Vivian MEAZZA:
"Implement 'flightplans' for AIShips. This patch also introduces the concept of a 'WAIT' token for AIShips: when the flightplan reaches a 'WAIT', the AIShip stops and pauses for the specified time (secs)."
This commit is contained in:
mfranz
parent
b230c0a1e8
commit
002b880e7e
4 changed files with 532 additions and 200 deletions
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@ -78,6 +78,7 @@ FGAIFlightPlan::FGAIFlightPlan(const string& filename)
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wpt->gear_down = wpt_node->getBoolValue("gear-down", false);
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wpt->flaps_down= wpt_node->getBoolValue("flaps-down", false);
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wpt->on_ground = wpt_node->getBoolValue("on-ground", false);
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wpt->wait_time = wpt_node->getDoubleValue("wait-time-sec", 0);
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if (wpt->name == "END") wpt->finished = true;
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else wpt->finished = false;
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@ -49,6 +49,7 @@ public:
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bool flaps_down;
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bool on_ground;
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int routeIndex; // For AI/ATC purposes;
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double wait_time;
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} waypoint;
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FGAIFlightPlan(const string& filename);
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@ -1,7 +1,7 @@
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// FGAIShip - FGAIBase-derived class creates an AI ship
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//
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// Written by David Culp, started October 2003.
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// - davidculp2@comcast.net
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// with major amendments and additions by Vivian Meazza, 2004 - 2007
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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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@ -21,14 +21,25 @@
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# include <config.h>
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#endif
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#include <simgear/math/point3d.hxx>
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#include <math.h>
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#ifdef _MSC_VER
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# include <float.h>
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# define finite _finite
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#elif defined(__sun) || defined(sgi)
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# include <ieeefp.h>
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#endif
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#include <math.h>
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#include <simgear/math/sg_geodesy.hxx>
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#include <simgear/math/sg_random.h>
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#include "AIFlightPlan.hxx"
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#include "AIShip.hxx"
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FGAIShip::FGAIShip(object_type ot) : FGAIBase(ot) {
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FGAIShip::FGAIShip(object_type ot) :
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FGAIBase(ot),
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_dt_count(0),
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_next_run(0)
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{
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}
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FGAIShip::~FGAIShip() {
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@ -42,49 +53,94 @@ void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) {
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setRudder(scFileNode->getFloatValue("rudder", 0.0));
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setName(scFileNode->getStringValue("name", "Titanic"));
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setRadius(scFileNode->getDoubleValue("turn-radius-ft", 2000));
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std::string flightplan = scFileNode->getStringValue("flightplan");
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if (!flightplan.empty()){
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setRepeat(scFileNode->getBoolValue("repeat", false));
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if (!flightplan.empty()) {
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FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
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setFlightPlan(fp);
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}
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}
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bool FGAIShip::init(bool search_in_AI_path) {
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prev = 0; // the one behind you
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curr = 0; // the one ahead
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next = 0; // the next plus 1
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hdg_lock = false;
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rudder = 0.0;
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props->setStringValue("name", _name.c_str());
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props->setStringValue("position/waypoint-name-prev", _prev_name.c_str());
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props->setStringValue("position/waypoint-name-curr", _curr_name.c_str());
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props->setStringValue("position/waypoint-name-next", _next_name.c_str());
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_hdg_lock = false;
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_rudder = 0.0;
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no_roll = false;
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rudder_constant = 0.5;
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roll_constant = 0.001;
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speed_constant = 0.05;
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hdg_constant = 0.01;
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_rudder_constant = 0.5;
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_roll_constant = 0.001;
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_speed_constant = 0.05;
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_hdg_constant = 0.01;
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_rd_turn_radius_ft = _sp_turn_radius_ft = turn_radius_ft;
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_fp_init = false;
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_missed = false;
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_waiting = false;
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_new_waypoint = true;
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_missed_count = 0;
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_wait_count = 0;
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_missed_time_sec = 30;
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_wp_range = _old_range = 0;
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_range_rate = 0;
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if (fp)
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_fp_init = initFlightPlan();
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return FGAIBase::init(search_in_AI_path);
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}
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void FGAIShip::bind() {
