a7e4f2a971
Make data members in AIBase protected, and move FGAIModelData to be a private helper in the .cxx file.
908 lines
34 KiB
C++
908 lines
34 KiB
C++
//// submodel.cxx - models a releasable submodel.
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// Written by Dave Culp, started Aug 2004
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// With major additions by Vivian Meaaza 2004 - 2007
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//
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// This file is in the Public Domain and comes with no warranty.
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#ifdef HAVE_CONFIG_H
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# include "config.h"
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#endif
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#include "submodel.hxx"
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#include <simgear/structure/exception.hxx>
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#include <simgear/misc/sg_path.hxx>
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#include <simgear/math/sg_geodesy.hxx>
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#include <simgear/props/props_io.hxx>
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#include <Main/fg_props.hxx>
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#include <Main/util.hxx>
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#include "AIBase.hxx"
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#include "AIManager.hxx"
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#include "AIBallistic.hxx"
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using std::cout;
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using std::endl;
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using std::string;
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using std::vector;
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const double FGSubmodelMgr::lbs_to_slugs = 0.031080950172;
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FGSubmodelMgr::FGSubmodelMgr()
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{
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x_offset = y_offset = z_offset = 0.0;
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pitch_offset = 0.0;
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yaw_offset = 0.0;
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//out[0] = out[1] = out[2] = 0;
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//string contents_node;
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contrail_altitude = 30000;
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_count = 0;
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_found_sub = true;
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}
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FGSubmodelMgr::~FGSubmodelMgr()
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{
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}
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FGAIManager* FGSubmodelMgr::aiManager()
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{
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return (FGAIManager*)globals->get_subsystem("ai-model");
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}
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void FGSubmodelMgr::init()
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{
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index = 0;
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_serviceable_node = fgGetNode("/sim/submodels/serviceable", true);
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_serviceable_node->setBoolValue(true);
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_user_lat_node = fgGetNode("/position/latitude-deg", true);
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_user_lon_node = fgGetNode("/position/longitude-deg", true);
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_user_alt_node = fgGetNode("/position/altitude-ft", true);
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_user_heading_node = fgGetNode("/orientation/heading-deg", true);
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_user_pitch_node = fgGetNode("/orientation/pitch-deg", true);
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_user_roll_node = fgGetNode("/orientation/roll-deg", true);
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_user_yaw_node = fgGetNode("/orientation/yaw-deg", true);
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_user_alpha_node = fgGetNode("/orientation/alpha-deg", true);
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_user_speed_node = fgGetNode("/velocities/uBody-fps", true);
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_user_wind_from_east_node = fgGetNode("/environment/wind-from-east-fps", true);
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_user_wind_from_north_node = fgGetNode("/environment/wind-from-north-fps", true);
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_user_speed_down_fps_node = fgGetNode("/velocities/speed-down-fps", true);
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_user_speed_east_fps_node = fgGetNode("/velocities/speed-east-fps", true);
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_user_speed_north_fps_node = fgGetNode("/velocities/speed-north-fps", true);
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_contrail_altitude_node = fgGetNode("/environment/params/contrail-altitude", true);
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contrail_altitude = _contrail_altitude_node->getDoubleValue();
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_contrail_trigger = fgGetNode("ai/submodels/contrails", true);
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_contrail_trigger->setBoolValue(false);
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load();
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}
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void FGSubmodelMgr::postinit() {
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// postinit, so that the AI list is populated
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loadAI();
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while (_found_sub)
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loadSubmodels();
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//TODO reload submodels if an MP ac joins
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//_model_added_node = fgGetNode("ai/models/model-added", true);
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//_model_added_node->addChangeListener(this, false);
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}
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void FGSubmodelMgr::bind()
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{}
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void FGSubmodelMgr::unbind()
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{
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submodel_iterator = submodels.begin();
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while (submodel_iterator != submodels.end()) {
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(*submodel_iterator)->prop->untie("count");
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++submodel_iterator;
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}
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}
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void FGSubmodelMgr::update(double dt)
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{
