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Maintenance: AIShip

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explicit ctor.
SPDX tags.
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scttgs0 2023-05-21 20:09:21 -05:00
parent f57266bac8
commit 69854326e6
2 changed files with 189 additions and 197 deletions
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384
src/AIModel/AIShip.cxx
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@ -1,43 +1,31 @@
// FGAIShip - FGAIBase-derived class creates an AI ship
//
// Written by David Culp, started October 2003.
// with major amendments and additions by Vivian Meazza, 2004 - 2007
//
// 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.
/*
* SPDX-FileName: AIShip.cxx
* SPDX-FileComment: AIBase-derived class creates an AI ship
* SPDX-FileCopyrightText: Copyright (C) 2003 David P. Culp - davidculp2@comcast.net
* SPDX-FileContributor: with major amendments and additions by Vivian Meazza, 2004 - 2007
* SPDX-License-Identifier: GPL-2.0-or-later
*/
#include <cmath>
#ifdef _MSC_VER
# include <float.h>
double fgIsFinite(double x) { return _finite(x); }
#include <float.h>
double fgIsFinite(double x) { return _finite(x); }
#else
double fgIsFinite(double x) { return std::isfinite(x); }
double fgIsFinite(double x) { return std::isfinite(x); }
#endif
#include <simgear/sg_inlines.h>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/timing/sg_time.hxx>
#include <simgear/math/sg_random.hxx>
#include <simgear/sg_inlines.h>
#include <simgear/timing/sg_time.hxx>
#include <simgear/scene/util/SGNodeMasks.hxx>
#include <Scenery/scenery.hxx>
#include <Main/globals.hxx>
#include <Scenery/scenery.hxx>
#include <simgear/scene/util/SGNodeMasks.hxx>
#include "AIShip.hxx"
using std::string;
FGAIShip::FGAIShip(object_type ot) : // allow HOT to be enabled
FGAIBase(ot, true),
@ -72,7 +60,8 @@ FGAIShip::FGAIShip(object_type ot) : // allow HOT to be enabled
invisible = false;
}
void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) {
void FGAIShip::readFromScenario(SGPropertyNode* scFileNode)
{
if (!scFileNode)
return;
@ -100,7 +89,8 @@ void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) {
}
}
bool FGAIShip::init(ModelSearchOrder searchOrder) {
bool FGAIShip::init(ModelSearchOrder searchOrder)
{
reinit();
return FGAIBase::init(searchOrder);
}
@ -131,7 +121,8 @@ void FGAIShip::reinit()
FGAIBase::reinit();
}
void FGAIShip::bind() {
void FGAIShip::bind()
{
FGAIBase::bind();
tie("surface-positions/rudder-pos-deg",
@ -205,10 +196,9 @@ void FGAIShip::bind() {
}
void FGAIShip::update(double dt) {
if (replay_time->getDoubleValue() <= 0)
{
void FGAIShip::update(double dt)
{
if (replay_time->getDoubleValue() <= 0) {
//SG_LOG(SG_AI, SG_ALERT, "updating Ship: " << _name <<hdg<<pitch<<roll);
// For computation of rotation speeds we just use finite differences here.