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FGAIBase::bind();
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props->tie("surface-positions/rudder-pos-deg",
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SGRawValuePointer<float>(&rudder));
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SGRawValuePointer<float>(&_rudder));
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props->tie("controls/heading-lock",
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SGRawValuePointer<bool>(&hdg_lock));
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SGRawValuePointer<bool>(&_hdg_lock));
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props->tie("controls/tgt-speed-kts",
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SGRawValuePointer<double>(&tgt_speed));
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props->tie("controls/tgt-heading-degs",
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SGRawValuePointer<double>(&tgt_heading));
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props->tie("controls/constants/rudder",
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SGRawValuePointer<double>(&rudder_constant));
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SGRawValuePointer<double>(&_rudder_constant));
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props->tie("controls/constants/roll",
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SGRawValuePointer<double>(&roll_constant));
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SGRawValuePointer<double>(&_roll_constant));
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props->tie("controls/constants/rudder",
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SGRawValuePointer<double>(&rudder_constant));
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SGRawValuePointer<double>(&_rudder_constant));
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props->tie("controls/constants/speed",
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SGRawValuePointer<double>(&speed_constant));
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props->setStringValue("name", name.c_str());
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SGRawValuePointer<double>(&_speed_constant));
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props->tie("position/waypoint-range-nm",
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SGRawValuePointer<double>(&_wp_range));
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props->tie("position/waypoint-range-old-nm",
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SGRawValuePointer<double>(&_old_range));
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props->tie("position/waypoint-range-rate-nm-sec",
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SGRawValuePointer<double>(&_range_rate));
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props->tie("position/waypoint-new",
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SGRawValuePointer<bool>(&_new_waypoint));
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props->tie("position/waypoint-missed",
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SGRawValuePointer<bool>(&_missed));
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props->tie("position/waypoint-missed-count",
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SGRawValuePointer<double>(&_missed_count));
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props->tie("position/waypoint-missed-time-sec",
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SGRawValuePointer<double>(&_missed_time_sec));
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props->tie("position/waypoint-wait-count",
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SGRawValuePointer<double>(&_wait_count));
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props->tie("position/waypoint-waiting",
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SGRawValuePointer<bool>(&_waiting));
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}
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void FGAIShip::unbind() {
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@ -96,144 +152,171 @@ void FGAIShip::unbind() {
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props->untie("controls/constants/roll");
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props->untie("controls/constants/rudder");
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props->untie("controls/constants/speed");
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props->untie("position/waypoint-range-nm");
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props->untie("position/waypoint-range-old-nm");
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props->untie("position/waypoint-range-rate-nm-sec");
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props->untie("position/waypoint-new");
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props->untie("position/waypoint-missed");
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props->untie("position/waypoint-wait-count");
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props->untie("position/waypoint-waiting");
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props->untie("position/waypoint-missed-time-sec");
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}
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void FGAIShip::update(double dt) {
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FGAIBase::update(dt);
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Run(dt);
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Transform();
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}
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void FGAIShip::Run(double dt) {
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if (fp) ProcessFlightPlan(dt);
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if (_fp_init)
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ProcessFlightPlan(dt);
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double sp_turn_radius_ft;
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double rd_turn_radius_ft;
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double speed_north_deg_sec;
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double speed_east_deg_sec;
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double dist_covered_ft;
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double alpha;
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double rudder_limit;
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double raw_roll;
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// adjust speed
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double speed_diff = tgt_speed - speed;
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if (fabs(speed_diff) > 0.1) {
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if (speed_diff > 0.0) speed += speed_constant * dt;
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if (speed_diff < 0.0) speed -= speed_constant * dt;
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if (speed_diff > 0.0)
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speed += _speed_constant * dt;
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if (speed_diff < 0.0)
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speed -= _speed_constant * dt;
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}
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// do not allow unreasonable ship speeds
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if (speed > 40)
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speed = 40;
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// convert speed to degrees per second
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speed_north_deg_sec = cos( hdg / SGD_RADIANS_TO_DEGREES )
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speed_north_deg_sec = cos(hdg / SGD_RADIANS_TO_DEGREES)
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* speed * 1.686 / ft_per_deg_lat;
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speed_east_deg_sec = sin( hdg / SGD_RADIANS_TO_DEGREES )
