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Hello list,
attached is a patch for the osg-branch, which will introduce a new pseudo FDM
for ground vehicles and (large) ships. The FDM isn't perfect, but good enough
to allow driving vehicles.
The other archieve contains a dataset for such a vehicle named Nimitz. Untar
it to $(FG_ROOT)/Aircraft
After patching, a user is able to "drive" the nimitz: fgfs --aircraft=Nimitz
The patch includes my latest patch for the multiplayer part. Since it wasn't
commited yet, I think it's ok to include it.
I'm not sure if I should proveide a patch for the plib-branch?
Feel free to send me any comments on this. Once the patch is commited, I want
to start making the Nimitz MP-ready. So users can land and take-off from it.
Please commit it to cvs.
regards,
Oliver
? mp_bugfix.diff
? vehicle-fdm.patch
Index: src/FDM/Makefile.am
===================================================================
RCS file: /var/cvs/FlightGear-0.9/source/src/FDM/Makefile.am,v
retrieving revision 1.7
diff -u -r1.7 Makefile.am
--- src/FDM/Makefile.am 22 Nov 2004 10:10:33 -0000 1.7
+++ src/FDM/Makefile.am 19 Jun 2007 10:51:28 -0000
@@ -12,6 +12,7 @@
libFlight_a_SOURCES = \
Balloon.cxx Balloon.h \
flight.cxx flight.hxx \
+ Vehicle.cxx Vehicle.hxx \
groundcache.cxx groundcache.hxx \
MagicCarpet.cxx MagicCarpet.hxx \
UFO.cxx UFO.hxx \
Index: src/FDM/Vehicle.cxx
===================================================================
RCS file: src/FDM/Vehicle.cxx
diff -N src/FDM/Vehicle.cxx
--- /dev/null 1 Jan 1970 00:00:00 -0000
+++ src/FDM/Vehicle.cxx 19 Jun 2007 10:51:29 -0000
@@ -0,0 +1,272 @@
+// Vehicle.cxx -- interface to the "Vehicle" pseudo flight model
+//
+// Written by Oliver Schroeder, started June 2007.
+//
+// Copyright (C) 2007 Oliver Schroeder
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+//
+// $Id:$
+
+//
+// This is a pseudo flight model for ground vehicles and ships.
+// It honors some simple values in the config file, which are:
+// max_accel : acceleration in m/(s^2)
+// max_speed : maximum speed in knots
+// type : only "ship" is currently honored
+// bow_thrust: boolean, defines wether the vehicle (ship) has a bow
+// thruster
+//
+// To define a vehicle, put something like:
+//
+// <vehicle>
+// <max_accel type="double">0.1158</max_accel>
+// <max_speed type="double">35.0</max_speed>
+// <type type="string">ship</type>
+// <bow_thrust type="bool">true</bow_thrust>
+// </vehicle>
+//
+// in your vehicle-set.xml
+//
+
+
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/math/point3d.hxx>
+#include <simgear/math/polar3d.hxx>
+
+#include <Aircraft/controls.hxx>
+#include <Scenery/scenery.hxx>
+#include <Main/globals.hxx>
+#include <Main/fg_props.hxx>
+
+#include "Vehicle.hxx"
+
+//////////////////////////////////////////////////////////////////////
+//
+// construct a vehicle
+//
+//////////////////////////////////////////////////////////////////////
+FGVehicle::FGVehicle( double dt ) {
+ m_speed = 0.0;
+ m_last_throttle = 0.0;
+ m_accel_factor = 1.0;
+ //
+ // get values from the property tree/environment
+ //
+ m_max_accel = fgGetDouble ("/vehicle/max_accel");
+ m_max_speed = fgGetDouble ("/vehicle/max_speed");
+ m_max_rpm = fgGetDouble ("/vehicle/max_rpm");
+ m_min_rpm = fgGetDouble ("/vehicle/min_rpm");
+ m_bow_thrust= fgGetBool ("/vehicle/bow_thrust");
