void Robots::AddRobot(std::string robotfilename)
{
Robot* robot = new Robot();
//
robot->fi = new ModRobotInterface();
robot->fi->loadAirplane(robotfilename.c_str(), (FDMEnviroment*)0, (SimpleXMLTransfer*)0);
if (robot->fi->robot)
{
SimpleXMLTransfer* header = robot->fi->robot->GetHeader();
std::string filename = FileSysTools::getDataPath(header->getString("airplane.file"));
SimpleXMLTransfer* xml = new SimpleXMLTransfer(filename);
XMLModelFile::SetGraphics(xml, header->getInt("airplane.graphics"));
SimpleXMLTransfer* graphics = XMLModelFile::getGraphics(xml);
//
robot->vis_id = Video::new_visualization("objects/" + graphics->attribute("model"),
"textures",
CRRCMath::Vector3(), // todo
xml);
list.push_back(robot);
}
}
void T_AxisMapper::init(SimpleXMLTransfer* cfgfile, std::string childname)
{
#if DEBUG_TX_INTERFACE > 0
printf("T_AxisMapper::init(cfg, child)\n");
printf(" <-- %s\n", childname.c_str());
#endif
SimpleXMLTransfer* inter;
SimpleXMLTransfer* bindings;
SimpleXMLTransfer* group;
SimpleXMLTransfer* item;
child_in_cfg = childname;
// try to load config
try
{
inter = cfgfile->getChild(childname, true);
bindings = inter->getChild("bindings", true);
group = bindings->getChild("axes", true);
for (int i = T_AxisMapper::AILERON; i <= T_AxisMapper::PITCH; i++)
{
int default_axis = -1;
float default_polarity = 1.0;
// special handling for some default values
if (i == T_AxisMapper::AILERON)
{
default_axis = 0;
}
else if (i == T_AxisMapper::ELEVATOR)
{
default_axis = 1;
if (iface->inputMethod() != T_TX_Interface::eIM_joystick)
{
default_polarity = -1.0;
}
}
item = group->getChild(Global::inputDev->AxisStringsXML[i], true);
c_func[i] = item->attributeAsInt("axis", default_axis);
c_inv[i] = item->attributeAsDouble("polarity", default_polarity);
}
std::string radio =
strU(bindings->attribute("radio_type", RadioTypeStrings[CUSTOM]));
for (int n=0; n < NR_OF_RADIO_TYPES; n++)
{
if (radio.compare(strU(RadioTypeStrings[n])) == 0)
{
setRadioType(n);
}
}
}
catch (XMLException e)
{
fprintf(stderr, "*** T_AxisMapper: XMLException: %s\n", e.what());
}
}
void T_AxisMapper::putBackIntoCfg(SimpleXMLTransfer* cfgfile)
{
#if DEBUG_TX_INTERFACE > 0
printf("T_AxisMapper::putBackIntoCfg(SimpleXMLTransfer* config)\n");
printf(" --> %s\n", child_in_cfg.c_str());
#endif
SimpleXMLTransfer* item;
SimpleXMLTransfer* group;
SimpleXMLTransfer* item2;
try
{
item = cfgfile->getChild(child_in_cfg);
group = item->getChild("bindings.axes");
for (int i = T_AxisMapper::AILERON; i <= T_AxisMapper::PITCH; i++)
{
item2 = group->getChild(Global::inputDev->AxisStringsXML[i], true);
item2->setAttributeOverwrite("axis", c_func[i]);
item2->setAttributeOverwrite("polarity", doubleToString(c_inv[i]));
}
item2 = item->getChild("bindings");
item2->setAttributeOverwrite("radio_type", RadioTypeStrings[radio_type]);
}
catch (XMLException e)
{
fprintf(stderr, "*** T_AxisMapper: XMLException: %s\n", e.what());
}
}
void Power::Propeller::ReloadParams(SimpleXMLTransfer* xml)
{
Gearing::ReloadParams(xml);
SimpleXMLTransfer* prop;
bool fExtern = true;
if (xml->indexOfAttribute("filename") >= 0)
{
prop = new SimpleXMLTransfer(FileSysTools::getDataPath("models/propeller/" + xml->getString("filename") + ".xml", true));
}
else
{
prop = xml;
fExtern = false;
}
// Der Sturz wird in jedem Fall aus der Modelldatei gelesen, ansonsten muss man ja eine
// Propellerdatei fuer jeden Sturz extra haben.
CalcDownthrust(xml);
D = prop->getDouble("D");
H = prop->getDouble("H");
J = prop->getDouble("J");
omega_fold = prop->attributeAsDouble("n_fold", -1)*2*M_PI;
std::cout << " Propeller: D=" << D << " m, H=" << H << " m, J=" << J << " kg m^2";
if (fExtern)
delete prop;
}
void Power::Propeller::CalcDownthrust(SimpleXMLTransfer* xml)
{
int idx = xml->indexOfChild("pos");
if (idx < 0)
{
dirThrust = CRRCMath::Vector3(1, 0, 0);
mulForce = CRRCMath::Vector3(1, 0, 0);
mulMoment = CRRCMath::Vector3(0, 0, 0);
}
else
{
SimpleXMLTransfer* sxtpos = xml->getChildAt(idx);
double downthrust = M_PI * sxtpos->getDouble("downthrust", 0) / 180;
dirThrust = CRRCMath::Vector3(cos(downthrust), 0, sin(downthrust));
CRRCMath::Vector3 pos = CRRCMath::Vector3(sxtpos->getDouble("x", 0),
0,
sxtpos->getDouble("z", 0));
CRRCMath::Vector3 dirForce = pos * (1/pos.length());
// Split thrust vector into a part parallel to dirForce and a part parallel to dirMoment:
// dirThrust = a * dirForce + b * dirMoment
// After simplifying all this (and using the variable expressions above) the solution boils down to:
double a = sin(downthrust) * dirForce.r[2] + cos(downthrust) * dirForce.r[0];
double b = cos(downthrust) * dirForce.r[2] - sin(downthrust) * dirForce.r[0];
mulForce = dirForce * a;
mulMoment = CRRCMath::Vector3(0, b * pos.length(), 0);
}
mulForce.print("mulForce=", ", ");
mulMoment.print("mulMoment=", "\n");
}
void Power::Propeller::ReloadParams_automagic(SimpleXMLTransfer* xml)
{
SimpleXMLTransfer* p = xml->getChild("battery.shaft.propeller");
D = p->getDouble("D");
H = p->getDouble("H");
J = p->getDouble("J");
double F = xml->getDouble("F");
double V = xml->getDouble("V");
// Der Sturz wird in jedem Fall aus der Modelldatei gelesen, ansonsten muss man ja eine
// Propellerdatei fuer jeden Sturz extra haben.