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if (!_serviceable_node->getBoolValue())
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return;
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_impact = false;
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_hit = false;
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_expiry = false;
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// check if the submodel hit an object or terrain
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FGAIManager::ai_list_type sm_list(aiManager()->get_ai_list());
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FGAIManager::ai_list_iterator sm_list_itr = sm_list.begin(),
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end = sm_list.end();
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for (; sm_list_itr != end; ++sm_list_itr) {
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FGAIBase::object_type object_type =(*sm_list_itr)->getType();
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if (object_type != FGAIBase::otBallistic){// only work on ballistic objects
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continue; // so continue
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}
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int parent_subID = (*sm_list_itr)->_getSubID();
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int id = (*sm_list_itr)->getID();
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if ( parent_subID == 0 || id == -1) // this entry in the list has no associated submodel
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continue; // or is invalid so we can continue
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//SG_LOG(SG_AI, SG_DEBUG, "Submodel: Impact " << _impact << " hit! "
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// << _hit <<" parent_subID " << parent_subID);
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_hit = (*sm_list_itr)->_getCollisionData();
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_impact = (*sm_list_itr)->_getImpactData();
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_expiry = (*sm_list_itr)->_getExpiryData();
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//SG_LOG(SG_AI, SG_ALERT, "Submodel: " << (*sm_list_itr)->_getName()
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// << " Impact " << _impact << " hit! " << _hit
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// << " exipiry :-( " << _expiry );
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if (_impact || _hit || _expiry) {
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// SG_LOG(SG_AI, SG_ALERT, "Submodel: Impact " << _impact << " hit! " << _hit
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//<< " exipiry :-( " << _expiry );
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submodel_iterator = submodels.begin();
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while (submodel_iterator != submodels.end()) {
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int child_ID = (*submodel_iterator)->id;
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//cout << "Impact: parent SubID " << parent_subID << " child_ID " << child_ID << endl;
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if ( parent_subID == child_ID ) {
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_parent_lat = (*sm_list_itr)->_getImpactLat();
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_parent_lon = (*sm_list_itr)->_getImpactLon();
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_parent_elev = (*sm_list_itr)->_getImpactElevFt();
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_parent_hdg = (*sm_list_itr)->_getImpactHdg();
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_parent_pitch = (*sm_list_itr)->_getImpactPitch();
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_parent_roll = (*sm_list_itr)->_getImpactRoll();
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_parent_speed = (*sm_list_itr)->_getImpactSpeed();
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(*submodel_iterator)->first_time = true;
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//cout << "Impact: parent SubID = child_ID elev " << _parent_elev << endl;
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if (release(*submodel_iterator, dt)){
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(*sm_list_itr)->setDie(true);
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//cout << "Impact: set die" << (*sm_list_itr)->_getName() << endl;
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}
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}
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++submodel_iterator;
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}
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}
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}
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_contrail_trigger->setBoolValue(_user_alt_node->getDoubleValue() > contrail_altitude);
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// bool in_range = true;
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bool trigger = false;
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int i = -1;
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submodel_iterator = submodels.begin();
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while (submodel_iterator != submodels.end()) {
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i++;
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/*SG_LOG(SG_AI, SG_DEBUG,
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"Submodels: " << (*submodel_iterator)->id
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<< " name " << (*submodel_iterator)->name
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);*/
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if ((*submodel_iterator)->trigger_node != 0) {
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_trigger_node = (*submodel_iterator)->trigger_node;
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trigger = _trigger_node->getBoolValue();
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//cout << (*submodel_iterator)->name << "trigger node found " << trigger << endl;
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} else {
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trigger = false;
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//cout << (*submodel_iterator)->name << " trigger node not found " << trigger << endl;
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}
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if (trigger && (*submodel_iterator)->count != 0) {
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//int id = (*submodel_iterator)->id;
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//const string& name = (*submodel_iterator)->name;
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SG_LOG(SG_AI, SG_DEBUG,
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"Submodels release: " << (*submodel_iterator)->id
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<< " name " << (*submodel_iterator)->name
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<< " count " << (*submodel_iterator)->count
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<< " slaved " << (*submodel_iterator)->slaved
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);
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release(*submodel_iterator, dt);
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} else
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(*submodel_iterator)->first_time = true;
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++submodel_iterator;