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speed_east_deg_sec = sin(hdg / SGD_RADIANS_TO_DEGREES)
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* speed * 1.686 / ft_per_deg_lon;
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// set new position
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pos.setLatitudeDeg( pos.getLatitudeDeg() + speed_north_deg_sec * dt);
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pos.setLongitudeDeg( pos.getLongitudeDeg() + speed_east_deg_sec * dt);
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pos.setLatitudeDeg(pos.getLatitudeDeg() + speed_north_deg_sec * dt);
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pos.setLongitudeDeg(pos.getLongitudeDeg() + speed_east_deg_sec * dt);
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// adjust heading based on current _rudder angle
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// adjust heading based on current rudder angle
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if (rudder <= -0.25 || rudder >= 0.25) {
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/* turn_radius_ft = 0.088362 * speed * speed
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/ tan( fabs(rudder) / SG_RADIANS_TO_DEGREES );
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turn_circum_ft = SGD_2PI * turn_radius_ft;
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dist_covered_ft = speed * 1.686 * dt;
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alpha = dist_covered_ft / turn_circum_ft * 360.0;*/
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//cout << "turn_radius_ft " << turn_radius_ft ;
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if (turn_radius_ft <= 0) turn_radius_ft = 0; // don't allow nonsense values
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if (rudder > 45) rudder = 45;
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if (rudder < -45) rudder = -45;
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if (turn_radius_ft <= 0)
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turn_radius_ft = 0; // don't allow nonsense values
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// adjust turn radius for speed. The equation is very approximate.
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sp_turn_radius_ft = 10 * pow ((speed - 15),2) + turn_radius_ft;
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// cout << " speed turn radius " << sp_turn_radius_ft ;
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if (_rudder > 45)
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_rudder = 45;
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// adjust turn radius for rudder angle. The equation is even more approximate.
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if (_rudder < -45)
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_rudder = -45;
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//we assume that at slow speed ships will manoeuvre using engines/bow thruster
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if (fabs(speed)<=5)
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_sp_turn_radius_ft = 500;
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else
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// adjust turn radius for speed. The equation is very approximate.
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// we need to allow for negative speeds
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_sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft;
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//cout << " speed turn radius " << _sp_turn_radius_ft ;
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if (_rudder <= -0.25 || _rudder >= 0.25) {
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// adjust turn radius for _rudder angle. The equation is even more approximate.
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float a = 19;
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float b = -0.2485;
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float c = 0.543;
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rd_turn_radius_ft = (a * exp(b * fabs(rudder)) + c) * sp_turn_radius_ft;
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_rd_turn_radius_ft = (a * exp(b * fabs(_rudder)) + c) * _sp_turn_radius_ft;
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// cout <<" rudder turn radius " << rd_turn_radius_ft << endl;
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//cout <<" _rudder turn radius " << _rd_turn_radius_ft << endl;
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// calculate the angle, alpha, subtended by the arc traversed in time dt
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alpha = ((speed * 1.686 * dt)/rd_turn_radius_ft) * SG_RADIANS_TO_DEGREES;
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// calculate the angle, alpha, subtended by the arc traversed in time dt
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alpha = ((speed * 1.686 * dt) / _rd_turn_radius_ft) * SG_RADIANS_TO_DEGREES;
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// make sure that alpha is applied in the right direction
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hdg += alpha * sign(_rudder);
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// make sure that alpha is applied in the right direction
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hdg += alpha * sign( rudder );
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if ( hdg > 360.0 ) hdg -= 360.0;
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if ( hdg < 0.0) hdg += 360.0;
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if (hdg > 360.0)
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hdg -= 360.0;
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//adjust roll for rudder angle and speed. Another bit of voodoo
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raw_roll = -0.0166667 * speed * rudder;
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}
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else
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{
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// rudder angle is 0
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if (hdg < 0.0)
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hdg += 360.0;
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//adjust roll for _rudder angle and speed. Another bit of voodoo
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raw_roll = -0.0166667 * speed * _rudder;
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} else {
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// _rudder angle is 0
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raw_roll = 0;
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// cout << " roll "<< roll << endl;
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}
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//low pass filter
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roll = (raw_roll * roll_constant) + (roll * (1 - roll_constant));
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if (speed < 0)
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roll = -roll;
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/*cout << " rudder: " << rudder << " raw roll: "<< raw_roll<<" roll: " << roll ;
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cout << " hdg: " << hdg << endl ;*/
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roll = (raw_roll * _roll_constant) + (roll * (1 - _roll_constant));
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// adjust target rudder angle if heading lock engaged
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if (hdg_lock) {
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// adjust target _rudder angle if heading lock engaged
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if (_hdg_lock) {
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double rudder_sense = 0.0;
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double diff = fabs(hdg - tgt_heading);
