2005-06-04 09:38:52 +00:00
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// AIManager.hxx - David Culp - based on:
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2003-11-28 15:48:05 +00:00
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// AIMgr.hxx - definition of FGAIMgr
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// - a global management class for FlightGear generated AI traffic
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//
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// Written by David Luff, started March 2002.
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//
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// Copyright (C) 2002 David C Luff - david.luff@nottingham.ac.uk
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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#ifndef _FG_AIMANAGER_HXX
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#define _FG_AIMANAGER_HXX
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2004-09-07 09:53:23 +00:00
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#include <list>
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2003-11-28 15:48:05 +00:00
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#include <simgear/structure/subsystem_mgr.hxx>
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2004-09-07 09:53:23 +00:00
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2003-11-28 15:48:05 +00:00
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#include <Main/fg_props.hxx>
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2004-09-07 09:53:23 +00:00
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#include <AIModel/AIBase.hxx>
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#include <AIModel/AIScenario.hxx>
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#include <AIModel/AIFlightPlan.hxx>
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2003-11-28 15:48:05 +00:00
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2004-11-29 09:41:43 +00:00
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#include <Traffic/SchedFlight.hxx>
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#include <Traffic/Schedule.hxx>
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2003-11-28 15:48:05 +00:00
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SG_USING_STD(list);
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2004-11-29 09:41:43 +00:00
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SG_USING_STD(vector);
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class FGModelID
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{
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private:
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ssgBranch * model;
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string path;
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public:
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FGModelID(const string& pth, ssgBranch * mdl) { path =pth; model=mdl;};
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ssgBranch *getModelId() { return model;};
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const string & getPath() { return path;};
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};
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typedef vector<FGModelID> ModelVec;
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typedef vector<FGModelID>::iterator ModelVecIterator;
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David Culp:
I added some things to the AI stuff to improve the AIThermal processing.
Before, all the thermals were processed in order, and the last one overwrote
the prior one. Now, only the data from the nearest thermal is kept. This
way a tile can be populated with many thermals, and (as long as they have the
same diameter) the one nearest the airplane correctly takes effect. This
will make us ready for the next step, "auto-thermaling", where FlightGear's
tile manager can cover a tile with thermals, and set the thermal strength
based on land-use type.
I moved the enumerated object_type to the base class. When an AI object is
created it now sets the _otype variable in the base class. This lets the AI
manager find out what kind of AI object it is dealing with, using the base
pointer. I also added a function isa() to the base class, so the manager can
process objects differently based on their type.
The AI manager now sends AIThermal processing to a different function, where
only the data from the nearest thermal is kept. After the manager processes
all the AI objects, then the results from the nearest thermal are applied to
wind-from-down.
2004-03-07 12:08:46 +00:00
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class FGAIThermal;
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2003-11-28 15:48:05 +00:00
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class FGAIManager : public SGSubsystem
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{
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private:
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// A list of pointers to AI objects
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typedef list <FGAIBase*> ai_list_type;
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typedef ai_list_type::iterator ai_list_iterator;
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typedef ai_list_type::const_iterator ai_list_const_iterator;
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// Everything put in this list should be created dynamically
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// on the heap and ***DELETED WHEN REMOVED!!!!!***
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ai_list_type ai_list;
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2004-11-29 09:41:43 +00:00
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ModelVec loadedModels;
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2003-11-28 15:48:05 +00:00
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public:
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FGAIManager();
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~FGAIManager();
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void init();
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void bind();
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void unbind();
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void update(double dt);
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2004-09-08 13:21:40 +00:00
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void* createBallistic( FGAIModelEntity *entity );
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2004-11-29 09:41:43 +00:00
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void* createAircraft( FGAIModelEntity *entity, FGAISchedule *ref=0 );
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2004-09-08 13:21:40 +00:00
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void* createThermal( FGAIModelEntity *entity );
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void* createStorm( FGAIModelEntity *entity );
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void* createShip( FGAIModelEntity *entity );
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2004-10-28 08:33:55 +00:00
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void* createCarrier( FGAIModelEntity *entity );
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2005-06-04 09:38:52 +00:00
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void* createStatic( FGAIModelEntity *entity );
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2004-09-07 09:53:23 +00:00
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2004-09-08 13:21:40 +00:00
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void destroyObject( void* ID );
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David Culp:
Here's a new batch of AI code which includes a working radar instrument.
I put the radar calculations into the existing AIAircraft class. It was
easier that way, and it can always be migrated out later if we have to.