CalcDownthrust(p);
{
// Calculate rotational speed and torque needed:
// F = M_PI * 0.25 * D*D * RHO * (V_X + filter.val/2) * filter.val * ETA_PROP;
// F = M_PI * 0.25 * D*D * RHO * (V + (Hn-V)/2) * (Hn-V) * ETA_PROP;
// F = M_PI * 0.25 * D*D * RHO * (V/2 + Hn/2) * (Hn-V) * ETA_PROP;
double n = sqrt( (8*F/(M_PI*D*D*RHO*ETA_PROP)) + V*V)/H;
double M = F * (V + (V + H*n)/2) / (2*M_PI*n) * i;
// Save these values so the engine can adjust itself to them:
p->setAttribute("automagic.n_P", doubleToString(n));
p->setAttribute("automagic.M_P", doubleToString(M));
}
omega_fold = p->attributeAsDouble("n_fold", -1)*2*M_PI;
}
/** \brief Add animations to a model
*
* This method reads animation description tags from a model file
* and tries to add the corresponding animations to the 3D model.
*
* \todo Right now there's only one type of animation: movable control
* surfaces. Therefore this method receives a pointer to the control
* input class. If animations are added that need a different kind of
* input for their update() method, we need to decide how to pass all
* this stuff to initAnimations().
*
* \param model_file XML model description file
* \param model scenegraph of the 3D model
*/
void initAnimations(SimpleXMLTransfer *model_file, ssgEntity* model)
{
SimpleXMLTransfer *animations = model_file->getChild("animations", true);
int num_anims = animations->getChildCount();
std::cout << "initAnimations: found " << num_anims << " children" << std::endl;
for (int i = 0; i < num_anims; i++)
{
SimpleXMLTransfer *animation = animations->getChildAt(i);
createAnimation(animation, model);
}
}
void T_TX_InterfaceSerPIC::putBackIntoCfg (SimpleXMLTransfer *config)/*{{{*/
{
#if DEBUG_TX_INTERFACE > 0
std::cout << "T_TX_InterfaceSerPIC::putBackIntoCfg(SimpleXMLTransfer *config)" << std::endl;
#endif
// Store the port settings
T_TX_InterfaceSerial::putBackIntoCfg(config);
// Store additional settings
SimpleXMLTransfer *port = config->getChild(getXmlChildName() + ".port", true);
port->setAttributeOverwrite ("sync", ucSyncByte);
port->setAttributeOverwrite ("button_channel", iSPIC_ButtonChannel);
}
void T_Calibration::putBackIntoCfg(SimpleXMLTransfer* cfgfile)
{
#if DEBUG_TX_INTERFACE > 0
printf("T_Calibration::putBackIntoCfg(cfg)\n");
printf(" --> %s\n", child_in_cfg.c_str());
#endif
int size;
SimpleXMLTransfer* item;
SimpleXMLTransfer* group;
SimpleXMLTransfer* item2;
item = cfgfile->getChild(child_in_cfg);
group = item->getChild("calibration");
group->setAttributeOverwrite("version", "2");
// clean list
size = group->getChildCount();
for (int n = 0; n < size; n++)
{
item2 = group->getChildAt(0);
group->removeChildAt(0);
delete item2;
}
// create new list
for (int n = 0; n < TX_MAXAXIS; n++)
{
item2 = new SimpleXMLTransfer();
item2->setName("axis");
item2->addAttribute("val_min", doubleToString(val_min[n]));
item2->addAttribute("val_mid", doubleToString(val_mid[n]));
item2->addAttribute("val_max", doubleToString(val_max[n]));
group->addChild(item2);
}
}
Power::Shaft::Shaft(SimpleXMLTransfer* xml)
{
for (int n=0; n<xml->getChildCount(); n++)
{
SimpleXMLTransfer* it = xml->getChildAt(n);
Gearing* s = (Gearing*)0;
if (it->getName().compare("engine") == 0)
s = new Engine_DCM();
else if (it->getName().compare("propeller") == 0)
s = new Propeller();
else if (it->getName().compare("simplethrust") == 0)
s = new SimpleThrust();
if (s != (Gearing*)0)
gear.push_back(s);
}
}
CRRCAirplaneV2::CRRCAirplaneV2(SimpleXMLTransfer* xml)
{
printf("CRRCAirplaneV2(xml)\n");
// initialize the airplane's sound
initSound(xml);
// initialize the visual representation
// first collect all relevant information from the model file
std::string s;
s = XMLModelFile::getGraphics(xml)->getString("model");
// Offset of center of gravity
CRRCMath::Vector3 pCG;
pCG = CRRCMath::Vector3(0, 0, 0);
if (xml->indexOfChild("CG") >= 0)
{
SimpleXMLTransfer* i;
i = xml->getChild("CG");
pCG.r[0] = i->attributeAsDouble("x", 0);
pCG.r[1] = i->attributeAsDouble("y", 0);
pCG.r[2] = i->attributeAsDouble("z", 0);
if (i->attributeAsInt("units") == 1)
pCG *= M_TO_FT;
}
// plib automatically loads the texture file, but it does not know which directory to use.
// where is the object file?
std::string of = FileSysTools::getDataPath("objects/" + s);
// compile and set relative texture path
std::string tp = of.substr(0, of.length()-s.length()-1-7) + "textures";
lVisID = Video::new_visualization(of, tp, pCG, xml);
if (lVisID == INVALID_AIRPLANE_VISUALIZATION)
{
std::string msg = "Unable to open airplane model file \"";
msg += s;
msg += "\"\nspecified in \"";
msg += xml->getSourceDescr();
msg += "\"";
throw std::runtime_error(msg);
}
}
/**
* Load the airplane specified in configfile. Throw a
* std::runtime_error on failure.
*/
void Aircraft::load(SimpleXMLTransfer *configfile, FDMEnviroment* fdmEnvironment)
{
cleanup();
fdmInterface = new ModFDMInterface();
std::string filename = configfile->getString("airplane.file", "models/allegro.xml");
filename = air_to_xml_file_load(filename);
try
{
SimpleXMLTransfer* xml = new SimpleXMLTransfer(filename);
SimpleXMLTransfer* ap = configfile->getChild("airplane");
// Here we copy graphics and config preferences from crrcsim's config file
// into the in-memory-copy of the airplane. This is because an airplane file
// should not be altered by user preferences.
XMLModelFile::SetGraphics(xml, ap->attributeAsInt("graphics", 0));
XMLModelFile::SetConfig (xml, ap->attributeAsInt("config", 0));
fdmInterface->loadAirplane(xml, fdmEnvironment, configfile);
if (configfile->getInt("video.enabled", 1))
{
model_ = new CRRCAirplaneLaRCSimSSG(xml, scene);
}
getFDM()->registerAnimations(getModel()->getAnimations());
delete xml;
}
catch (XMLException e)
{
std::string msg = "Error opening airplane specification file: ";
msg += filename;
msg += ": ";
msg += e.what();
throw std::runtime_error(msg);
}
if (getFDM() == NULL)
{
throw std::runtime_error("Unable to load airplane specification file.");
}
}
/**
* Initialize the interface.
