-fixed coordinates axis
+ SGVec3d off = hlTrans.backTransform(_off);
+
+ // Add the position offset of the user model to get the geocentered position
+ SGVec3d offsetPos = cartuserPos + off;
+
+ return offsetPos;
+}
+
+void FGAIBallistic::setOffsetVelocity(double dt, SGGeod offsetpos) {
+ //calculate the distance from the previous offset position
+ SGVec3d cartoffsetPos = SGVec3d::fromGeod(offsetpos);
+ SGVec3d diff = cartoffsetPos - _oldcartoffsetPos;
+
+ double distance = norm(diff);
+ //calculate speed knots
+ speed = (distance/dt) * SG_MPS_TO_KT;
+
+ //now calulate the angle between the old and current postion positions (degrees)
+ double angle = 0;
+ double daltM = offsetpos.getElevationM() - _oldoffsetpos.getElevationM();
+
+ if (fabs(distance) < SGLimits<float>::min()) {
+ angle = 0;
+ } else {
+ double sAngle = daltM/distance;
+ sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
+ angle = SGMiscd::rad2deg(asin(sAngle));
+ }
+
+ _elevation = angle;
+
+ //calculate vertical and horizontal speed components
+ calcVSHS();
+
+ //calculate the bearing of the new offset position from the old
+ double az1, az2, dist;
+ geo_inverse_wgs_84(_oldoffsetpos, offsetpos, &az1, &az2, &dist);
+ _azimuth = az1;
+
+ //resolve horizontal speed into north and east components:
+ calcNE();
+
+ // and finally store the new values
+ _oldcartoffsetPos = cartoffsetPos;
+ _oldoffsetpos = offsetpos;
+}
+
// end AIBallistic
diff --git a/src/AIModel/AIBallistic.hxx b/src/AIModel/AIBallistic.hxx
index 09efbd6e1..6ce9c13d8 100644
--- a/src/AIModel/AIBallistic.hxx
+++ b/src/AIModel/AIBallistic.hxx
@@ -68,31 +68,32 @@ public:
void setWeight( double w );
void setNoRoll( bool nr );
void setRandom( bool r );
- void setRandomness( double r );
+ void setRandomness( double r );
void setName(const string&);
void setCollision(bool c);
- void setExpiry(bool e);
+ void setExpiry(bool e);
void setImpact(bool i);
void setImpactReportNode(const string&);
- void setContentsNode(const string&);
+ void setContentsNode(const SGPropertyNode_ptr);
void setFuseRange(double f);
void setSMPath(const string&);
void setSubID(int i);
void setSubmodel(const string&);
void setExternalForce( bool f );
void setForcePath(const string&);
+ void setContentsPath(const string&);
void setForceStabilisation( bool val );
void setGroundOffset(double g);
void setLoadOffset(double l);
void setSlaved(bool s);
void setSlavedLoad(bool s);
- void setHitchPos();
void setPch (double e, double dt, double c);
void setHdg (double az, double dt, double c);
void setBnk(double r, double dt, double c);
void setHt(double h, double dt, double c);
- void setHitchVelocity(double dt);
void setFormate(bool f);
+ void setParentNode(const SGPropertyNode_ptr);
+ void setParentPos();
double _getTime() const;
double getRelBrgHitchToUser() const;
@@ -102,7 +103,7 @@ public:
SGVec3d getCartHitchPos() const;
- bool getHtAGL();
+ bool getHtAGL(double start);
bool getSlaved() const;
bool getSlavedLoad() const;
@@ -114,13 +115,13 @@ public:
SGPropertyNode_ptr _force_azimuth_node;
SGPropertyNode_ptr _force_elevation_node;
- SGGeod hitchpos;
-
double _height;
double _ht_agl_ft; // height above ground level
double _azimuth; // degrees true
double _elevation; // degrees
double _rotation; // degrees
+ double _speed_north_fps;
+ double _speed_east_fps;
bool _formate_to_ac;
@@ -153,7 +154,7 @@ private:
double _Cd; // drag coefficient
double _mass; // slugs
bool _random; // modifier for Cd, life, az
- double _randomness; // dimension for _random, only applies to life at present
+ double _randomness; // dimension for _random, only applies to life at present