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} // end while
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}
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bool FGSubmodelMgr::release(submodel *sm, double dt)
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{
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//cout << "release id " << sm->id
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// << " name " << sm->name
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// << " first time " << sm->first_time
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// << " repeat " << sm->repeat
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// << " slaved " << sm->slaved
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// << endl;
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// only run if first time or repeat is set to true
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if (!sm->first_time && !sm->repeat) {
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//cout<< "returning: "<< sm->name
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// << " not first time " << sm->first_time
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// << " repeat " << sm->repeat
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// << " slaved " << sm->slaved
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// << endl;
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return false;
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}
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sm->timer += dt;
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if (sm->timer < sm->delay) {
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//cout << "not yet: timer " << sm->timer << " delay " << sm->delay << endl;
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return false;
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}
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//cout << "released timer: " << sm->timer << " delay " << sm->delay << endl;
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sm->timer = 0.0;
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if (sm->first_time) {
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dt = 0.0;
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sm->first_time = false;
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}
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transform(sm); // calculate submodel's initial conditions in world-coordinates
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FGAIBallistic* ballist = new FGAIBallistic;
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ballist->setPath(sm->model.c_str());
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ballist->setName(sm->name);
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ballist->setSlaved(sm->slaved);
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ballist->setRandom(sm->random);
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ballist->setRandomness(sm->randomness);
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ballist->setLatitude(offsetpos.getLatitudeDeg());
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ballist->setLongitude(offsetpos.getLongitudeDeg());
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ballist->setAltitude(offsetpos.getElevationFt());
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ballist->setAzimuth(IC.azimuth);
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ballist->setElevation(IC.elevation);
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ballist->setRoll(IC.roll);
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ballist->setSpeed(IC.speed / SG_KT_TO_FPS);
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ballist->setWind_from_east(IC.wind_from_east);
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ballist->setWind_from_north(IC.wind_from_north);
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ballist->setMass(IC.mass);
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ballist->setDragArea(sm->drag_area);
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ballist->setLife(sm->life);
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ballist->setBuoyancy(sm->buoyancy);
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ballist->setWind(sm->wind);
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ballist->setCd(sm->cd);
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ballist->setStabilisation(sm->aero_stabilised);
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ballist->setNoRoll(sm->no_roll);
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ballist->setCollision(sm->collision);
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ballist->setExpiry(sm->expiry);
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ballist->setImpact(sm->impact);
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ballist->setImpactReportNode(sm->impact_report);
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ballist->setFuseRange(sm->fuse_range);
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ballist->setSubmodel(sm->submodel.c_str());
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ballist->setSubID(sm->sub_id);
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ballist->setForceStabilisation(sm->force_stabilised);
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ballist->setExternalForce(sm->ext_force);
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ballist->setForcePath(sm->force_path.c_str());
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ballist->setXoffset(sm->x_offset);
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ballist->setYoffset(sm->y_offset);
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ballist->setZoffset(sm->z_offset);
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ballist->setPitchoffset(sm->pitch_offset);
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ballist->setYawoffset(sm->yaw_offset);
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ballist->setParentNodes(_selected_ac);
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ballist->setContentsNode(sm->contents_node);
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ballist->setWeight(sm->weight);
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aiManager()->attach(ballist);
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if (sm->count > 0)
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sm->count--;
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return true;
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}
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void FGSubmodelMgr::load()
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{
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SGPropertyNode *path = fgGetNode("/sim/submodels/path");
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if (path) {
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const int id = 0;
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const string& Path = path->getStringValue();
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bool Seviceable =_serviceable_node->getBoolValue();
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setData(id, Path, Seviceable);
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}
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}
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void FGSubmodelMgr::transform(submodel *sm)
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{
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// set initial conditions
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if (sm->contents_node != 0 && !sm->slaved) {