// That is perfectly valid since this thing is not driven by accelerations
@ -220,7 +210,7 @@ void FGAIShip::update(double dt) {
SGQuatd hl2body = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
// and postrotate the orientation of the AIModel wrt the horizontal
// local frame
SGQuatd ec2body = ec2hl*hl2body;
SGQuatd ec2body = ec2hl * hl2body;
// The cartesian position of the ship in the wgs84 world
//SGVec3d cartPos = SGVec3d::fromGeod(pos);
@ -253,7 +243,7 @@ void FGAIShip::update(double dt) {
// compute the new orientation
SGQuatd hl2bodyNew = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
// The rotation difference
SGQuatd dOr = inverse(ec2body)*ec2hlNew*hl2bodyNew;
SGQuatd dOr = inverse(ec2body) * ec2hlNew * hl2bodyNew;
SGVec3d dOrAngleAxis;
dOr.getAngleAxis(dOrAngleAxis);
// divided by the time difference provides a rotation speed vector
@ -261,14 +251,13 @@ void FGAIShip::update(double dt) {
aip.setBodyAngularVelocity(dOrAngleAxis);
}
}
else
{
} else {
Transform();
}
}
void FGAIShip::Run(double dt) {
void FGAIShip::Run(double dt)
{
if (_fp_init)
ProcessFlightPlan(dt);
@ -281,7 +270,6 @@ void FGAIShip::Run(double dt) {
double speed_diff = tgt_speed - speed;
if (fabs(speed_diff) > 0.1) {
if (speed_diff > 0.0)
speed += _speed_constant * dt;
@ -296,33 +284,33 @@ void FGAIShip::Run(double dt) {
SG_CLAMP_RANGE(speed, -_limit * 0.75, _limit);
{
/* The rotation rotating from the earth centerd frame to the horizontal
/* The rotation rotating from the earth centered frame to the horizontal
local frame. */
SGQuatd hlOr = SGQuatd::fromLonLat(pos);
/* The rotation from the horizontal local frame to the basic view
orientation. */
SGQuatd hlToBody = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
/* Compute the eyepoints orientation and position wrt the earth
centered frame - that is global coorinates. */
centered frame - that is global coordinates. */
SGQuatd ec2body = hlOr * hlToBody;
/* The cartesian position of the basic view coordinate. */
SGVec3d position = SGVec3d::fromGeod(pos);
/* This is rotates the x-forward, y-right, z-down coordinate system the
where simulation runs into the OpenGL camera system with x-right, y-up,
z-back. */
SGQuatd q(-0.5, -0.5, 0.5, 0.5);
SGVec3d offset(0, 0, -speed * SG_KT_TO_MPS * dt);
position += (ec2body * q).backTransform(offset);
pos = SGGeod::fromCart(position);
pitch = tgt_pitch;
}
// adjust heading based on current _rudder angle
if (turn_radius_ft <= 0)
turn_radius_ft = 0; // don't allow nonsense values
@ -334,24 +322,23 @@ void FGAIShip::Run(double dt) {
_rudder = -45;
// we assume that at slow speed ships will manoeuvre using engines/bow thruster
if (type == "ship" || type == "carrier" || type == "escort") { // TODO: fragile code... should this be an enum???
if (fabs(speed)<=5)
_sp_turn_radius_ft = _fixed_turn_radius;
else {
// adjust turn radius for speed. The equation is very approximate.
// we need to allow for negative speeds
_sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft;
}
} else {
if (fabs(speed) <= 40)
_sp_turn_radius_ft = _fixed_turn_radius;
else {
// adjust turn radius for speed.
_sp_turn_radius_ft = turn_radius_ft;
}
}
// we assume that at slow speed ships will manoeuver using engines/bow thruster
if (type == "ship" || type == "carrier" || type == "escort") { // TODO: fragile code... should this be an enum???
if (fabs(speed) <= 5)
_sp_turn_radius_ft = _fixed_turn_radius;
else {
// adjust turn radius for speed. The equation is very approximate.
// we need to allow for negative speeds
_sp_turn_radius_ft = 10 * pow((fabs(speed) - 15), 2) + turn_radius_ft;
}
} else {
if (fabs(speed) <= 40)
_sp_turn_radius_ft = _fixed_turn_radius;
else {
// adjust turn radius for speed.
_sp_turn_radius_ft = turn_radius_ft;
}
}
if (_rudder <= -0.25 || _rudder >= 0.25) {
// adjust turn radius for _rudder angle. The equation is even more approximate.