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
@@ -163,41 +164,56 @@ private:
bool _slave_load_to_ac;// if true, object will be slaved to the parent ac pos
double _contents_lb; // contents of the object
double _weight_lb; // weight of the object (no contents if appropriate) (lbs)
+ string _mat_name;
bool _report_collision; // if true a collision point with AI Objects is calculated
bool _report_impact; // if true an impact point on the terrain is calculated
bool _external_force; // if true then apply external force
- bool _report_expiry;
+ bool _report_expiry;
SGPropertyNode_ptr _impact_report_node; // report node for impact and collision
- SGPropertyNode_ptr _contents_node; // report node for impact and collision
+ SGPropertyNode_ptr _contents_node; // node for droptank etc. contents
+ SGPropertyNode_ptr _pnode; // node for parent model
+ SGPropertyNode_ptr _p_pos_node; // nodes for parent parameters
+ SGPropertyNode_ptr _p_lat_node;
+ SGPropertyNode_ptr _p_lon_node;
+ SGPropertyNode_ptr _p_alt_node;
+ SGPropertyNode_ptr _p_ori_node;
+ SGPropertyNode_ptr _p_pch_node;
+ SGPropertyNode_ptr _p_rll_node;
+ SGPropertyNode_ptr _p_hdg_node;
+ SGPropertyNode_ptr _p_vel_node;
+ SGPropertyNode_ptr _p_spd_node;
double _fuse_range;
double _distance;
double _dt_count;
double _next_run;
- string _name;
- string _path;
string _submodel;
string _force_path;
+ string _contents_path;
const SGMaterial* _material;
void handle_collision();
- void handle_expiry();
+ void handle_expiry();
void handle_impact();
void report_impact(double elevation, const FGAIBase *target = 0);
void slaveToAC(double dt);
void setContents(double c);
void formateToAC(double dt);
+ void calcVSHS();
+ void calcNE();
+ void setOffsetPos(SGGeod pos, double heading, double pitch, double roll);
+ void setOffsetVelocity(double dt, SGGeod pos);
SGVec3d getCartUserPos() const;
+ SGVec3d getCartOffsetPos(SGGeod pos, double heading, double pitch, double roll) const;
double getDistanceLoadToHitch() const;
double getElevLoadToHitch() const;
double getBearingLoadToHitch() const;
-
double getRecip(double az);
double getMass() const;
@@ -206,9 +222,13 @@ private:
double _load_offset;
double _old_height;
- SGVec3d _oldcarthitchPos;
+ SGVec3d _oldcartoffsetPos;
+ SGVec3d _oldcartPos;
- SGGeod oldhitchpos;
+ SGGeod _parentpos;
+ SGGeod _oldpos;
+ SGGeod _offsetpos;
+ SGGeod _oldoffsetpos;
};
diff --git a/src/AIModel/AIBase.cxx b/src/AIModel/AIBase.cxx
index 460ccc2e0..ac8c4fb57 100644
--- a/src/AIModel/AIBase.cxx
+++ b/src/AIModel/AIBase.cxx
@@ -81,7 +81,7 @@ FGAIBase::FGAIBase(object_type ot) :
delete_me = false;
_impact_reported = false;
_collision_reported = false;
- _expiry_reported = false;
+ _expiry_reported = false;
_subID = 0;
@@ -154,9 +154,6 @@ void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
SGPropertyNode* submodels = scFileNode->getChild("submodels");
if (submodels) {
- //cout << "IN submodels path " << submodels->getStringValue("path")
- // << "IN serviceable " << submodels->getBoolValue("serviceable")
- // << endl;
setServiceable(submodels->getBoolValue("serviceable", false));
setSMPath(submodels->getStringValue("path", ""));
}
@@ -232,8 +229,7 @@ void FGAIBase::initModel(osg::Node *node)
if (model.valid()) {
if( _path != ""){
props->setStringValue("submodels/path", _path.c_str());
- //props->setStringValue("submodel/path", _path.c_str());
- SG_LOG(SG_INPUT, SG_ALERT, "AIBase: submodels/path " << _path);
+ SG_LOG(SG_INPUT, SG_DEBUG, "AIBase: submodels/path " << _path);
}
fgSetString("/ai/models/model-added", props->getPath().c_str());
} else if (!model_path.empty()) {
