flightgear/src/AIModel/AIBase.cxx

// FGAIBase - abstract base class for AI objects
// Written by David Culp, started Nov 2003, based on
// David Luff's FGAIEntity class.
// - davidculp2@comcast.net
//
// 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., 675 Mass Ave, Cambridge, MA 02139, USA.


#ifdef HAVE_CONFIG_H
#  include <config.h>
#endif

#include <simgear/compiler.h>

#include STL_STRING

#include <plib/sg.h>
#include <plib/ssg.h>

#include <simgear/math/point3d.hxx>
#include <simgear/misc/sg_path.hxx>
#include <simgear/scene/model/location.hxx>
#include <simgear/scene/model/model.hxx>
#include <simgear/debug/logstream.hxx>
#include <simgear/props/props.hxx>

#include <Main/globals.hxx>
#include <Scenery/scenery.hxx>


#include "AIBase.hxx"

FGAIBase *FGAIBase::_self = NULL;

FGAIBase::FGAIBase() {
    _self = this;
}

FGAIBase::~FGAIBase() {
    _self = NULL;
}

void FGAIBase::update(double dt) {
}


void FGAIBase::Transform() {
    aip.setPosition(pos.lon(), pos.lat(), pos.elev() * SG_METER_TO_FEET);
    aip.setOrientation(roll, pitch, hdg);
    aip.update( globals->get_scenery()->get_center() );    
}


bool FGAIBase::init() {

   props = globals->get_props()->getNode("ai/model", true);

   ssgBranch *model = sgLoad3DModel( globals->get_fg_root(),
	                             model_path.c_str(),
                                     props,
	                             globals->get_sim_time_sec() );
   if (model) {
     aip.init( model );
     aip.setVisible(true);
     globals->get_scenery()->get_scene_graph()->addKid(aip.getSceneGraph());
   } else {
     SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load aircraft model.");
   } 

   tgt_roll = tgt_pitch = tgt_yaw = tgt_vs = vs = roll = pitch = 0.0;
   setDie(false);
}

void FGAIBase::bind() {
   props->tie("velocities/airspeed-kt",  SGRawValuePointer<double>(&speed));
   props->tie("velocities/vertical-speed-fps", SGRawValuePointer<double>(&vs));

   props->tie("position/altitude-ft", SGRawValuePointer<double>(&altitude));
   props->tie("position/latitude-deg",
               SGRawValueFunctions<double>(FGAIBase::_getLatitude,
                                           FGAIBase::_setLatitude));
   props->tie("position/longitude-deg",
               SGRawValueFunctions<double>(FGAIBase::_getLongitude,
                                           FGAIBase::_setLongitude));

   props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
   props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
   props->tie("orientation/heading-deg", SGRawValuePointer<double>(&hdg));
}

void FGAIBase::unbind() {
    props->untie("velocities/airspeed-kt");
    props->untie("velocities/vertical-speed-fps");

    props->untie("position/altitude-ft");
    props->untie("position/latitude-deg");
    props->untie("position/longitude-deg");

    props->untie("orientation/pitch-deg");
    props->untie("orientation/roll-deg");
    props->untie("orientation/heading-deg");
}


void FGAIBase::_setLongitude( double longitude ) {
    _self->pos.setlon(longitude);
}

void FGAIBase::_setLatitude ( double latitude )  {
    _self->pos.setlat(latitude);
}

double FGAIBase::_getLongitude() { return _self->pos.lon(); }

double FGAIBase::_getLatitude () { return _self->pos.lat(); }