//------------------------------------------------------------------------------
// getRCS() -- Get the RCS
//------------------------------------------------------------------------------
LCreal SigAzEl::getRCS(const Emission* const em)
{
LCreal rcs = 0.0;
if (em != 0 && tbl != 0) {
// angle of arrival (radians)
LCreal iv1 = em->getAzimuthAoi();
LCreal iv2 = em->getElevationAoi();
// If the table's independent variable's order is swapped: (El, Az)
if (isOrderSwapped()) {
iv1 = em->getElevationAoi();
iv2 = em->getAzimuthAoi();
}
// If the table's independent variables are in degrees ..
if (isInDegrees()) {
iv1 *= static_cast<LCreal>(Basic::Angle::R2DCC);
iv2 *= static_cast<LCreal>(Basic::Angle::R2DCC);
}
rcs = tbl->lfi(iv1,iv2);
// If the dependent data is in decibels ...
if (isDecibel()) {
rcs = lcPow(LCreal(10.0f), LCreal(rcs/10.0f));
}
}
return rcs;
}
double Func5::f(const double iv1, const double iv2, const double iv3, const double iv4, const double iv5, FStorage* const s) const
{
double value = 0;
// No derived class handled this ...
const Table5* p = (const Table5*) getTable();
if (p != 0) {
// But we do have an optional table that'll handle it.
value = p->lfi(LCreal(iv1), LCreal(iv2), LCreal(iv3), LCreal(iv4), LCreal(iv5) ,s);
}
return value;
}
//------------------------------------------------------------------------------
// Constructor(s)
//------------------------------------------------------------------------------
Gun::Gun()
{
STANDARD_CONSTRUCTOR()
bullet = nullptr;
armed = false;
fire = false;
unlimited = false;
burstFrameTimer = 0;
burstFrameTime = 1.0f/LCreal(DEFAULT_BURST_RATE);
rcount = 0.0;
shortBurstTimer = 0.0;
shortBurstTime = 0.5;
rounds = 0;
initRounds = DEFAULT_NUM_ROUNDS;
rpm = DEFAULT_ROUNDS_PER_MINUTE;
setPosition(0.0, 0.0, 0.0);
setAngles(0.0, 0.0, 0.0);
// Note: rotation matrix (mm) was initialized by setAngles()
}
void TacanRadio::initData()
{
setMaxDetectRange(120.0);
setNumberOfChannels(126);
rangeIsValid = false;
bearingIsValid = false;
range = 0;
grdrange = 0;
bearing = 0;
destLatitude = 0;
destLongitude = 0;
currentMagVar = 0;
band = TCN_X_BAND;
// Set frequencies
{
unsigned short chan = 1;
// channels [ 1 .. 16 ]
while (chan <= 16) {
setChannelFrequency(chan++, 0.0f);
}
// channels [ 17 .. 59 ]
while (chan < 59) {
setChannelFrequency(chan, (LCreal(chan) * 0.1f + 106.3f));
chan++;
}
// channels [ 60 .. 69 ]
while (chan <= 69) {
setChannelFrequency(chan++, 0.0f);
}
// channels [ 70 .. 126 ]
while (chan <= 126) {
setChannelFrequency(chan, (LCreal(chan) * 0.1f + 107.3f) );
chan++;
}
}
}
//------------------------------------------------------------------------------
// Check to see if two positions are over the horizon from each other.
// return TRUE if they are both within horizon distance, FALSE if they
// are over the horizon.
//------------------------------------------------------------------------------
bool TdbIr::horizonCheck(const osg::Vec3& position1, const osg::Vec3& position2)
{
bool aboveHorizon = true;
//LET .FIRST.NODE.DISTANCE.TO.HORIZON
// = SQRT.F(MAX.F (2.0 * EARTH.RADIUS * .FIRST.NODE.POSITION(3), 1.0) )
LCreal distance1 = lcSqrt( LCreal(2.0f * Basic::Nav::ERADM * -position1.z()) );
if (distance1 < 1.0f) distance1 = 1.0f;
// LET .SECOND.NODE.DISTANCE.TO.HORIZON
// = SQRT.F(MAX.F (2.0 * EARTH.RADIUS * .SECOND.NODE.POSITION(3), 1.0) )
LCreal distance2 = lcSqrt( LCreal(2.0f * Basic::Nav::ERADM * -position2.z()) );
if (distance2 < 1.0f) distance2 = 1.0f;
//LET .RELATIVE.POSITION(*)
// = UT.LINEAR.COMBINATION.OF.VECTORS.F(1.0, .FIRST.NODE.POSITION(*),
// -1.0, .SECOND.NODE.POSITION(*))
// LET .RELATIVE.POSITION(3) = 0.0
// LET .GROUND.TRACK.RANGE = UT.NORM.F(.RELATIVE.POSITION(*))
osg::Vec3 groundVec = position1 - position2;
LCreal gndRng = lcSqrt ((groundVec.x() * groundVec.x())
+ (groundVec.y() * groundVec.y()));
//IF .GROUND.TRACK.RANGE < .FIRST.NODE.DISTANCE.TO.HORIZON
// + .SECOND.NODE.DISTANCE.TO.HORIZON
if (gndRng >= distance1 + distance2)
aboveHorizon = false;
return aboveHorizon;
}
// getValue() -- get an object containing the real value to send
// or null(0) if the value hasn't changed.