@ -396,7 +383,7 @@ void FGAIShip::Run(double dt) {
if (sum > 360.0)
sum -= 360.0;
if (fabs(sum - tgt_heading)< 1.0)
if (fabs(sum - tgt_heading) < 1.0)
rudder_sense = 1.0;
else
rudder_sense = -1.0;
@ -413,7 +400,7 @@ void FGAIShip::Run(double dt) {
}
// set the _rudder limit by speed
if (type == "ship" || type == "carrier" || type == "escort") { // TODO: fragile code... should this be an enum???
if (type == "ship" || type == "carrier" || type == "escort") { // TODO: fragile code... should this be an enum???
if (speed <= 40)
rudder_limit = (-0.825 * speed) + 35;
else
@ -421,7 +408,7 @@ void FGAIShip::Run(double dt) {
} else
rudder_limit = 20;
if (fabs(rudder_diff)> 0.1) { // apply dead zone
if (fabs(rudder_diff) > 0.1) { // apply dead zone
if (rudder_diff > 0.0) {
_rudder += _rudder_constant * dt;
@ -434,23 +421,25 @@ void FGAIShip::Run(double dt) {
if (_rudder < -rudder_limit)
_rudder = -rudder_limit;
}
// do calculations for radar
UpdateRadar(manager);
}
}//end function
} //end function
void FGAIShip::AccelTo(double speed) {
void FGAIShip::AccelTo(double speed)
{
tgt_speed = speed;
}
void FGAIShip::PitchTo(double angle) {
void FGAIShip::PitchTo(double angle)
{
tgt_pitch = angle;
}
void FGAIShip::RollTo(double angle) {
void FGAIShip::RollTo(double angle)
{
tgt_roll = angle;
}
@ -459,108 +448,130 @@ void FGAIShip::YawTo(double angle) {
}
#endif
void FGAIShip::ClimbTo(double altitude) {
void FGAIShip::ClimbTo(double altitude)
{
tgt_altitude_ft = altitude;
_setAltitude(altitude);
}
void FGAIShip::TurnTo(double heading) {
void FGAIShip::TurnTo(double heading)
{
tgt_heading = heading - _lead_angle + _tow_angle;
SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
_hdg_lock = true;
}
double FGAIShip::sign(double x) {
double FGAIShip::sign(double x)
{
if (x < 0.0)
return -1.0;
else
return 1.0;
}
void FGAIShip::setStartTime(const string& st) {
void FGAIShip::setStartTime(const std::string& st)
{
_start_time = st;
}
void FGAIShip::setUntilTime(const string& ut) {
void FGAIShip::setUntilTime(const std::string& ut)
{
_until_time = ut;
props->setStringValue("waypoint/wait-until-time", _until_time.c_str());
}
void FGAIShip::setCurrName(const string& c) {
void FGAIShip::setCurrName(const std::string& c)
{
_curr_name = c;
props->setStringValue("waypoint/name-curr", _curr_name.c_str());
}
void FGAIShip::setNextName(const string& n) {
void FGAIShip::setNextName(const std::string& n)
{
_next_name = n;
props->setStringValue("waypoint/name-next", _next_name.c_str());
}
void FGAIShip::setPrevName(const string& p) {
void FGAIShip::setPrevName(const std::string& p)
{
_prev_name = p;
props->setStringValue("waypoint/name-prev", _prev_name.c_str());
}
void FGAIShip::setRepeat(bool r) {
void FGAIShip::setRepeat(bool r)
{
_repeat = r;
}
void FGAIShip::setRestart(bool r) {
void FGAIShip::setRestart(bool r)
{
_restart = r;
}
void FGAIShip::setMissed(bool m) {
void FGAIShip::setMissed(bool m)
{
_missed = m;
props->setBoolValue("waypoint/missed", _missed);
}
void FGAIShip::setRudder(float r) {
void FGAIShip::setRudder(float r)
{
_rudder = r;
}
void FGAIShip::setRoll(double rl) {
void FGAIShip::setRoll(double rl)
{
roll = rl;
}
void FGAIShip::setLeadAngleGain(double g) {
void FGAIShip::setLeadAngleGain(double g)
{
_lead_angle_gain = g;
}
void FGAIShip::setLeadAngleLimit(double l) {
void FGAIShip::setLeadAngleLimit(double l)