+ m_absolute_braking = fgGetDouble ("/vehicle/absolute_braking");
+ m_roll_resistance = fgGetDouble ("/vehicle/roll_resistance");
+ m_vehicle_is_ship =
+ (strcmp (fgGetString ("/vehicle/type"), "ship") == 0);
+} // FGVehicle::FGVehicle()
+//////////////////////////////////////////////////////////////////////
+
+//////////////////////////////////////////////////////////////////////
+//
+// standard destructor, nothing to do here
+//
+//////////////////////////////////////////////////////////////////////
+FGVehicle::~FGVehicle() {
+} // FGVehicle::~FGVehicle()
+//////////////////////////////////////////////////////////////////////
+
+//////////////////////////////////////////////////////////////////////
+//
+// initialise the base class
+//
+//////////////////////////////////////////////////////////////////////
+void FGVehicle::init() {
+ common_init();
+} // FGVehicle::init()
+//////////////////////////////////////////////////////////////////////
+
+//////////////////////////////////////////////////////////////////////
+//
+// copy data from the property tree to member variables
+//
+//////////////////////////////////////////////////////////////////////
+void FGVehicle::property_to_fdm () {
+ m_throttle = globals->get_controls()->get_throttle( 0 );
+ m_rudder = globals->get_controls()->get_aileron();
+} // FGVehicle::property_to_fdm ()
+//////////////////////////////////////////////////////////////////////
+
+//////////////////////////////////////////////////////////////////////
+//
+// copy data from member variables to the property tree
+//
+//////////////////////////////////////////////////////////////////////
+void FGVehicle::fdm_to_property () {
+ double rpm = (m_throttle * m_max_rpm); // + m_min_rpm;
+ if (m_accel_factor == -1.0)
+ rpm = m_min_rpm;
+ cout << "rpm: " << rpm << " ";
+ if (rpm < m_min_rpm)
+ rpm = m_min_rpm;
+ if (rpm > m_max_rpm - 0.1)
+ rpm = m_max_rpm;
+ cout << "rpm: " << rpm << " " << m_throttle << endl;
+ fgSetDouble ("/engines/engine/rpm", rpm);
+} // FGVehicle::fdm_to_property ()
+
+//////////////////////////////////////////////////////////////////////
+//
+// do the equations of motion
+//
+//////////////////////////////////////////////////////////////////////
+void FGVehicle::EOM ( double dt ) {
+ if (is_suspended())
+ return;
+
+ //
+ // determine if we brake or use the bow thruster
+ //
+ bool brake = false;
+ int bow_thrust = 0; // 0: nothing, -1: left, 1: right
+ if (globals->get_controls()->get_brake_left() > 0.0) {
+ if (globals->get_controls()->get_brake_right() > 0.0) {
+ brake = true;
+ bow_thrust = 0;
+ } else {
+ bow_thrust = -1;
+ }
+ }
+ if (globals->get_controls()->get_brake_right() > 0.0) {
+ if (globals->get_controls()->get_brake_left() > 0.0) {
+ brake = true;
+ bow_thrust = 0;
+ } else {
+ bow_thrust = 1;
+ }
+ }
+ //
+ // determine if we accelerate or deaccelerate
+ //
+ if ( brake
+ || m_last_throttle > m_throttle
+ || m_speed > m_throttle * m_max_speed ) {
+ m_accel_factor = -1.0;
+ } else {
+ m_accel_factor = 1.0;
+ }
+ //
+ // for none-ships honor brake and de-accelerate to speed of 0
+ //
+ if (brake && (! m_vehicle_is_ship)) {
+ if (m_speed <= 0.0) {
+ m_throttle = 0.0; // vehicles break until they stop fully
+ m_speed = 0.0;
+ } else {
+ m_throttle = m_absolute_braking;
+ }
+ }
+ if ((m_throttle == 0.0) && (m_speed != 0.0)) {
+ if (m_speed > 0)
