From 1dc3ecf016f633e145540e614443ea15a409589a Mon Sep 17 00:00:00 2001
From: Vivian Meazza <vivian.meazza@lineone.net>
Date: Fri, 10 Sep 2010 23:51:25 +0100
Subject: [PATCH] Make AI Objects of type Wingman, Escort, and GroundVehicle
able to be stationed or formated to any AI Object type which can be named -
Carrier, Ship, Tanker, Wingman etc.
Signed-off-by: Vivian Meazza <vivian.meazza@lineone.net>
---
src/AIModel/AIBallistic.cxx | 45 ++---
src/AIModel/AIBallistic.hxx | 3 +-
src/AIModel/AIBase.cxx | 10 +-
src/AIModel/AIBase.hxx | 16 ++
src/AIModel/AIGroundVehicle.cxx | 117 ++++---------
src/AIModel/AIManager.cxx | 5 +-
src/AIModel/AIManager.hxx | 4 +
src/AIModel/AIShip.cxx | 7 +-
src/AIModel/AIShip.hxx | 294 ++++++++++++++++----------------
src/AIModel/AITanker.cxx | 173 ++++++++++---------
10 files changed, 332 insertions(+), 342 deletions(-)
diff --git a/src/AIModel/AIBallistic.cxx b/src/AIModel/AIBallistic.cxx
index 5446a5d35..261885b24 100644
--- a/src/AIModel/AIBallistic.cxx
+++ b/src/AIModel/AIBallistic.cxx
@@ -392,10 +392,6 @@ void FGAIBallistic::setImpactReportNode(const string& path) {
_impact_report_node = fgGetNode(path.c_str(), true);
}
-void FGAIBallistic::setName(const string& n) {
- _name = n;
-}
-
void FGAIBallistic::setSMPath(const string& s) {
_path = s;
//cout << "submodel path " << _path << endl;
@@ -458,6 +454,8 @@ void FGAIBallistic::setParentNodes(SGPropertyNode_ptr node) {
_p_lat_node = _p_pos_node->getChild("latitude-deg", 0, true);
_p_lon_node = _p_pos_node->getChild("longitude-deg", 0, true);
_p_alt_node = _p_pos_node->getChild("altitude-ft", 0, true);
+ _p_agl_node = _p_pos_node->getChild("altitude-agl-ft", 0, true);
+
_p_ori_node = _pnode->getChild("orientation", 0, true);
_p_pch_node = _p_ori_node->getChild("pitch-deg", 0, true);
@@ -472,7 +470,7 @@ void FGAIBallistic::setParentNodes(SGPropertyNode_ptr node) {
void FGAIBallistic::setParentPos() {
- if (_pnode != 0) {
+ if (_pnode != 0) {
double lat = _p_lat_node->getDoubleValue();
double lon = _p_lon_node->getDoubleValue();
double alt = _p_alt_node->getDoubleValue();
@@ -480,6 +478,7 @@ void FGAIBallistic::setParentPos() {
_parentpos.setLongitudeDeg(lon);
_parentpos.setLatitudeDeg(lat);
_parentpos.setElevationFt(alt);
+
}
}
@@ -623,19 +622,21 @@ void FGAIBallistic::setTgtZOffset(double z){
void FGAIBallistic::slaveToAC(double dt){
- double hdg, pch, rll = 0;
+ double hdg, pch, rll, agl = 0;
if (_pnode != 0) {
setParentPos();
hdg = _p_hdg_node->getDoubleValue();
pch = _p_pch_node->getDoubleValue();
rll = _p_rll_node->getDoubleValue();
+ agl = _p_agl_node->getDoubleValue();
setOffsetPos(_parentpos, hdg, pch, rll);
setSpeed(_p_spd_node->getDoubleValue());
}else {
hdg = manager->get_user_heading();
pch = manager->get_user_pitch();
rll = manager->get_user_roll();
+ agl = manager->get_user_agl();
setOffsetPos(userpos, hdg, pch, rll);
setSpeed(manager->get_user_speed());
}
@@ -1149,7 +1150,7 @@ void FGAIBallistic::setTgtOffsets(double dt, double coeff){