{
_lead_angle_limit = l;
}
void FGAIShip::setLeadAngleProp(double p) {
void FGAIShip::setLeadAngleProp(double p)
{
_proportion = p;
}
void FGAIShip::setRudderConstant(double rc) {
void FGAIShip::setRudderConstant(double rc)
{
_rudder_constant = rc;
}
void FGAIShip::setSpeedConstant(double sc) {
void FGAIShip::setSpeedConstant(double sc)
{
_speed_constant = sc;
}
void FGAIShip::setFixedTurnRadius(double ftr) {
void FGAIShip::setFixedTurnRadius(double ftr)
{
_fixed_turn_radius = ftr;
}
void FGAIShip::setRollFactor(double rf) {
void FGAIShip::setRollFactor(double rf)
{
_roll_factor = rf * -0.0083335;
}
void FGAIShip::setInitialTunnel(bool t) {
void FGAIShip::setInitialTunnel(bool t)
{
_initial_tunnel = t;
setTunnel(_initial_tunnel);
}
void FGAIShip::setTunnel(bool t) {
void FGAIShip::setTunnel(bool t)
{
_tunnel = t;
}
void FGAIShip::setWPNames() {
void FGAIShip::setWPNames()
{
if (prev != 0)
setPrevName(prev->getName());
else
@ -568,9 +579,9 @@ void FGAIShip::setWPNames() {
if (curr != 0)
setCurrName(curr->getName());
else{
else {
setCurrName("");
SG_LOG(SG_AI, SG_ALERT, "AIShip: current wp name error" );
SG_LOG(SG_AI, SG_ALERT, "AIShip: current wp name error");
}
if (next != 0)
@ -581,24 +592,23 @@ void FGAIShip::setWPNames() {
SG_LOG(SG_AI, SG_DEBUG, "AIShip: prev wp name " << prev->getName());
SG_LOG(SG_AI, SG_DEBUG, "AIShip: current wp name " << curr->getName());
SG_LOG(SG_AI, SG_DEBUG, "AIShip: next wp name " << next->getName());
}
double FGAIShip::getRange(double lat, double lon, double lat2, double lon2) const {
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
// 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 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
// 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) {
SG_LOG(SG_AI, SG_DEBUG, "AIShip: course " << course);
@ -609,10 +619,10 @@ double FGAIShip::getCourse(double lat, double lon, double lat2, double lon2) con
}
}
void FGAIShip::ProcessFlightPlan(double dt) {
if ( dt < 0.00001 ) {
return;
void FGAIShip::ProcessFlightPlan(double dt)
{
if (dt < 0.00001) {
return;
}
double time_sec = getDaySeconds();
@ -652,7 +662,7 @@ void FGAIShip::ProcessFlightPlan(double dt) {
//cout << _name << " range_rate " << _range_rate << " " << _new_waypoint<< endl ;
//if ((_range_rate > 0) && !_new_waypoint){
if (_range_rate > 0 && _wp_range < _missed_range && !_new_waypoint){
if (_range_rate > 0 && _wp_range < _missed_range && !_new_waypoint) {
_missed_count += _dt_count;
}
@ -667,17 +677,15 @@ void FGAIShip::ProcessFlightPlan(double dt) {
setWPNames();
if ((_wp_range < (sp_turn_radius_nm * 1.25)) || _missed || (_waiting && !_new_waypoint)) {
if (_next_name == "TUNNEL"){
if (_next_name == "TUNNEL") {
_tunnel = !_tunnel;
SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " " << sp_turn_radius_nm );
SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " " << sp_turn_radius_nm);
fp->IncrementWaypoint(false);
next = fp->getNextWaypoint();
if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT"
|| next->getName() == "END" || next->getName() == "TUNNEL")
if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT" || next->getName() == "END" || next->getName() == "TUNNEL")
return;
prev = curr;
@ -685,10 +693,9 @@ void FGAIShip::ProcessFlightPlan(double dt) {
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