*
* The base class handles all hardware initialization for us, so we only
* have to set up the correct control line states to power the interface.
*/
int T_TX_InterfaceSerPIC::init (SimpleXMLTransfer *config)
{
#if DEBUG_TX_INTERFACE > 0
std::cout << "T_TX_InterfaceSerPIC::init ()\n";
#endif
int ret = T_TX_InterfaceSerial::init (config);
if (ret == 0)
{
// initialized successfully, now turn on the power supply for the
// interface hardware (careful, could throw an exception)
try
{
setRts (true);
setDtr (false);
}
catch (CharDevice::ConfigureDeviceException e)
{
setErrMsg ("Setting Rts/Dtr states failed.");
cerr << "Serial interface initialization: " << getErrMsg () << endl;
ret = 1;
}
int default_sync_byte = DEFAULT_SYNC_BYTE_19200;
int default_button_channel = DEFAULT_BUTTON_CHANNEL_19200;
if (T_TX_InterfaceSerial::getBaudRate() == 9600)
{
default_sync_byte = DEFAULT_SYNC_BYTE_9600;
default_button_channel = DEFAULT_BUTTON_CHANNEL_9600;
}
// read sync and button byte settings from config file
SimpleXMLTransfer *port = config->getChild(getXmlChildName() + ".port", true);
ucSyncByte = port->attributeAsInt("sync", default_sync_byte);
iSPIC_ButtonChannel = port->attributeAsInt("button_channel", default_button_channel);
#if DEBUG_TX_INTERFACE > 0
std::cout << " Configured sync byte: 0x" << std::hex << int(ucSyncByte) << std::dec;
std::cout << ", " << std::string((iSPIC_ButtonChannel == 0) ? "no" : "has") << " button channel";
std::cout << std::endl;
#endif
}
return ret;
}
void T_Calibration::init(SimpleXMLTransfer* cfgfile,
std::string childname)
{
#if DEBUG_TX_INTERFACE > 0
printf("T_Calibration::init(cfg, child)\n");
printf(" <-- %s\n", childname.c_str());
#endif
int size;
SimpleXMLTransfer* item;
SimpleXMLTransfer* group;
SimpleXMLTransfer* item2;
child_in_cfg = childname;
// try to load config
printf("Loading calibration settings from %s:\n", childname.c_str());
try
{
item = cfgfile->getChild(childname, true);
group = item->getChild("calibration", true);
int nVer = group->getInt("version", 1);
size = group->getChildCount();
if (size > TX_MAXAXIS)
size = TX_MAXAXIS;
for (int n = 0; n < size; n++)
{
item2 = group->getChildAt(n);
switch (nVer)
{
case 1:
{
float scale = item2->getDouble("scale", 1.0);
float off = item2->getDouble("offset", 0.0);
// old: out = scale * in + offset
val_min[n] = (-0.5 - off) / scale;
val_max[n] = ( 0.5 - off) / scale;
val_mid[n] = 0.5 * (val_min[n] + val_max[n]);
printf(" (1)");
}
break;
case 2:
val_min[n] = item2->getDouble("val_min", -1.0);
val_mid[n] = item2->getDouble("val_mid", 0.0);
val_max[n] = item2->getDouble("val_max", 1.0);
printf(" (2)");
break;
}
printf(" axis=%i val_min=%f val_mid=%f val_max=%f\n", n, val_min[n], val_mid[n], val_max[n]);
}
}
catch (XMLException e)
{
fprintf(stderr, "*** T_Calibration::init(): %s\n", e.what());
}
}
void Power::Shaft::ReloadParams(SimpleXMLTransfer* xml)
{
int nChildCnt = 0;
double J_ges;
fBrake = (xml->attributeAsInt("brake", 1) != 0);
J_ges = xml->attributeAsDouble("J", 0);
std::cout << " Shaft: J=" << J_ges << " kg m^2\n";
for (int n=0; n<xml->getChildCount(); n++)
{
SimpleXMLTransfer* it = xml->getChildAt(n);
if (it->getName().compare("engine") == 0 ||
it->getName().compare("propeller") == 0 ||
it->getName().compare("simplethrust") == 0
)
{
gear[nChildCnt]->ReloadParams(it);
J_ges += gear[nChildCnt++]->getJ();
}
}
J_inv = 1/J_ges;
}
/**
* Create a CRRCControlSurfaceAnimation object
*
* Initialize the animation from an
* <animation type="ControlSurface"> tag
*/
CRRCControlSurfaceAnimation::CRRCControlSurfaceAnimation(SimpleXMLTransfer *xml)
: CRRCAnimation(new ssgTransform()), fallback_data(0.0f),
eventAdapter(this, &CRRCControlSurfaceAnimation::axisValueCallback, Event::Input),
aileron(0.0f), elevator(0.0f), rudder(0.0f), throttle(0.0f),
spoiler(0.0f), flap(0.0f), retract(0.0f), pitch(0.0f)
{
bool failed = false;
// evaluate <object> tag
SimpleXMLTransfer *map = xml->getChild("object", true);
symbolic_name = map->getString("name", "no_name_set");
max_angle = (float)(map->getDouble("max_angle", 0.0) * SG_RADIANS_TO_DEGREES);
abs_max_angle = (float)fabs((double)max_angle);
// find hinges and evaluate all <control> tags
int num_controls = 0;
int num_hinges = 0;
for (int i = 0; i < xml->getChildCount(); i++)
{
SimpleXMLTransfer *child = xml->getChildAt(i);
if (child->getName() == "hinge")
{
// found a <hinge> child
sgVec3 pos;
pos[SG_X] = (float)(-1 * child->getDouble("y", 0.0));
pos[SG_Y] = (float)(-1 * child->getDouble("x", 0.0));
pos[SG_Z] = (float)(-1 * child->getDouble("z", 0.0));
if (num_hinges == 0)
{
sgCopyVec3(hinge_1, pos);
}
else if (num_hinges == 1)
{
sgCopyVec3(hinge_2, pos);
}
num_hinges++;
}
else if (child->getName() == "control")
{
// found a <control> child
// The "*2" factor for each gain value scales the control input
// values from -0.5...+0.5 to -1.0...+1.0. This saves one
// float multiplication per mapping in the runtime update() routine.
