Maintenance: AIShip
explicit ctor. SPDX tags. spelling.
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2 changed files with 189 additions and 197 deletions
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@ -1,21 +1,10 @@
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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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// 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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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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/*
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* SPDX-FileName: AIShip.cxx
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* SPDX-FileComment: AIBase-derived class creates an AI ship
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* SPDX-FileCopyrightText: Copyright (C) 2003 David P. Culp - davidculp2@comcast.net
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* SPDX-FileContributor: with major amendments and additions by Vivian Meazza, 2004 - 2007
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* SPDX-License-Identifier: GPL-2.0-or-later
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*/
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#include <cmath>
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@ -26,18 +15,17 @@
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double fgIsFinite(double x) { return std::isfinite(x); }
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#endif
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#include <simgear/sg_inlines.h>
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#include <simgear/math/sg_geodesy.hxx>
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#include <simgear/timing/sg_time.hxx>
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#include <simgear/math/sg_random.hxx>
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#include <simgear/sg_inlines.h>
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#include <simgear/timing/sg_time.hxx>
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#include <simgear/scene/util/SGNodeMasks.hxx>
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#include <Scenery/scenery.hxx>
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#include <Main/globals.hxx>
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#include <Scenery/scenery.hxx>
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#include <simgear/scene/util/SGNodeMasks.hxx>
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#include "AIShip.hxx"
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using std::string;
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FGAIShip::FGAIShip(object_type ot) : // allow HOT to be enabled
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FGAIBase(ot, true),
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@ -72,7 +60,8 @@ FGAIShip::FGAIShip(object_type ot) : // allow HOT to be enabled
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invisible = false;
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}
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void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) {
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void FGAIShip::readFromScenario(SGPropertyNode* scFileNode)
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{
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if (!scFileNode)
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return;
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@ -100,7 +89,8 @@ void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) {
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}
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}
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bool FGAIShip::init(ModelSearchOrder searchOrder) {
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bool FGAIShip::init(ModelSearchOrder searchOrder)
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{
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reinit();
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return FGAIBase::init(searchOrder);
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}
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@ -131,7 +121,8 @@ void FGAIShip::reinit()
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FGAIBase::reinit();
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}
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void FGAIShip::bind() {
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void FGAIShip::bind()
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{
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FGAIBase::bind();
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tie("surface-positions/rudder-pos-deg",
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@ -205,10 +196,9 @@ void FGAIShip::bind() {
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}
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void FGAIShip::update(double dt) {
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if (replay_time->getDoubleValue() <= 0)
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void FGAIShip::update(double dt)
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{
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if (replay_time->getDoubleValue() <= 0) {
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//SG_LOG(SG_AI, SG_ALERT, "updating Ship: " << _name <<hdg<<pitch<<roll);
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// For computation of rotation speeds we just use finite differences here.
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// That is perfectly valid since this thing is not driven by accelerations
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@ -261,14 +251,13 @@ void FGAIShip::update(double dt) {
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aip.setBodyAngularVelocity(dOrAngleAxis);
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}
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}
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else
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{
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} else {
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Transform();
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}
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}
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void FGAIShip::Run(double dt) {
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void FGAIShip::Run(double dt)
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{
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if (_fp_init)
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ProcessFlightPlan(dt);
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@ -281,7 +270,6 @@ void FGAIShip::Run(double dt) {
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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)
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speed += _speed_constant * dt;
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@ -296,7 +284,7 @@ void FGAIShip::Run(double dt) {
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SG_CLAMP_RANGE(speed, -_limit * 0.75, _limit);
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{
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/* The rotation rotating from the earth centerd frame to the horizontal
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/* The rotation rotating from the earth centered frame to the horizontal
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local frame. */
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SGQuatd hlOr = SGQuatd::fromLonLat(pos);
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@ -305,7 +293,7 @@ void FGAIShip::Run(double dt) {
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SGQuatd hlToBody = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
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/* Compute the eyepoints orientation and position wrt the earth
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centered frame - that is global coorinates. */
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centered frame - that is global coordinates. */
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SGQuatd ec2body = hlOr * hlToBody;
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/* The cartesian position of the basic view coordinate. */
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@ -334,7 +322,7 @@ void FGAIShip::Run(double dt) {
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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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// we assume that at slow speed ships will manoeuver using engines/bow thruster
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if (type == "ship" || type == "carrier" || type == "escort") { // TODO: fragile code... should this be an enum???