@@ -478,7 +474,7 @@ SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const {
hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
// The offset converted to the usual body fixed coordinate system
- // rotated to the earth fiexed coordinates axis
+ // rotated to the earth fixed coordinates axis
SGVec3d off = hlTrans.backTransform(_off);
// Add the position offset of the AIModel to gain the earth centered position
diff --git a/src/AIModel/AIBase.hxx b/src/AIModel/AIBase.hxx
index 68127fe4d..20bca1d9c 100644
--- a/src/AIModel/AIBase.hxx
+++ b/src/AIModel/AIBase.hxx
@@ -289,7 +289,6 @@ inline void FGAIBase::setPath(const char* model ) {
}
inline void FGAIBase::setSMPath(const string& p) {
- cout << "setSMPath " << p <<endl;
_path = p;
}
@@ -336,8 +335,6 @@ inline void FGAIBase::setCallSign(const string& s) {
}
inline void FGAIBase::setXoffset(double x) {
_x_offset = x;
- cout << "setXoffset " << _x_offset << endl;
-
}
inline void FGAIBase::setYoffset(double y) {
diff --git a/src/AIModel/AIManager.cxx b/src/AIModel/AIManager.cxx
index 315920ab5..1c83ca479 100644
--- a/src/AIModel/AIManager.cxx
+++ b/src/AIModel/AIManager.cxx
@@ -97,7 +97,7 @@ FGAIManager::postinit() {
continue;
if (scenarios.find(name) != scenarios.end()) {
- SG_LOG(SG_GENERAL, SG_WARN, "won't load scenario '" << name << "' twice");
+ SG_LOG(SG_GENERAL, SG_DEBUG, "won't load scenario '" << name << "' twice");
continue;
}
@@ -110,6 +110,7 @@ FGAIManager::postinit() {
void
FGAIManager::reinit() {
update(0.0);
+
ai_list_iterator ai_list_itr = ai_list.begin();
while(ai_list_itr != ai_list.end()) {
diff --git a/src/AIModel/AIWingman.cxx b/src/AIModel/AIWingman.cxx
index 82874017b..0ed84e85a 100644
--- a/src/AIModel/AIWingman.cxx
+++ b/src/AIModel/AIWingman.cxx
@@ -27,6 +27,7 @@ FGAIWingman::FGAIWingman() : FGAIBallistic(otWingman)
{
invisible = false;
_formate_to_ac = true;
+
}
FGAIWingman::~FGAIWingman() {}
@@ -78,6 +79,7 @@ void FGAIWingman::bind() {
props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
+ props->tie("submodels/serviceable", SGRawValuePointer<bool>(&serviceable));
props->tie("load/rel-brg-to-user-deg",
SGRawValueMethods<FGAIBallistic,double>
@@ -85,8 +87,17 @@ void FGAIWingman::bind() {
props->tie("load/elev-to-user-deg",
SGRawValueMethods<FGAIBallistic,double>
(*this, &FGAIBallistic::getElevHitchToUser));
+
props->tie("velocities/vertical-speed-fps",
SGRawValuePointer<double>(&vs));
+ props->tie("velocities/true-airspeed-kt",
+ SGRawValuePointer<double>(&speed));
+ props->tie("velocities/speed-east-fps",
+ SGRawValuePointer<double>(&_speed_east_fps));
+ props->tie("velocities/speed-north-fps",
+ SGRawValuePointer<double>(&_speed_north_fps));
+
+
props->tie("position/x-offset",
SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getXOffset, &FGAIBase::setXoffset));
props->tie("position/y-offset",
@@ -107,17 +118,23 @@ void FGAIWingman::unbind() {
props->untie("id");
props->untie("SubID");
- props->untie("position/altitude-ft");
- props->untie("position/latitude-deg");
- props->untie("position/longitude-deg");
-
props->untie("orientation/pitch-deg");
props->untie("orientation/roll-deg");
props->untie("orientation/true-heading-deg");
+ props->untie("submodels/serviceable");
+
+ props->untie("velocities/true-airspeed-kt");
+ props->untie("velocities/vertical-speed-fps");
+ props->untie("velocities/speed_east_fps");
+ props->untie("velocities/speed_north_fps");
+
props->untie("load/rel-brg-to-user-deg");
props->untie("load/elev-to-user-deg");
- props->untie("velocities/vertical-speed-fps");
+
+ props->untie("position/altitude-ft");
+ props->untie("position/latitude-deg");