} else if(_next_name == "END" || fp->getNextWaypoint() == 0) {
} else if (_next_name == "END" || fp->getNextWaypoint() == 0) {
if (_repeat) {
SG_LOG(SG_AI, SG_INFO, "AIShip: "<< _name << " Flightplan repeating ");
SG_LOG(SG_AI, SG_INFO, "AIShip: " << _name << " Flightplan repeating ");
fp->restart();
prev = curr;
curr = fp->getCurrentWaypoint();
@ -713,7 +720,6 @@ void FGAIShip::ProcessFlightPlan(double dt) {
}
} else if (_next_name == "WAIT") {
if (_wait_count < next->getTime_sec()) {
SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " waiting ");
setSpeed(0);
@ -723,15 +729,13 @@ void FGAIShip::ProcessFlightPlan(double dt) {
_lead_angle = 0;
return;
} else {
SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name
<< " wait done: getting new waypoints ");
SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " wait done: getting new waypoints ");
_waiting = false;
_wait_count = 0;
fp->IncrementWaypoint(false);
next = fp->getNextWaypoint();
if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT"
|| next->getName() == "END" || next->getName() == "TUNNEL")
if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT" || next->getName() == "END" || next->getName() == "TUNNEL")
return;
prev = curr;
@ -746,16 +750,13 @@ void FGAIShip::ProcessFlightPlan(double dt) {
_until_time = next->getTime();
setUntilTime(next->getTime());
if (until_time_sec > time_sec) {
SG_LOG(SG_AI, SG_INFO, "AIShip: " << _name << " "
<< curr->getName() << " waiting until: "
<< _until_time << " " << until_time_sec << " now " << time_sec );
SG_LOG(SG_AI, SG_INFO, "AIShip: " << _name << " " << curr->getName() << " waiting until: " << _until_time << " " << until_time_sec << " now " << time_sec);
setSpeed(0);
_lead_angle = 0;
_waiting = true;
return;
} else {
SG_LOG(SG_AI, SG_INFO, "AIShip: "
<< _name << " wait until done: getting new waypoints ");
SG_LOG(SG_AI, SG_INFO, "AIShip: " << _name << " wait until done: getting new waypoints ");
setUntilTime("");
fp->IncrementWaypoint(false);
@ -775,7 +776,7 @@ void FGAIShip::ProcessFlightPlan(double dt) {
}
} else {
//now reorganise the waypoints, so that next becomes current and so on
//now reorganize the waypoints, so that next becomes current and so on
SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " getting new waypoints ");
fp->IncrementWaypoint(false);
prev = fp->getPreviousWaypoint(); //first waypoint
@ -793,7 +794,7 @@ void FGAIShip::ProcessFlightPlan(double dt) {
setWPPos();
object_type type = getType();
if (type != object_type::otGroundVehicle) // is this correct???
if (type != object_type::otGroundVehicle) // is this correct???
AccelTo(prev->getSpeed());
_curr_alt = curr->getAltitude();
@ -814,8 +815,8 @@ void FGAIShip::ProcessFlightPlan(double dt) {
_dt_count = 0;
} // end Processing FlightPlan
bool FGAIShip::initFlightPlan() {
bool FGAIShip::initFlightPlan()
{
SG_LOG(SG_AI, SG_ALERT, "AIShip: " << _name << " initializing waypoints ");
bool init = false;
@ -825,22 +826,22 @@ bool FGAIShip::initFlightPlan() {
fp->restart();
fp->IncrementWaypoint(false);
prev = fp->getPreviousWaypoint(); //first waypoint
curr = fp->getCurrentWaypoint(); //second waypoint
next = fp->getNextWaypoint(); //third waypoint (might not exist!)
prev = fp->getPreviousWaypoint(); //first waypoint
curr = fp->getCurrentWaypoint(); //second waypoint
next = fp->getNextWaypoint(); //third waypoint (might not exist!)