Object* Component::SendData::getValue(const float value)
{
Float* num = dynamic_cast<Float*>(past);
if (num == 0) {
if (past != 0) past->unref();
past = new Float(value);
return past;
}
if (*num != LCreal(value)) {
*num = value;
return num;
}
else return 0;
}
//------------------------------------------------------------------------------
// onRfEmissionReturnEventAntenna() -- process Returned RF Emission Events
//------------------------------------------------------------------------------
bool Antenna::onRfEmissionReturnEventAntenna(Emission* const em)
{
bool used = false;
// Pass all returned emissions to our sensor
RfSystem* sys1 = getSystem();
if (sys1 != 0) {
sys1->ref();
// Compute antenna effective area
double aea = getEffectiveArea(em->getGain(), em->getWavelength());
// Same antenna -- polarization match -- polarization gain is 1.0
// So just use Antenna effective area
sys1->rfReceivedEmission(em, this, LCreal(aea));
used = true;
sys1->unref();
}
return used;
}
//------------------------------------------------------------------------------
// irRequestSignature() -- Send an IR query packet at all active players to request an IR signature
//------------------------------------------------------------------------------
void IrSeeker::irRequestSignature(IrQueryMsg* const irQuery)
{
// Need something to store the required data for the IR signatures and someone to send to
Tdb* tdb0 = getCurrentTDB();
Player* ownship = getOwnship();
if (irQuery == 0 || tdb0 == 0 || ownship == 0) {
// Clean up and leave
if (tdb0 != 0) tdb0->unref();
return;
}
// ---
// Compute gimbal boresight data for our targets
// ---
// FAB - cannot use ownHdgOnly
unsigned int ntgts = tdb0->computeBoresightData();
if (ntgts > MAX_PLAYERS) ntgts = MAX_PLAYERS;
// ---
// If we have targets
// ---
const osg::Vec3d* losG = tdb0->getGimbalLosVectors();
if (ntgts > 0 && losG != 0) {
// Fetch the required data arrays from the TargetDataBlock
const double* ranges = tdb0->getTargetRanges();
const double* rngRates = tdb0->getTargetRangeRates();
const double* anglesOffBoresight = tdb0->getBoresightErrorAngles();
const osg::Vec3d* losO2T = tdb0->getLosVectors();
const osg::Vec3d* losT2O = tdb0->getTargetLosVectors();
Player** targets = tdb0->getTargets();
LCreal maximumRange = irQuery->getMaxRangeNM()*Basic::Distance::NM2M;
// ---
// Send query packets to the targets
// ---
for (unsigned int i = 0; i < ntgts; i++) {
// filter on sensor max range
// can't filter on sensor range in processPlayers - different sensors can have different max range
if (maximumRange > 0.0 && ranges[i] > maximumRange)
continue;
// Get a free query packet
lcLock(freeQueryLock);
IrQueryMsg* query = freeQueryStack.pop();
lcUnlock(freeQueryLock);
if (query == 0) {
query = new IrQueryMsg();
//if (ownship->getID() != 1) {
// static tcnt = 0;
// tcnt++;
//if (isMessageEnabled(MSG_INFO)) {
// std::cout << "new IrQueryMsg(" << this << "): " << tcnt << ", inused: " << inUseEmQueue.entries() << ", em = " << em << std::endl;
//}
//}
}
// Send the IR query message to the other player
if (query != 0) {
// a) Copy the template query msg
*query = *irQuery;
// b) Set target unique data
query->setGimbal(this);
query->setOwnship(ownship);
query->setRange( LCreal(ranges[i]) );
query->setLosVec( losO2T[i] );
query->setTgtLosVec( losT2O[i] );
query->setRangeRate( LCreal(rngRates[i]) );
query->setTarget(targets[i]);
query->setAngleOffBoresight( LCreal(anglesOffBoresight[i]) );
query->setGimbalAzimuth( LCreal(getAzimuth()) );