void FGAIBallistic::formateToAC(double dt){
- double hdg, pch, rll = 0;
+ double hdg, pch, rll, agl, ht = 0;
setTgtOffsets(dt, 25);
@@ -1158,12 +1159,16 @@ void FGAIBallistic::formateToAC(double dt){
hdg = _p_hdg_node->getDoubleValue();
pch = _p_pch_node->getDoubleValue();
rll = _p_rll_node->getDoubleValue();
+ agl = _p_agl_node->getDoubleValue();
+ ht = _p_alt_node->getDoubleValue();
setOffsetPos(_parentpos, hdg, pch, rll);
setSpeed(_p_spd_node->getDoubleValue());
}else {
hdg = manager->get_user_heading();
pch = manager->get_user_pitch();
rll = manager->get_user_roll();
+ agl = manager->get_user_agl();
+ ht = manager->get_user_altitude();
setOffsetPos(userpos, hdg, pch, rll);
setSpeed(manager->get_user_speed());
}
@@ -1183,20 +1188,22 @@ void FGAIBallistic::formateToAC(double dt){
pos.setLatitudeDeg(_offsetpos.getLatitudeDeg());
pos.setLongitudeDeg(_offsetpos.getLongitudeDeg());
- if (getHtAGL(10000)){
-
- if(_ht_agl_ft <= 10) {
- _height = userpos.getElevationFt();
- } else if (_ht_agl_ft > 10 && _ht_agl_ft <= 150 ) {
- setHt(userpos.getElevationFt(), dt, 1.0);
- } else if (_ht_agl_ft > 150 && _ht_agl_ft <= 250) {
- setHt(_offsetpos.getElevationFt()+ h_feet, dt, 0.75);
- } else
- setHt(_offsetpos.getElevationFt()+ h_feet, dt, 0.5);
-
- pos.setElevationFt(_height);
+ if(agl <= 10) {
+ _height = ht;
+ //cout << "ht case1" << endl;
+ } else if (agl > 10 && agl <= 150 ) {
+ setHt(ht, dt, 1.0);
+ //cout << "ht case2" << endl;
+ } else if (agl > 150 && agl <= 250) {
+ setHt(_offsetpos.getElevationFt()+ h_feet, dt, 0.75);
+ //cout << "ht case3" << endl;
+ } else{
+ setHt(_offsetpos.getElevationFt()+ h_feet, dt, 0.5);
+ //cout << "ht case4" << endl;
}
+ pos.setElevationFt(_height);
+
// these calculations are unreliable at slow speeds
if(speed >= 10) {
setHdg(_azimuth + h_angle, dt, 0.9);
diff --git a/src/AIModel/AIBallistic.hxx b/src/AIModel/AIBallistic.hxx
index a9566221f..843c3db6b 100644
--- a/src/AIModel/AIBallistic.hxx
+++ b/src/AIModel/AIBallistic.hxx
@@ -69,7 +69,7 @@ public:
void setNoRoll( bool nr );
void setRandom( bool r );
void setRandomness( double r );
- void setName(const string&);
+// void setName(const string&);
void setCollision(bool c);
void setExpiry(bool e);
void setImpact(bool i);
@@ -179,6 +179,7 @@ private:
SGPropertyNode_ptr _p_lat_node;
SGPropertyNode_ptr _p_lon_node;
SGPropertyNode_ptr _p_alt_node;
+ SGPropertyNode_ptr _p_agl_node;
SGPropertyNode_ptr _p_ori_node;
SGPropertyNode_ptr _p_pch_node;
SGPropertyNode_ptr _p_rll_node;
diff --git a/src/AIModel/AIBase.cxx b/src/AIModel/AIBase.cxx
index 8681bc1b1..501bb32cb 100644
--- a/src/AIModel/AIBase.cxx
+++ b/src/AIModel/AIBase.cxx
@@ -69,7 +69,9 @@ FGAIBase::FGAIBase(object_type ot) :
_refID( _newAIModelID() ),
_otype(ot),
_initialized(false),
- _parent("")
+ _parent(""),
+ _name("")
+
{
tgt_heading = hdg = tgt_altitude_ft = tgt_speed = 0.0;
tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
@@ -615,6 +617,12 @@ double FGAIBase::_getAltitude() const {