while (curr && (curr->getName() == "WAIT" || curr->getName() == "WAITUNTIL")) { // don't wait when initialising
while (curr && (curr->getName() == "WAIT" || curr->getName() == "WAITUNTIL")) { // don't wait when initialising
SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " re-initializing waypoints ");
fp->IncrementWaypoint(false);
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
}
if (!_start_time.empty()){
if (!_start_time.empty()) {
_start_sec = processTimeString(_start_time);
double day_sec = getDaySeconds();
if (_start_sec < day_sec){
if (_start_sec < day_sec) {
//cout << "flight plan has already started " << _start_time << endl;
init = advanceFlightPlan(_start_sec, day_sec);
@ -871,9 +872,9 @@ bool FGAIShip::initFlightPlan() {
setWPNames();
if (prev && curr) {
setHeading(getCourse(prev->getLatitude(), prev->getLongitude(), curr->getLatitude(), curr->getLongitude()));
_wp_range = getRange(prev->getLatitude(), prev->getLongitude(), curr->getLatitude(), curr->getLongitude());
_old_range = _wp_range;
setHeading(getCourse(prev->getLatitude(), prev->getLongitude(), curr->getLatitude(), curr->getLongitude()));
_wp_range = getRange(prev->getLatitude(), prev->getLongitude(), curr->getLatitude(), curr->getLongitude());
_old_range = _wp_range;
}
_range_rate = 0;
@ -894,49 +895,44 @@ bool FGAIShip::initFlightPlan() {
} // end of initialization
double FGAIShip::processTimeString(const string& theTime) {
double FGAIShip::processTimeString(const std::string& theTime)
{
int Hour;
int Minute;
int Second;
// first split theTime string into
// hour, minute, second and convert to int;
Hour = atoi(theTime.substr(0,2).c_str());
Minute = atoi(theTime.substr(3,5).c_str());
Second = atoi(theTime.substr(6,8).c_str());
Hour = atoi(theTime.substr(0, 2).c_str());
Minute = atoi(theTime.substr(3, 5).c_str());
Second = atoi(theTime.substr(6, 8).c_str());
// offset by a day-sec to allow for starting a day earlier
double time_seconds = Hour * 3600
+ Minute * 60
+ Second;
double time_seconds = Hour * 3600 + Minute * 60 + Second;
return time_seconds;
}
double FGAIShip::getDaySeconds () {
double FGAIShip::getDaySeconds()
{
// Date and time
struct tm *t = globals->get_time_params()->getGmt();
struct tm* t = globals->get_time_params()->getGmt();
double day_seconds = t->tm_hour * 3600
+ t->tm_min * 60
+ t->tm_sec;
double day_seconds = t->tm_hour * 3600 + t->tm_min * 60 + t->tm_sec;
return day_seconds;
}
bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
bool FGAIShip::advanceFlightPlan(double start_sec, double day_sec)
{
double elapsed_sec = start_sec;
double distance_nm = 0;
//cout << "advancing flight plan start_sec: " << start_sec << " " << day_sec << endl;
while ( elapsed_sec < day_sec ) {
while (elapsed_sec < day_sec) {
if (next->getName() == "END" || fp->getNextWaypoint() == 0) {
if (_repeat ) {
if (_repeat) {
//cout << _name << ": " << "restarting flightplan" << endl;
fp->restart();
curr = fp->getCurrentWaypoint();
@ -953,18 +949,17 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
elapsed_sec += next->getTime_sec();
if ( elapsed_sec >= day_sec)
if (elapsed_sec >= day_sec)
continue;
fp->IncrementWaypoint(false);
next = fp->getNextWaypoint();
if (next->getName() != "WAITUNTIL" && next->getName() != "WAIT"
&& next->getName() != "END") {
prev = curr;
fp->IncrementWaypoint(false);
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
if (next->getName() != "WAITUNTIL" && next->getName() != "WAIT" && next->getName() != "END") {
prev = curr;
fp->IncrementWaypoint(false);
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
}
} else if (next->getName() == "WAITUNTIL") {
@ -976,7 +971,7 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
if (elapsed_sec < until_sec)
elapsed_sec = until_sec;
if (elapsed_sec >= day_sec )
if (elapsed_sec >= day_sec)
break;
fp->IncrementWaypoint(false);