Every tenth sim cycle the AIManager makes a copy of the current user state
information. When the AIAircraft updates it uses this information to
calculate the radar numbers. It calculates:
1) bearing from user to target
2) range to target in nautical miles
3) "horizontal offset" to target. This is the angle from the nose to the
target, in degrees, from -180 to 180. This will be useful later for a HUD.
4) elevation, in degrees (vertical angle from user's position to target
position)
5) vertical offset, in degrees (this is elevation corrected for user's pitch)
6) rdot (range rate in knots, note: not working yet, so I commented it out)
and three items used by the radar instrument to place the "blip"
7) y_shift, in nautical miles
8) x_shift, in nautical miles
9) rotation, in degrees
The radar instrument uses the above three items, and applies a scale factor to
the x-shift and y-shift in order to match the instrument's scale. Changing
the display scale can be done entirely in the XML code for the instrument.
Right now it's set up only to display a 40 mile scale.
The radar is an AWACS view, which is not very realistic, but it is useful and
demonstrates the technology. With just a little more work I can get a HUD
marker. All I need to do there is make a bank angle adjustment to the
current values.
2004-02-27 10:20:17 +00:00
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inline double get_user_latitude() { return user_latitude; }
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inline double get_user_longitude() { return user_longitude; }
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inline double get_user_altitude() { return user_altitude; }
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inline double get_user_heading() { return user_heading; }
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inline double get_user_pitch() { return user_pitch; }
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inline double get_user_yaw() { return user_yaw; }
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inline double get_user_speed() {return user_speed; }
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2003-11-28 15:48:05 +00:00
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2004-09-22 19:11:36 +00:00
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inline int getNum( FGAIBase::object_type ot ) {
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2004-09-23 07:48:25 +00:00
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return (0 < ot && ot < FGAIBase::MAX_OBJECTS) ? numObjects[ot] : numObjects[0];
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2004-09-22 19:11:36 +00:00
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}
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2004-09-08 13:21:40 +00:00
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Mathias Frhlich:
I have introduced the posibility to start directly on the carrier.
With that patch you will have a --carrrier=id argument where id can either be
the pennant number configured in the nimitz scenario or the carriers name
also configured in the carriers scenario.
Additionaly you can use --parkpos=id to select different positions on the
carrier. They are also configured in the scenario file.
That includes the switch of the whole FGInterface class to make use of the
groundcache.
That means that an aircraft no longer uses the current elevation value from
the scenery class. It rather has its own local cache of the aircrafts
environment which is setup in the common_init method of FGInterface and
updated either manually by calling
FGInterface::get_groundlevel_m(lat, lon, alt_m);
or implicitly by calling the above method in the
FGInterface::_updateGeo*Position(lat, lon, alt);
methods.
A call get_groundlevel_m rebuilds the groundcache if the request is outside
the range of the cache.
Note that for the real usage of the groundcache including the correct
information about the movement of objects and the velocity information, you
still need to set up the groundcache in the usual way like YASim and JSBSim
currently does.
If you use the native interface, you will get only static objects correctly.
But for FDM's only using one single ground level for a whole step this is IMO
sufficient.
The AIManager gets a way to return the location of a object which is placed
wrt an AI Object. At the moment it only honours AICarriers for that.
That method is a static one, which loads the scenario file for that reason and
throws it away afterwards. This looked like the aprioriate way, because the
AIManager is initialized much later in flightgears bootstrap, and I did not
find an easy way to reorder that for my needs. Since this additional load is
very small and does only happen if such a relative location is required, I
think that this is ok.
Note that moving on the carrier will only work correctly for JSBSim and YASim,
but you should now be able to start and move on every not itself moving
object with any FDM.
2005-07-03 09:39:14 +00:00
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void processScenario( const string &filename );
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2004-05-15 09:07:55 +00:00
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2004-11-29 09:41:43 +00:00
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ssgBranch * getModel(const string& path);
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void setModel(const string& path, ssgBranch *model);
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Mathias Frhlich:
I have introduced the posibility to start directly on the carrier.
With that patch you will have a --carrrier=id argument where id can either be
the pennant number configured in the nimitz scenario or the carriers name
also configured in the carriers scenario.
Additionaly you can use --parkpos=id to select different positions on the
carrier. They are also configured in the scenario file.
That includes the switch of the whole FGInterface class to make use of the
groundcache.
That means that an aircraft no longer uses the current elevation value from
the scenery class. It rather has its own local cache of the aircrafts
environment which is setup in the common_init method of FGInterface and
updated either manually by calling
FGInterface::get_groundlevel_m(lat, lon, alt_m);
or implicitly by calling the above method in the
FGInterface::_updateGeo*Position(lat, lon, alt);
methods.