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if (diff > 180) diff = fabs(diff - 360);
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//cout << "_rudder diff" << diff << endl;
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if (diff > 180)
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diff = fabs(diff - 360);
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double sum = hdg + diff;
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if (sum > 360.0) sum -= 360.0;
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if (fabs(sum - tgt_heading) < 1.0) {
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if (sum > 360.0)
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sum -= 360.0;
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if (fabs(sum - tgt_heading)< 1.0)
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rudder_sense = 1.0;
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} else {
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rudder_sense = -1.0;
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}
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if (diff < 15){
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tgt_rudder = diff * rudder_sense;
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}
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else
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{
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tgt_rudder = 45 * rudder_sense;
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}
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rudder_sense = -1.0;
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if (speed < 0)
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rudder_sense = -rudder_sense;
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if (diff < 15)
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_tgt_rudder = diff * rudder_sense;
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else
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_tgt_rudder = 45 * rudder_sense;
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}
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// adjust rudder angle
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double rudder_diff = tgt_rudder - rudder;
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// set the rudder limit by speed
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if (speed <= 40 ){
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// adjust _rudder angle
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double rudder_diff = _tgt_rudder - _rudder;
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// set the _rudder limit by speed
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if (speed <= 40)
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rudder_limit = (-0.825 * speed) + 35;
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}else{
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else
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rudder_limit = 2;
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if (fabs(rudder_diff)> 0.1) { // apply dead zone
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if (rudder_diff > 0.0) {
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_rudder += _rudder_constant * dt;
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if (_rudder > rudder_limit) // apply the _rudder limit
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_rudder = rudder_limit;
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} else if (rudder_diff < 0.0) {
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_rudder -= _rudder_constant * dt;
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if (_rudder < -rudder_limit)
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_rudder = -rudder_limit;
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}
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if (fabs(rudder_diff) > 0.1) {
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if (rudder_diff > 0.0){
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rudder += rudder_constant * dt;
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if (rudder > rudder_limit) rudder = rudder_limit;// apply the rudder limit
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} else if (rudder_diff < 0.0){
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rudder -= rudder_constant * dt;
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if (rudder < -rudder_limit) rudder = -rudder_limit;
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}
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}
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}//end function
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void FGAIShip::AccelTo(double speed) {
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tgt_speed = speed;
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}
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@ -242,30 +325,27 @@ void FGAIShip::PitchTo(double angle) {
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tgt_pitch = angle;
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}
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void FGAIShip::RollTo(double angle) {
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tgt_roll = angle;
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}
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void FGAIShip::YawTo(double angle) {
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}
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void FGAIShip::ClimbTo(double altitude) {
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}
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void FGAIShip::TurnTo(double heading) {
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tgt_heading = heading;
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hdg_lock = true;
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_hdg_lock = true;
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}
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double FGAIShip::sign(double x) {
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if ( x < 0.0 ) { return -1.0; }
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else { return 1.0; }
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if (x < 0.0)
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return -1.0;
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else
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return 1.0;
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}
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void FGAIShip::setFlightPlan(FGAIFlightPlan* f) {
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||||
|
|
@ -273,17 +353,235 @@ void FGAIShip::setFlightPlan(FGAIFlightPlan* f) {
|
|||
}
|
||||
|
||||
void FGAIShip::setName(const string& n) {
|
||||
name = n;
|
||||
_name = n;
|
||||
}
|
||||
|
||||
void FGAIShip::setCurrName(const string& c) {
|
||||
_curr_name = c;
|
||||
props->setStringValue("position/waypoint-name-curr", _curr_name.c_str());
|
||||
}
|
||||
|
||||
void FGAIShip::setNextName(const string& n) {
|
||||
_next_name = n;
|
||||
props->setStringValue("position/waypoint-name-next", _next_name.c_str());
|
||||
}
|
||||
|
||||
void FGAIShip::setPrevName(const string& p) {
|
||||
_prev_name = p;
|
||||
props->setStringValue("position/waypoint-name-prev", _prev_name.c_str());
|
||||
}
|
||||
|
||||
void FGAIShip::setRepeat(bool r) {
|
||||
_repeat = r;
|
||||
}
|
||||
|
||||
void FGAIShip::setMissed(bool m) {
|
||||
_missed = m;
|
||||
props->setBoolValue("position/waypoint-missed", _missed);
|
||||
}
|
||||
|
||||
void FGAIShip::ProcessFlightPlan(double dt) {
|
||||
// not implemented yet
|
||||
}
|
||||
|
||||
_missed = false;
|
||||
_dt_count += dt;
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////
|
||||
// Check Execution time (currently once every 1 sec)
|
||||
// Add a bit of randomization to prevent the execution of all flight plans
|
||||
// in synchrony, which can add significant periodic framerate flutter.