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// get the weight of the contents (lbs) and convert to mass (slugs)
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sm->contents = sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue();
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//cout << "transform: contents " << sm->contents << endl;
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IC.mass = (sm->weight + sm->contents) * lbs_to_slugs;
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//cout << "mass inc contents" << IC.mass << endl;
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// set contents to 0 in the parent
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sm->contents_node->getChild("level-gal_us",0,1)->setDoubleValue(0);
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/*cout << "contents " << sm->contents_node->getChild("level-gal_us")->getDoubleValue()
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<< " " << sm->contents_node->getChild("level-lbs",0,1)->getDoubleValue()
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<< endl;*/
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} else
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IC.mass = sm->weight * lbs_to_slugs;
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int id = sm->id;
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//int sub_id = sm->sub_id;
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//const string& name = sm->name;
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if (sm->speed_node != 0)
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sm->speed = sm->speed_node->getDoubleValue();
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//cout << " name " << name << " id " << id << " sub id" << sub_id << endl;
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// set the Initial Conditions for the types of submodel parent
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if (_impact || _hit || _expiry) {
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// set the data for a submodel tied to a submodel
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_count++;
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IC.lat = _parent_lat;
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IC.lon = _parent_lon;
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IC.alt = _parent_elev;
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IC.roll = _parent_roll; // rotation about x axis
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IC.elevation = _parent_pitch; // rotation about y axis
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IC.azimuth = _parent_hdg; // rotation about z axis
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IC.speed = _parent_speed;
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IC.speed_down_fps = 0;
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IC.speed_east_fps = 0;
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IC.speed_north_fps = 0;
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} else if (id == 0) {
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//set the data for a submodel tied to the main model
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IC.lat = _user_lat_node->getDoubleValue();
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IC.lon = _user_lon_node->getDoubleValue();
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IC.alt = _user_alt_node->getDoubleValue();
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IC.roll = _user_roll_node->getDoubleValue(); // rotation about x axis
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IC.elevation = _user_pitch_node->getDoubleValue(); // rotation about y axis
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IC.azimuth = _user_heading_node->getDoubleValue(); // rotation about z axis
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IC.speed = _user_speed_node->getDoubleValue();
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IC.speed_down_fps = _user_speed_down_fps_node->getDoubleValue();
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IC.speed_east_fps = _user_speed_east_fps_node->getDoubleValue();
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IC.speed_north_fps = _user_speed_north_fps_node->getDoubleValue();
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} else {
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// set the data for a submodel tied to an AI Object
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//cout << " set the data for a submodel tied to an AI Object " << id << endl;
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setParentNode(id);
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}
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//cout << "Submodel: setting IC "<< name << endl;
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//cout << "heading " << IC.azimuth << endl ;
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//cout << "speed down " << IC.speed_down_fps << endl ;
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//cout << "speed east " << IC.speed_east_fps << endl ;
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//cout << "speed north " << IC.speed_north_fps << endl ;
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//cout << "parent speed fps in " << IC.speed << "sm speed in " << sm->speed << endl ;
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//cout << "lat " << IC.lat;
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//cout << "alt " << IC.alt << endl ;
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// Set the Initial Conditions that are common to all types of parent
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IC.wind_from_east = _user_wind_from_east_node->getDoubleValue();
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IC.wind_from_north = _user_wind_from_north_node->getDoubleValue();
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//cout << "wind e " << IC.wind_from_east << " n " << IC.wind_from_north << endl;
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userpos.setLatitudeDeg(IC.lat);
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userpos.setLongitudeDeg(IC.lon);
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userpos.setElevationFt(IC.alt);
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_x_offset = sm->x_offset;
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_y_offset = sm->y_offset;
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_z_offset = sm->z_offset;
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setOffsetPos();
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//IC.elevation += sm->pitch_offset;
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//IC.azimuth += sm->yaw_offset ;
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// pre-process the trig functions
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cosRx = cos(-IC.roll * SG_DEGREES_TO_RADIANS);
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sinRx = sin(-IC.roll * SG_DEGREES_TO_RADIANS);
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cosRy = cos(-IC.elevation * SG_DEGREES_TO_RADIANS);
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sinRy = sin(-IC.elevation * SG_DEGREES_TO_RADIANS);
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cosRz = cos(IC.azimuth * SG_DEGREES_TO_RADIANS);
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sinRz = sin(IC.azimuth * SG_DEGREES_TO_RADIANS);
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// Get submodel initial velocity vector angles in XZ and XY planes.