A call get_groundlevel_m rebuilds the groundcache if the request is outside
the range of the cache.
Note that for the real usage of the groundcache including the correct
information about the movement of objects and the velocity information, you
still need to set up the groundcache in the usual way like YASim and JSBSim
currently does.
If you use the native interface, you will get only static objects correctly.
But for FDM's only using one single ground level for a whole step this is IMO
sufficient.
The AIManager gets a way to return the location of a object which is placed
wrt an AI Object. At the moment it only honours AICarriers for that.
That method is a static one, which loads the scenario file for that reason and
throws it away afterwards. This looked like the aprioriate way, because the
AIManager is initialized much later in flightgears bootstrap, and I did not
find an easy way to reorder that for my needs. Since this additional load is
very small and does only happen if such a relative location is required, I
think that this is ok.
Note that moving on the carrier will only work correctly for JSBSim and YASim,
but you should now be able to start and move on every not itself moving
object with any FDM.
2005-07-03 09:39:14 +00:00
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static bool getStartPosition(const string& id, const string& pid,
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Point3D& geodPos, double& hdng, sgdVec3 uvw);
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2003-11-28 15:48:05 +00:00
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private:
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bool initDone;
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2004-05-19 13:55:49 +00:00
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bool enabled;
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2004-09-07 19:56:22 +00:00
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int numObjects[FGAIBase::MAX_OBJECTS];
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David Culp:
Here's a new batch of AI code which includes a working radar instrument.
I put the radar calculations into the existing AIAircraft class. It was
easier that way, and it can always be migrated out later if we have to.
Every tenth sim cycle the AIManager makes a copy of the current user state
information. When the AIAircraft updates it uses this information to
calculate the radar numbers. It calculates:
1) bearing from user to target
2) range to target in nautical miles
3) "horizontal offset" to target. This is the angle from the nose to the
target, in degrees, from -180 to 180. This will be useful later for a HUD.
4) elevation, in degrees (vertical angle from user's position to target
position)
5) vertical offset, in degrees (this is elevation corrected for user's pitch)
6) rdot (range rate in knots, note: not working yet, so I commented it out)
and three items used by the radar instrument to place the "blip"
7) y_shift, in nautical miles
8) x_shift, in nautical miles
9) rotation, in degrees
The radar instrument uses the above three items, and applies a scale factor to
the x-shift and y-shift in order to match the instrument's scale. Changing
the display scale can be done entirely in the XML code for the instrument.
Right now it's set up only to display a 40 mile scale.
The radar is an AWACS view, which is not very realistic, but it is useful and
demonstrates the technology. With just a little more work I can get a HUD
marker. All I need to do there is make a bank angle adjustment to the
current values.
2004-02-27 10:20:17 +00:00
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SGPropertyNode* root;
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2004-09-07 09:53:23 +00:00
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SGPropertyNode* wind_from_down_node;
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2005-04-19 12:52:26 +00:00
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SGPropertyNode* user_latitude_node;
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SGPropertyNode* user_longitude_node;
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SGPropertyNode* user_altitude_node;
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SGPropertyNode* user_heading_node;
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SGPropertyNode* user_pitch_node;
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SGPropertyNode* user_yaw_node;
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SGPropertyNode* user_speed_node;
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David Culp:
First, preferences.xml will define the scenario filename.
For now, the other way of defining ai objects still works, so the sailboat
stays in preferences.xml. Later, I'll move the sailboat into the demo
scenario. If no scenario filename is given, then no scenario will be
processed.
I changed the demo scenario to create two 737's, one takes off on runway 01L,
and the other takes off on runway 01R. This will make a good demo for the ai
system. One problem, if you takeoff on 28L/R right away, you might run into
the taking-off 737's, or be scared.
2004-05-17 08:45:33 +00:00
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string scenario_filename;
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David Culp:
Here's a new batch of AI code which includes a working radar instrument.
I put the radar calculations into the existing AIAircraft class. It was
easier that way, and it can always be migrated out later if we have to.
Every tenth sim cycle the AIManager makes a copy of the current user state
information. When the AIAircraft updates it uses this information to
calculate the radar numbers. It calculates:
1) bearing from user to target
2) range to target in nautical miles
3) "horizontal offset" to target. This is the angle from the nose to the
target, in degrees, from -180 to 180. This will be useful later for a HUD.