+ props->untie("position/longitude-deg");
props->untie("position/x-offset");
props->untie("position/y-offset");
props->untie("position/z-offset");
@@ -141,11 +158,13 @@ bool FGAIWingman::init(bool search_in_AI_path) {
roll = _rotation;
_ht_agl_ft = 1e10;
+ props->setStringValue("submodels/path", _path.c_str());
return true;
}
void FGAIWingman::update(double dt) {
FGAIBallistic::update(dt);
+// cout << FGAIBase::_getName() << " update speed " << FGAIBase::_getSpeed() << endl;
}
// end AIWingman
diff --git a/src/AIModel/submodel.cxx b/src/AIModel/submodel.cxx
index 733bff3cb..7f9f80c02 100644
--- a/src/AIModel/submodel.cxx
+++ b/src/AIModel/submodel.cxx
@@ -28,12 +28,11 @@ const double FGSubmodelMgr::lbs_to_slugs = 0.031080950172;
FGSubmodelMgr::FGSubmodelMgr()
{
- x_offset = y_offset = 0.0;
- z_offset = -4.0;
- pitch_offset = 2.0;
+ x_offset = y_offset = z_offset = 0.0;
+ pitch_offset = 0.0;
yaw_offset = 0.0;
- out[0] = out[1] = out[2] = 0;
+ //out[0] = out[1] = out[2] = 0;
string contents_node;
contrail_altitude = 30000;
_count = 0;
@@ -79,22 +78,23 @@ void FGSubmodelMgr::init()
load();
-// _model_added_node = fgGetNode("ai/models/model-added", true);
+ //_model_added_node = fgGetNode("ai/models/model-added", true);
//_model_added_node->addChangeListener(this, false);
}
void FGSubmodelMgr::postinit() {
// postinit, so that the AI list is populated
- loadAI();
+
+ loadAI();
while (_found_sub)
loadSubmodels();
//TODO reload submodels if an MP ac joins
- _model_added_node = fgGetNode("ai/models/model-added", true);
- _model_added_node->addChangeListener(this, false);
+ //_model_added_node = fgGetNode("ai/models/model-added", true);
+ //_model_added_node->addChangeListener(this, false);
}
void FGSubmodelMgr::bind()
@@ -124,17 +124,28 @@ void FGSubmodelMgr::update(double dt)
sm_list_iterator end = sm_list.end();
for (; sm_list_itr != end; ++sm_list_itr) {
- _impact = (*sm_list_itr)->_getImpactData();
- _hit = (*sm_list_itr)->_getCollisionData();
- _expiry = (*sm_list_itr)->_getExpiryData();
+ FGAIBase::object_type object_type =(*sm_list_itr)->getType();
+
+ if (object_type != FGAIBase::otBallistic){// only work on ballistic objects
+ continue; // so continue
+ }
int parent_subID = (*sm_list_itr)->_getSubID();
+ int id = (*sm_list_itr)->getID();
+
+ if ( parent_subID == 0 || id == -1) // this entry in the list has no associated submodel
+ continue; // or is invalid so we can continue
//SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! "
// << _hit <<" parent_subID " << parent_subID);
- if ( parent_subID == 0) // this entry in the list has no associated submodel
- continue; // so we can continue
+ _hit = (*sm_list_itr)->_getCollisionData();
+ _impact = (*sm_list_itr)->_getImpactData();
+ _expiry = (*sm_list_itr)->_getExpiryData();
+
+ //SG_LOG(SG_GENERAL, SG_ALERT, "Submodel: " << (*sm_list_itr)->_getName()
+ // << " Impact " << _impact << " hit! " << _hit
+ // << " exipiry :-( " << _expiry );
if (_impact || _hit || _expiry) {
// SG_LOG(SG_GENERAL, SG_ALERT, "Submodel: Impact " << _impact << " hit! " << _hit
@@ -157,8 +168,10 @@ void FGSubmodelMgr::update(double dt)
(*submodel_iterator)->first_time = true;
//cout << "Impact: parent SubID = child_ID elev " << _parent_elev << endl;
- if (release(*submodel_iterator, dt))
+ if (release(*submodel_iterator, dt)){
(*sm_list_itr)->setDie(true);
+ //cout << "Impact: set die" << (*sm_list_itr)->_getName() << endl;
+ }
}
@@ -188,8 +201,8 @@ void FGSubmodelMgr::update(double dt)
trigger = _trigger_node->getBoolValue();
//cout << (*submodel_iterator)->name << "trigger node found " << trigger << endl;
} else {