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// This vector should be added to aircraft's vector.
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IC.elevation += (sm->yaw_offset * sinRx) + (sm->pitch_offset * cosRx);
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IC.azimuth += (sm->yaw_offset * cosRx) - (sm->pitch_offset * sinRx);
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// calculate the total speed north
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IC.total_speed_north = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS)
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* cos(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_north_fps;
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// calculate the total speed east
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IC.total_speed_east = sm->speed * cos(IC.elevation * SG_DEGREES_TO_RADIANS)
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* sin(IC.azimuth * SG_DEGREES_TO_RADIANS) + IC.speed_east_fps;
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// calculate the total speed down
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IC.total_speed_down = sm->speed * -sin(IC.elevation * SG_DEGREES_TO_RADIANS)
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+ IC.speed_down_fps;
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// re-calculate speed, elevation and azimuth
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IC.speed = sqrt(IC.total_speed_north * IC.total_speed_north
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+ IC.total_speed_east * IC.total_speed_east
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+ IC.total_speed_down * IC.total_speed_down);
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// if speeds are low this calculation can become unreliable
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if (IC.speed > 1) {
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IC.azimuth = atan2(IC.total_speed_east, IC.total_speed_north) * SG_RADIANS_TO_DEGREES;
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// cout << "azimuth1 " << IC.azimuth<<endl;
|
|
|
|
// rationalise the output
|
|
if (IC.azimuth < 0)
|
|
IC.azimuth += 360;
|
|
else if (IC.azimuth >= 360)
|
|
IC.azimuth -= 360;
|
|
// cout << "azimuth2 " << IC.azimuth<<endl;
|
|
|
|
IC.elevation = -atan(IC.total_speed_down / sqrt(IC.total_speed_north
|
|
* 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)
|
|
{
|
|
ft_per_deg_latitude = 366468.96 - 3717.12 * cos(lat / SG_RADIANS_TO_DEGREES);
|
|
ft_per_deg_longitude = 365228.16 * cos(lat / SG_RADIANS_TO_DEGREES);
|
|
}
|
|
|
|
void FGSubmodelMgr::loadAI()
|
|
{
|
|
SG_LOG(SG_AI, SG_DEBUG, "Submodels: Loading AI submodels ");
|
|
|
|
FGAIManager::ai_list_type sm_list(aiManager()->get_ai_list());
|
|
|
|
if (sm_list.empty()) {
|
|
SG_LOG(SG_AI, SG_ALERT, "Submodels: Unable to read AI submodel list");
|
|
return;
|
|
}
|
|
|
|
FGAIManager::ai_list_iterator sm_list_itr = sm_list.begin(),
|
|
end = sm_list.end();
|
|
|
|
while (sm_list_itr != end) {
|
|
string path = (*sm_list_itr)->_getSMPath();
|
|
|
|
if (path.empty()) {
|
|
++sm_list_itr;
|
|
continue;
|
|
}
|
|
|
|
int id = (*sm_list_itr)->getID();
|
|
bool serviceable = (*sm_list_itr)->_getServiceable();
|
|
|
|
//string type = (*sm_list_itr)->getTypeString();
|
|
//cout << "loadAI: type " << type << " path "<< path << " serviceable " << serviceable << endl;
|
|
|
|
setData(id, path, serviceable);
|
|
++sm_list_itr;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