query->setGimbalElevation( LCreal(getElevation()) );
// c) Send the query to the target
targets[i]->event(IR_QUERY, query);
// d) Dispose of the query
if (query->getRefCount() <= 1) {
// Recycle the query packet
query->clear();
lcLock(freeQueryLock);
if (freeQueryStack.isNotFull()) {
freeQueryStack.push(query);
}
else {
query->unref();
}
lcUnlock(freeQueryLock);
}
else {
// Store for future reference
lcLock(inUseQueryLock);
if (inUseQueryQueue.isNotFull()) {
inUseQueryQueue.put(query);
}
else {
// Just forget it
query->unref();
}
lcUnlock(inUseQueryLock);
}
}
else {
// When we couldn't get a free query packet
if (isMessageEnabled(MSG_WARNING)) {
std::cerr << "Iw Seeker: OUT OF Query messages!" << std::endl;
}
}
}
}
// Unref() the TDB
tdb0->unref();
}
//------------------------------------------------------------------------------
// burstFrame() -- generate a small burst of bullets (usually every 1/10 seconds)
//------------------------------------------------------------------------------
void Gun::burstFrame()
{
// Compute the number of rounds this burst
int ibullets = static_cast<int>(rcount + 0.5f);
// Do we have any bullets to fire ...
if (ibullets > 0){
// Decrease the number of rounds remaining
if ( !isUnlimited() ) {
if (ibullets > rounds) {
ibullets = rounds;
rcount = LCreal(ibullets);
}
rounds -= ibullets;
}
// Update the rounds fired count
rcount -= ibullets;
// Log this event
Player* ownship = static_cast<Player*>( findContainerByType(typeid(Player)) );
if (ownship != 0) {
BEGIN_RECORD_DATA_SAMPLE( getSimulation()->getDataRecorder(), REID_GUN_FIRED )
SAMPLE_1_OBJECT( ownship )
SAMPLE_1_VALUE( rcount )
END_RECORD_DATA_SAMPLE()
}
// TabLogger is deprecated
if (ownship != nullptr && getAnyEventLogger() != nullptr) {
TabLogger::TabLogEvent* evt = new TabLogger::LogGunActivity(1, ownship, ibullets); // type 1 == gun fired
getAnyEventLogger()->log(evt);
evt->unref();
}
// When we have a bullet model ... we're going to create a bullet (weapon)
// player to flyout the rounds.
Bullet* wpn = getBulletType();
Simulation* sim = static_cast<Simulation*>( findContainerByType(typeid(Simulation)) );
if (wpn != nullptr && ownship != nullptr && sim != nullptr) {
// Compute the bullet burst's initial position and velocity
osg::Vec3 ipos = computeInitBulletPosition();
osg::Vec3 ivel = computeInitBulletVelocity();
// Get the bullet player being used to fly-out the bullets
Bullet* flyout = static_cast<Bullet*>( wpn->getFlyoutWeapon() );
if (flyout == nullptr) {
// If we don't have the flyout bullet (i.e., weapon and player) ... create it
wpn->setLaunchVehicle(ownship);
flyout = static_cast<Bullet*>( wpn->release() );
}
// The flyout bullet (player) will handle this burst of bullets.
if (flyout != nullptr) {
flyout->burstOfBullets(&ipos, &ivel, ibullets, getRoundsPerMinute(), sim->getNewWeaponEventID() );
}
// Cleanup
if (flyout != nullptr) { flyout->unref(); flyout = nullptr; }
}
}
else rcount = 0;
//------------------------------------------------------------------------------
// getRayAzimuth() --
//------------------------------------------------------------------------------
LCreal Rwr::getRayAzimuth(const int idx) const
{
LCreal az = getDegreesPerRay() * LCreal(idx);
return lcAepcDeg(az);
}
//------------------------------------------------------------------------------
// onRfEmissionEventAntenna() -- process events for RF Emission not sent by us.
//
// 1) Build a list of emission packets from the queue and compute the
// Line-Of-Sight (LOS) vectors back to the transmitter.
