Thread: [Gcblue-commits] gcb_wx/src/sim tcSimState.cpp,1.69,1.70 tcSonar.cpp,1.7,1.8 tcTorpedoObject.cpp,1.6

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Update of /cvsroot/gcblue/gcb_wx/src/sim
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv31072/src/sim

Modified Files:
	tcSimState.cpp tcSonar.cpp tcTorpedoObject.cpp 
Log Message:
Passive sonar seeker work

Index: tcSimState.cpp
===================================================================
RCS file: /cvsroot/gcblue/gcb_wx/src/sim/tcSimState.cpp,v
retrieving revision 1.69
retrieving revision 1.70
diff -C2 -d -r1.69 -r1.70
*** tcSimState.cpp	5 Mar 2005 22:38:03 -0000	1.69
--- tcSimState.cpp	7 Mar 2005 01:54:19 -0000	1.70
***************
*** 413,418 ****
  	if (tclosest > 0.3) return; // defer until future time step
  
! 	float trueRange2 = dx*dx + dy*dy + dz*dz;
! 	if (trueRange2 < 64.0f) // 8.0 m range
  	{
  		float fDamage = torp->mpDBObject->mfDamage;
--- 413,418 ----
  	if (tclosest > 0.3) return; // defer until future time step
  
! 	float trueRange2 = dx*dx + dy*dy + 0.5*dz*dz;
! 	if (trueRange2 < 144.0f) // 12.0 m range, dz not counted as heavily
  	{
  		float fDamage = torp->mpDBObject->mfDamage;

Index: tcTorpedoObject.cpp
===================================================================
RCS file: /cvsroot/gcblue/gcb_wx/src/sim/tcTorpedoObject.cpp,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** tcTorpedoObject.cpp	2 Mar 2005 22:28:45 -0000	1.6
--- tcTorpedoObject.cpp	7 Mar 2005 01:54:19 -0000	1.7
***************
*** 304,308 ****
  		mfDamageLevel = 1.0f;
  		tcString s;
! 		s.Format("Object %s hit bottom at time %.1f lon %.3f, lat %.3f",
  			mzUnit.mz,afStatusTime,mcKin.mfLon_rad*C_180OVERPI,mcKin.mfLat_rad*C_180OVERPI);
  		WTL(s.GetBuffer());
--- 304,308 ----
  		mfDamageLevel = 1.0f;
  		tcString s;
! 		s.Format("Torpedo %s hit bottom at time %.1f lon %.3f, lat %.3f",
  			mzUnit.mz,afStatusTime,mcKin.mfLon_rad*C_180OVERPI,mcKin.mfLat_rad*C_180OVERPI);
  		WTL(s.GetBuffer());
***************
*** 317,321 ****
  		mfDamageLevel = 1.0f; // self-destruct
  		tcString s;
! 		s.Format("Object %s shut down at time %.1f lon %.3f, lat %.3f",
  			mzUnit.mz,afStatusTime,mcKin.mfLon_rad*C_180OVERPI,mcKin.mfLat_rad*C_180OVERPI);
  		WTL(s.GetBuffer());
--- 317,321 ----
  		mfDamageLevel = 1.0f; // self-destruct
  		tcString s;
! 		s.Format("Torpedo %s shut down at time %.1f lon %.3f, lat %.3f",
  			mzUnit.mz,afStatusTime,mcKin.mfLon_rad*C_180OVERPI,mcKin.mfLat_rad*C_180OVERPI);
  		WTL(s.GetBuffer());
***************
*** 410,414 ****
      const float one_over_torpedo_acz = 1.0f / 50.0f;
  
! 	if ((t - lastGuidanceUpdate) < guidanceUpdateInterval) return;
  	lastGuidanceUpdate = t;
  
--- 410,415 ----
      const float one_over_torpedo_acz = 1.0f / 50.0f;
  
!     float dt_s = t - lastGuidanceUpdate;
! 	if (dt_s < guidanceUpdateInterval) return;
  	lastGuidanceUpdate = t;
  
***************
*** 430,449 ****
          guidanceUpdateInterval = 0.5f;
  
! 		if (seeker.mnMode == SSMODE_SEEKERTRACK) 
! 		{
              if (seeker.mcTrack.mnFlags & TRACK_BEARING_ONLY)
              {
!                 goalHeading_rad = seeker.mcTrack.mfHeading_rad; // bearing in this case
!                 goalDepth_m = -seeker.mcTrack.mfAlt_m;
              }
              else
              {
-                 tcTrack predictedtrack;   
-                 float tti_s;
-                 float range_km;
-                 
-                 goalDepth_m = -seeker.mcTrack.mfAlt_m;
-                 seeker.mcTrack.GetPrediction(predictedtrack, t);
- 
                  mcKin.GetInterceptData3D(predictedtrack, goalHeading_rad, 
                      interceptPitch_rad, tti_s, range_km);
--- 431,455 ----
          guidanceUpdateInterval = 0.5f;
  