- trigger = true;
- //cout << (*submodel_iterator)->name << "trigger node not found " << trigger << endl;
+ trigger = false;
+ //cout << (*submodel_iterator)->name << " trigger node not found " << trigger << endl;
}
if (trigger && (*submodel_iterator)->count != 0) {
@@ -201,6 +214,7 @@ void FGSubmodelMgr::update(double dt)
"Submodels release: " << (*submodel_iterator)->id
<< " name " << (*submodel_iterator)->name
<< " count " << (*submodel_iterator)->count
+ << " slaved " << (*submodel_iterator)->slaved
);
release(*submodel_iterator, dt);
@@ -213,13 +227,20 @@ void FGSubmodelMgr::update(double dt)
bool FGSubmodelMgr::release(submodel *sm, double dt)
{
- //cout << "release id " << sm->id << " name " << sm->name
- //<< " first time " << sm->first_time << " repeat " << sm->repeat <<
- // endl;
+ //cout << "release id " << sm->id
+ // << " name " << sm->name
+ // << " first time " << sm->first_time
+ // << " repeat " << sm->repeat
+ // << " slaved " << sm->slaved
+ // << endl;
// only run if first time or repeat is set to true
if (!sm->first_time && !sm->repeat) {
- //cout<< "not first time " << sm->first_time<< " repeat " << sm->repeat <<endl;
+ //cout<< "returning: "<< sm->name
+ // << " not first time " << sm->first_time
+ // << " repeat " << sm->repeat
+ // << " slaved " << sm->slaved
+ // << endl;
return false;
}
@@ -244,6 +265,7 @@ bool FGSubmodelMgr::release(submodel *sm, double dt)
FGAIBallistic* ballist = new FGAIBallistic;
ballist->setPath(sm->model.c_str());
ballist->setName(sm->name);
+ ballist->setSlaved(sm->slaved);
ballist->setRandom(sm->random);
ballist->setRandomness(sm->randomness);
ballist->setLatitude(offsetpos.getLatitudeDeg());
@@ -273,6 +295,14 @@ bool FGSubmodelMgr::release(submodel *sm, double dt)
ballist->setForceStabilisation(sm->force_stabilised);
ballist->setExternalForce(sm->ext_force);
ballist->setForcePath(sm->force_path.c_str());
+ ballist->setXoffset(sm->x_offset);
+ ballist->setYoffset(sm->y_offset);
+ ballist->setZoffset(sm->z_offset);
+ ballist->setPitchoffset(sm->pitch_offset);
+ ballist->setYawoffset(sm->yaw_offset);
+ ballist->setParentNode(_selected_ac);
+ ballist->setContentsNode(sm->contents_node);
+ ballist->setWeight(sm->weight);
ai->attach(ballist);
if (sm->count > 0)
@@ -295,7 +325,7 @@ void FGSubmodelMgr::load()
void FGSubmodelMgr::transform(submodel *sm)
{
// set initial conditions
- if (sm->contents_node != 0) {
+ if (sm->contents_node != 0 && !sm->slaved) {
// get the weight of the contents (lbs) and convert to mass (slugs)
sm->contents = sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue();
//cout << "transform: contents " << sm->contents << endl;
@@ -310,14 +340,14 @@ void FGSubmodelMgr::transform(submodel *sm)
} else
IC.mass = sm->weight * lbs_to_slugs;
- // cout << "mass " << IC.mass << endl;
+ int id = sm->id;
+ int sub_id = sm->sub_id;
+ string name = sm->name;
+
if (sm->speed_node != 0)
sm->speed = sm->speed_node->getDoubleValue();
- int id = sm->id;
- int sub_id = sm->sub_id;
- string name = sm->name;
//cout << " name " << name << " id " << id << " sub id" << sub_id << endl;
@@ -325,6 +355,7 @@ void FGSubmodelMgr::transform(submodel *sm)
if (_impact || _hit || _expiry) {
// set the data for a submodel tied to a submodel
+
_count++;
IC.lat = _parent_lat;
@@ -357,43 +388,25 @@ void FGSubmodelMgr::transform(submodel *sm)
//cout << " set the data for a submodel tied to an AI Object " << id << endl;
sm_list_iterator sm_list_itr = sm_list.begin();
sm_list_iterator end = sm_list.end();
-
- while (sm_list_itr != end) {
- int parent_id = (*sm_list_itr)->getID();
-
- if (id != parent_id) {
- ++sm_list_itr;