std::string mapping = child->getString("mapping", "NOTHING");
float gain = (float)child->getDouble("gain", 1.0);
if (mapping == "ELEVATOR")
{
datasource.push_back(&elevator);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "AILERON")
{
datasource.push_back(&aileron);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "THROTTLE")
{
datasource.push_back(&throttle);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "RUDDER")
{
datasource.push_back(&rudder);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "FLAP")
{
datasource.push_back(&flap);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "SPOILER")
{
datasource.push_back(&spoiler);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "RETRACT")
{
datasource.push_back(&retract);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "PITCH")
{
datasource.push_back(&pitch);
source_gain.push_back(gain * 2);
num_controls++;
}
else
{
std::cerr << "ControlSurfaceAnimation: ignoring <control> tag without mapping." << std::endl;
}
}
}
if (num_controls < 1)
{
std::cerr << "ControlSurfaceAnimation: found animation without proper <control> tag. Animation disabled." << std::endl;
failed = true;
}
if (num_hinges < 2)
{
std::cerr << "ControlSurfaceAnimation: Must specify exactly two hinges!" << std::endl;
failed = true;
}
else
{
if (num_hinges > 2)
{
std::cerr << "ControlSurfaceAnimation: Must specify exactly two hinges!" << std::endl;
std::cerr << "ControlSurfaceAnimation: Ignoring excessive hinge tag(s)." << std::endl;
}
sgSubVec3(axis, hinge_2, hinge_1);
if (sgLengthVec3(axis) < 0.001)
{
std::cerr << "ControlSurfaceAnimation: Insufficient spacing between hinges!" << std::endl;
failed = true;
}
}
if (failed)
{
std::cerr << "ControlSurfaceAnimation: Animation setup failed." << std::endl;
// set to some non-critical defaults
datasource.resize(1);
datasource[0] = &fallback_data;
source_gain.resize(1);
source_gain[0] = 1.0;
sgSetVec3(hinge_1, 0.0f, 0.0f, 0.0f);
sgSetVec3(hinge_2, 1.0f, 0.0f, 0.0f);
sgSubVec3(axis, hinge_2, hinge_1);
}
sgMakeIdentMat4(move_to_origin);
move_to_origin[3][0] = -hinge_1[0];
move_to_origin[3][1] = -hinge_1[1];
move_to_origin[3][2] = -hinge_1[2];
sgMakeTransMat4(move_back, hinge_1);
realInit();
}
/** \brief Initialize the mixer from a config file.
*
* The mixer object will be initialized from the given config file.
* This file may contain more than one branch with interface settings,
* so the name of the child has to be specified.
*/
int T_TX_Mixer::init(SimpleXMLTransfer* cfg, std::string child)
{
#if DEBUG_TX_INTERFACE > 0
printf("T_TX_Mixer::init(cfg, child)\n");
printf(" <-- %s\n", child.c_str());
#endif
SimpleXMLTransfer* mixer;
SimpleXMLTransfer* item;
SimpleXMLTransfer* inter;
// store the child's name for writing back the settings
child_in_cfg = child;
printf("Loading mixer settings from %s:\n", child.c_str());
try
{
inter = cfg->getChild(child, true);
mixer = inter->getChild("mixer", true);
enabled = mixer->attributeAsInt("enabled", 1);
dr_enabled = mixer->attributeAsInt("dr_enabled", 0);
for (int i = T_AxisMapper::AILERON; i <= T_AxisMapper::PITCH; i++)
{
item = mixer->getChild(Global::inputDev->AxisStringsXML[i], true);
trim_val[i] = item->getDouble("trim", 0.0);
nrate_val[i] = item->getDouble("nrate", 1.0);
srate_val[i] = item->getDouble("srate", 1.0);
exp_val[i] = item->getDouble("exp", 0.0);
mtravel_val[i] = item->getDouble("mtravel", -0.5);
ptravel_val[i] = item->getDouble("ptravel", 0.5);
}
for (int i = 0; i < T_TX_Mixer::NUM_MIXERS; i++)
{
item = mixer->getChild(Global::inputDev->MixerStringsXML[i], true);
mixer_enabled[i] = item->attributeAsInt("enabled", 0);
mixer_src[i] = item->getDouble("src", T_AxisMapper::NOTHING);
mixer_dst[i] = item->getDouble("dst", T_AxisMapper::NOTHING);
mixer_val[i] = item->getDouble("val", 0.0);
}
}
catch (XMLException e)
{
errMsg = e.what();
return 1;
}
return 0;
}
/** \brief Transfers all settings back to the config file.
*
* The mixer settings will be stored in the same branch of the config
* file that they were read from on initialization.
*
* \param config Pointer to the config file's SimpleXMLTransfer.
*/
void T_TX_Mixer::putBackIntoCfg(SimpleXMLTransfer* config)
{
#if DEBUG_TX_INTERFACE > 0
printf("T_TX_Mixer::putBackIntoCfg(SimpleXMLTransfer* config)\n");
printf(" --> %s\n", child_in_cfg.c_str());
#endif
SimpleXMLTransfer* inter = config->getChild(child_in_cfg);
SimpleXMLTransfer* mixer = inter->getChild("mixer");
SimpleXMLTransfer* item;
mixer->setAttributeOverwrite("enabled", enabled);
mixer->setAttributeOverwrite("dr_enabled", dr_enabled);
item = mixer->getChild(Global::inputDev->AxisStringsXML[T_AxisMapper::AILERON], true);
item->setAttributeOverwrite("trim", doubleToString(trim_val[T_AxisMapper::AILERON]));
item->setAttributeOverwrite("nrate", doubleToString(nrate_val[T_AxisMapper::AILERON]));
item->setAttributeOverwrite("srate", doubleToString(srate_val[T_AxisMapper::AILERON]));
item->setAttributeOverwrite("exp", doubleToString(exp_val[T_AxisMapper::AILERON]));
item = mixer->getChild(Global::inputDev->AxisStringsXML[T_AxisMapper::ELEVATOR], true);
item->setAttributeOverwrite("trim", doubleToString(trim_val[T_AxisMapper::ELEVATOR]));
item->setAttributeOverwrite("nrate", doubleToString(nrate_val[T_AxisMapper::ELEVATOR]));
item->setAttributeOverwrite("srate", doubleToString(srate_val[T_AxisMapper::ELEVATOR]));
item->setAttributeOverwrite("exp", doubleToString(exp_val[T_AxisMapper::ELEVATOR]));
item = mixer->getChild(Global::inputDev->AxisStringsXML[T_AxisMapper::RUDDER], true);
item->setAttributeOverwrite("trim", doubleToString(trim_val[T_AxisMapper::RUDDER]));
item->setAttributeOverwrite("nrate", doubleToString(nrate_val[T_AxisMapper::RUDDER]));
item->setAttributeOverwrite("srate", doubleToString(srate_val[T_AxisMapper::RUDDER]));
item->setAttributeOverwrite("exp", doubleToString(exp_val[T_AxisMapper::RUDDER]));
item = mixer->getChild(Global::inputDev->AxisStringsXML[T_AxisMapper::FLAP], true);
item->setAttributeOverwrite("trim", doubleToString(trim_val[T_AxisMapper::FLAP]));
item->setAttributeOverwrite("mtravel", doubleToString(mtravel_val[T_AxisMapper::FLAP]));
item->setAttributeOverwrite("ptravel", doubleToString(ptravel_val[T_AxisMapper::FLAP]));
for (int i = 0; i < T_TX_Mixer::NUM_MIXERS; i++)
{
item = mixer->getChild(Global::inputDev->MixerStringsXML[i], true);
item->setAttributeOverwrite("enabled", mixer_enabled[i]);
item->setAttributeOverwrite("src", mixer_src[i]);
item->setAttributeOverwrite("dst", mixer_dst[i]);
item->setAttributeOverwrite("val", doubleToString(mixer_val[i]));
}
}
/** \brief Add animations to a model
*
* This method reads animation description tags from a model file
* and tries to add the corresponding animations to the 3D model.
