// FGAIBallistic.hxx - AIBase derived class creates an AI ballistic object
//
// Written by David Culp, started November 2003.
// - davidculp2@comcast.net
//
// With major additions by Vivian Meazza, Feb 2008
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#ifndef _FG_AIBALLISTIC_HXX
#define _FG_AIBALLISTIC_HXX
#include <math.h>
#include <vector>
#include <simgear/structure/SGSharedPtr.hxx>
#include <simgear/scene/material/mat.hxx>
#include "AIManager.hxx"
#include "AIBase.hxx"
using std::vector;
using std::list;
class FGAIBallistic : public FGAIBase {
public:
FGAIBallistic(object_type ot = otBallistic);
~FGAIBallistic();
void readFromScenario(SGPropertyNode* scFileNode);
bool init(bool search_in_AI_path=false);
virtual void bind();
virtual void unbind();
void update(double dt);
FGAIBallistic *ballistic;
void Run(double dt);
void setAzimuth( double az );
void setElevation( double el );
void setRoll( double rl );
void setStabilisation( bool val );
void setDragArea( double a );
void setLife( double seconds );
void setBuoyancy( double fpss );
void setWind_from_east( double fps );
void setWind_from_north( double fps );
void setWind( bool val );
void setCd( double c );
void setMass( double m );
void setWeight( double w );
void setNoRoll( bool nr );
void setRandom( bool r );
void setRandomness( double r );
// void setName(const string&);
void setCollision(bool c);
void setExpiry(bool e);
void setImpact(bool i);
void setImpactReportNode(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 setPch (double e, double dt, double c);
int setHdg (double az, double dt, double c);
void setBnk(double r, double dt, double c);
void setHt(double h, double dt, double c);
void setSpd(double s, double dt, double c);
void setParentNodes(const SGPropertyNode_ptr);
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 getRelBrgHitchToUser() const;
double getElevHitchToUser() const;
double getLoadOffset() const;
double getContents();
double getDistanceToHitch() const;
double getElevToHitch() const;
double getBearingToHitch() const;
SGVec3d getCartHitchPos() const;
bool getHtAGL(double start);
bool getSlaved() const;
// bool getFormate() const;
bool getSlavedLoad() const;
virtual const char* getTypeString(void) const { return "ballistic"; }
static const double slugs_to_kgs; //conversion factor
static const double slugs_to_lbs; //conversion factor
SGPropertyNode_ptr _force_node;
SGPropertyNode_ptr _force_azimuth_node;
SGPropertyNode_ptr _force_elevation_node;
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_agl_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 _height;
double _speed;
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;
double _wind_from_east; // fps
double _wind_from_north; // fps
double hs;
void setTgtXOffset(double x);
void setTgtYOffset(double y);
void setTgtZOffset(double z);
void setTgtOffsets(double dt, double c);
double getTgtXOffset() const;
double getTgtYOffset() const;
double getTgtZOffset() const;
double _tgt_x_offset;
double _tgt_y_offset;
double _tgt_z_offset;
double _elapsed_time;
SGGeod _parentpos;
SGGeod _oldpos;
SGGeod _offsetpos;
SGGeod _oldoffsetpos;
private:
virtual void reinit() { init(); }
bool _aero_stabilised; // if true, object will align with trajectory
double _drag_area; // equivalent drag area in ft2
double _life_timer; // seconds
double _buoyancy; // fps^2
bool _wind; // if true, local wind will be applied to object
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 _load_resistance; // ground load resistanc N/m^2
double _frictionFactor; // dimensionless modifier for Coefficient of Friction
bool _solid; // if true ground is solid for FDMs
double _elevation_m; // ground elevation in meters
bool _force_stabilised;// if true, object will align to external force
bool _slave_to_ac; // if true, object will be slaved to the parent ac pos and orientation
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;
SGPropertyNode_ptr _impact_report_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_agl_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 _submodel;
string _force_path;
string _contents_path;
const SGMaterial* _material;
void handle_collision();
void handle_expiry();
void handle_impact();
void report_impact(double elevation, const FGAIBase *target = 0);
void slaveToAC(double dt);
void setContents(double c);
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;
double _ground_offset;
double _load_offset;
double _old_height;
SGVec3d _oldcartoffsetPos;
SGVec3d _oldcartPos;
//SGGeod _parentpos;
//SGGeod _oldpos;
//SGGeod _offsetpos;
//SGGeod _oldoffsetpos;
};
#endif // _FG_AIBALLISTIC_HXX