return altitude_ft;
}
+double FGAIBase::_getAltitudeAGL(SGGeod inpos, double start){
+ getGroundElevationM(SGGeod::fromGeodM(inpos, start),
+ _elevation_m, &_material);
+ return inpos.getElevationFt() - _elevation_m * SG_METER_TO_FEET;
+}
+
bool FGAIBase::_getServiceable() const {
return serviceable;
}
diff --git a/src/AIModel/AIBase.hxx b/src/AIModel/AIBase.hxx
index c1a533bed..fbaccd38f 100644
--- a/src/AIModel/AIBase.hxx
+++ b/src/AIModel/AIBase.hxx
@@ -66,6 +66,7 @@ public:
void setCallSign(const string& );
void setSpeed( double speed_KTAS );
void setAltitude( double altitude_ft );
+ void setAltitudeAGL( double altitude_agl_ft );
void setHeading( double heading );
void setLatitude( double latitude );
void setLongitude( double longitude );
@@ -86,6 +87,7 @@ public:
void setImpactLon( double lon );
void setImpactElev( double e );
void setParentName(const string& p);
+ void setName(const string& n);
bool setParentNode();
int getID() const;
@@ -99,6 +101,9 @@ public:
bool getGroundElevationM(const SGGeod& pos, double& elev,
const SGMaterial** material) const;
+ double _elevation_m;
+ const SGMaterial* _material;
+
double _getCartPosX() const;
double _getCartPosY() const;
double _getCartPosZ() const;
@@ -139,6 +144,7 @@ protected:
double speed_north_deg_sec;
double speed_east_deg_sec;
double turn_radius_ft; // turn radius ft at 15 kts rudder angle 15 degrees
+ double altitude_agl_ft;
double ft_per_deg_lon;
double ft_per_deg_lat;
@@ -216,6 +222,8 @@ public:
void _setSubID( int s );
void _setUserPos();
+ double _getAltitudeAGL(SGGeod inpos, double start);
+
double _getVS_fps() const;
double _getAltitude() const;
double _getLongitude() const;
@@ -317,6 +325,10 @@ inline void FGAIBase::setAltitude( double alt_ft ) {
pos.setElevationFt(altitude_ft);
}
+inline void FGAIBase::setAltitudeAGL( double alt_ft ) {
+ altitude_agl_ft = alt_ft;
+}
+
inline void FGAIBase::setBank( double bank ) {
roll = tgt_roll = bank;
no_roll = false;
@@ -365,6 +377,10 @@ inline void FGAIBase::setParentName(const string& p) {
_parent = p;
}
+inline void FGAIBase::setName(const string& n) {
+ _name = n;
+}
+
inline void FGAIBase::setDie( bool die ) { delete_me = die; }
inline bool FGAIBase::getDie() { return delete_me; }
diff --git a/src/AIModel/AIGroundVehicle.cxx b/src/AIModel/AIGroundVehicle.cxx
index 1303b60e0..83e67626d 100644
--- a/src/AIModel/AIGroundVehicle.cxx
+++ b/src/AIModel/AIGroundVehicle.cxx
@@ -232,38 +232,38 @@ void FGAIGroundVehicle::setTowAngle(double ta, double dt, double coeff){
SG_CLAMP_RANGE(_tow_angle, -limit, limit);
}
-bool FGAIGroundVehicle::getGroundElev(SGGeod inpos) {
-
- double height_m ;
-
- if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(inpos, 3000), height_m, &_material,0)){
- _ht_agl_ft = inpos.getElevationFt() - height_m * SG_METER_TO_FEET;
-
- if (_material) {
- const vector<string>& names = _material->get_names();
-
- _solid = _material->get_solid();
-
- if (!names.empty())