*
* \todo Right now there's only one type of animation: movable control
* surfaces. Therefore this method receives a pointer to the control
* input class. If animations are added that need a different kind of
* input for their update() method, we need to decide how to pass all
* this stuff to initAnimations().
*
* \param model_file XML model description file
* \param model scenegraph of the 3D model
* \param fInputs pointer to the control input class
* \param anim_list list of all created CRRCAnimation objects
*/
void initAnimations(SimpleXMLTransfer *model_file, ssgEntity* model,
TSimInputs *fInput, std::vector<CRRCAnimation*>& anim_list)
{
SimpleXMLTransfer *animations = model_file->getChild("animations", true);
int num_anims = animations->getChildCount();
fprintf(stdout, "initAnimations: found %d children\n", num_anims);
for (int i = 0; i < num_anims; i++)
{
SimpleXMLTransfer *animation = animations->getChildAt(i);
ssgEntity *node;
if (animation->getName() != "animation")
{
fprintf(stderr, "initAnimations: invalid child <%s>\n", animation->getName().c_str());
}
else
{
std::string node_name = animation->getString("object.name", "default");
std::string type = animation->getString("type", "default");
node = SSGUtil::findNamedNode(model, node_name.c_str());
if (node != NULL)
{
CRRCAnimation *anim = NULL;
printf("initAnimations: found animation node %s, type %s\n",
node_name.c_str(), type.c_str());
if (type == "ControlSurface")
{
anim = new CRRCControlSurfaceAnimation(animation, fInput);
}
else
{
fprintf(stderr, "initAnimations: unknown animation type '%s'\n", type.c_str());
}
if (anim != NULL)
{
if (anim->getBranch() == NULL)
{
fprintf(stderr, "initAnimations: defunct animation class (animation branch is <NULL>)\n");
exit(0);
}
else
{
SSGUtil::spliceBranch(anim->getBranch(), node);
anim->init();
anim->setName("Animation");
anim->getBranch()->setUserData(anim);
anim->getBranch()->setTravCallback(SSG_CALLBACK_PRETRAV, animation_callback);
anim_list.push_back(anim);
}
}
}
else
{
fprintf(stderr, "initAnimations: node '%s' not found in 3D model\n", node_name.c_str());
}
}
}
}
void CRRC_AirplaneSim_MCopter01::LoadFromXML(SimpleXMLTransfer* xml, int nVerbosity)
{
if (xml->getString("type").compare("mcopter01") != 0 ||
xml->getInt("version") != 1)
{
throw XMLException("file is not for mcopter01");
}
SimpleXMLTransfer* i;
SimpleXMLTransfer* cfg = XMLModelFile::getConfig(xml);
{
double to_slug;
double to_slug_ft_ft;
i = cfg->getChild("mass_inertia");
switch (i->getInt("units"))
{
case 0:
to_slug = 1;
to_slug_ft_ft = 1;
break;
case 1:
to_slug = KG_TO_SLUG;
to_slug_ft_ft = KG_M_M_TO_SLUG_FT_FT;
break;
default:
{
throw std::runtime_error("Unknown units in mass_inertia");
}
break;
}
Mass = i->getDouble("Mass") * to_slug;
I_xx = i->getDouble("I_xx") * to_slug_ft_ft;
I_yy = i->getDouble("I_yy") * to_slug_ft_ft;
I_zz = i->getDouble("I_zz") * to_slug_ft_ft;
I_xz = i->getDouble("I_xz") * to_slug_ft_ft;
}
{
speed_damp = cfg->getDouble("aero.speed.damp");
roll_damp1 = cfg->getDouble("aero.roll.damp1", 0);
yaw_damp1 = cfg->getDouble("aero.yaw.damp1", 0);
roll_damp2 = cfg->getDouble("aero.roll.damp2", 0);
yaw_damp2 = cfg->getDouble("aero.yaw.damp2", 0);
yaw_dist = cfg->getDouble("aero.yaw.dist", 0);
roll_dist = cfg->getDouble("aero.roll.dist", 0);
pitch_dist = cfg->getDouble("aero.pitch.dist", roll_dist);
// The ground effect parameters should be quite independent of the helicopter
// parameters...shouldn't they? However, they can be adjusted.
dGEDistMul = xml->getDouble("GroundEffect.dist.mul", 1.5);
{
double tau = xml->getDouble("Disturbance.tau_filter", 0.2);
dist_t_init = xml->getDouble("Disturbance.time", 0.2);
filt_rnd_yaw.SetTau(tau);
filt_rnd_roll.SetTau(tau);
filt_rnd_pitch.SetTau(tau);
}
}
wheels.init(xml, 0);
dRotorRadius = wheels.getWingspan()*0.5;
dRotorZ = wheels.getZHigh();
wheels.init(xml, 0);
dRotorRadius = wheels.getWingspan()*0.5;
dRotorZ = wheels.getZHigh();
props.clear();
i = cfg->getChild("aero.props");
for (int n=0; n<i->getChildCount(); n++)
props.push_back(Propdata(i->getChildAt(n)));
if (power.size() == 0)
{
for (unsigned int n=0; n<props.size(); n++)
power.push_back(new Power::Power(cfg, nVerbosity));
dURef = 0.7 * cfg->getDouble("power.battery.U_0");
}
else
{
for (unsigned int n=0; n<power.size(); n++)
power[n]->ReloadParams(cfg, nVerbosity);
}
controllers.clear();
Controller::LoadList(cfg->getChild("controllers"), controllers);
}
/** \brief The constructor.
*
* Loads an airplane model from an xml description. The 3D model
* will be added to the specified scenegraph.
*
* \param xml XML model description file
* \param graph Pointer to the scenegraph which shall render the model
*/
CRRCAirplaneLaRCSimSSG::CRRCAirplaneLaRCSimSSG(SimpleXMLTransfer* xml, ssgBranch *graph)
: CRRCAirplaneLaRCSim(xml), initial_trans(NULL),
model_trans(NULL), model(NULL),
shadow(NULL), shadow_trans(NULL)
{
printf("CRRCAirplaneLaRCSimSSG(xml, branch)\n");
std::string s;
s = XMLModelFile::getGraphics(xml)->getString("model");
// plib automatically loads the texture file, but it does not know which directory to use.