- continue;
- }
-
- //cout << " AI found id " << id << " alt " << (*sm_list_itr)->_getElevationFt()<< endl;
- IC.lat = (*sm_list_itr)->_getLatitude();
- IC.lon = (*sm_list_itr)->_getLongitude();
- IC.alt = (*sm_list_itr)->_getElevationFt();
- IC.roll = (*sm_list_itr)->_getRoll();
- IC.elevation = (*sm_list_itr)->_getPitch();
- IC.azimuth = (*sm_list_itr)->_getHeading();
- IC.speed = (*sm_list_itr)->_getSpeed() * SG_KT_TO_FPS;
- IC.speed_down_fps = -(*sm_list_itr)->_getVS_fps();
- IC.speed_east_fps = (*sm_list_itr)->_get_speed_east_fps();
- IC.speed_north_fps = (*sm_list_itr)->_get_speed_north_fps();
-
- break;
-
- ++sm_list_itr;
- }
+ setParentNode(id);
}
- /*cout << "heading " << IC.azimuth << endl ;
- cout << "speed down " << IC.speed_down_fps << endl ;
- cout << "speed east " << IC.speed_east_fps << endl ;
- cout << "speed north " << IC.speed_north_fps << endl ;
- cout << "parent speed fps in" << IC.speed << "sm speed in " << sm->speed << endl ;*/
+ //cout << "Submodel: setting IC "<< name << endl;
+ //cout << "heading " << IC.azimuth << endl ;
+ //cout << "speed down " << IC.speed_down_fps << endl ;
+ //cout << "speed east " << IC.speed_east_fps << endl ;
+ //cout << "speed north " << IC.speed_north_fps << endl ;
+ //cout << "parent speed fps in " << IC.speed << "sm speed in " << sm->speed << endl ;
+ //cout << "lat " << IC.lat;
+ //cout << "alt " << IC.alt << endl ;
+
// Set the Initial Conditions that are common to all types of parent
IC.wind_from_east = _user_wind_from_east_node->getDoubleValue();
IC.wind_from_north = _user_wind_from_north_node->getDoubleValue();
+//cout << "wind e " << IC.wind_from_east << " n " << IC.wind_from_north << endl;
+
userpos.setLatitudeDeg(IC.lat);
userpos.setLongitudeDeg(IC.lon);
userpos.setElevationFt(IC.alt);
@@ -440,7 +453,7 @@ void FGSubmodelMgr::transform(submodel *sm)
// if speeds are low this calculation can become unreliable
if (IC.speed > 1) {
- //IC.azimuth = atan2(IC.total_speed_east, IC.total_speed_north) * SG_RADIANS_TO_DEGREES;
+ IC.azimuth = atan2(IC.total_speed_east, IC.total_speed_north) * SG_RADIANS_TO_DEGREES;
// cout << "azimuth1 " << IC.azimuth<<endl;
// rationalise the output
@@ -454,6 +467,7 @@ void FGSubmodelMgr::transform(submodel *sm)
* IC.total_speed_north + IC.total_speed_east * IC.total_speed_east))
* SG_RADIANS_TO_DEGREES;
}
+ //cout << "IC.speed " << IC.speed / SG_KT_TO_FPS << endl;
}
void FGSubmodelMgr::updatelat(double lat)
@@ -556,8 +570,6 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
sm->random = entry_node->getBoolValue("random", false);
sm->randomness = entry_node->getDoubleValue("randomness", 0.5);
-
- //cout << "sm->contents_node " << sm->contents_node << endl;
if (sm->contents_node != 0)
sm->contents = sm->contents_node->getDoubleValue();
@@ -586,12 +598,12 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
+ sm->prop->tie("slaved", SGRawValuePointer<bool>(&(sm->slaved)));
string name = sm->name;
sm->prop->setStringValue("name", name.c_str());
string submodel = sm->submodel;
sm->prop->setStringValue("submodel", submodel.c_str());
- //cout << " set submodel path " << submodel << endl;
string force_path = sm->force_path;
sm->prop->setStringValue("force_path", force_path.c_str());
@@ -611,15 +623,15 @@ void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable)
SGPath config(globals->get_fg_root());
config.append(path);
- SG_LOG(SG_GENERAL, SG_ALERT, "setSubData: path " << path);
+ SG_LOG(SG_GENERAL, SG_DEBUG, "setSubData: path " << path);
try {
- SG_LOG(SG_GENERAL, SG_ALERT,
+ SG_LOG(SG_GENERAL, SG_DEBUG,
"Submodels: Trying to read AI submodels file: " << config.str());