4) elevation, in degrees (vertical angle from user's position to target
position)
5) vertical offset, in degrees (this is elevation corrected for user's pitch)
6) rdot (range rate in knots, note: not working yet, so I commented it out)
and three items used by the radar instrument to place the "blip"
7) y_shift, in nautical miles
8) x_shift, in nautical miles
9) rotation, in degrees
The radar instrument uses the above three items, and applies a scale factor to
the x-shift and y-shift in order to match the instrument's scale. Changing
the display scale can be done entirely in the XML code for the instrument.
Right now it's set up only to display a 40 mile scale.
The radar is an AWACS view, which is not very realistic, but it is useful and
demonstrates the technology. With just a little more work I can get a HUD
marker. All I need to do there is make a bank angle adjustment to the
current values.
2004-02-27 10:20:17 +00:00
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double user_latitude;
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double user_longitude;
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double user_altitude;
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double user_heading;
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double user_pitch;
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double user_yaw;
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double user_speed;
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David Culp:
I added some things to the AI stuff to improve the AIThermal processing.
Before, all the thermals were processed in order, and the last one overwrote
the prior one. Now, only the data from the nearest thermal is kept. This
way a tile can be populated with many thermals, and (as long as they have the
same diameter) the one nearest the airplane correctly takes effect. This
will make us ready for the next step, "auto-thermaling", where FlightGear's
tile manager can cover a tile with thermals, and set the thermal strength
based on land-use type.
I moved the enumerated object_type to the base class. When an AI object is
created it now sets the _otype variable in the base class. This lets the AI
manager find out what kind of AI object it is dealing with, using the base
pointer. I also added a function isa() to the base class, so the manager can
process objects differently based on their type.
The AI manager now sends AIThermal processing to a different function, where
only the data from the nearest thermal is kept. After the manager processes
all the AI objects, then the results from the nearest thermal are applied to
wind-from-down.
2004-03-07 12:08:46 +00:00
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double _dt;
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David Culp:
Here's a new batch of AI code which includes a working radar instrument.
I put the radar calculations into the existing AIAircraft class. It was
easier that way, and it can always be migrated out later if we have to.
Every tenth sim cycle the AIManager makes a copy of the current user state
information. When the AIAircraft updates it uses this information to
calculate the radar numbers. It calculates:
1) bearing from user to target
2) range to target in nautical miles
3) "horizontal offset" to target. This is the angle from the nose to the
target, in degrees, from -180 to 180. This will be useful later for a HUD.
4) elevation, in degrees (vertical angle from user's position to target
position)
5) vertical offset, in degrees (this is elevation corrected for user's pitch)
6) rdot (range rate in knots, note: not working yet, so I commented it out)
and three items used by the radar instrument to place the "blip"
7) y_shift, in nautical miles
8) x_shift, in nautical miles
9) rotation, in degrees
The radar instrument uses the above three items, and applies a scale factor to
the x-shift and y-shift in order to match the instrument's scale. Changing
the display scale can be done entirely in the XML code for the instrument.
Right now it's set up only to display a 40 mile scale.
The radar is an AWACS view, which is not very realistic, but it is useful and
demonstrates the technology. With just a little more work I can get a HUD
marker. All I need to do there is make a bank angle adjustment to the
current values.
2004-02-27 10:20:17 +00:00
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int dt_count;
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void fetchUserState( void );
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2003-11-28 15:48:05 +00:00
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David Culp:
I added some things to the AI stuff to improve the AIThermal processing.
Before, all the thermals were processed in order, and the last one overwrote
the prior one. Now, only the data from the nearest thermal is kept. This
way a tile can be populated with many thermals, and (as long as they have the
same diameter) the one nearest the airplane correctly takes effect. This
will make us ready for the next step, "auto-thermaling", where FlightGear's
tile manager can cover a tile with thermals, and set the thermal strength
based on land-use type.
I moved the enumerated object_type to the base class. When an AI object is
created it now sets the _otype variable in the base class. This lets the AI
manager find out what kind of AI object it is dealing with, using the base
pointer. I also added a function isa() to the base class, so the manager can
process objects differently based on their type.
The AI manager now sends AIThermal processing to a different function, where
only the data from the nearest thermal is kept. After the manager processes
all the AI objects, then the results from the nearest thermal are applied to
wind-from-down.
2004-03-07 12:08:46 +00:00
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// used by thermals
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double range_nearest;
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double strength;
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void processThermal( FGAIThermal* thermal );
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2003-11-28 15:48:05 +00:00
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};
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#endif // _FG_AIMANAGER_HXX
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