- props->setStringValue("material/name", names[0].c_str());
- else
- props->setStringValue("material/name", "");
-
- //cout << "material " << names[0].c_str()
- // << " _elevation_m " << _elevation_m
- // << " solid " << _solid
- // << " load " << _load_resistance
- // << " frictionFactor " << _frictionFactor
- // << endl;
-
- }
-
- return true;
- } else {
- return false;
- }
-
-}
+//bool FGAIGroundVehicle::getGroundElev(SGGeod inpos) {
+//
+// double height_m ;
+//
+// if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(inpos, 3000), height_m, &_material,0)){
+// _ht_agl_ft = inpos.getElevationFt() - height_m * SG_METER_TO_FEET;
+//
+// if (_material) {
+// const vector<string>& names = _material->get_names();
+//
+// _solid = _material->get_solid();
+//
+// if (!names.empty())
+// props->setStringValue("material/name", names[0].c_str());
+// else
+// props->setStringValue("material/name", "");
+//
+// //cout << "material " << names[0].c_str()
+// // << " _elevation_m " << _elevation_m
+// // << " solid " << _solid
+// // << " load " << _load_resistance
+// // << " frictionFactor " << _frictionFactor
+// // << endl;
+//
+// }
+//
+// return true;
+// } else {
+// return false;
+// }
+//
+//}
bool FGAIGroundVehicle::getPitch() {
@@ -351,62 +351,9 @@ bool FGAIGroundVehicle::getPitch() {
}
- //getGroundElev(pos);
-
return true;
}
-//void FGAIGroundVehicle::setParentNode() {
-//
-// if(_parent == "")
-// return;
-//
-// const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
-//
-// for (int i = ai->nChildren() - 1; i >= -1; i--) {
-// SGPropertyNode_ptr model;
-//
-// if (i < 0) { // last iteration: selected model
-// model = _selected_ac;
-// } else {
-// model = ai->getChild(i);
-// string path = ai->getPath();
-// const string name = model->getStringValue("name");
-//
-// if (!model->nChildren()){
-// continue;
-// }
-// if (name == _parent) {
-// _selected_ac = model; // save selected model for last iteration
-// break;
-// }
-//
-// }
-// if (!model)
-// continue;
-//
-// }// end for loop
-//
-// if (_selected_ac != 0){
-// const string name = _selected_ac->getStringValue("name");
-// //_parent_x_offset = _selected_ac->getDoubleValue("hitch/x-offset-ft");
-// //_parent_y_offset = _selected_ac->getDoubleValue("hitch/y-offset-ft");
-// //_parent_z_offset = _selected_ac->getDoubleValue("hitch/z-offset-ft");
-// //_hitch_x_offset_m = _selected_ac->getDoubleValue("hitch/x-offset-ft")
-// // * SG_FEET_TO_METER;
-// //_hitch_y_offset_m = _selected_ac->getDoubleValue("hitch/y-offset-ft")
-// // * SG_FEET_TO_METER;
-// //_hitch_z_offset_m = _selected_ac->getDoubleValue("hitch/z-offset-ft")
-// // * SG_FEET_TO_METER;
-// //setParent();
-// } else {
-// SG_LOG(SG_GENERAL, SG_ALERT, "AIGroundVeh1cle: " << _name
-// << " parent not found: dying ");
-// setDie(true);
-// }
-//
-//}
-
void FGAIGroundVehicle::setParent(){
double lat = _selected_ac->getDoubleValue("position/latitude-deg");
diff --git a/src/AIModel/AIManager.cxx b/src/AIModel/AIManager.cxx