readProperties(config.str(), &root);
} catch (const sg_exception &) {
- SG_LOG(SG_GENERAL, SG_DEBUG,
+ SG_LOG(SG_GENERAL, SG_ALERT,
"Submodels: Unable to read AI submodels file: " << config.str());
return;
}
@@ -666,7 +678,6 @@ void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable)
sm->random = entry_node->getBoolValue("random", false);
sm->randomness = entry_node->getDoubleValue("randomness", 0.5);
- //cout << "sm->contents_node " << sm->contents_node << endl;
if (sm->contents_node != 0)
sm->contents = sm->contents_node->getDoubleValue();
@@ -694,11 +705,13 @@ void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable)
sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
+ sm->prop->tie("slaved", SGRawValuePointer<bool>(&(sm->slaved)));
+
string name = sm->name;
sm->prop->setStringValue("name", name.c_str());
string submodel = sm->submodel;
- sm->prop->setStringValue("submodel", submodel.c_str());
+ sm->prop->setStringValue("submodel-path", submodel.c_str());
// cout << " set submodel path AI" << submodel<< endl;
string force_path = sm->force_path;
@@ -726,10 +739,10 @@ void FGSubmodelMgr::loadSubmodels()
if (!submodel.empty()) {
//int id = (*submodel_iterator)->id;
bool serviceable = true;
- //SG_LOG(SG_GENERAL, SG_DEBUG, "found path sub sub "
- // << submodel
- // << " index " << index
- // << "name " << (*submodel_iterator)->name);
+ SG_LOG(SG_GENERAL, SG_DEBUG, "found path sub sub "
+ << submodel
+ << " index " << index
+ << " name " << (*submodel_iterator)->name);
if ((*submodel_iterator)->sub_id == 0){
(*submodel_iterator)->sub_id = index;
@@ -744,6 +757,7 @@ void FGSubmodelMgr::loadSubmodels()
subsubmodel_iterator = subsubmodels.begin();
while (subsubmodel_iterator != subsubmodels.end()) {
+
submodels.push_back(*subsubmodel_iterator);
++subsubmodel_iterator;
} // end while
@@ -752,14 +766,19 @@ void FGSubmodelMgr::loadSubmodels()
//submodel_iterator = submodels.begin();
- //while (submodel_iterator != submodels.end()) {
- //int id = (*submodel_iterator)->id;
- //SG_LOG(SG_GENERAL, SG_DEBUG,"after pushback "
- // << " id " << id
- // << " name " << (*submodel_iterator)->name
- // << " sub id " << (*submodel_iterator)->sub_id);
+ //int subcount = 0;
- //++submodel_iterator;
+ //while (submodel_iterator != submodels.end()) {
+ // int id = (*submodel_iterator)->id;
+ // subcount++;
+
+ // SG_LOG(SG_GENERAL, SG_ALERT,"after pushback "
+ // << " parent id " << id
+ // << " name " << (*submodel_iterator)->name
+ // << " sub id " << (*submodel_iterator)->sub_id
+ // << " subcount "<< subcount);
+
+ // ++submodel_iterator;
//}
}
@@ -767,7 +786,6 @@ SGVec3d FGSubmodelMgr::getCartOffsetPos() const{
// convert geodetic positions to geocentered
SGVec3d cartuserPos = SGVec3d::fromGeod(userpos);
-
// Transform to the right coordinate frame, configuration is done in
// the x-forward, y-right, z-up coordinates (feet), computation
// in the simulation usual body x-forward, y-right, z-down coordinates
@@ -793,7 +811,6 @@ SGVec3d FGSubmodelMgr::getCartOffsetPos() const{
// Add the position offset of the user model to get the geocentered position
SGVec3d offsetPos = cartuserPos + off;
-
return offsetPos;
}
@@ -802,10 +819,14 @@ void FGSubmodelMgr::setOffsetPos(){
SGVec3d cartoffsetPos = getCartOffsetPos();
SGGeodesy::SGCartToGeod(cartoffsetPos, offsetpos);
+
+ //cout << "OFFSET POS" << offsetpos.getElevationFt();
+
}
void FGSubmodelMgr::valueChanged(SGPropertyNode *prop)
{
+// cout << "LISTENER: " << endl;
const char* _model_added = _model_added_node->getStringValue();
@@ -815,11 +836,12 @@ void FGSubmodelMgr::valueChanged(SGPropertyNode *prop)