{
// where is the object file?
std::string of = FileSysTools::getDataPath("objects/" + s);
// compile and set relative texture path
std::string tp = of.substr(0, of.length()-s.length()-1-7) + "textures";
ssgTexturePath(tp.c_str());
// load model
model = ssgLoad(of.c_str());
}
if (model != NULL)
{
// Offset of center of gravity
CRRCMath::Vector3 pCG;
pCG = CRRCMath::Vector3(0, 0, 0);
if (xml->indexOfChild("CG") >= 0)
{
SimpleXMLTransfer* i;
i = xml->getChild("CG");
pCG.r[0] = i->attributeAsDouble("x", 0);
pCG.r[1] = i->attributeAsDouble("y", 0);
pCG.r[2] = i->attributeAsDouble("z", 0);
if (i->attributeAsInt("units") == 1)
pCG *= M_TO_FT;
}
// transform model from SSG coordinates to CRRCsim coordinates
initial_trans = new ssgTransform();
model_trans = new ssgTransform();
graph->addKid(model_trans);
model_trans->addKid(initial_trans);
initial_trans->addKid(model);
sgMat4 it = { {1.0, 0.0, 0.0, 0},
{0.0, 0.0, -1.0, 0},
{0.0, 1.0, 0.0, 0},
{pCG.r[1], pCG.r[2], -pCG.r[0], 1.0} };
initial_trans->setTransform(it);
// add a simple shadow
shadow = (ssgEntity*)initial_trans->clone(SSG_CLONE_RECURSIVE | SSG_CLONE_GEOMETRY | SSG_CLONE_STATE);
makeShadow(shadow);
shadow_trans = new ssgTransform();
graph->addKid(shadow_trans);
shadow_trans->addKid(shadow);
// add animations ("real" model only, without shadow)
initAnimations(xml, model, &Global::inputs, animations);
}
else
{
std::string msg = "Unable to open airplane model file \"";
msg += s;
msg += "\"\nspecified in \"";
msg += xml->getSourceDescr();
msg += "\"";
throw std::runtime_error(msg);
}
}
ModelBasedScenery::ModelBasedScenery(SimpleXMLTransfer *xml, int sky_variant)
: Scenery(xml, sky_variant), location(Scenery::MODEL_BASED)
{
ssgEntity *model = NULL;
SimpleXMLTransfer *scene = xml->getChild("scene", true);
getHeight_mode = scene->attributeAsInt("getHeight_mode", DEFAULT_HEIGHT_MODE);
//std::cout << "----getHeight_mode : " << getHeight_mode <<std::endl;
SceneGraph = new ssgRoot();
// Create an "invisible" state. This state actually makes a node
// visible in a predefined way. This is used to visualize invisible
// objects (e.g. collision boxes).
invisible_state = new ssgSimpleState();
invisible_state->disable(GL_COLOR_MATERIAL);
invisible_state->disable(GL_TEXTURE_2D);
invisible_state->enable(GL_LIGHTING);
invisible_state->enable(GL_BLEND);
//invisible_state->setShadeModel(GL_SMOOTH);
//invisible_state->setShininess(0.0f);
invisible_state->setMaterial(GL_EMISSION, 0.0, 0.0, 0.0, 0.0);
invisible_state->setMaterial(GL_AMBIENT, 1.0, 0.0, 0.0, 0.5);
invisible_state->setMaterial(GL_DIFFUSE, 1.0, 0.0, 0.0, 0.5);
invisible_state->setMaterial(GL_SPECULAR, 1.0, 0.0, 0.0, 0.5);
// transform everything from SSG coordinates to CRRCsim coordinates
initial_trans = new ssgTransform();
SceneGraph->addKid(initial_trans);
//10.76
sgMat4 it = { {1, 0.0, 0.0, 0},
{0.0, 0.0, -1, 0},
{0.0, 1, 0.0, 0},
{0.0, 0.0, 0.0, 1.0}
};
initial_trans->setTransform(it);
// find all "objects" defined in the file
int num_children = scene->getChildCount();
for (int cur_child = 0; cur_child < num_children; cur_child++)
{
SimpleXMLTransfer *kid = scene->getChildAt(cur_child);
// only use "object" tags
if (kid->getName() == "object")
{
std::string filename = kid->attribute("filename", "not_specified");
bool is_terrain = (kid->attributeAsInt("terrain", 1) != 0);
bool is_visible = (kid->attributeAsInt("visible", 1) != 0);
// PLIB automatically loads the texture file,
// but it does not know which directory to use.
// Where is the object file?
std::string of = FileSysTools::getDataPath("objects/" + filename, TRUE);
// compile and set relative texture path
std::string tp = of.substr(0, of.length()-filename.length()-1-7) + "textures";
ssgTexturePath(tp.c_str());
// load model
std::cout << "Loading 3D object \"" << of.c_str() << "\"";
if (is_terrain)
{
std::cout << " (part of terrain)";
}
if (!is_visible)
{
std::cout << " (invisible)";
}
std::cout << std::endl;
model = ssgLoad(of.c_str());
if (model != NULL)
{
if (!is_visible)
{
setToInvisibleState(model);
}
// The model may contain internal node attributes (e.g. for
// integrated collision boxes). Parse these attributes now.
evaluateNodeAttributes(model);
// now parse the instances and place the model in the SceneGraph
for (int cur_instance = 0; cur_instance < kid->getChildCount(); cur_instance++)
{
SimpleXMLTransfer *instance = kid->getChildAt(cur_instance);
if (instance->getName() == "instance")
{
sgCoord coord;
// try north/east/height first, then fallback to x/y/z
try
{
coord.xyz[SG_X] = instance->attributeAsDouble("east");
}
catch (XMLException &e)
{
coord.xyz[SG_X] = instance->attributeAsDouble("y", 0.0);
}
try
{
coord.xyz[SG_Y] = instance->attributeAsDouble("north");
}
catch (XMLException &e)
{
coord.xyz[SG_Y] = instance->attributeAsDouble("x", 0.0);
}
try
{
coord.xyz[SG_Z] = instance->attributeAsDouble("height");
}
catch (XMLException &e)
{
coord.xyz[SG_Z] = instance->attributeAsDouble("z", 0.0);
}
coord.hpr[0] = 180 - instance->attributeAsDouble("h", 0.0);
coord.hpr[1] = -instance->attributeAsDouble("p", 0.0);
coord.hpr[2] = -instance->attributeAsDouble("r", 0.0);
std::cout << std::setprecision(1);
std::cout << " Placing instance at " << coord.xyz[SG_X] << ";" << coord.xyz[SG_Y] << ";" << coord.xyz[SG_Z];
std::cout << ", orientation " << (180-coord.hpr[0]) << ";" << -coord.hpr[1] << ";" << -coord.hpr[2] << std::endl;
std::cout << std::setprecision(6);
ssgTransform *trans = new ssgTransform();
trans->setTransform(&coord);
// In PLIB::SSG, intersection testing is done by a tree-walking
// function. This can be influenced by the tree traversal mask
// bits. The HOT and LOS flags are cleared for objects that are
// not part of the terrain, so that the height-of-terrain and
// line-of-sight algorithms ignore this branch of the tree.
if (!is_terrain)
{
trans->clrTraversalMaskBits(SSGTRAV_HOT | SSGTRAV_LOS);
}
// Objects are made invisible by clearing the CULL traversal flag.