+ m_accel_factor = -1.0;
+ else
+ m_accel_factor = 1.0;
+ m_throttle = m_roll_resistance;
+ }
+ m_last_throttle = m_throttle;
+ //
+ // calculate speeed
+ //
+ m_speed += m_accel_factor * (dt * m_throttle * m_max_accel);
+ double dist = m_speed * dt;
+ double kts = (m_speed * SG_METER_TO_NM * 3600.0) / 1.93;
+ _set_V_equiv_kts (kts);
+ _set_V_calibrated_kts (kts);
+ _set_V_ground_speed (kts);
+ //
+ // angle of turn in radians/sec
+ // rudder -1: left, 0: nothing, 1: right
+ //
+ double rudder_factor = (m_speed / m_max_speed);
+ if (m_vehicle_is_ship) {
+ if ((bow_thrust == 0) || (m_speed > 10))
+ rudder_factor /= 10;
+ else {
+ // activate bow thrust
+ if (m_speed <= 0.5)
+ rudder_factor = (0.5 / m_max_speed);
+ if (m_rudder <= 0.5)
+ m_rudder = bow_thrust;
+ }
+ }
+ double turn = m_rudder * SGD_PI_4 * dt * rudder_factor;
+ //
+ // update euler angles
+ //
+ _set_Euler_Angles (get_Phi(), get_Theta(),
+ fmod(get_Psi() + turn, SGD_2PI));
+ _set_Euler_Rates (0, 0, 0);
+ //
+ // update (lon/lat) position
+ //
+ double lat2, lon2, az2;
+ if ( fabs (m_speed) > SG_EPSILON ) {
+ geo_direct_wgs_84 ( get_Altitude(),
+ get_Latitude() * SGD_RADIANS_TO_DEGREES,
+ get_Longitude() * SGD_RADIANS_TO_DEGREES,
+ get_Psi() * SGD_RADIANS_TO_DEGREES,
+ dist, &lat2, &lon2, &az2 );
+ _set_Longitude ( lon2 * SGD_DEGREES_TO_RADIANS );
+ _set_Latitude ( lat2 * SGD_DEGREES_TO_RADIANS );
+ }
+ double sl_radius, lat_geoc;
+ sgGeodToGeoc( get_Latitude(), get_Altitude(), &sl_radius, &lat_geoc );
+ //
+ // Set Altitude to ground level
+ //
+ double pos[3], contact[3], normal[3], vel[3], agl, ref_time;
+ int type;
+ pos[0] = get_Latitude() * SGD_RADIANS_TO_DEGREES;
+ pos[1] = get_Longitude() * SGD_RADIANS_TO_DEGREES;
+ pos[2] = 20000; // get_Altitude();
+ ref_time = dt;
+ //
+ // determine ground material => type
+ //
+// get_agl_m (dt, pos, 0.0, contact, normal, vel, &type, 0, &agl);
+// _update_ground_elev_at_pos ();
+ globals->get_scenery()->get_elevation_m(pos[0], pos[1],
+ 20000.0, agl, 0);
+ set_Altitude(agl);
+ //
+ // TODO: set Orientation to reflect the ground
+ //
+} // FGVehicle::EOM ()
+//////////////////////////////////////////////////////////////////////
+
+//////////////////////////////////////////////////////////////////////
+//
+// Run an iteration of the EOM (equations of motion)
+//
+//////////////////////////////////////////////////////////////////////
+void FGVehicle::update( double dt ) {
+ property_to_fdm ();
+ EOM (dt);
+ fdm_to_property ();
+} // FGVehicle::update()
+//////////////////////////////////////////////////////////////////////
+
Index: src/FDM/Vehicle.hxx
===================================================================
RCS file: src/FDM/Vehicle.hxx
diff -N src/FDM/Vehicle.hxx
--- /dev/null 1 Jan 1970 00:00:00 -0000
+++ src/FDM/Vehicle.hxx 19 Jun 2007 10:51:29 -0000
@@ -0,0 +1,62 @@
+// Vehicle.hxx -- interface to the "Vehicle" pseudo flight model
+//
+// Written by Oliver Schroeder, started June 2007.
+//
+// Copyright (C) 2007 Oliver Schroeder
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+//
+// $Id:$
+
+
+#ifndef _VEHICLE_HXX
+#define _VEHICLE_HXX
+
+#include "flight.hxx"
+
+class FGVehicle: public FGInterface {
+
+public:
+ FGVehicle( double dt );
+ ~FGVehicle();
+ // reset flight params to a specific position
+ void init();
+ // update position based on inputs, positions, velocities, etc.