index 4255709ab..e54a5bcee 100644
--- a/src/AIModel/AIManager.cxx
+++ b/src/AIModel/AIManager.cxx
@@ -76,6 +76,7 @@ FGAIManager::init() {
user_latitude_node = fgGetNode("/position/latitude-deg", true);
user_longitude_node = fgGetNode("/position/longitude-deg", true);
user_altitude_node = fgGetNode("/position/altitude-ft", true);
+ user_altitude_agl_node = fgGetNode("/position/altitude-agl-ft", true);
user_heading_node = fgGetNode("/orientation/heading-deg", true);
user_pitch_node = fgGetNode("/orientation/pitch-deg", true);
user_yaw_node = fgGetNode("/orientation/side-slip-deg", true);
@@ -248,7 +249,9 @@ FGAIManager::fetchUserState( void ) {
user_speed = user_speed_node->getDoubleValue() * 0.592484;
user_roll = user_roll_node->getDoubleValue();
wind_from_east = wind_from_east_node->getDoubleValue();
- wind_from_north = wind_from_north_node->getDoubleValue();
+ wind_from_north = wind_from_north_node->getDoubleValue();
+ user_altitude_agl = user_altitude_agl_node->getDoubleValue();
+
}
// only keep the results from the nearest thermal
diff --git a/src/AIModel/AIManager.hxx b/src/AIModel/AIManager.hxx
index 8f582801a..891d3a506 100644
--- a/src/AIModel/AIManager.hxx
+++ b/src/AIModel/AIManager.hxx
@@ -81,6 +81,7 @@ public:
inline double get_wind_from_east() const {return wind_from_east; }
inline double get_wind_from_north() const {return wind_from_north; }
inline double get_user_roll() const { return user_roll; }
+ inline double get_user_agl() const { return user_agl; }
int getNumAiObjects(void) const;
@@ -104,6 +105,7 @@ private:
SGPropertyNode_ptr user_latitude_node;
SGPropertyNode_ptr user_longitude_node;
SGPropertyNode_ptr user_altitude_node;
+ SGPropertyNode_ptr user_altitude_agl_node;
SGPropertyNode_ptr user_heading_node;
SGPropertyNode_ptr user_pitch_node;
SGPropertyNode_ptr user_yaw_node;
@@ -115,11 +117,13 @@ private:
double user_latitude;
double user_longitude;
double user_altitude;
+ double user_altitude_agl;
double user_heading;
double user_pitch;
double user_yaw;
double user_roll;
double user_speed;
+ double user_agl;
double wind_from_east;
double wind_from_north;
double _dt;
diff --git a/src/AIModel/AIShip.cxx b/src/AIModel/AIShip.cxx
index a00f9c941..d0a3f3b65 100644
--- a/src/AIModel/AIShip.cxx
+++ b/src/AIModel/AIShip.cxx
@@ -70,8 +70,7 @@ _range_rate(0),
_roll_constant(0.001),
_hdg_constant(0.01),
_roll_factor(-0.0083335),
-_restart(false),
-_name("")
+_restart(false)
{
invisible = false;
@@ -491,10 +490,6 @@ void FGAIShip::setFlightPlan(FGAIFlightPlan* f) {
fp = f;
}
-void FGAIShip::setName(const string& n) {
- _name = n;
-}
-
void FGAIShip::setStartTime(const string& st) {
_start_time = st;
}
diff --git a/src/AIModel/AIShip.hxx b/src/AIModel/AIShip.hxx
index c240dabf3..c15b45731 100644
--- a/src/AIModel/AIShip.hxx
+++ b/src/AIModel/AIShip.hxx
@@ -1,147 +1,147 @@
-// 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
-//
-// 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.