void FGSubmodelMgr::setData(int id, const string& path, bool serviceable)
|
|
{
|
|
SGPropertyNode root;
|
|
|
|
SGPath config = globals->resolve_aircraft_path(path);
|
|
try {
|
|
SG_LOG(SG_AI, SG_DEBUG,
|
|
"Submodels: Trying to read AI submodels file: " << config.str());
|
|
readProperties(config.str(), &root);
|
|
} catch (const sg_exception &) {
|
|
SG_LOG(SG_AI, SG_ALERT,
|
|
"Submodels: Unable to read AI submodels file: " << config.str());
|
|
return;
|
|
}
|
|
|
|
vector<SGPropertyNode_ptr> children = root.getChildren("submodel");
|
|
vector<SGPropertyNode_ptr>::iterator it = children.begin();
|
|
vector<SGPropertyNode_ptr>::iterator end = children.end();
|
|
|
|
for (int i = 0; it != end; ++it, i++) {
|
|
//cout << "Reading AI submodel " << (*it)->getPath() << endl;
|
|
submodel* sm = new submodel;
|
|
SGPropertyNode * entry_node = *it;
|
|
sm->name = entry_node->getStringValue("name", "none_defined");
|
|
sm->model = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
|
|
sm->speed = entry_node->getDoubleValue("speed", 2329.4);
|
|
sm->repeat = entry_node->getBoolValue("repeat", false);
|
|
sm->delay = entry_node->getDoubleValue("delay", 0.25);
|
|
sm->count = entry_node->getIntValue("count", 1);
|
|
sm->slaved = entry_node->getBoolValue("slaved", false);
|
|
sm->x_offset = entry_node->getDoubleValue("x-offset", 0.0);
|
|
sm->y_offset = entry_node->getDoubleValue("y-offset", 0.0);
|
|
sm->z_offset = entry_node->getDoubleValue("z-offset", 0.0);
|
|
sm->yaw_offset = entry_node->getDoubleValue("yaw-offset", 0.0);
|
|
sm->pitch_offset = entry_node->getDoubleValue("pitch-offset", 0.0);
|
|
sm->drag_area = entry_node->getDoubleValue("eda", 0.034);
|
|
sm->life = entry_node->getDoubleValue("life", 900.0);
|
|
sm->buoyancy = entry_node->getDoubleValue("buoyancy", 0);
|
|
sm->wind = entry_node->getBoolValue("wind", false);
|
|
sm->cd = entry_node->getDoubleValue("cd", 0.193);
|
|
sm->weight = entry_node->getDoubleValue("weight", 0.25);
|
|
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->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-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);
|
|
|
|
if (sm->contents_node != 0)
|
|
sm->contents = sm->contents_node->getDoubleValue();
|
|
|
|
const char *trigger_path = entry_node->getStringValue("trigger", 0);
|
|
if (trigger_path) {
|
|
sm->trigger_node = fgGetNode(trigger_path, true);
|
|
sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue());
|
|
} else {
|
|
sm->trigger_node = 0;
|
|
}
|
|
|
|
if (sm->speed_node != 0)
|
|
sm->speed = sm->speed_node->getDoubleValue();
|
|
|
|
sm->timer = sm->delay;
|
|
sm->id = id;
|
|
sm->first_time = false;
|
|
sm->serviceable = serviceable;
|
|
sm->sub_id = 0;
|
|
|
|
sm->prop = fgGetNode("/ai/submodels/submodel", index, true);
|
|
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)));
|
|
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)));
|
|
const string& name = sm->name;
|
|
sm->prop->setStringValue("name", name.c_str());
|
|
|
|
const string& submodel = sm->submodel;
|
|
sm->prop->setStringValue("submodel", submodel.c_str());
|
|
|
|
const string& force_path = sm->force_path;
|
|
sm->prop->setStringValue("force_path", force_path.c_str());
|
|
//cout << "set force_path Sub " << force_path << endl;
|
|
|
|
if (sm->contents_node != 0)
|
|
sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
|
|
|
|
index++;
|
|
submodels.push_back(sm);
|
|
}
|
|
}
|
|
|
|
void FGSubmodelMgr::setSubData(int id, const string& path, bool serviceable)