+ void update( double dt );
+ // copy data from the property tree to member variables
+ void property_to_fdm ();
+ // copy data from member variables to the property tree
+ void fdm_to_property ();
+ // do the equations of motion
+ void EOM ( double dt );
+
+private:
+ double m_speed;
+ double m_throttle;
+ double m_rudder;
+ double m_last_throttle;
+ double m_accel_factor;
+ double m_max_accel;
+ double m_max_rpm;
+ double m_min_rpm;
+ double m_max_speed;
+ double m_absolute_braking;
+ double m_roll_resistance;
+ bool m_bow_thrust;
+ bool m_vehicle_is_ship;
+};
+
+#endif // _VEHICLE_HXX
+
Index: src/Main/fg_init.cxx
===================================================================
RCS file: /var/cvs/FlightGear-0.9/source/src/Main/fg_init.cxx,v
retrieving revision 1.185
diff -u -r1.185 fg_init.cxx
--- src/Main/fg_init.cxx 17 Jun 2007 08:14:02 -0000 1.185
+++ src/Main/fg_init.cxx 19 Jun 2007 10:51:34 -0000
@@ -89,6 +89,7 @@
#include <FDM/LaRCsim/LaRCsim.hxx>
#include <FDM/MagicCarpet.hxx>
#include <FDM/UFO.hxx>
+#include <FDM/Vehicle.hxx>
#include <FDM/NullFDM.hxx>
#include <FDM/YASim/YASim.hxx>
#include <GUI/new_gui.hxx>
@@ -1349,6 +1350,8 @@
cur_fdm_state = new FGMagicCarpet( dt );
} else if ( model == "ufo" ) {
cur_fdm_state = new FGUFO( dt );
+ } else if ( model == "vehicle" ) {
+ cur_fdm_state = new FGVehicle( dt );
} else if ( model == "external" ) {
// external is a synonym for "--fdm=null" and is
// maintained here for backwards compatibility
Index: src/MultiPlayer/multiplaymgr.cxx
===================================================================
RCS file: /var/cvs/FlightGear-0.9/source/src/MultiPlayer/multiplaymgr.cxx,v
retrieving revision 1.14
diff -u -r1.14 multiplaymgr.cxx
--- src/MultiPlayer/multiplaymgr.cxx 17 Jan 2007 22:29:20 -0000 1.14
+++ src/MultiPlayer/multiplaymgr.cxx 19 Jun 2007 10:51:35 -0000
@@ -191,21 +191,29 @@
// Set members from property values
//////////////////////////////////////////////////
short rxPort = fgGetInt("/sim/multiplay/rxport");
- if (rxPort <= 0)
- rxPort = 5000;
- mCallsign = fgGetString("/sim/multiplay/callsign");
- if (mCallsign.empty())
- // FIXME: use getpwuid
- mCallsign = "JohnDoe";
string rxAddress = fgGetString("/sim/multiplay/rxhost");
- if (rxAddress.empty())
- rxAddress = "127.0.0.1";
short txPort = fgGetInt("/sim/multiplay/txport");
string txAddress = fgGetString("/sim/multiplay/txhost");
+ mCallsign = fgGetString("/sim/multiplay/callsign");
if (txPort > 0 && !txAddress.empty()) {
- mHaveServer = true;
mServer.set(txAddress.c_str(), txPort);
+ if (strncmp (mServer.getHost(), "0.0.0.0", 8) == 0) {
+ mHaveServer = false;
+ SG_LOG(SG_NETWORK, SG_ALERT,
+ "FGMultiplayMgr - could not resolve '"
+ << txAddress << "', Multiplayermode disabled");
+ } else {
+ mHaveServer = true;
+ }
+ rxPort = txPort;
+ }
+ if (rxPort <= 0) {
+ SG_LOG(SG_NETWORK, SG_ALERT,
+ "FGMultiplayMgr - No receiver port, Multiplayermode disabled");
+ return (false);
}
+ if (mCallsign.empty())
+ mCallsign = "JohnDoe"; // FIXME: use getpwuid
SG_LOG(SG_NETWORK,SG_INFO,"FGMultiplayMgr::init-txaddress= "<<txAddress);
SG_LOG(SG_NETWORK,SG_INFO,"FGMultiplayMgr::init-txport= "<<txPort );
SG_LOG(SG_NETWORK,SG_INFO,"FGMultiplayMgr::init-rxaddress="<<rxAddress );
@@ -257,13 +265,10 @@
void
FGMultiplayMgr::SendMyPosition(const FGExternalMotionData& motionInfo)
{
- if ((! mInitialised) || (! mHaveServer)) {
- if (! mInitialised)
- SG_LOG( SG_NETWORK, SG_ALERT,
- "FGMultiplayMgr::SendMyPosition - not initialised" );
- if (! mHaveServer)
- SG_LOG( SG_NETWORK, SG_ALERT,
- "FGMultiplayMgr::SendMyPosition - no server" );
+ if ((! mInitialised) || (! mHaveServer))
+ return;
+ if (! mHaveServer) {
+ SG_LOG( SG_NETWORK, SG_ALERT, "FGMultiplayMgr::SendMyPosition - no server");
return;
}
@@ -709,8 +714,8 @@
MsgBuf[MsgHdr->MsgLen - sizeof(T_MsgHdr) - 1] = '\0';
T_ChatMsg* ChatMsg = (T_ChatMsg *)(Msg + sizeof(T_MsgHdr));
- SG_LOG ( SG_NETWORK, SG_ALERT, "Chat [" << MsgHdr->Callsign << "]"
- << " " << MsgBuf << endl);
+ SG_LOG (SG_NETWORK, SG_ALERT, "Chat [" << MsgHdr->Callsign << "]"
+ << " " << MsgBuf);
delete [] MsgBuf;
} // FGMultiplayMgr::ProcessChatMsg ()
Nimitz.tgz
Description: application/tgz
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