//
// 2) Transform LOS vectors to antenna coordinates
//
// 3) Compute antenna gains in the direction of the transmitter
//
// 4) Compute Antenna Effective Gains
//
// 5) Compute Antenna Effective Area and Polarization Gains
//
// 6) Compute total receiving antenaa gain and send the emission to our sensor
//------------------------------------------------------------------------------
bool Antenna::onRfEmissionEvent(Emission* const em)
{
// Is this emission from a player of interest?
if (fromPlayerOfInterest(em)) {
Player* ownship = getOwnship();
RfSystem* sys1 = getSystem();
if (ownship != 0 && sys1 != 0) {
sys1->ref();
// Line-Of-Sight (LOS) vectors back to the transmitter.
osg::Vec3d xlos = em->getTgtLosVec();
osg::Vec4d los0( xlos.x(), xlos.y(), xlos.z(), 0.0);
// 2) Transform local NED LOS vectors to antenna coordinates
osg::Matrixd mm = getRotMat();
mm *= ownship->getRotMat();
osg::Vec4d losA = mm * los0;
// ---
// Compute antenna gains in the direction of the transmitter
// ---
double rGainDb = 0.0f;
if (gainPattern != 0) {
Basic::Func1* gainFunc1 = dynamic_cast<Basic::Func1*>(gainPattern);
Basic::Func2* gainFunc2 = dynamic_cast<Basic::Func2*>(gainPattern);
if (gainFunc2 != 0) {
// ---
// 3-a) Antenna pattern: 2D table (az & el off antenna boresight)
// ---
// Get component arrays and ground range squared
double xa = losA.x();
double ya = losA.y();
double za = -losA.z();
double ra2 = xa*xa + ya*ya;
// Compute range along antenna x-y plane
double ra = sqrt(ra2);
// Compute azimuth off boresight
double aazr = atan2(ya,xa);
// Compute elevation off boresight
double aelr = atan2(za,ra);
// Lookup gain in 2D table and convert from dB
if (gainPatternDeg)
rGainDb = gainFunc2->f( aazr * Basic::Angle::R2DCC, aelr * Basic::Angle::R2DCC );
else
rGainDb = gainFunc2->f( aazr, aelr );
}
else if (gainFunc1 != 0) {
// ---
// 3-b) Antenna Pattern: 1D table (off antenna boresight only
// ---
// Compute angle off antenna boresight
double aar = acos(losA.x());
// Lookup gain in 1D table and convert from dB
if (gainPatternDeg)
rGainDb = gainFunc1->f( aar * Basic::Angle::R2DCC );
else
rGainDb = gainFunc1->f(aar);
}
}
// Compute off-boresight gain
double rGain = pow(10.0,rGainDb/10.0);
// Compute Antenna Effective Gain
double aeGain = rGain * getGain();
double lambda = em->getWavelength();
double aea = getEffectiveArea(aeGain, lambda);
double pGain = getPolarizationGain(em->getPolarization());
double raGain = aea * pGain;
sys1->rfReceivedEmission(em, this, LCreal(raGain));
sys1->unref();
}
}
return BaseClass::onRfEmissionEvent(em);
}
//------------------------------------------------------------------------------
// rfTransmit() -- Transmit a RF emission packet at all active players.
//------------------------------------------------------------------------------
void Antenna::rfTransmit(Emission* const xmit)
{
// Need something to transmit and someone to send to
Tdb* tdb = getCurrentTDB();
Player* ownship = getOwnship();
if (xmit == 0 || tdb == 0 || ownship == 0) {
// Clean up and leave
if (tdb != 0) tdb->unref();
return;
}
// ---
// Compute gimbal boresight data for our targets
// ---
unsigned int ntgts = tdb->computeBoresightData();
if (ntgts > MAX_PLAYERS) ntgts = MAX_PLAYERS;
// ---
// If we have targets
// ---
const osg::Vec3d* losG = tdb->getGimbalLosVectors();
if (ntgts > 0 && losG != 0) {
// ---
// Lookup gain from antenna gain pattern, compute antenna
// effective gain and effective radiated power.