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if (fabs(speed) <= 5)
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_sp_turn_radius_ft = _fixed_turn_radius;
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@ -344,7 +332,6 @@ void FGAIShip::Run(double dt) {
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_sp_turn_radius_ft = 10 * pow((fabs(speed) - 15), 2) + turn_radius_ft;
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}
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} else {
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if (fabs(speed) <= 40)
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_sp_turn_radius_ft = _fixed_turn_radius;
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else {
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@ -434,7 +421,6 @@ void FGAIShip::Run(double dt) {
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if (_rudder < -rudder_limit)
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_rudder = -rudder_limit;
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}
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// do calculations for radar
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@ -442,15 +428,18 @@ void FGAIShip::Run(double dt) {
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}
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} //end function
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void FGAIShip::AccelTo(double speed) {
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void FGAIShip::AccelTo(double speed)
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{
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tgt_speed = speed;
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}
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void FGAIShip::PitchTo(double angle) {
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void FGAIShip::PitchTo(double angle)
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{
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tgt_pitch = angle;
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}
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void FGAIShip::RollTo(double angle) {
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void FGAIShip::RollTo(double angle)
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{
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tgt_roll = angle;
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}
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@ -459,108 +448,130 @@ void FGAIShip::YawTo(double angle) {
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}
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#endif
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void FGAIShip::ClimbTo(double altitude) {
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void FGAIShip::ClimbTo(double altitude)
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{
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tgt_altitude_ft = altitude;
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_setAltitude(altitude);
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}
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void FGAIShip::TurnTo(double heading) {
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void FGAIShip::TurnTo(double heading)
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{
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tgt_heading = heading - _lead_angle + _tow_angle;
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SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
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_hdg_lock = true;
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}
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double FGAIShip::sign(double x) {
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double FGAIShip::sign(double x)
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{
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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::setStartTime(const string& st) {
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void FGAIShip::setStartTime(const std::string& st)
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{
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_start_time = st;
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}
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void FGAIShip::setUntilTime(const string& ut) {
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void FGAIShip::setUntilTime(const std::string& ut)
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{
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_until_time = ut;
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props->setStringValue("waypoint/wait-until-time", _until_time.c_str());
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}
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void FGAIShip::setCurrName(const string& c) {
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void FGAIShip::setCurrName(const std::string& c)
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{
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_curr_name = c;
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props->setStringValue("waypoint/name-curr", _curr_name.c_str());
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}
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void FGAIShip::setNextName(const string& n) {
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void FGAIShip::setNextName(const std::string& n)
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{
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_next_name = n;
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props->setStringValue("waypoint/name-next", _next_name.c_str());
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}
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void FGAIShip::setPrevName(const string& p) {
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void FGAIShip::setPrevName(const std::string& p)
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{
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_prev_name = p;
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props->setStringValue("waypoint/name-prev", _prev_name.c_str());
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}
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void FGAIShip::setRepeat(bool r) {
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void FGAIShip::setRepeat(bool r)
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{
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_repeat = r;
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}
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void FGAIShip::setRestart(bool r) {
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void FGAIShip::setRestart(bool r)
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{
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_restart = r;
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}
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void FGAIShip::setMissed(bool m) {
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void FGAIShip::setMissed(bool m)
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{
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_missed = m;
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props->setBoolValue("waypoint/missed", _missed);
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}
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void FGAIShip::setRudder(float r) {