|
||||
///////////////////////////////////////////////////////////////////////////
|
||||
if (_dt_count < _next_run)
|
||||
return;
|
||||
|
||||
_next_run = 1.0 + (0.5 * sg_random());
|
||||
|
||||
// check to see if we've reached the point for our next turn
|
||||
// if the range to the waypoint is less than the calculated turn
|
||||
// radius we can start the turn to the next leg
|
||||
_wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
|
||||
_range_rate = (_wp_range - _old_range) / _dt_count;
|
||||
double sp_turn_radius_nm = _sp_turn_radius_ft / 6076.1155;
|
||||
|
||||
// we need to try to identify a _missed waypoint
|
||||
|
||||
// calculate the time needed to turn through an arc of 90 degrees, and allow an error of 30 secs
|
||||
if (speed != 0)
|
||||
_missed_time_sec = 30 + ((SGD_PI * sp_turn_radius_nm * 60 * 60) / (2 * fabs(speed)));
|
||||
else
|
||||
_missed_time_sec = 30;
|
||||
|
||||
if ((_range_rate > 0) && (_wp_range < 3 * sp_turn_radius_nm) && !_new_waypoint)
|
||||
_missed_count += _dt_count;
|
||||
|
||||
|
||||
if (_missed_count >= _missed_time_sec) {
|
||||
setMissed(true);
|
||||
} else {
|
||||
setMissed(false);
|
||||
}
|
||||
|
||||
_old_range = _wp_range;
|
||||
|
||||
if ((_wp_range < sp_turn_radius_nm) || _missed || _waiting && !_new_waypoint) {
|
||||
|
||||
if (_next_name == "END") {
|
||||
|
||||
if (_repeat) {
|
||||
SG_LOG(SG_GENERAL, SG_INFO, "AIShip: Flightplan restarting ");
|
||||
fp->restart();
|
||||
prev = curr;
|
||||
curr = fp->getCurrentWaypoint();
|
||||
next = fp->getNextWaypoint();
|
||||
setWPNames();
|
||||
_wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
|
||||
_old_range = _wp_range;
|
||||
_range_rate = 0;
|
||||
_new_waypoint = true;
|
||||
_missed_count = 0;
|
||||
AccelTo(prev->speed);
|
||||
} else {
|
||||
SG_LOG(SG_GENERAL, SG_INFO, "AIShip: Flightplan dieing ");
|
||||
setDie(true);
|
||||
_dt_count = 0;
|
||||
return;
|
||||
}
|
||||
|
||||
} else if (_next_name == "WAIT") {
|
||||
|
||||
if (_wait_count < next->wait_time) {
|
||||
SG_LOG(SG_GENERAL, SG_INFO, "AIShip: " << _name << " _waiting ");
|
||||
setSpeed(0);
|
||||
_waiting = true;
|
||||
_wait_count += _dt_count;
|
||||
_dt_count = 0;
|
||||
return;
|
||||
} else {
|
||||
SG_LOG(SG_GENERAL, SG_INFO, "AIShip: " << _name << " wait done: getting new waypoints ");
|
||||
prev = curr;
|
||||
fp->IncrementWaypoint(false);
|
||||
fp->IncrementWaypoint(false); // do it twice
|
||||
curr = fp->getCurrentWaypoint();
|
||||
next = fp->getNextWaypoint();
|
||||
_waiting = false;
|
||||
_wait_count = 0;
|
||||
}
|
||||
|
||||
} else {
|
||||
//now reorganise the waypoints, so that next becomes current and so on
|
||||
SG_LOG(SG_GENERAL, SG_INFO, "AIShip: " << _name << " getting new waypoints ");
|
||||
fp->IncrementWaypoint(false);
|
||||
prev = fp->getPreviousWaypoint(); //first waypoint
|
||||
curr = fp->getCurrentWaypoint(); //second waypoint
|
||||
next = fp->getNextWaypoint(); //third waypoint (might not exist!)