// ---
bool haveGainTgt = false;
double gainTgt[MAX_PLAYERS];
if (gainPattern != 0) {
Basic::Func1* gainFunc1 = dynamic_cast<Basic::Func1*>(gainPattern);
Basic::Func2* gainFunc2 = dynamic_cast<Basic::Func2*>(gainPattern);
if (gainFunc2 != 0) {
// ---
// Antenna pattern: 2D table (az & el off antenna boresight)
// ---
// Compute azimuth off boresight (radians)
const double* aazr = tdb->getBoresightAzimuthErrors();
// Compute elevation off boresight (radians)
const double* aelr = tdb->getBoresightElevationErrors();
// Lookup gain in 2D table and convert from dB
double gainTgt0[MAX_PLAYERS];
if (gainPatternDeg) {
for (unsigned int i1 = 0; i1 < ntgts; i1++) {
gainTgt0[i1] = gainFunc2->f( (aazr[i1] * Basic::Angle::R2DCC), (aelr[i1] * Basic::Angle::R2DCC) )/10.0;
}
}
else {
for (unsigned int i1 = 0; i1 < ntgts; i1++) {
gainTgt0[i1] = gainFunc2->f( aazr[i1], aelr[i1] )/10.0f;
}
}
pow10Array(gainTgt0, gainTgt, ntgts);
haveGainTgt = true;
}
else if (gainFunc1 != 0) {
// ---
// Antenna Pattern: 1D table (off antenna boresight only
// ---
// Compute angles off antenna boresight (radians)
const double* aar = tdb->getBoresightErrorAngles();
// Lookup gain in 1D table and convert from dB
double gainTgt0[MAX_PLAYERS];
if (gainPatternDeg) {
for (unsigned int i2 = 0; i2 < ntgts; i2++) {
gainTgt0[i2] = gainFunc1->f( aar[i2]*Basic::Angle::R2DCC )/10.0;
}
}
else {
for (unsigned int i2 = 0; i2 < ntgts; i2++) {
gainTgt0[i2] = gainFunc1->f( aar[i2] )/10.0f;
}
}
pow10Array(gainTgt0, gainTgt, ntgts);
haveGainTgt = true;
}
}
if (!haveGainTgt) {
// ---
// No antenna pattern table
// ---
for (unsigned int i = 0; i < ntgts; i++) {
gainTgt[i] = 1.0f;
}
}
// Compute antenna effective gain
double aeGain[MAX_PLAYERS];
multArrayConst(gainTgt, getGain(), aeGain, ntgts);
// Compute Effective Radiated Power (watts) (Equation 2-1)
double erp[MAX_PLAYERS];
multArrayConst(aeGain, xmit->getPower(), erp, ntgts);
// Fetch the required data arrays from the TargetDataBlock
const double* ranges = tdb->getTargetRanges();
const double* rngRates = tdb->getTargetRangeRates();
const osg::Vec3d* losO2T = tdb->getLosVectors();
const osg::Vec3d* losT2O = tdb->getTargetLosVectors();
Player** targets = tdb->getTargets();
// ---
// Send emission packets to the targets
// ---
for (unsigned int i = 0; i < ntgts; i++) {
// Only of power exceeds an optional threshold
if (erp[i] > threshold) {
// Get a free emission packet
Emission* em(0);
if (recycle) {
lcLock(freeEmLock);
em = freeEmStack.pop();
lcUnlock(freeEmLock);
}
bool cloned = false;
if (em == 0) {
// Otherwise, clone a new one
em = xmit->clone();
cloned = true;
}
// Send the emission to the other player
if (em != 0) {
// a) Copy the template emission
if (!cloned) *em = *xmit;
// b) Set target unique data
em->setGimbal(this);
em->setOwnship(ownship);
em->setRange( LCreal(ranges[i]) );
em->setLosVec(losO2T[i]);
em->setTgtLosVec(losT2O[i]);
em->setRangeRate( LCreal(rngRates[i]) );
em->setTarget(targets[i]);
em->setGimbalAzimuth( LCreal(getAzimuth()) );
em->setGimbalElevation( LCreal(getElevation()) );
em->setPower( LCreal(erp[i]) );
em->setGain( LCreal(aeGain[i]) );
em->setPolarization(getPolarization());
em->setLocalPlayersOnly( isLocalPlayersOfInterestOnly() );
// c) Send the emission to the target
targets[i]->event(RF_EMISSION, em);
// d) Recycle the emission
bool recycled = false;
if (recycle) {
lcLock(inUseEmLock);
if (inUseEmQueue.isNotFull()) {
// Store for future reference
inUseEmQueue.put(em);
recycled = true;
}
lcUnlock(inUseEmLock);
}
// or just forget it
else {
em->unref();
}
}
else {
// When we couldn't get a free emission packet
if (isMessageEnabled(MSG_ERROR)) {
std::cerr << "Antenna: OUT OF EMISSIONS!" << std::endl;
}
}
}
}
}
// Unref() the TDB
tdb->unref();
}