!         if (seeker.mnMode == SSMODE_SEEKERTRACK) 
!         {
!             tcTrack predictedtrack;   
!             float tti_s;
!             float range_km;
! 
!             goalDepth_m = -seeker.mcTrack.mfAlt_m;
!             seeker.mcTrack.GetPrediction(predictedtrack, t);
! 
              if (seeker.mcTrack.mnFlags & TRACK_BEARING_ONLY)
              {
!                 goalHeading_rad = predictedtrack.mfHeading_rad; // bearing in this case
! 
!                 // attempt to lead target (ad-hoc intercept course)
!                 if (predictedtrack.mnFlags & TRACK_BEARINGRATE_VALID)
!                 {
!                     goalHeading_rad += 0.5f * predictedtrack.bearingRate_radps;
!                 }
              }
              else
              {
                  mcKin.GetInterceptData3D(predictedtrack, goalHeading_rad, 
                      interceptPitch_rad, tti_s, range_km);
***************
*** 461,474 ****
                  break;
              case SEARCH_LEFTCIRCLE:
!                 goalHeading_rad = searchHeading_rad - 0.2f * runTime;
                  goalHeading_rad = fmodf(goalHeading_rad, C_TWOPI) + C_PI;
                  break;
              case SEARCH_RIGHTCIRCLE:
!                 goalHeading_rad = searchHeading_rad + 0.2f * runTime;
                  goalHeading_rad = fmodf(goalHeading_rad, C_TWOPI) - C_PI;
                  break;
              default:
                  break;
!             }
          }
          else if (seeker.mnMode == SSMODE_SEEKERACQUIRE)
--- 467,480 ----
                  break;
              case SEARCH_LEFTCIRCLE:
!                 goalHeading_rad = searchHeading_rad - 0.05f * runTime;
                  goalHeading_rad = fmodf(goalHeading_rad, C_TWOPI) + C_PI;
                  break;
              case SEARCH_RIGHTCIRCLE:
!                 goalHeading_rad = searchHeading_rad + 0.05f * runTime;
                  goalHeading_rad = fmodf(goalHeading_rad, C_TWOPI) - C_PI;
                  break;
              default:
                  break;
!             }      
          }
          else if (seeker.mnMode == SSMODE_SEEKERACQUIRE)

Index: tcSonar.cpp
===================================================================
RCS file: /cvsroot/gcblue/gcb_wx/src/sim/tcSonar.cpp,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** tcSonar.cpp	5 Mar 2005 22:38:03 -0000	1.7
--- tcSonar.cpp	7 Mar 2005 01:54:19 -0000	1.8
***************
*** 83,92 ****
      float TS = 0; // target strength for active case
      float SLp = 0; // passive source level
!     float NL = 10.0f + 0.2f * par_kin->mfSpeed_kts;; // noise level of parent
  
      if (const tcSurfaceObject* surfaceObj = dynamic_cast<const tcSurfaceObject*>(target))
      {
          TS = 20.0f; // surfaceObj->mpDBObject->mfRcs_dbsm;
!         SLp = 100.0f + 0.5f * tgt_kin->mfSpeed_kts;
          isSurface = true;
      }
--- 83,92 ----
      float TS = 0; // target strength for active case
      float SLp = 0; // passive source level
!     float NL = -10.0f + 0.2f * par_kin->mfSpeed_kts; // noise level of parent
  
      if (const tcSurfaceObject* surfaceObj = dynamic_cast<const tcSurfaceObject*>(target))
      {
          TS = 20.0f; // surfaceObj->mpDBObject->mfRcs_dbsm;
!         SLp = 100.0f + tgt_kin->mfSpeed_kts;
          isSurface = true;
      }
***************
*** 94,98 ****
      {
          TS = 10;
!         SLp = 80 + 0.5f * tgt_kin->mfSpeed_kts;
          isSubSurface = true;
      }
--- 94,98 ----
      {
          TS = 10;
!         SLp = 80.0f + tgt_kin->mfSpeed_kts;
          isSubSurface = true;
      }
***************
*** 100,104 ****
      {
          TS = 0;
!         SLp = 90 + 0.5f * tgt_kin->mfSpeed_kts;
          isSubSurface = true;
      }
--- 100,104 ----
      {
          TS = 0;
!         SLp = 120.0f + tgt_kin->mfSpeed_kts;
          isSubSurface = true;
      }
***************
*** 120,128 ****
              tgt_kin->mfLat_rad, tgt_kin->mfLon_rad);
          last_az_rad = fTargetAz_rad;
  