-
-#ifndef _FG_AISHIP_HXX
-#define _FG_AISHIP_HXX
-
-#include "AIBase.hxx"
-#include "AIFlightPlan.hxx"
-#include <simgear/scene/material/mat.hxx>
-
-class FGAIManager;
-
-class FGAIShip : public FGAIBase {
-
-public:
-
- FGAIShip(object_type ot = otShip);
- virtual ~FGAIShip();
-
- virtual void readFromScenario(SGPropertyNode* scFileNode);
-
- virtual bool init(bool search_in_AI_path=false);
- virtual void bind();
- virtual void unbind();
- virtual void update(double dt);
- void setFlightPlan(FGAIFlightPlan* f);
- void setName(const string&);
- void setRudder(float r);
- void setRoll(double rl);
- 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);
- void setCurrName(const string&);
- void setNextName(const string&);
- void setPrevName(const string&);
- void setLeadAngleGain(double g);
- void setLeadAngleLimit(double l);
- void setLeadAngleProp(double p);
- void setRudderConstant(double rc);
- void setSpeedConstant(double sc);
- void setFixedTurnRadius(double ft);
- void setTunnel(bool t);
- void setInitialTunnel(bool t);
-
- void setWPNames();
- void setWPPos();
- double sign(double x);
-
- bool _hdg_lock;
- bool _serviceable;
- bool _waiting;
- bool _new_waypoint;
- bool _tunnel, _initial_tunnel;
- bool _restart;
-
- virtual const char* getTypeString(void) const { return "ship"; }
- double _rudder_constant, _speed_constant, _hdg_constant, _limit ;
- double _elevation_m, _elevation_ft;
- double _missed_range, _tow_angle, _wait_count, _missed_count,_wp_range;
- double _dt_count, _next_run;
-
- FGAIFlightPlan::waypoint* prev; // the one behind you
- FGAIFlightPlan::waypoint* curr; // the one ahead
- FGAIFlightPlan::waypoint* next; // the next plus 1
-
-protected:
-
- string _name; // The name of this ship.
-
-private:
-
-
-
- virtual void reinit() { init(); }
-
- void setRepeat(bool r);
- void setRestart(bool r);
- void setMissed(bool m);
-
- void setServiceable(bool s);
- void Run(double dt);
- void setStartTime(const string&);
- void setUntilTime(const string&);
- //void setWPPos();
- void setWPAlt();
- void setXTrackError();
-
- SGGeod wppos;
-
- const SGMaterial* _material;
-
- double getRange(double lat, double lon, double lat2, double lon2) const;
- double getCourse(double lat, double lon, double lat2, double lon2) const;
- double getDaySeconds();
- double processTimeString(const string& time);
-
- bool initFlightPlan();
- bool advanceFlightPlan (double elapsed_sec, double day_sec);
-
- float _rudder, _tgt_rudder;
-
- double _roll_constant, _roll_factor;
- double _sp_turn_radius_ft, _rd_turn_radius_ft, _fixed_turn_radius;
- double _old_range, _range_rate;
- double _missed_time_sec;
- double _start_sec;
- double _day;
- double _lead_angle;
- double _lead_angle_gain, _lead_angle_limit, _proportion;
- double _course;
- double _xtrack_error;
- double _curr_alt, _prev_alt;
-
- string _prev_name, _curr_name, _next_name;
- string _path;
- string _start_time, _until_time;
-
- bool _repeat;
- bool _fp_init;
- bool _missed;
-
-
-};
-
-#endif // _FG_AISHIP_HXX
+// 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
+//
+// 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.
