sbrFlightModel::sbrFlightModel(Flight *flit)
{
sPoint position;
sAttitude attitude;
this->flight = flit;
R_3DPoint2sPoint(LOOK_FROM,position);
Port2sAttitude(FLIGHT_PORT,attitude);
sSlewer::SetPositionAndAttitude(position,attitude);
turnRate = 0.0;
}
void sbrFlightModel::Rotate(const sAttitude &rotateMatrix)
{
sPoint position;
sAttitude attitude;
FLIGHT_PORT.rotate(CvToSabreAngle(rotateMatrix.pitch),
CvToSabreAngle(rotateMatrix.roll),
CvToSabreAngle(rotateMatrix.yaw));
R_3DPoint2sPoint(LOOK_FROM,position);
Port2sAttitude(FLIGHT_PORT,attitude);
sSlewer::SetPositionAndAttitude(position,attitude);
}
void Pilot::CalcGunLeadPoint(sTargetGeometry &tg)
{
REAL_TYPE t;
sVector temp;
sPoint leadPoint;
sPoint ourPosition;
sPoint gunPoint;
sAttitude ourAtt;
sAttitude gunPointAtt;
sAttitude leadPointAtt;
in_range = 0;
GetPositionAndAttitude(ourPosition,ourAtt);
if (!target)
t = 1.0;
else
{
time_to_target = sel_weapon->calc_hvtime(*flight,*target->get_position());
if (tg.range <= gunAttackDistance)
{
in_range = 1;
t = time_to_target;
}
else
t = 1.0;
}
gun_point = sel_weapon->predict_path(*flight,t);
R_3DPoint2sPoint(gun_point,gunPoint);
GetAttitude(gunPoint,temp,gunPointAtt);
sPoint2R_3DPoint(tg.worldPosition,sel_weapon->target_position);
temp = tg.worldVelocity;
temp *= t;
leadPoint = tg.worldPosition + temp;
tg.gunLeadPoint = leadPoint;
GetAttitude(leadPoint,temp,leadPointAtt);
tg.gunLeadAttitude.pitch = leadPointAtt.pitch - gunPointAtt.pitch;
tg.gunLeadAttitude.yaw = leadPointAtt.yaw - gunPointAtt.yaw;
tg.gunLeadRangeSq = sDistanceSquared(tg.gunLeadPoint,ourPosition);
tg.gunTOF = time_to_target;
sPoint2R_3DPoint(tg.worldPosition,track_point);
sPoint2R_3DPoint(tg.leadPoint,lead_track_point);
sPoint2R_3DPoint(tg.gunLeadPoint,gun_track_point);
}
void sbrFlightModel::Update(double /* ignored */)
{
sPoint position;
sAttitude attitude;
flight->l_time = time_frame;
if (flight->l_time <= 0.0)
flight->l_time = C(0.1);
flight->applyForces(flight->l_time);
flight->applyRotations(flight->l_time);
flight->calcState(flight->l_time);
DoControlCallback();
flight->calcForces(flight->l_time);
flight->calcRotations(flight->l_time);
/* call Flight::Update() */
/* convert position and attitude */
R_3DPoint2sPoint(LOOK_FROM,position);
Port2sAttitude(FLIGHT_PORT,attitude);
turnRate = (attitude.yaw - att.yaw) / time_frame;
sSlewer::SetPositionAndAttitude(position,attitude);
}