@ -1005,7 +1000,7 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
next = fp->getNextWaypoint();
}
} // end while
} // end while
// the required position lies between the previous and current waypoints
// so we will calculate the distance back up the track from the current waypoint
@ -1019,11 +1014,11 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
//cout << " time diff " << time_diff << endl;
if (next->getName() == "WAIT" ){
if (next->getName() == "WAIT") {
setSpeed(0);
lat = curr->getLatitude();
lon = curr->getLongitude();
_wait_count= time_diff;
_wait_count = time_diff;
_waiting = true;
} else if (next->getName() == "WAITUNTIL") {
setSpeed(0);
@ -1039,12 +1034,12 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
// << " lat " << curr->latitude << " lon " << curr->longitude
// << " distance m " << distance_nm * SG_NM_TO_METER << endl;
lat = geo_direct_wgs_84 (curr->getLatitude(), curr->getLongitude(), brg,
distance_nm * SG_NM_TO_METER, &lat, &lon, &recip );
lon = geo_direct_wgs_84 (curr->getLatitude(), curr->getLongitude(), brg,
distance_nm * SG_NM_TO_METER, &lat, &lon, &recip );
recip = geo_direct_wgs_84 (curr->getLatitude(), curr->getLongitude(), brg,
distance_nm * SG_NM_TO_METER, &lat, &lon, &recip );
lat = geo_direct_wgs_84(curr->getLatitude(), curr->getLongitude(), brg,
distance_nm * SG_NM_TO_METER, &lat, &lon, &recip);
lon = geo_direct_wgs_84(curr->getLatitude(), curr->getLongitude(), brg,
distance_nm * SG_NM_TO_METER, &lat, &lon, &recip);
recip = geo_direct_wgs_84(curr->getLatitude(), curr->getLongitude(), brg,
distance_nm * SG_NM_TO_METER, &lat, &lon, &recip);
}
setLatitude(lat);
@ -1053,19 +1048,18 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
return true;
}
void FGAIShip::setWPPos() {
if (curr->getName() == "END" || curr->getName() == "WAIT"
|| curr->getName() == "WAITUNTIL" || curr->getName() == "TUNNEL"){
//cout << curr->name << " returning" << endl;
return;
void FGAIShip::setWPPos()
{
if (curr->getName() == "END" || curr->getName() == "WAIT" || curr->getName() == "WAITUNTIL" || curr->getName() == "TUNNEL") {
//cout << curr->name << " returning" << endl;
return;
}
wppos.setLatitudeDeg(curr->getLatitude());
wppos.setLongitudeDeg(curr->getLongitude());
wppos.setElevationM(0);
if (curr->getOn_ground()){
if (curr->getOn_ground()) {
double elevation_m = 0;
if (globals->get_scenery()->get_elevation_m(
SGGeod::fromGeodM(wppos, 3000), elevation_m, NULL, 0)) {
@ -1076,21 +1070,20 @@ void FGAIShip::setWPPos() {
}
curr->setAltitude(wppos.getElevationM());
}
void FGAIShip::setXTrackError() {
void FGAIShip::setXTrackError()
{
double course = getCourse(prev->getLatitude(), prev->getLongitude(),
curr->getLatitude(), curr->getLongitude());
curr->getLatitude(), curr->getLongitude());
double brg = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
curr->getLatitude(), curr->getLongitude());
double xtrack_error_nm = sin((course - brg)* SG_DEGREES_TO_RADIANS) * _wp_range;
curr->getLatitude(), curr->getLongitude());
double xtrack_error_nm = sin((course - brg) * SG_DEGREES_TO_RADIANS) * _wp_range;
double factor = -0.0045 * speed + 1;
double limit = _lead_angle_limit * factor;
if (_wp_range > 0){
_lead_angle = atan2(xtrack_error_nm,(_wp_range * _proportion)) * SG_RADIANS_TO_DEGREES;
if (_wp_range > 0) {
_lead_angle = atan2(xtrack_error_nm, (_wp_range * _proportion)) * SG_RADIANS_TO_DEGREES;
} else
_lead_angle = 0;
@ -1098,5 +1091,4 @@ void FGAIShip::setXTrackError() {
_xtrack_error = xtrack_error_nm * 6076.1155;
SG_CLAMP_RANGE(_lead_angle, -limit, limit);
}

2
src/AIModel/AIShip.hxx
View file

@ -21,7 +21,7 @@ class FGAIManager;
class FGAIShip : public FGAIBase
{
public:
FGAIShip(object_type ot = object_type::otShip);
explicit FGAIShip(object_type ot = object_type::otShip);
virtual ~FGAIShip() = default;
std::string_view getTypeString(void) const override { return "ship"; }