+
+#ifndef _FG_AISHIP_HXX
+#define _FG_AISHIP_HXX
+
+#include "AIBase.hxx"
+#include "AIFlightPlan.hxx"
+#include <simgear/scene/material/mat.hxx>
+
+class FGAIManager;
+
+class FGAIShip : public FGAIBase {
+
+public:
+
+ FGAIShip(object_type ot = otShip);
+ virtual ~FGAIShip();
+
+ virtual void readFromScenario(SGPropertyNode* scFileNode);
+
+ virtual bool init(bool search_in_AI_path=false);
+ virtual void bind();
+ virtual void unbind();
+ virtual void update(double dt);
+ void setFlightPlan(FGAIFlightPlan* f);
+// void setName(const string&);
+ void setRudder(float r);
+ void setRoll(double rl);
+ 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);
+ void setCurrName(const string&);
+ void setNextName(const string&);
+ void setPrevName(const string&);
+ void setLeadAngleGain(double g);
+ void setLeadAngleLimit(double l);
+ void setLeadAngleProp(double p);
+ void setRudderConstant(double rc);
+ void setSpeedConstant(double sc);
+ void setFixedTurnRadius(double ft);
+ void setTunnel(bool t);
+ void setInitialTunnel(bool t);
+
+ void setWPNames();
+ void setWPPos();
+ double sign(double x);
+
+ bool _hdg_lock;
+ bool _serviceable;
+ bool _waiting;
+ bool _new_waypoint;
+ bool _tunnel, _initial_tunnel;
+ bool _restart;
+
+ virtual const char* getTypeString(void) const { return "ship"; }
+ double _rudder_constant, _speed_constant, _hdg_constant, _limit ;
+ double _elevation_m, _elevation_ft;
+ double _missed_range, _tow_angle, _wait_count, _missed_count,_wp_range;
+ double _dt_count, _next_run;
+
+ FGAIFlightPlan::waypoint* prev; // the one behind you
+ FGAIFlightPlan::waypoint* curr; // the one ahead
+ FGAIFlightPlan::waypoint* next; // the next plus 1
+
+protected:
+
+// string _name; // The name of this ship.
+
+private:
+
+
+
+ virtual void reinit() { init(); }
+
+ void setRepeat(bool r);
+ void setRestart(bool r);
+ void setMissed(bool m);
+
+ void setServiceable(bool s);
+ void Run(double dt);
+ void setStartTime(const string&);
+ void setUntilTime(const string&);
+ //void setWPPos();
+ void setWPAlt();
+ void setXTrackError();
+
+ SGGeod wppos;
+
+ const SGMaterial* _material;
+
+ double getRange(double lat, double lon, double lat2, double lon2) const;
+ double getCourse(double lat, double lon, double lat2, double lon2) const;
+ double getDaySeconds();
+ double processTimeString(const string& time);
+
+ bool initFlightPlan();
+ bool advanceFlightPlan (double elapsed_sec, double day_sec);
+
+ float _rudder, _tgt_rudder;
+
+ double _roll_constant, _roll_factor;
+ double _sp_turn_radius_ft, _rd_turn_radius_ft, _fixed_turn_radius;
+ double _old_range, _range_rate;
+ double _missed_time_sec;
+ double _start_sec;
+ double _day;
+ double _lead_angle;
+ double _lead_angle_gain, _lead_angle_limit, _proportion;
+ double _course;
+ double _xtrack_error;
+ double _curr_alt, _prev_alt;
+
+ string _prev_name, _curr_name, _next_name;
+ string _path;
+ string _start_time, _until_time;
+
+ bool _repeat;
+ bool _fp_init;
+ bool _missed;
+
+
+};
+
+#endif // _FG_AISHIP_HXX
diff --git a/src/AIModel/AITanker.cxx b/src/AIModel/AITanker.cxx
index b123c4512..de9adbb26 100644
--- a/src/AIModel/AITanker.cxx
+++ b/src/AIModel/AITanker.cxx
@@ -1,82 +1,91 @@
-// AITanker.cxx Based on David Culp's AIModel code
-// - Tanker specific code isolated from AI Aircraft code
-// by Thomas Foerster, started June 2007
-//
-//
-// Original code written by David Culp, started October 2003.