|
||||
}
|
||||
|
||||
setWPNames();
|
||||
_new_waypoint = true;
|
||||
_missed_count = 0;
|
||||
_range_rate = 0;
|
||||
_wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
|
||||
_old_range = _wp_range;
|
||||
AccelTo(prev->speed);
|
||||
} else {
|
||||
_new_waypoint = false;
|
||||
}
|
||||
|
||||
// now revise the required course for the next way point
|
||||
double course = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
|
||||
|
||||
if (finite(course))
|
||||
TurnTo(course);
|
||||
else
|
||||
SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: Bearing or Range is not a finite number");
|
||||
|
||||
_dt_count = 0;
|
||||
} // end Processing FlightPlan
|
||||
|
||||
void FGAIShip::setRudder(float r) {
|
||||
rudder = r;
|
||||
_rudder = r;
|
||||
}
|
||||
|
||||
void FGAIShip::setRoll(double rl) {
|
||||
roll = rl;
|
||||
}
|
||||
|
||||
double FGAIShip::getRange(double lat, double lon, double lat2, double lon2) const {
|
||||
|
||||
double course, distance, az2;
|
||||
|
||||
//calculate the bearing and range of the second pos from the first
|
||||
geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
|
||||
distance *= SG_METER_TO_NM;
|
||||
return distance;
|
||||
}
|
||||
|
||||
double FGAIShip::getCourse(double lat, double lon, double lat2, double lon2) const {
|
||||
|
||||
double course, distance, recip;
|
||||
|
||||
//calculate the bearing and range of the second pos from the first
|
||||
geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &recip, &distance);
|
||||
if (tgt_speed >= 0) {
|
||||
return course;
|
||||
} else {
|
||||
return recip;
|
||||
}
|
||||
}
|
||||
|
||||
bool FGAIShip::initFlightPlan() {
|
||||
SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " initialising waypoints ");
|
||||
fp->restart();
|
||||
fp->IncrementWaypoint(false);
|
||||
|
||||
prev = fp->getPreviousWaypoint(); //first waypoint
|
||||
curr = fp->getCurrentWaypoint(); //second waypoint
|
||||
next = fp->getNextWaypoint(); //third waypoint (might not exist!)
|
||||
|
||||
if (curr->name == "WAIT") { // don't wait when initialising
|
||||
SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " re-initialising waypoints ");
|
||||
fp->IncrementWaypoint(false);
|
||||
curr = fp->getCurrentWaypoint();
|
||||
next = fp->getNextWaypoint();
|
||||
}
|
||||
|
||||
setWPNames();
|
||||
setLatitude(prev->latitude);
|
||||
setLongitude(prev->longitude);
|
||||
setSpeed(prev->speed);
|
||||
setHeading(getCourse(prev->latitude, prev->longitude, curr->latitude, curr->longitude));
|
||||
_hdg_lock = true;
|
||||
_wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
|
||||
_old_range = _wp_range;
|
||||
_range_rate = 0;
|
||||
_missed = false;
|
||||
_missed_count = 0;
|
||||
_new_waypoint = true;
|
||||
|
||||
SG_LOG(SG_GENERAL, SG_INFO, "AIShip: " << _name << " done initialising waypoints ");
|
||||
|
||||
if (prev)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
|
||||
} // end of initialization
|
||||
|
||||
void FGAIShip::setWPNames() {
|
||||
|
||||
if (prev != 0)
|
||||
setPrevName(prev->name);
|
||||
else
|
||||
setPrevName("");
|
||||
|
||||
setCurrName(curr->name);
|
||||
|
||||
if (next != 0)
|
||||
setNextName(next->name);
|
||||
else
|
||||
setNextName("");
|
||||
|
||||
SG_LOG(SG_GENERAL, SG_INFO, "AIShip: prev wp name " << prev->name);
|
||||
SG_LOG(SG_GENERAL, SG_INFO, "AIShip: current wp name " << curr->name);
|
||||
SG_LOG(SG_GENERAL, SG_INFO, "AIShip: next wp name " << next->name);
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,6 +1,7 @@
|
|||
// FGAIShip - AIBase derived class creates an AI ship
|
||||
//
|
||||
// Written by David Culp, started November 2003.
