From 455b7fe61eac01d8cae022a11ac7021014f85c3b Mon Sep 17 00:00:00 2001 From: Vivian Meazza Date: Sat, 21 May 2011 17:08:36 +0100 Subject: [PATCH 1/2] Add the capability of switching slaved objects at runtime. Signed-off-by: Vivian Meazza --- src/AIModel/AIBallistic.cxx | 124 ++++++++++++++++++++---------------- src/AIModel/AIBallistic.hxx | 4 +- 2 files changed, 71 insertions(+), 57 deletions(-) diff --git a/src/AIModel/AIBallistic.cxx b/src/AIModel/AIBallistic.cxx index 16b15fe1d..d31e3b46d 100644 --- a/src/AIModel/AIBallistic.cxx +++ b/src/AIModel/AIBallistic.cxx @@ -182,7 +182,7 @@ void FGAIBallistic::bind() { props->tie("sim/time/elapsed-sec", SGRawValueMethods(*this, - &FGAIBallistic::_getTime)); + &FGAIBallistic::_getTime, &FGAIBallistic::setTime)); //props->tie("mass-slug", // SGRawValueMethods(*this, // &FGAIBallistic::getMass)); @@ -586,6 +586,7 @@ void FGAIBallistic::setHt(double h, double dt, double coeff){ int FGAIBallistic::setHdg(double tgt_hdg, double dt, double coeff){ double recip = getRecip(hdg); double c = dt / (coeff + dt); + //cout << "set heading " << tgt_hdg << endl; //we need to ensure that we turn the short way to the new hdg if (tgt_hdg < recip && tgt_hdg < hdg && hdg > 180) { hdg = ((tgt_hdg + 360) * c) + (hdg * (1 - c)); @@ -626,6 +627,9 @@ void FGAIBallistic::setTgtZOffset(double z){ void FGAIBallistic::slaveToAC(double dt){ + if (invisible) + return; + double hdg, pch, rll, agl = 0; if (_pnode != 0) { @@ -652,6 +656,7 @@ void FGAIBallistic::slaveToAC(double dt){ setPitch(pch + _pitch_offset); setBank(rll + _roll_offset); setOffsetVelocity(dt, pos); + setTime(0); //update the mass (slugs) _mass = (_weight_lb + getContents()) / slugs_to_lbs; @@ -710,23 +715,13 @@ void FGAIBallistic::Run(double dt) { speed = 0.0; double speed_fps = speed * SG_KT_TO_FPS; - //double hs; // calculate vertical and horizontal speed components - if (speed == 0.0) { - hs = vs = 0.0; - } else { - vs = sin( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps; - hs = cos( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps; - } + calcVSHS(); //resolve horizontal speed into north and east components: - double speed_north_fps = cos(_azimuth / SG_RADIANS_TO_DEGREES) * hs; - double speed_east_fps = sin(_azimuth / SG_RADIANS_TO_DEGREES) * hs; - - // convert horizontal speed (fps) to degrees per second - double speed_north_deg_sec = speed_north_fps / ft_per_deg_lat; - double speed_east_deg_sec = speed_east_fps / ft_per_deg_lon; + //and convert horizontal speed (fps) to degrees per second + calcNE(); // if wind not required, set to zero if (!_wind) { @@ -755,55 +750,61 @@ void FGAIBallistic::Run(double dt) { double friction_force_speed_north_deg_sec = 0; double friction_force_speed_east_deg_sec = 0; double force_elevation_deg = 0; + double force_azimuth_deg = 0; + double force_lbs = 0; if (_external_force) { - //cout << _name << " external force" << endl; + //cout << _name << " external force " << hdg << " az " << _azimuth << endl; SGPropertyNode *n = fgGetNode(_force_path.c_str(), true); - double force_lbs = n->getChild("force-lb", 0, true)->getDoubleValue(); - force_elevation_deg = n->getChild("force-elevation-deg", 0, true)->getDoubleValue(); - double force_azimuth_deg = n->getChild("force-azimuth-deg", 0, true)->getDoubleValue(); + force_lbs = n->getChild("force-lb", 0, true)->getDoubleValue(); + force_elevation_deg = n->getChild("force-elevation-deg", 0, true)->getDoubleValue(); + force_azimuth_deg = n->getChild("force-azimuth-deg", 0, true)->getDoubleValue(); //resolve force into vertical and horizontal components: double v_force_lbs = force_lbs * sin( force_elevation_deg * SG_DEGREES_TO_RADIANS ); h_force_lbs = force_lbs * cos( force_elevation_deg * SG_DEGREES_TO_RADIANS ); //ground interaction + //we don't do this if impacts are calculated + if(!