-// - 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
-#ifdef HAVE_CONFIG_H
-# include <config.h>
-#endif
-
-#include "AITanker.hxx"
-
-FGAITanker::FGAITanker(FGAISchedule* ref): FGAIAircraft(ref){
-}
-
-FGAITanker::~FGAITanker() {}
-
-void FGAITanker::readFromScenario(SGPropertyNode* scFileNode) {
- if (!scFileNode)
- return;
-
- FGAIAircraft::readFromScenario(scFileNode);
- setTACANChannelID(scFileNode->getStringValue("TACAN-channel-ID"));
-}
-
-void FGAITanker::bind() {
- FGAIAircraft::bind();
-
- props->tie("refuel/contact", SGRawValuePointer<bool>(&contact));
- props->setStringValue("navaids/tacan/channel-ID", TACAN_channel_id.c_str());
- props->setBoolValue("tanker", true);
-}
-
-void FGAITanker::unbind() {
- FGAIAircraft::unbind();
- props->untie("refuel/contact");
-}
-
-void FGAITanker::setTACANChannelID(const string& id) {
- TACAN_channel_id = id;
-}
-
-void FGAITanker::Run(double dt) {
- //FGAIAircraft::Run(dt);
-
- //###########################//
- // do calculations for radar //
- //###########################//
- double range_ft2 = UpdateRadar(manager);
-
- // check if radar contact
- if ( (range_ft2 < 250.0 * 250.0) && (y_shift > 0.0)
- && (elevation > 0.0) ) {
- //refuel_node->setBoolValue(true);
- contact = true;
- } else {
- //refuel_node->setBoolValue(false);
- contact = false;
- }
-}
-
-
-void FGAITanker::update(double dt) {
- FGAIAircraft::update(dt);
- Run(dt);
- Transform();
-}
+// AITanker.cxx Based on David Culp's AIModel code
+// - Tanker specific code isolated from AI Aircraft code
+// by Thomas Foerster, started June 2007
+//
+//
+// Original code written by David Culp, started October 2003.
+// - 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
+#include "AITanker.hxx"
+
+FGAITanker::FGAITanker(FGAISchedule* ref): FGAIAircraft(ref){
+}
+
+FGAITanker::~FGAITanker() {}
+
+void FGAITanker::readFromScenario(SGPropertyNode* scFileNode) {
+ if (!scFileNode)
+ return;
+
+ FGAIAircraft::readFromScenario(scFileNode);
+ setTACANChannelID(scFileNode->getStringValue("TACAN-channel-ID",""));
+ setName(scFileNode->getStringValue("name", "Tanker"));
+
+}
+
+void FGAITanker::bind() {
+ FGAIAircraft::bind();
+
+ props->tie("refuel/contact", SGRawValuePointer<bool>(&contact));
+ props->tie("position/altitude-agl-ft",SGRawValuePointer<double>(&altitude_agl_ft));
+ props->setStringValue("navaids/tacan/channel-ID", TACAN_channel_id.c_str());
+ props->setStringValue("name", _name.c_str());
+ props->setBoolValue("tanker", true);
+}
+
+void FGAITanker::unbind() {
+ FGAIAircraft::unbind();
+ props->untie("refuel/contact");
+ props->untie("position/altitude-agl-ft");
+
+}
+
+void FGAITanker::setTACANChannelID(const string& id) {
+ TACAN_channel_id = id;
+}
+
+void FGAITanker::Run(double dt) {
+ //FGAIAircraft::Run(dt);
+
+ double start = pos.getElevationFt() + 1000;
+ altitude_agl_ft = _getAltitudeAGL(pos, start);
+
+ //###########################//
+ // do calculations for radar //
+ //###########################//
+ double range_ft2 = UpdateRadar(manager);
+
+ // check if radar contact
+ if ( (range_ft2 < 250.0 * 250.0) && (y_shift > 0.0)
+ && (elevation > 0.0) ) {
+ //refuel_node->setBoolValue(true);
+ contact = true;
+ } else {
+ //refuel_node->setBoolValue(false);
+ contact = false;
+ }
+}
+
+
+void FGAITanker::update(double dt) {
+ FGAIAircraft::update(dt);
+ Run(dt);
+ Transform();
+}