-         float fHalfFOV_rad = 0.5f*C_PIOVER180*mpDBObj->mfFieldOfView_deg;
-         fCoverageAz1 = lookAz_rad - fHalfFOV_rad;
-         fCoverageAz2 = lookAz_rad + fHalfFOV_rad;
-         bInSearchVolume = AngleWithinRange(fTargetAz_rad,fCoverageAz1,fCoverageAz2) != 0;
          if (!bInSearchVolume) 
          {
--- 120,136 ----
              tgt_kin->mfLat_rad, tgt_kin->mfLon_rad);
          last_az_rad = fTargetAz_rad;
+         
+         if (mpDBObj->mfFieldOfView_deg >= 360.0f)
+         {
+             bInSearchVolume = true;
+         }
+         else
+         {
+             float fHalfFOV_rad = 0.5f*C_PIOVER180*mpDBObj->mfFieldOfView_deg;
+             fCoverageAz1 = lookAz_rad - fHalfFOV_rad;
+             fCoverageAz2 = lookAz_rad + fHalfFOV_rad;
+             bInSearchVolume = AngleWithinRange(fTargetAz_rad,fCoverageAz1,fCoverageAz2) != 0;
+         }
  
          if (!bInSearchVolume) 
          {
***************
*** 150,153 ****
--- 158,162 ----
      }
      last_snr_excess = excessSNR;
+     last_range_km = range_km;
  
      return excessSNR > 0;
***************
*** 294,297 ****
--- 303,307 ----
                  if (CanDetectTarget(ptarget, fRange_km)) 
                  {
+                     //fprintf(stdout, "Torpedo %d updating target %d\n", parent->mnID, ptarget->mnID);
                      UpdateTrack(ptarget, t);
                      return;
***************
*** 303,306 ****
--- 313,317 ----
              if (returnToSearch)
              {
+                 //fprintf(stdout, "Torpedo %d lost target %d\n", parent->mnID, ptarget->mnID);
                  mcTrack.mnID = -1; 
                  mnMode = SSMODE_SEEKERSEARCH;
***************
*** 364,367 ****
--- 375,379 ----
              if (minID == -1) return; // no targets found
              parent->DesignateTarget(minID); // select closest as target
+             //fprintf(stdout, "Torpedo %d targeting %d\n", parent->mnID, minID);
          }
      }
***************
*** 529,532 ****
--- 541,546 ----
  * Update sensor track with target state. Used with
  * torpedos
+ * Assumes CanDetectTarget has been called immediately before with
+ * this target.
  */
  void tcSonar::UpdateTrack(const tcGameObject* target, double t)
***************
*** 535,538 ****
--- 549,555 ----
      if (isPassive)
      {
+         float bearingRate = parent->mcKin.BearingRateTo(last_range_km, last_az_rad, 
+             target->mcKin.mfSpeed_kts, target->mcKin.mfHeading_rad);
+ 
          mcTrack.mfLat_rad = 0;
          mcTrack.mfLon_rad = 0;
***************
*** 541,546 ****
          mcTrack.mfHeading_rad = last_az_rad;
          mcTrack.mfClimbAngle_rad = 0; // or could use this as passive elevation
          mcTrack.mfTimestamp = t;
!         mcTrack.mnFlags = TRACK_BEARING_ONLY | TRACK_ALT_VALID; 
      }
      else
--- 558,564 ----
          mcTrack.mfHeading_rad = last_az_rad;
          mcTrack.mfClimbAngle_rad = 0; // or could use this as passive elevation
+         mcTrack.bearingRate_radps = bearingRate;
          mcTrack.mfTimestamp = t;
!         mcTrack.mnFlags = TRACK_BEARING_ONLY | TRACK_ALT_VALID | TRACK_BEARINGRATE_VALID; 
      }
      else

Thread: [Gcblue-commits] gcb_wx/src/sim tcSimState.cpp,1.69,1.70 tcSonar.cpp,1.7,1.8 tcTorpedoObject.cpp,1.6

gcblue-commits