_report_impact){ - if (getHtAGL(10000)){ - double deadzone = 0.1; + if (getHtAGL(10000)){ + double deadzone = 0.1; - if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){ - normal_force_lbs = (_mass * slugs_to_lbs) - v_force_lbs; + if (_ht_agl_ft <= (0 + _ground_offset + deadzone) && _solid){ + normal_force_lbs = (_mass * slugs_to_lbs) - v_force_lbs; - if ( normal_force_lbs < 0 ) - normal_force_lbs = 0; + if ( normal_force_lbs < 0 ) + normal_force_lbs = 0; - pos.setElevationFt(0 + _ground_offset); - if (vs < 0) - vs = -vs * 0.5; + pos.setElevationFt(0 + _ground_offset); + if (vs < 0) + vs = -vs * 0.5; - // calculate friction - // we assume a static Coefficient of Friction (mu) of 0.62 (wood on concrete) - double mu = 0.62; + // calculate friction + // we assume a static Coefficient of Friction (mu) of 0.62 (wood on concrete) + double mu = 0.62; - static_friction_force_lbs = mu * normal_force_lbs * _frictionFactor; + static_friction_force_lbs = mu * normal_force_lbs * _frictionFactor; - //adjust horizontal force. We assume that a speed of <= 5 fps is static - if (h_force_lbs <= static_friction_force_lbs && hs <= 5){ - h_force_lbs = hs = 0; - speed_north_fps = speed_east_fps = 0; - } else - dynamic_friction_force_lbs = (static_friction_force_lbs * 0.95); + //adjust horizontal force. We assume that a speed of <= 5 fps is static + if (h_force_lbs <= static_friction_force_lbs && hs <= 5){ + h_force_lbs = hs = 0; + _speed_north_fps = _speed_east_fps = 0; + } else + dynamic_friction_force_lbs = (static_friction_force_lbs * 0.95); - //ignore wind when on the ground for now - //TODO fix this - _wind_from_north = 0; - _wind_from_east = 0; + //ignore wind when on the ground for now + //TODO fix this + _wind_from_north = 0; + _wind_from_east = 0; + + } } - } + } //endif //acceleration = (force(lbsf)/mass(slugs)) v_force_acc_fpss = v_force_lbs/_mass; @@ -835,10 +836,10 @@ void FGAIBallistic::Run(double dt) { double wind_speed_from_east_deg_sec = _wind_from_east / ft_per_deg_lon; //recombine the horizontal velocity components - hs = sqrt(((speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps) - * (speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps)) - + ((speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps) - * (speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps))); + hs = sqrt(((_speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps) + * (_speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps)) + + ((_speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps) + * (_speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps))); if (hs <= 0.00001) hs = 0; @@ -890,8 +891,8 @@ void FGAIBallistic::Run(double dt) { // recalculate elevation and azimuth (velocity vectors) _elevation = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES; - _azimuth = atan2((speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps), - (speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps)) + _azimuth = atan2((_speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps), + (_speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps)) * SG_RADIANS_TO_DEGREES; // rationalise azimuth @@ -899,7 +900,7 @@ void FGAIBallistic::Run(double dt) { _azimuth += 360; if (_aero_stabilised) { // we simulate rotational moment of inertia by using a filter - //cout<< "_aero_stabilised "<< endl; + //cout<< "_aero_stabilised " << hdg << " az " << _azimuth << endl; const double coeff = 0.9; // we assume a symetrical MI about the pitch and yaw axis @@ -941,16 +942,20 @@ double FGAIBallistic::_getTime() const { return _life_timer; } +void FGAIBallistic::setTime(double s){ + _life_timer = s; +} + void FGAIBallistic::handle_impact() { // try terrain intersection - double start = pos.getElevationM() + 10; + double start = pos.getElevationM() + 100; if(!getHtAGL(start)) return; if (_ht_agl_ft <= 0) { - SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: terrain impact"); + SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: terrain impact material" << _mat_name); report_impact(_elevation_m); _impact_reported = true; @@ -1004,7 +1009,8 @@ void FGAIBallistic::report_impact(double elevation, const FGAIBase *object) else n->setStringValue("type", "terrain"); - SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: object impact" << _name << " lon " <<_impact_lon); + SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: object impact " << _name + << " lon " <<_impact_lon << " lat " <<_impact_lat); n->setDoubleValue("longitude-deg", _impact_lon); n->setDoubleValue("latitude-deg", _impact_lat); @@ -1239,9 +1245,17 @@ void FGAIBallistic::setOffsetVelocity(double dt, SGGeod offsetpos) { calcVSHS(); //calculate the bearing of the new offset position from the old - double az1, az2, dist; - geo_inverse_wgs_84(_oldoffsetpos, offsetpos, &az1, &az2, &dist); - _azimuth = az1; + //don't do this if speed is low + //cout << "speed " << speed << endl; + if (speed > 0.1){ + double az1, az2, dist; + geo_inverse_wgs_84(_oldoffsetpos, offsetpos, &az1, &az2, &dist); + _azimuth = az1; + //cout << "offset az " << _azimuth << endl; + } else { + _azimuth = hdg; + //cout << " slow offset az " << _azimuth << endl; + } //resolve horizontal speed into north and east components: calcNE(); diff --git a/src/AIModel/AIBallistic.hxx b/src/AIModel/AIBallistic.hxx index b2b140c17..fb1b4f28d 100644 --- a/src/AIModel/AIBallistic.hxx +++ b/src/AIModel/AIBallistic.hxx @@ -96,9 +96,9 @@ public: void setParentPos(); void setOffsetPos(SGGeod pos, double heading, double pitch, double roll); void setOffsetVelocity(double dt, SGGeod pos); + void setTime(double sec); - - double _getTime() const; + double _getTime()const; double getRelBrgHitchToUser() const; double getElevHitchToUser() const; double getLoadOffset() const; From 8b6779aa967886142b59b14d9b0898673a4e0e7c Mon Sep 17 00:00:00 2001 From: Vivian Meazza Date: Mon, 6 Jun 2011 09:32:00 +0100 Subject: [PATCH 2/2] Bugfix: set life timer to 0 on instantiation and when ballistic object dies. Signed-off-by: Vivian Meazza --- src/AIModel/AIBallistic.cxx | 21 +++++++++++++++++---- 1 file changed, 17 insertions(+), 4 deletions(-) diff --git a/src/AIModel/AIBallistic.cxx b/src/AIModel/AIBallistic.cxx index d31e3b46d..b3e3bceb5 100644 --- a/src/AIModel/AIBallistic.cxx +++ b/src/AIModel/AIBallistic.cxx @@ -143,6 +143,8 @@ bool FGAIBallistic::init(bool search_in_AI_path) { _elapsed_time += (sg_random() * 100); + _life_timer = 0; + props->setStringValue("material/name", ""); props->setStringValue("name", _name.c_str()); props->setStringValue("submodels/path", _path.c_str()); @@ -152,6 +154,9 @@ bool FGAIBallistic::init(bool search_in_AI_path) { props->setStringValue("contents/path", _contents_path.c_str()); } + //cout << "init: name " << _name.c_str() << " _life_timer " << _life_timer + // << endl; + //if(_parent != ""){ // setParentNode(); //} @@ -330,7 +335,7 @@ void FGAIBallistic::setLife(double seconds) { if (_random){ life = seconds * _randomness + (seconds * (1 -_randomness) * sg_random()); - //cout << "life " << life << endl; + //cout << " set life " << life << endl; } else life = seconds; } @@ -670,15 +675,23 @@ void FGAIBallistic::slaveToAC(double dt){ void FGAIBallistic::Run(double dt) { _life_timer += dt; + + //_pass += 1; + //cout<<"AIBallistic run: name " << _name.c_str() + // << " dt " << dt << " _life_timer " << _life_timer << " pass " << _pass << endl; // if life = -1 the object does not die if (_life_timer > life && life != -1){ if (_report_expiry && !_expiry_reported && !_impact_reported && !_collision_reported){ - //cout<<"AIBallistic: expiry"<< endl; + //cout<<"AIBallistic run: name " << _name.c_str() << " expiry " << " pass " << _pass <setStringValue("type", "terrain"); SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: object impact " << _name - << " lon " <<_impact_lon << " lat " <<_impact_lat); + << " lon " <<_impact_lon << " lat " <<_impact_lat << " sec " << _life_timer); n->setDoubleValue("longitude-deg", _impact_lon); n->setDoubleValue("latitude-deg", _impact_lat);