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);
}
}
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());
}
}
/** \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 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);
}
}
}
}
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);
}
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;
}
}
/** \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());
}
}
}
}
