Use actual terrain ground elevation instead of hardwired KEMT elevation field whilst taxiing. Still need to fix this for takeoff and landing roll. Also added a check that a valid gate is found whilst arriving, and simply disappear the plane if none is found (instead of stackdumping\!\!
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daveluff
parent
21d3b2848a
commit
489b8186b0
2 changed files with 51 additions and 15 deletions
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@ -26,6 +26,7 @@
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#include <Main/globals.hxx>
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#include <Main/location.hxx>
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#include <Scenery/scenery.hxx>
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#include <Scenery/tilemgr.hxx>
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#include <simgear/math/point3d.hxx>
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#include <simgear/math/sg_geodesy.hxx>
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#include <simgear/misc/sg_path.hxx>
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@ -54,6 +55,7 @@ FGAILocalTraffic::FGAILocalTraffic() {
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//stall_speed_landing_config;
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nominalTaxiSpeed = 8.0;
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taxiTurnRadius = 8.0;
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wheelOffset = 1.45; // Warning - hardwired to the C172 - we need to read this in from file.
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// Init the property nodes
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wind_from_hdg = fgGetNode("/environment/wind-from-heading-deg", true);
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wind_speed_knots = fgGetNode("/environment/wind-speed-kts", true);
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@ -150,10 +152,6 @@ void FGAILocalTraffic::FlyCircuits(int numCircuits, bool tag) {
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vel = 0.0;
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slope = 0.0;
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// Now set the position of the plane and then re-get the elevation!! (Didn't work - elev always returned as zero) :-(
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//aip.setPosition(pos.lon(), pos.lat(), pos.elev() * SG_METER_TO_FEET);
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//cout << "*********************** elev in FGAILocalTraffic = " << aip.getFGLocation()->get_cur_elev_m() << '\n';
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// Set the projection for the local area
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ortho.Init(rwy.threshold_pos, rwy.hdg);
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rwy.end1ortho = ortho.ConvertToLocal(rwy.threshold_pos); // should come out as zero
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@ -170,14 +168,13 @@ void FGAILocalTraffic::FlyCircuits(int numCircuits, bool tag) {
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// Run the internal calculations
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void FGAILocalTraffic::Update(double dt) {
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//std::cout << "In FGAILocalTraffic::Update\n";
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// Hardwire flying traffic pattern for now - eventually also needs to be able to taxi to and from runway and GA parking area.
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switch(operatingState) {
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case IN_PATTERN:
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FlyTrafficPattern(dt);
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Transform();
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break;
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case TAXIING:
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DoGroundElev();
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Taxi(dt);
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Transform();
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break;
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@ -187,8 +184,6 @@ void FGAILocalTraffic::Update(double dt) {
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default:
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break;
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}
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//cout << "elev in FGAILocalTraffic = " << aip.getFGLocation()->get_cur_elev_m() << '\n';
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// This should become if(the plane has moved) then Transform()
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}
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// Fly a traffic pattern
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@ -512,11 +507,17 @@ void FGAILocalTraffic::ExitRunway(Point3D orthopos) {
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++nItr;
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}
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in_dest = airport.GetGateNode();
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// TODO - add a NULL pointer (no available gates) check for in_dest and have a fallback position
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// (possibly taxi off runway and disappear?)
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if(in_dest == NULL) {
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// Implies no available gates - what shall we do?
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// For now just vanish the plane - possibly we can make this more elegant in the future
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SG_LOG(SG_GENERAL, SG_ALERT, "No gate found by FGAILocalTraffic whilst landing at " << airportID << '\n');
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aip.setVisible(false);
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operatingState = PARKED;
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return;
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}
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path = airport.GetPath(rwyExit, in_dest);
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//cout << "path returned was:" << endl;
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/*
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cout << "path returned was:" << endl;
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for(unsigned int i=0; i<path.size(); ++i) {
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switch(path[i]->struct_type) {
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case NODE:
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@ -595,7 +596,7 @@ void FGAILocalTraffic::Taxi(double dt) {
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// If we have reached turning point then get next point and turn onto that heading
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// Look out for the finish!!
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Point3D orthopos = ortho.ConvertToLocal(pos); // ortho position of the plane
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//Point3D orthopos = ortho.ConvertToLocal(pos); // ortho position of the plane
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desiredTaxiHeading = GetHeadingFromTo(pos, nextTaxiNode->pos);
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// HACK ALERT! - for now we will taxi at constant speed for straights and turns
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@ -644,9 +645,9 @@ void FGAILocalTraffic::Taxi(double dt) {
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double slope = 0.0;
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pos = dclUpdatePosition(pos, track, slope, dist);
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//cout << "Updated position...\n";
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// FIXME - HACK in absense of proper ground elevation determination
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// Linearly interpolate altitude when taxiing between N and S extremes of orthopos
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pos.setelev((287.5 + ((299.3 - 287.5) * fabs(orthopos.y() / 1000.0))) * SG_FEET_TO_METER);
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if(aip.getFGLocation()->get_cur_elev_m() > -9990) {
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pos.setelev(aip.getFGLocation()->get_cur_elev_m() + wheelOffset);
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} // else don't change the elev until we get a valid ground elev again!
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} else {
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// Time to turn (we've already checked it's not the end we're heading for).
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// set the target node to be the next node which will prompt automatically turning onto
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@ -657,3 +658,33 @@ void FGAILocalTraffic::Taxi(double dt) {
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}
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}
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// Warning - ground elev determination is CPU intensive
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// Either this function or the logic of how often it is called
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// will almost certainly change.
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void FGAILocalTraffic::DoGroundElev() {
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// It would be nice if we could set the correct tile center here in order to get a correct
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// answer with one call to the function, but what I tried in the two commented-out lines
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// below only intermittently worked, and I haven't quite groked why yet.
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//SGBucket buck(pos.lon(), pos.lat());
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//aip.getFGLocation()->set_tile_center(Point3D(buck.get_center_lon(), buck.get_center_lat(), 0.0));
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double visibility_meters = fgGetDouble("/environment/visibility-m");
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//globals->get_tile_mgr()->prep_ssg_nodes( acmodel_location,
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globals->get_tile_mgr()->prep_ssg_nodes( aip.getFGLocation(), visibility_meters );
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globals->get_tile_mgr()->update( aip.getFGLocation(), visibility_meters, (aip.getFGLocation())->get_absolute_view_pos() );
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// save results of update in FGLocation for fdm...
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//if ( globals->get_scenery()->get_cur_elev() > -9990 ) {
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// acmodel_location->
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// set_cur_elev_m( globals->get_scenery()->get_cur_elev() );
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//}
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// The need for this here means that at least 2 consecutive passes are needed :-(
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aip.getFGLocation()->set_tile_center( globals->get_scenery()->get_next_center() );
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//cout << "Transform Elev is " << globals->get_scenery()->get_cur_elev() << '\n';
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aip.getFGLocation()->set_cur_elev_m(globals->get_scenery()->get_cur_elev());
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//return(globals->get_scenery()->get_cur_elev());
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}
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@ -142,6 +142,9 @@ private:
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double stall_speed_landing_config;
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double nominal_taxi_speed;
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// Physical/rendering stuff
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double wheelOffset; // Height above ground at which we need to render the plane whilst taxiing
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// environment - some of this might get moved into FGAIPlane
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SGPropertyNode* wind_from_hdg; //degrees
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SGPropertyNode* wind_speed_knots; //knots
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@ -183,6 +186,8 @@ private:
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void Taxi(double dt);
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void GetNextTaxiNode();
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void DoGroundElev();
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};
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#endif // _FG_AILocalTraffic_HXX
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