|
||||
// with major amendments and additions by Vivian Meazza, 2004 - 2007
|
||||
//
|
||||
// Copyright (C) 2003 David P. Culp - davidculp2@comcast.net
|
||||
//
|
||||
|
|
@ -22,6 +23,8 @@
|
|||
#define _FG_AISHIP_HXX
|
||||
|
||||
#include "AIBase.hxx"
|
||||
#include "AIFlightPlan.hxx"
|
||||
|
||||
class FGAIManager;
|
||||
|
||||
class FGAIShip : public FGAIBase {
|
||||
|
|
@ -41,30 +44,59 @@ public:
|
|||
void setName(const string&);
|
||||
void setRudder(float r);
|
||||
void setRoll(double rl);
|
||||
|
||||
void ProcessFlightPlan( double dt );
|
||||
|
||||
void ProcessFlightPlan( double dt);
|
||||
void AccelTo(double speed);
|
||||
void PitchTo(double angle);
|
||||
void RollTo(double angle);
|
||||
void YawTo(double angle);
|
||||
void ClimbTo(double altitude);
|
||||
void TurnTo(double heading);
|
||||
bool hdg_lock;
|
||||
void setCurrName(const string&);
|
||||
void setNextName(const string&);
|
||||
void setPrevName(const string&);
|
||||
|
||||
bool _hdg_lock;
|
||||
|
||||
virtual const char* getTypeString(void) const { return "ship"; }
|
||||
|
||||
protected:
|
||||
|
||||
string name; // The name of this ship.
|
||||
string _name; // The _name of this ship.
|
||||
|
||||
private:
|
||||
|
||||
float rudder, tgt_rudder;
|
||||
double rudder_constant, roll_constant, speed_constant, hdg_constant;
|
||||
FGAIFlightPlan::waypoint* prev; // the one behind you
|
||||
FGAIFlightPlan::waypoint* curr; // the one ahead
|
||||
FGAIFlightPlan::waypoint* next; // the next plus 1
|
||||
|
||||
virtual void reinit() { init(); }
|
||||
|
||||
void setRepeat(bool r);
|
||||
void setMissed(bool m);
|
||||
void setWPNames();
|
||||
void Run(double dt);
|
||||
double getRange(double lat, double lon, double lat2, double lon2) const;
|
||||
double getCourse(double lat, double lon, double lat2, double lon2) const;
|
||||
double sign(double x);
|
||||
|
||||
bool initFlightPlan();
|
||||
|
||||
float _rudder, _tgt_rudder;
|
||||
|
||||
double _rudder_constant, _roll_constant, _speed_constant, _hdg_constant;
|
||||
double _sp_turn_radius_ft, _rd_turn_radius_ft;
|
||||
double _wp_range, _old_range, _range_rate;
|
||||
double _dt_count, _missed_count, _wait_count;
|
||||
double _next_run;
|
||||
double _missed_time_sec;
|
||||
|
||||
string _prev_name, _curr_name, _next_name;
|
||||
|
||||
bool _repeat;
|
||||
bool _fp_init;
|
||||
bool _new_waypoint;
|
||||
bool _missed, _waiting;
|
||||
|
||||
};
|
||||
|
||||
#endif // _FG_AISHIP_HXX
|
||||
|
|
|
|||
Loading…
Reference in a new issue