|
|
{
|
|
SGPropertyNode root;
|
|
SGPath config = globals->resolve_aircraft_path(path);
|
|
|
|
try {
|
|
SG_LOG(SG_AI, SG_DEBUG,
|
|
"Submodels: Trying to read AI submodels file: " << config.str());
|
|
readProperties(config.str(), &root);
|
|
|
|
} catch (const sg_exception &) {
|
|
SG_LOG(SG_AI, SG_ALERT,
|
|
"Submodels: Unable to read AI submodels file: " << config.str());
|
|
return;
|
|
}
|
|
|
|
vector<SGPropertyNode_ptr> children = root.getChildren("submodel");
|
|
vector<SGPropertyNode_ptr>::iterator it = children.begin();
|
|
vector<SGPropertyNode_ptr>::iterator end = children.end();
|
|
|
|
for (int i = 0; it != end; ++it, i++) {
|
|
//cout << "Reading AI submodel " << (*it)->getPath() << endl;
|
|
submodel* sm = new submodel;
|
|
SGPropertyNode * entry_node = *it;
|
|
sm->name = entry_node->getStringValue("name", "none_defined");
|
|
sm->model = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
|
|
sm->speed = entry_node->getDoubleValue("speed", 2329.4);
|
|
sm->repeat = entry_node->getBoolValue("repeat", false);
|
|
sm->delay = entry_node->getDoubleValue("delay", 0.25);
|
|
sm->count = entry_node->getIntValue("count", 1);
|
|
sm->slaved = entry_node->getBoolValue("slaved", false);
|
|
sm->x_offset = entry_node->getDoubleValue("x-offset", 0.0);
|
|
sm->y_offset = entry_node->getDoubleValue("y-offset", 0.0);
|
|
sm->z_offset = entry_node->getDoubleValue("z-offset", 0.0);
|
|
sm->yaw_offset = entry_node->getDoubleValue("yaw-offset", 0.0);
|
|
sm->pitch_offset = entry_node->getDoubleValue("pitch-offset", 0.0);
|
|
sm->drag_area = entry_node->getDoubleValue("eda", 0.034);
|
|
sm->life = entry_node->getDoubleValue("life", 900.0);
|
|
sm->buoyancy = entry_node->getDoubleValue("buoyancy", 0);
|
|
sm->wind = entry_node->getBoolValue("wind", false);
|
|
sm->cd = entry_node->getDoubleValue("cd", 0.193);
|
|
sm->weight = entry_node->getDoubleValue("weight", 0.25);
|
|
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->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-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);
|
|
|
|
if (sm->contents_node != 0)
|
|
sm->contents = sm->contents_node->getDoubleValue();
|
|
|
|
const char *trigger_path = entry_node->getStringValue("trigger", 0);
|
|
if (trigger_path) {
|
|
sm->trigger_node = fgGetNode(trigger_path, true);
|
|
sm->trigger_node->setBoolValue(sm->trigger_node->getBoolValue());
|
|
} else {
|
|
sm->trigger_node = 0;
|
|
}
|
|
|
|
if (sm->speed_node != 0)
|
|
sm->speed = sm->speed_node->getDoubleValue();
|
|
|
|
sm->timer = sm->delay;
|
|
sm->id = index;
|
|
sm->first_time = false;
|
|
sm->serviceable = serviceable;
|
|
sm->sub_id = 0;
|
|
|
|
sm->prop = fgGetNode("/ai/submodels/subsubmodel", index, true);
|
|
sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
|
|
sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
|
|
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("slaved", SGRawValuePointer<bool>(&(sm->slaved)));
|
|
|
|
const string& name = sm->name;
|
|
sm->prop->setStringValue("name", name.c_str());
|
|
|
|
const string& submodel = sm->submodel;
|
|
sm->prop->setStringValue("submodel-path", submodel.c_str());
|
|
// cout << " set submodel path AI" << submodel<< endl;
|
|
|
|
const string& force_path = sm->force_path;
|
|
sm->prop->setStringValue("force_path", force_path.c_str());
|
|
//cout << "set force_path AI" << force_path << endl;
|
|
|
|
if (sm->contents_node != 0)
|
|
sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
|
|
|
|
index++;
|
|