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void FGAIShip::setRudder(float r)
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{
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_rudder = r;
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}
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void FGAIShip::setRoll(double rl) {
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void FGAIShip::setRoll(double rl)
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{
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roll = rl;
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}
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void FGAIShip::setLeadAngleGain(double g) {
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void FGAIShip::setLeadAngleGain(double g)
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{
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_lead_angle_gain = g;
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}
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void FGAIShip::setLeadAngleLimit(double l) {
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void FGAIShip::setLeadAngleLimit(double l)
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{
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_lead_angle_limit = l;
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}
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void FGAIShip::setLeadAngleProp(double p) {
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void FGAIShip::setLeadAngleProp(double p)
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{
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_proportion = p;
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}
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void FGAIShip::setRudderConstant(double rc) {
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void FGAIShip::setRudderConstant(double rc)
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{
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_rudder_constant = rc;
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}
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void FGAIShip::setSpeedConstant(double sc) {
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void FGAIShip::setSpeedConstant(double sc)
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{
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_speed_constant = sc;
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}
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void FGAIShip::setFixedTurnRadius(double ftr) {
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void FGAIShip::setFixedTurnRadius(double ftr)
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{
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_fixed_turn_radius = ftr;
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}
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void FGAIShip::setRollFactor(double rf) {
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void FGAIShip::setRollFactor(double rf)
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{
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_roll_factor = rf * -0.0083335;
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}
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void FGAIShip::setInitialTunnel(bool t) {
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void FGAIShip::setInitialTunnel(bool t)
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{
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_initial_tunnel = t;
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setTunnel(_initial_tunnel);
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}
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void FGAIShip::setTunnel(bool t) {
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void FGAIShip::setTunnel(bool t)
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{
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_tunnel = t;
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}
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void FGAIShip::setWPNames() {
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void FGAIShip::setWPNames()
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{
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if (prev != 0)
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setPrevName(prev->getName());
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else
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@ -581,11 +592,10 @@ void FGAIShip::setWPNames() {
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SG_LOG(SG_AI, SG_DEBUG, "AIShip: prev wp name " << prev->getName());
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SG_LOG(SG_AI, SG_DEBUG, "AIShip: current wp name " << curr->getName());
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SG_LOG(SG_AI, SG_DEBUG, "AIShip: next wp name " << next->getName());
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}
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double FGAIShip::getRange(double lat, double lon, double lat2, double lon2) const {
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double FGAIShip::getRange(double lat, double lon, double lat2, double lon2) const
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{
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double course, distance, az2;
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// calculate the bearing and range of the second pos from the first
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@ -594,8 +604,8 @@ double FGAIShip::getRange(double lat, double lon, double lat2, double lon2) cons
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return distance;
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}
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double FGAIShip::getCourse(double lat, double lon, double lat2, double lon2) const {
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double FGAIShip::getCourse(double lat, double lon, double lat2, double lon2) const
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{
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double course, distance, recip;
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// calculate the bearing and range of the second pos from the first
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@ -609,8 +619,8 @@ double FGAIShip::getCourse(double lat, double lon, double lat2, double lon2) con
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}
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}
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void FGAIShip::ProcessFlightPlan(double dt) {
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void FGAIShip::ProcessFlightPlan(double dt)
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{
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if (dt < 0.00001) {
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return;
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}
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@ -667,7 +677,6 @@ void FGAIShip::ProcessFlightPlan(double dt) {
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setWPNames();
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if ((_wp_range < (sp_turn_radius_nm * 1.25)) || _missed || (_waiting && !_new_waypoint)) {
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if (_next_name == "TUNNEL") {
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_tunnel = !_tunnel;