// This means that ssgCullAndDraw will ignore this branch.
if (!is_visible)
{
trans->clrTraversalMaskBits(SSGTRAV_CULL);
}
initial_trans->addKid(trans);
trans->addKid(model);
}
}
}
}
}
// create actual terrain height model
if (getHeight_mode == 1)
{
heightdata = new HD_TabulatedTerrain(SceneGraph);
}
else if (getHeight_mode == 2)
{
heightdata = new HD_TilingTerrain(SceneGraph);
}
else
{
heightdata = new HD_SsgLOSTerrain(SceneGraph);
}
//wind
SimpleXMLTransfer *wind = xml->getChild("wind", true);
std::string wind_filename = wind->attribute("filename","");
#if WINDDATA3D == 1
wind_data = 0;//default : no wind_data
std::string wind_position_unit = wind->attribute("unit","");
try {
flDefaultWindDirection = wind->attributeAsInt("direction");
ImposeWindDirection = true;
}
catch (XMLException)
{
// if not attribut "direction", normal mode
}
if (wind_position_unit.compare("m")==0)
{
wind_position_coef = FT_TO_M;
}
else
{
wind_position_coef = 1;
}
std::cout << "wind file name : " << wind_filename.c_str()<< std::endl;
if (wind_filename.length() > 0)
{
wind_filename = FileSysTools::getDataPath(wind_filename);
std::cout << "init wind ---------";
int n = init_wind_data((wind_filename.c_str()));
std::cout << n << " points processed" << std::endl;
}
#else
if (wind_filename.length() > 0)
{
new CGUIMsgBox("Insufficient configuration to read windfields.");
}
#endif
}
/**
* Initialize a WheelSystem from an XML file.
*
* \param ModelFile pointer to file class
* \param def_span default span if no hardpoints are found to calculate it
*/
void WheelSystem::init(SimpleXMLTransfer *ModelFile, SCALAR def_span)
{
Wheel wheel(this);
SimpleXMLTransfer *e, *i;
unsigned int uSize;
double x, y, z;
double dist;
double to_ft;
double to_lbf_per_ft;
double to_lbf_s_per_ft;
double to_lbf;
CRRCMath::Vector3 pCG;
/**
* Tracks wingspan [m]
*/
double span = 0;
span_ft = 0.0;
//
pCG = CRRCMath::Vector3(0, 0, 0);
if (ModelFile->indexOfChild("CG") >= 0)
{
i = ModelFile->getChild("CG");
pCG.r[0] = i->attributeAsDouble("x", 0);
pCG.r[1] = i->attributeAsDouble("y", 0);
pCG.r[2] = i->attributeAsDouble("z", 0);
if (i->attributeAsInt("units") == 1)
pCG *= M_TO_FT;
}
// let's assume that there is nothing below/above the CG:
dZLow = 0;
dZHigh = 0;
// let's assume that there is nothing distant from the CG:
dMaxSize = 0;
wheels.clear();
i = ModelFile->getChild("wheels");
switch (i->getInt("units"))
{
case 0:
to_ft = 1;
to_lbf_per_ft = 1;
to_lbf_s_per_ft = 1;
to_lbf = 1;
break;
case 1:
to_ft = M_TO_FT;
to_lbf_per_ft = FT_TO_M / LBF_TO_N;
to_lbf_s_per_ft = FT_TO_M / LBF_TO_N;
to_lbf = N_TO_LBF;
break;
default:
{
throw std::runtime_error("Unknown units in wheels");
}
break;
}
uSize = i->getChildCount();
for (unsigned int n=0; n<uSize; n++)
{
// we assign the child number as a unique ID for
// debugging
wheel.nID = n;
e = i->getChildAt(n);
x = e->getDouble("pos.x") * to_ft - pCG.r[0];
y = e->getDouble("pos.y") * to_ft - pCG.r[1];
z = e->getDouble("pos.z") * to_ft - pCG.r[2];
wheel.v_P = CRRCMath::Vector3(x, y, z);
// let's see if this wheel is coupled to an animation
wheel.anim_name = e->getString("pos.animation", "");
if (wheel.anim_name != "")
{
std::cout << "WheelSystem::init: hardpoint is coupled to anim ";
std::cout << wheel.anim_name << std::endl;
}
wheel.hpt = NULL;
if (ModelFile->indexOfChild("animations") >= 0)
{
SimpleXMLTransfer *a = ModelFile->getChild("animations");
unsigned int numAnims = a->getChildCount();
for (unsigned int animIndex = 0; animIndex < numAnims; animIndex++)
{
SimpleXMLTransfer *an = a->getChildAt(animIndex);
if (an->getString("object.name", "") == wheel.anim_name)
{
printf("Found %s animation for wheel %s\n",
an->getString("type", "<unknown>").c_str(),
wheel.anim_name.c_str());
wheel.hpt = new HardPointRotation(an, wheel_inputs);
break;
}
}
}
wheel.spring_constant = e->getDouble("spring.constant") * to_lbf_per_ft;
wheel.spring_damping = e->getDouble("spring.damping") * to_lbf_s_per_ft;
wheel.max_force = e->getDouble("spring.max_force", 9999) * to_lbf;
wheel.percent_brake = e->getDouble("percent_brake");
wheel.caster_angle_rad = e->getDouble("caster_angle_rad");
if (e->indexOfChild("steering") >= 0)
{
std::string s = e->getString("steering.mapping", "NOTHING");
wheel.steering_max_angle = e->getDouble("steering.max_angle", 1.0);
wheel.steering_mapping = XMLModelFile::GetSteering(s);
}
else
{
wheel.steering_mapping = TSimInputs::smNOTHING;
wheel.steering_max_angle = 0;
}
wheels.push_back(wheel);
// track wingspan
if (span < y)
span = y;
// lowest point?
if (dZLow < z)
dZLow = z;
// highest point?
if (dZHigh > z)
dZHigh = z;
// far away (Z distance is assumed to be low)?