const char *cstr2b = "ballistic";
indexCh2b = str2.find( cstr2b, 0 );
+// cout << "model added - " << str2 <<" now do something "<< endl;
+
if (indexCh2b != string::npos ){ // we will ignore Ballistic Objects - there are potentially too many
return;
} else {
- //cout << "model added - " << str2 <<" now do something "<< endl;
-
+
SGPropertyNode *a_node = fgGetNode(_model_added, true );
SGPropertyNode *sub_node = a_node->getChild("submodels", 0, true);
SGPropertyNode_ptr path_node = sub_node->getChild("path", 0, true);
@@ -831,7 +853,7 @@ void FGSubmodelMgr::valueChanged(SGPropertyNode *prop)
//cout << "subpath empty - return" << endl << endl;
return;
} else {
- //cout << "subpath not empty: " << path << endl << endl;
+ //cout << "subpath found - loading" << endl << endl;
SGPropertyNode_ptr ident_node = a_node->getChild("id", 0, true);
int id = ident_node->getIntValue();
@@ -844,18 +866,59 @@ void FGSubmodelMgr::valueChanged(SGPropertyNode *prop)
}
-
-
-
}
+}
+void FGSubmodelMgr::setParentNode(int id) {
+ const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
+ for (int i = ai->nChildren() - 1; i >= -1; i--) {
+ SGPropertyNode_ptr model;
+ if (i < 0) { // last iteration: selected model
+ model = _selected_ac;
+ } else {
+ model = ai->getChild(i);
+ string path = ai->getPath();
+ const string name = model->getStringValue("name");
+ int parent_id = model->getIntValue("id");
+ if (!model->nChildren()){
+ continue;
+ }
+ if (parent_id == id) {
+ _selected_ac = model; // save selected model for last iteration
+ break;
+ }
+ }
+ if (!model)
+ continue;
+ }// end for loop
+ if (_selected_ac != 0){
+
+ //cout << " parent node found"<< endl;
+
+ const string name = _selected_ac->getStringValue("name");
+ IC.lat = _selected_ac->getDoubleValue("position/latitude-deg");
+ IC.lon = _selected_ac->getDoubleValue("position/longitude-deg");
+ IC.alt = _selected_ac->getDoubleValue("position/altitude-ft");
+ IC.roll = _selected_ac->getDoubleValue("orientation/roll-deg");
+ IC.elevation = _selected_ac->getDoubleValue("orientation/pitch-deg");
+ IC.azimuth = _selected_ac->getDoubleValue("orientation/true-heading-deg");
+ IC.speed = _selected_ac->getDoubleValue("velocities/true-airspeed-kt") * SG_KT_TO_FPS;
+ IC.speed_down_fps = -_selected_ac->getDoubleValue("velocities/vertical-speed-fps");
+ IC.speed_east_fps = _selected_ac->getDoubleValue("velocities/speed-east-fps");
+ IC.speed_north_fps = _selected_ac->getDoubleValue("velocities/speed-north-fps");
+
+ //cout << name << " IC.speed " << IC.speed << endl;
+
+ } else {
+ SG_LOG(SG_GENERAL, SG_ALERT, "AISubmodel: parent node not found ");
+ }
}
// end of submodel.cxx
diff --git a/src/AIModel/submodel.hxx b/src/AIModel/submodel.hxx
index 95e62f6b7..e6c9f9e1f 100644
--- a/src/AIModel/submodel.hxx
+++ b/src/AIModel/submodel.hxx
@@ -58,6 +58,7 @@ public:
bool first_time;
double cd;
double weight;
+ double mass;
double contents;
bool aero_stabilised;
int id;
@@ -95,6 +96,7 @@ public:
double mass;
int id;
bool no_roll;
+ int parent_id;
} IC_struct;
FGSubmodelMgr();
@@ -144,6 +146,8 @@ private:
double _parent_pitch;
double _parent_roll;
double _parent_speed;
+ double _parent_ID;
+
double _x_offset;
double _y_offset;
double _z_offset;
@@ -180,6 +184,7 @@ private:
SGPropertyNode_ptr props;
SGPropertyNode_ptr _model_added_node;
SGPropertyNode_ptr _path_node;
+ SGPropertyNode_ptr _selected_ac;
FGAIManager* ai;
@@ -199,6 +204,7 @@ private:
void setSubData(int id, string& path, bool serviceable);
void valueChanged (SGPropertyNode *);
void transform(submodel *);
+ void setParentNode(int parent_id);
bool release(submodel *, double dt);