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@ -676,8 +685,7 @@ void FGAIShip::ProcessFlightPlan(double dt) {
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fp->IncrementWaypoint(false);
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next = fp->getNextWaypoint();
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if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT"
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|| next->getName() == "END" || next->getName() == "TUNNEL")
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if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT" || next->getName() == "END" || next->getName() == "TUNNEL")
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return;
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prev = curr;
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@ -686,7 +694,6 @@ void FGAIShip::ProcessFlightPlan(double dt) {
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next = fp->getNextWaypoint();
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} else if (_next_name == "END" || fp->getNextWaypoint() == 0) {
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if (_repeat) {
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SG_LOG(SG_AI, SG_INFO, "AIShip: " << _name << " Flightplan repeating ");
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fp->restart();
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@ -713,7 +720,6 @@ void FGAIShip::ProcessFlightPlan(double dt) {
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}
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} else if (_next_name == "WAIT") {
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if (_wait_count < next->getTime_sec()) {
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SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " waiting ");
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setSpeed(0);
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@ -723,15 +729,13 @@ void FGAIShip::ProcessFlightPlan(double dt) {
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_lead_angle = 0;
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return;
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} else {
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SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name
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<< " wait done: getting new waypoints ");
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SG_LOG(SG_AI, SG_DEBUG, "AIShip: " << _name << " wait done: getting new waypoints ");
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_waiting = false;
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_wait_count = 0;
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fp->IncrementWaypoint(false);
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next = fp->getNextWaypoint();
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if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT"
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|| next->getName() == "END" || next->getName() == "TUNNEL")
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if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT" || next->getName() == "END" || next->getName() == "TUNNEL")
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return;
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prev = curr;
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@ -746,16 +750,13 @@ void FGAIShip::ProcessFlightPlan(double dt) {
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_until_time = next->getTime();
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setUntilTime(next->getTime());
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if (until_time_sec > time_sec) {
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SG_LOG(SG_AI, SG_INFO, "AIShip: " << _name << " "
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<< curr->getName() << " waiting until: "
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<< _until_time << " " << until_time_sec << " now " << time_sec );
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SG_LOG(SG_AI, SG_INFO, "AIShip: " << _name << " " << curr->getName() << " waiting until: " << _until_time << " " << until_time_sec << " now " << time_sec);
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setSpeed(0);
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_lead_angle = 0;
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_waiting = true;
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return;
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} else {
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SG_LOG(SG_AI, SG_INFO, "AIShip: "
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<< _name << " wait until done: getting new waypoints ");
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SG_LOG(SG_AI, SG_INFO, "AIShip: " << _name << " wait until done: getting new waypoints ");
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setUntilTime("");
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fp->IncrementWaypoint(false);
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@ -775,7 +776,7 @@ void FGAIShip::ProcessFlightPlan(double dt) {
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}
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} else {
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//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
|
||||
|
|
@ -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;
|
||||
|
|
@ -894,8 +895,8 @@ 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;
|
||||
|
|
@ -907,35 +908,30 @@ double FGAIShip::processTimeString(const string& theTime) {
|
|||
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();
|
||||
|
||||
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) {
|
||||
|
||||
if (next->getName() == "END" || fp->getNextWaypoint() == 0) {
|
||||
|
||||
if (_repeat) {
|
||||
//cout << _name << ": " << "restarting flightplan" << endl;
|
||||
fp->restart();
|
||||
|
|
@ -959,8 +955,7 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
|
|||
fp->IncrementWaypoint(false);
|
||||
next = fp->getNextWaypoint();
|
||||
|
||||
if (next->getName() != "WAITUNTIL" && next->getName() != "WAIT"
|
||||
&& next->getName() != "END") {
|
||||
if (next->getName() != "WAITUNTIL" && next->getName() != "WAIT" && next->getName() != "END") {
|
||||
prev = curr;
|
||||
fp->IncrementWaypoint(false);
|
||||
curr = fp->getCurrentWaypoint();
|
||||
|
|
@ -1053,10 +1048,9 @@ 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"){
|
||||
void FGAIShip::setWPPos()
|
||||
{
|
||||
if (curr->getName() == "END" || curr->getName() == "WAIT" || curr->getName() == "WAITUNTIL" || curr->getName() == "TUNNEL") {
|
||||
//cout << curr->name << " returning" << endl;
|
||||
return;
|
||||
}
|
||||
|
|
@ -1076,11 +1070,10 @@ void FGAIShip::setWPPos() {
|
|||
}
|
||||
|
||||
curr->setAltitude(wppos.getElevationM());
|
||||
|
||||
}
|
||||
|
||||
void FGAIShip::setXTrackError() {
|
||||
|
||||
void FGAIShip::setXTrackError()
|
||||
{
|
||||
double course = getCourse(prev->getLatitude(), prev->getLongitude(),
|
||||
curr->getLatitude(), curr->getLongitude());
|
||||
double brg = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
|
||||
|
|
@ -1098,5 +1091,4 @@ void FGAIShip::setXTrackError() {
|
|||
_xtrack_error = xtrack_error_nm * 6076.1155;
|
||||
|
||||
SG_CLAMP_RANGE(_lead_angle, -limit, limit);
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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"; }
|
||||
|
|
|
|||
Loading…
Reference in a new issue