dist = x*x + y*y;
if (dist > dMaxSize)
dMaxSize = dist;
}
dMaxSize = sqrt(dMaxSize);
span_ft = 2 * span;
// just in case: if there were no hardpoints, use the reference span
if (span_ft == 0.0)
{
span_ft = def_span;
}
}
void CRRCAirplaneLaRCSim::initSound(SimpleXMLTransfer* xml)
{
SimpleXMLTransfer* cfg = XMLModelFile::getConfig(xml);
SimpleXMLTransfer* sndcfg = cfg->getChild("sound", true);
int children = sndcfg->getChildCount();
int units = sndcfg->getInt("units", 0);
for (int i = 0; i < children; i++)
{
SimpleXMLTransfer *child = sndcfg->getChildAt(i);
std::string name = child->getName();
if (name.compare("sample") == 0)
{
T_AirplaneSound *sample;
// assemble relative path
std::string soundfile;
soundfile = child->attribute("filename");
// other sound attributes
int sound_type = child->getInt("type", SOUND_TYPE_GLIDER);
double dPitchFactor = child->getDouble("pitchfactor", 0.002);
double dMaxVolume = child->getDouble("maxvolume", 1.0);
if (dMaxVolume < 0.0)
{
dMaxVolume = 0.0;
}
else if (dMaxVolume > 1.0)
{
dMaxVolume = 1.0;
}
//~ if (cfg->indexOfChild("power") < 0)
//~ max_thrust = 0;
//~ else
//~ max_thrust = 1;
if (soundfile != "")
{
// Get full path (considering search paths).
soundfile = FileSysTools::getDataPath("sounds/" + soundfile);
}
// File ok? Use default otherwise.
if (!FileSysTools::fileExists(soundfile))
soundfile = FileSysTools::getDataPath("sounds/fan.wav");
std::cout << "soundfile: " << soundfile << "\n";
//~ std::cout << "max_thrust: " << max_thrust << "\n";
std::cout << "soundserver: " << Global::soundserver << "\n";
// Only make noise if a sound file is available
if (soundfile != "" && Global::soundserver != (CRRCAudioServer*)0)
{
std::cout << "Using airplane sound " << soundfile << ", type " << sound_type << ", max vol " << dMaxVolume << std::endl;
if (sound_type == SOUND_TYPE_GLIDER)
{
T_GliderSound *glidersound;
float flMinRelV, flMaxRelV, flMaxDist;
flMinRelV = (float)child->getDouble("v_min", 1.5);
flMaxRelV = (float)child->getDouble("v_max", 4.0);
flMaxDist = (float)child->getDouble("dist_max", 300);
if (units == 1)
{
// convert from metric units to ft.
flMaxDist *= M_TO_FT;
}
glidersound = new T_GliderSound(soundfile.c_str(), Global::soundserver->getAudioSpec());
glidersound->setMinRelVelocity(flMinRelV);
glidersound->setMaxRelVelocity(flMaxRelV);
glidersound->setMaxDistanceFeet(flMaxDist);
sample = glidersound;
}
else
{
sample = new T_EngineSound(soundfile.c_str(), Global::soundserver->getAudioSpec());
}
sample->setType(sound_type);
sample->setPitchFactor(dPitchFactor);
sample->setMaxVolume(dMaxVolume);
sample->setChannel(Global::soundserver->playSample((T_SoundSample*)sample));
sound.push_back(sample);
}
}
}
}
/**
* Create a HardPointRotation
*
* \param xml <animation> part of the model file that contains the
* description of the animation
*/
HardPointRotation::HardPointRotation(SimpleXMLTransfer *xml, TSimInputs const& in)
{
bool failed = false;
// evaluate <object> tag
SimpleXMLTransfer *map = xml->getChild("object", true);
symbolic_name = map->getString("name", "no_name_set");
max_angle_rad = (float)map->getDouble("max_angle", 0.0);
abs_max_angle_rad = (float)fabs((double)max_angle_rad);
// find hinges and evaluate all <control> tags
int num_controls = 0;
int num_hinges = 0;
for (int i = 0; i < xml->getChildCount(); i++)
{
SimpleXMLTransfer *child = xml->getChildAt(i);
if (child->getName() == "hinge")
{
// found a <hinge> child
CRRCMath::Vector3 pos;
pos.r[0] = (float)(child->getDouble("x", 0.0));
pos.r[1] = (float)(child->getDouble("y", 0.0));
pos.r[2] = (float)(child->getDouble("z", 0.0));
if (num_hinges < 2)
{
hinge[num_hinges] = pos;
}
num_hinges++;
}
else if (child->getName() == "control")
{
// found a <control> child
// The "*2" factor for each gain value scales the control input
// values from -0.5...+0.5 to -1.0...+1.0. This saves one
// float multiplication per mapping in the runtime update() routine.
// NB: unsigned control (throttle, spoiler, retract) are not scaled,
// since control input is already in range 0.0...+1.0
std::string mapping = child->getString("mapping", "NOTHING");
float gain = (float)child->getDouble("gain", 1.0);
std::cout << " mapped to " << mapping << " with gain " << gain;
std::cout << " and max_angle_rad " << max_angle_rad << std::endl;
if (mapping == "ELEVATOR")
{
datasource.push_back(&in.elevator);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "AILERON")
{
datasource.push_back(&in.aileron);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "THROTTLE")
{
datasource.push_back(&in.throttle);
source_gain.push_back(gain);
num_controls++;
}
else if (mapping == "RUDDER")
{
datasource.push_back(&in.rudder);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "FLAP")
{
datasource.push_back(&in.flap);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "SPOILER")
{
datasource.push_back(&in.spoiler);
source_gain.push_back(gain);
num_controls++;
}
else if (mapping == "RETRACT")
{
datasource.push_back(&in.retract);
source_gain.push_back(gain);
num_controls++;
}
else if (mapping == "PITCH")
{
datasource.push_back(&in.pitch);
source_gain.push_back(gain * 2);
num_controls++;
}
else
{
fprintf(stderr, "HardPointRotation: ignoring <control> tag without mapping.\n");
}
}
}
if (num_controls < 1)
{
fprintf(stderr, "HardPointRotation: found animation without proper <control> tag. Animation disabled.\n");
failed = true;
}
if (num_hinges < 2)
{
fprintf(stderr, "HardPointRotation: Must specify exactly two hinges!\n");
failed = true;
}
else
{
if (num_hinges > 2)
{
fprintf(stderr, "HardPointRotation: Must specify exactly two hinges!\n");
fprintf(stderr, "HardPointRotation: Ignoring excessive hinge tag(s).\n");
}
axis = hinge[1] - hinge[0];
if (axis.length() < 0.001)
{
fprintf(stderr, "HardPointRotation: Insufficient spacing between hinges!\n");
failed = true;
}
}
if (failed)
{
fprintf(stderr, "HardPointRotation: Animation setup failed.\n");
// set to some non-critical defaults
datasource.resize(1);
datasource[0] = &fallback_data;
source_gain.resize(1);
source_gain[0] = 1.0;
hinge[0] = CRRCMath::Vector3(0.0, 0.0, 0.0);
hinge[1] = CRRCMath::Vector3(1.0, 0.0, 0.0);
axis = hinge[1] - hinge[0];
}
else
{
std::cerr << "HardPointRotation: set up animated hardpoint ";
std::cerr << symbolic_name << std::endl;
}
move_orig.makeTranslation(hinge[0] * -1);
move_back.makeTranslation(hinge[0]);
//~ realInit();
}