subsubmodels.push_back(sm);
|
|
}
|
|
}
|
|
|
|
void FGSubmodelMgr::loadSubmodels()
|
|
{
|
|
SG_LOG(SG_AI, SG_DEBUG, "Submodels: Loading sub submodels");
|
|
|
|
_found_sub = false;
|
|
|
|
submodel_iterator = submodels.begin();
|
|
|
|
while (submodel_iterator != submodels.end()) {
|
|
const string& submodel = (*submodel_iterator)->submodel;
|
|
if (!submodel.empty()) {
|
|
//int id = (*submodel_iterator)->id;
|
|
bool serviceable = true;
|
|
SG_LOG(SG_AI, 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);
|
|
}
|
|
}
|
|
|
|
++submodel_iterator;
|
|
} // end while
|
|
|
|
subsubmodel_iterator = subsubmodels.begin();
|
|
|
|
while (subsubmodel_iterator != subsubmodels.end()) {
|
|
|
|
submodels.push_back(*subsubmodel_iterator);
|
|
++subsubmodel_iterator;
|
|
} // end while
|
|
|
|
subsubmodels.clear();
|
|
|
|
//submodel_iterator = submodels.begin();
|
|
|
|
//int subcount = 0;
|
|
|
|
//while (submodel_iterator != submodels.end()) {
|
|
// int id = (*submodel_iterator)->id;
|
|
// subcount++;
|
|
|
|
// SG_LOG(SG_AI, SG_ALERT,"after pushback "
|
|
// << " parent id " << id
|
|
// << " name " << (*submodel_iterator)->name
|
|
// << " sub id " << (*submodel_iterator)->sub_id
|
|
// << " subcount "<< subcount);
|
|
|
|
// ++submodel_iterator;
|
|
//}
|
|
}
|
|
|
|
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
|
|
// (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(
|
|
IC.azimuth,
|
|
IC.elevation,
|
|
IC.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 FGSubmodelMgr::setOffsetPos(){
|
|
// convert the offset geocentered position to geodetic
|
|
SGVec3d cartoffsetPos = getCartOffsetPos();
|
|
|
|
SGGeodesy::SGCartToGeod(cartoffsetPos, offsetpos);
|
|
|
|
//cout << "OFFSET POS" << offsetpos.getElevationFt();
|
|
|
|
}
|
|
|
|
void FGSubmodelMgr::valueChanged(SGPropertyNode *prop)
|
|
{
|
|
return; // this isn't working atm
|
|
|
|
const char* _model_added = _model_added_node->getStringValue();
|
|
|
|
std::basic_string <char>::size_type indexCh2b;
|
|
|
|
string str2 = _model_added;
|
|
const char *cstr2b = "multiplayer";
|
|
indexCh2b = str2.find( cstr2b, 0 );
|
|
|
|
if (indexCh2b != string::npos ){ // we will ignore Ballistic Objects - there are potentially too many
|
|
|
|
//cout << "Submodels: model added - " << str2 <<" read path "<< endl;
|
|
//return;
|
|
SGPropertyNode *a_node = fgGetNode(_model_added, true);
|
|
SGPropertyNode *sub_node = a_node->getChild("sim", 0, true);
|
|
SGPropertyNode_ptr path_node = sub_node->getChild("path", 0, true);
|
|
SGPropertyNode_ptr callsign_node = a_node->getChild("callsign", 0, true);
|
|
|
|
//const string& callsign = callsign_node->getStringValue();
|
|
//cout << "Submodels: model added - " << callsign <<" read callsign "<< endl;
|
|
return;
|
|
|
|
} else {
|
|
cout << "model added - " << str2 <<" returning "<< endl;
|
|
return;
|
|
}
|
|
|
|
}
|
|
|
|
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);
|
|
//const 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");
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//cout << name << " IC.speed " << IC.speed << endl;
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} else {
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SG_LOG(SG_AI, SG_ALERT, "AISubmodel: parent node not found ");
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}
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}
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// end of submodel.cxx
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